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| import os | |
| from sympy.functions.elementary.trigonometric import (cos, sin) | |
| from sympy.external import import_module | |
| from sympy.testing.pytest import skip | |
| from sympy.parsing.autolev import parse_autolev | |
| antlr4 = import_module("antlr4") | |
| if not antlr4: | |
| disabled = True | |
| FILE_DIR = os.path.dirname( | |
| os.path.dirname(os.path.abspath(os.path.realpath(__file__)))) | |
| def _test_examples(in_filename, out_filename, test_name=""): | |
| in_file_path = os.path.join(FILE_DIR, 'autolev', 'test-examples', | |
| in_filename) | |
| correct_file_path = os.path.join(FILE_DIR, 'autolev', 'test-examples', | |
| out_filename) | |
| with open(in_file_path) as f: | |
| generated_code = parse_autolev(f, include_numeric=True) | |
| with open(correct_file_path) as f: | |
| for idx, line1 in enumerate(f): | |
| if line1.startswith("#"): | |
| break | |
| try: | |
| line2 = generated_code.split('\n')[idx] | |
| assert line1.rstrip() == line2.rstrip() | |
| except Exception: | |
| msg = 'mismatch in ' + test_name + ' in line no: {0}' | |
| raise AssertionError(msg.format(idx+1)) | |
| def test_rule_tests(): | |
| l = ["ruletest1", "ruletest2", "ruletest3", "ruletest4", "ruletest5", | |
| "ruletest6", "ruletest7", "ruletest8", "ruletest9", "ruletest10", | |
| "ruletest11", "ruletest12"] | |
| for i in l: | |
| in_filepath = i + ".al" | |
| out_filepath = i + ".py" | |
| _test_examples(in_filepath, out_filepath, i) | |
| def test_pydy_examples(): | |
| l = ["mass_spring_damper", "chaos_pendulum", "double_pendulum", | |
| "non_min_pendulum"] | |
| for i in l: | |
| in_filepath = os.path.join("pydy-example-repo", i + ".al") | |
| out_filepath = os.path.join("pydy-example-repo", i + ".py") | |
| _test_examples(in_filepath, out_filepath, i) | |
| def test_autolev_tutorial(): | |
| dir_path = os.path.join(FILE_DIR, 'autolev', 'test-examples', | |
| 'autolev-tutorial') | |
| if os.path.isdir(dir_path): | |
| l = ["tutor1", "tutor2", "tutor3", "tutor4", "tutor5", "tutor6", | |
| "tutor7"] | |
| for i in l: | |
| in_filepath = os.path.join("autolev-tutorial", i + ".al") | |
| out_filepath = os.path.join("autolev-tutorial", i + ".py") | |
| _test_examples(in_filepath, out_filepath, i) | |
| def test_dynamics_online(): | |
| dir_path = os.path.join(FILE_DIR, 'autolev', 'test-examples', | |
| 'dynamics-online') | |
| if os.path.isdir(dir_path): | |
| ch1 = ["1-4", "1-5", "1-6", "1-7", "1-8", "1-9_1", "1-9_2", "1-9_3"] | |
| ch2 = ["2-1", "2-2", "2-3", "2-4", "2-5", "2-6", "2-7", "2-8", "2-9", | |
| "circular"] | |
| ch3 = ["3-1_1", "3-1_2", "3-2_1", "3-2_2", "3-2_3", "3-2_4", "3-2_5", | |
| "3-3"] | |
| ch4 = ["4-1_1", "4-2_1", "4-4_1", "4-4_2", "4-5_1", "4-5_2"] | |
| chapters = [(ch1, "ch1"), (ch2, "ch2"), (ch3, "ch3"), (ch4, "ch4")] | |
| for ch, name in chapters: | |
| for i in ch: | |
| in_filepath = os.path.join("dynamics-online", name, i + ".al") | |
| out_filepath = os.path.join("dynamics-online", name, i + ".py") | |
| _test_examples(in_filepath, out_filepath, i) | |
| def test_output_01(): | |
