Created unit tests for detumble.py

.github/workflows/ci.yaml

@@ -11,8 +11,31 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
-      - uses: psf/black@stable
+      - name: Set up Python
+        uses: actions/setup-python@v5
         with:
-          options: "--check --verbose"
-          src: "./"
-          version: ~= 24.4
+          python-version: '3.x'
+          cache: 'pip'
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -r requirements.txt
+      - name: Test with pytest
+        run: |
+          make fmt
+  test:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.x'
+          cache: 'pip'
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -r requirements.txt
+      - name: Test with pytest
+        run: |
+          make test

.gitignore

@@ -1,4 +1,5 @@
-
+__pycache__/
+.pytest_cache
 .DS_Store
 CircuitPy/.DS_Store
 CircuitPy/FC_Board/.DS_Store

.pre-commit-config.yaml

@@ -6,6 +6,7 @@ repos:
     -   id: end-of-file-fixer
     -   id: check-yaml
     -   id: check-added-large-files
+
 -   repo: https://github.com/psf/black
     rev: 24.4.2
     hooks:

.vscode/settings.json

@@ -0,0 +1,7 @@
+{
+    "python.testing.pytestArgs": [
+        "CircuitPy"
+    ],
+    "python.testing.unittestEnabled": false,
+    "python.testing.pytestEnabled": true
+}

FC_Board/code.py

@@ -4,7 +4,7 @@
 
 """
 Built for the PySquared FC Board
-Version: 2.0.0 
+Version: 2.0.0
 Published: Nov 19, 2024
 """
 

FC_Board/tests/test_detumble.py

@@ -0,0 +1,106 @@
+# After following the necessary steps in README.md, you can use "make test" to run all tests in the unit_tests folder
+# To run this file specifically: cd Tests > cd unit_tests > pytest test_detumble.py
+# pytest test_detumble.py -v displays which tests ran and their respective results (fail or pass)
+# Note: If you encounter a ModuleNotFoundError, try: export PYTHONPATH=<path to this repo>
+
+import pytest
+
+# from Batt_Board import detumble
+import detumble
+
+
+def test_dot_product():
+    # dot_product is only ever called to give the square of mag_field
+    mag_field_vector = (30.0, 45.0, 60.0)
+    result = detumble.dot_product(mag_field_vector, mag_field_vector)
+    assert result == 6525.0  # 30.0*30.0 + 45.0*45.0 + 60.0*60.0 = 6525.0
+
+
+def test_dot_product_negatives():
+    # testing with negative vectors
+    vector1 = (-1, -2, -3)
+    vector2 = (-4, -5, -6)
+    result = detumble.dot_product(vector1, vector2)
+    assert result == 32  # -1*-4 + -2*-5 + -3*-6
+
+
+def test_dot_product_large_val():
+    # testing with large value vectors
+    vector1 = (1e6, 1e6, 1e6)
+    vector2 = (1e6, 1e6, 1e6)
+    result = detumble.dot_product(vector1, vector2)
+    assert result == 3e12  # 1e6*1e6 + 1e6*1e6 + 1e6*1e6 = 3e12
+
+
+def test_dot_product_zero():
+    # testing with zero values
+    vector = (0.0, 0.0, 0.0)
+    result = detumble.dot_product(vector, vector)
+    assert result == 0.0
+
+
+def test_x_product():
+    mag_field_vector = (30.0, 45.0, 60.0)
+    ang_vel_vector = (0.0, 0.02, 0.015)
+    expected_result = [-0.525, 0.45, 0.6]
+    # x_product takes in tuple arguments and returns a list value
+    actual_result = detumble.x_product(
+        mag_field_vector, ang_vel_vector
+    )  # cross product
+    assert pytest.approx(actual_result[0], 0.001) == expected_result[0]
+    assert pytest.approx(actual_result[1], 0.001) == expected_result[1]
+    assert pytest.approx(actual_result[2], 0.001) == expected_result[2]
+    # due to floating point arithmetic, accept answer within 5 places
+
+
+def test_x_product_negatives():
+    mag_field_vector = (-30.0, -45.0, -60.0)
+    ang_vel_vector = (-0.02, -0.02, -0.015)
+    expected_result = [-0.525, -0.75, -0.3]
+    actual_result = detumble.x_product(mag_field_vector, ang_vel_vector)
+    assert pytest.approx(actual_result[0], 0.001) == expected_result[0]
+    assert pytest.approx(actual_result[1], 0.001) == expected_result[1]
+    assert pytest.approx(actual_result[2], 0.001) == expected_result[2]
+
+
+def test_x_product_large_val():
+    mag_field_vector = (1e6, 1e6, 1e6)
+    ang_vel_vector = (1e6, 1e6, 1e6)  # cross product of parallel vector equals 0
+    result = detumble.x_product(mag_field_vector, ang_vel_vector)
+    assert result == [0.0, 0.0, 0.0]
+
+
+def test_x_product_zero():
+    mag_field_vector = (0.0, 0.0, 0.0)
+    ang_vel_vector = (0.0, 0.02, 0.015)
+    result = detumble.x_product(mag_field_vector, ang_vel_vector)
+    assert result == [0.0, 0.0, 0.0]
+
+
+# Bigger context: magnetorquer_dipole() is called by do_detumble() in (FC board) functions.py & (Batt Board) battery_functions.py
+# mag_field: mag. field strength at x, y, & z axis (tuple) (magnetometer reading)
+# ang_vel: ang. vel. at x, y, z axis (tuple) (gyroscope reading)
+def test_magnetorquer_dipole():
+    mag_field = (30.0, -45.0, 60.0)
+    ang_vel = (0.0, 0.02, 0.015)
+    expected_result = [0.023211, -0.00557, -0.007426]
+    actual_result = detumble.magnetorquer_dipole(mag_field, ang_vel)
+    assert pytest.approx(actual_result[0], 0.001) == expected_result[0]
+    assert pytest.approx(actual_result[1], 0.001) == expected_result[1]
+    assert pytest.approx(actual_result[2], 0.001) == expected_result[2]
+
+
+def test_magnetorquer_dipole_zero_mag_field():
+    # testing throwing of exception when mag_field = 0 (division by 0)
+    mag_field = (0.0, 0.0, 0.0)
+    ang_vel = (0.0, 0.02, 0.015)
+    with pytest.raises(ZeroDivisionError):
+        detumble.magnetorquer_dipole(mag_field, ang_vel)
+
+
+def test_magnetorquer_dipole_zero_ang_vel():
+    # testing ang_vel with zero value
+    mag_field = (30.0, -45.0, 60.0)
+    ang_vel = (0.0, 0.0, 0.0)
+    result = detumble.magnetorquer_dipole(mag_field, ang_vel)
+    assert result == [0.0, 0.0, 0.0]