| """Autolev example calculates the position, velocity, and acceleration of a | |
| point and expresses in a single reference frame:: | |
| (1) FRAMES C,D,F | |
| (2) VARIABLES FD'',DC'' | |
| (3) CONSTANTS R,L | |
| (4) POINTS O,E | |
| (5) SIMPROT(F,D,1,FD) | |
| -> (6) F_D = [1, 0, 0; 0, COS(FD), -SIN(FD); 0, SIN(FD), COS(FD)] | |
| (7) SIMPROT(D,C,2,DC) | |
| -> (8) D_C = [COS(DC), 0, SIN(DC); 0, 1, 0; -SIN(DC), 0, COS(DC)] | |
| (9) W_C_F> = EXPRESS(W_C_F>, F) | |
| -> (10) W_C_F> = FD'*F1> + COS(FD)*DC'*F2> + SIN(FD)*DC'*F3> | |
| (11) P_O_E>=R*D2>-L*C1> | |
| (12) P_O_E>=EXPRESS(P_O_E>, D) | |
| -> (13) P_O_E> = -L*COS(DC)*D1> + R*D2> + L*SIN(DC)*D3> | |
| (14) V_E_F>=EXPRESS(DT(P_O_E>,F),D) | |
| -> (15) V_E_F> = L*SIN(DC)*DC'*D1> - L*SIN(DC)*FD'*D2> + (R*FD'+L*COS(DC)*DC')*D3> | |
| (16) A_E_F>=EXPRESS(DT(V_E_F>,F),D) | |
| -> (17) A_E_F> = L*(COS(DC)*DC'^2+SIN(DC)*DC'')*D1> + (-R*FD'^2-2*L*COS(DC)*DC'*FD'-L*SIN(DC)*FD'')*D2> + (R*FD''+L*COS(DC)*DC''-L*SIN(DC)*DC'^2-L*SIN(DC)*FD'^2)*D3> | |
| """ | |
| if not antlr4: | |
| skip('Test skipped: antlr4 is not installed.') | |
| autolev_input = """\ | |
| FRAMES C,D,F | |
| VARIABLES FD'',DC'' | |
| CONSTANTS R,L | |
| POINTS O,E | |
| SIMPROT(F,D,1,FD) | |
| SIMPROT(D,C,2,DC) | |
| W_C_F>=EXPRESS(W_C_F>,F) | |
| P_O_E>=R*D2>-L*C1> | |
| P_O_E>=EXPRESS(P_O_E>,D) | |
| V_E_F>=EXPRESS(DT(P_O_E>,F),D) | |
| A_E_F>=EXPRESS(DT(V_E_F>,F),D)\ | |
| """ | |
| sympy_input = parse_autolev(autolev_input) | |
| g = {} | |
| l = {} | |
| exec(sympy_input, g, l) | |
| w_c_f = l['frame_c'].ang_vel_in(l['frame_f']) | |
| # P_O_E> means "the position of point E wrt to point O" | |
| p_o_e = l['point_e'].pos_from(l['point_o']) | |
| v_e_f = l['point_e'].vel(l['frame_f']) | |
| a_e_f = l['point_e'].acc(l['frame_f']) | |
| # NOTE : The Autolev outputs above were manually transformed into | |
| # equivalent SymPy physics vector expressions. Would be nice to automate | |
| # this transformation. | |
| expected_w_c_f = (l['fd'].diff()*l['frame_f'].x + | |
| cos(l['fd'])*l['dc'].diff()*l['frame_f'].y + | |
| sin(l['fd'])*l['dc'].diff()*l['frame_f'].z) | |
| assert (w_c_f - expected_w_c_f).simplify() == 0 | |
| expected_p_o_e = (-l['l']*cos(l['dc'])*l['frame_d'].x + | |
| l['r']*l['frame_d'].y + | |
| l['l']*sin(l['dc'])*l['frame_d'].z) | |
| assert (p_o_e - expected_p_o_e).simplify() == 0 | |
| expected_v_e_f = (l['l']*sin(l['dc'])*l['dc'].diff()*l['frame_d'].x - | |
| l['l']*sin(l['dc'])*l['fd'].diff()*l['frame_d'].y + | |
| (l['r']*l['fd'].diff() + | |
| l['l']*cos(l['dc'])*l['dc'].diff())*l['frame_d'].z) | |
| assert (v_e_f - expected_v_e_f).simplify() == 0 | |
| expected_a_e_f = (l['l']*(cos(l['dc'])*l['dc'].diff()**2 + | |
| sin(l['dc'])*l['dc'].diff().diff())*l['frame_d'].x + | |
| (-l['r']*l['fd'].diff()**2 - | |
| 2*l['l']*cos(l['dc'])*l['dc'].diff()*l['fd'].diff() - | |
| l['l']*sin(l['dc'])*l['fd'].diff().diff())*l['frame_d'].y + | |
| (l['r']*l['fd'].diff().diff() + | |
| l['l']*cos(l['dc'])*l['dc'].diff().diff() - | |
| l['l']*sin(l['dc'])*l['dc'].diff()**2 - | |
| l['l']*sin(l['dc'])*l['fd'].diff()**2)*l['frame_d'].z) | |
| assert (a_e_f - expected_a_e_f).simplify() == 0 | |