Makefile

@@ -0,0 +1,7 @@
+.PHONY: fmt
+fmt:
+	pre-commit run --all-files
+
+.PHONY: test
+test:
+	pytest FC_Board/tests

README.md

@@ -18,7 +18,7 @@ For CircuitPython load new software by doing the following:
   import storage
   storage.erase_filesystem()
   ```
-4. The target board will now disappear and remount. Once remounted, copy and paste the contents of the flight software folder for the target board from your GitHub repo.
+4. The target board will now disappear and remount. Once remounted copy and paste the contents of the flight software folder for the target board from your GitHub repo.
 5. When the new files are onboard you can verify that all the hardware on the board is working properly by opening a serial connection and typing one of the two following commands:
 
 __For Flight Controller Board__
@@ -43,10 +43,12 @@ We have a few python tools to make development safer, easier, and more consisten
 Everytime you make a change in git, it's called a commit. We have a tool called a precommit hook that will run before you make each commit to ensure your code is safe and formatted correctly.
 
 To install the precommit hook:
+
 1. Install the precommit hook with `pre-commit install`
 
 To run the precommit hook:
-1. Run the precomit hook against all files with `pre-commit run --all-files`
+
+1. Run the precommit hook against all files with `make fmt`
 
 ## General Structure:
 - **boot.py** This is the code that runs on boot and initializes the stack limit
@@ -79,3 +81,8 @@ This software contains all of the libraries required to operate the sensors, pys
 - **pysquared_rfm9x.py** This is a library that implements all the radio hardware. This code is a modified version of the pycubed_rfm9x which is a modified version of the adafruit_rfm9x file.
 ## tests
 This software is used for performing tests on the satellite
+
+## Testing setup
+
+1. Follow the steps to set up your venv and install packages in the linting setup
+2. Run tests with `make test`

requirements.txt

@@ -4,13 +4,17 @@ click==8.1.7
 distlib==0.3.8
 filelock==3.15.4
 identify==2.6.0
+exceptiongroup==1.2.2
+iniconfig==2.0.0
 mypy-extensions==1.0.0
 nodeenv==1.9.1
 packaging==24.1
 pathspec==0.12.1
 platformdirs==4.2.2
 pre-commit==3.8.0
 PyYAML==6.0.1
+pluggy==1.5.0
+pytest==8.3.2
 tomli==2.0.1
 typing_extensions==4.12.2
 virtualenv==20.26.3