Add controls test (#34)

* Add controls test * updating workflow to run Controls tests on CI * minor update to wecSimAppTest --------- Co-authored-by: kmruehl <[email protected]>
WEC-Sim · Jul 10, 2023 · 1c51d7d · 1c51d7d
1 parent e45ca73
commit 1c51d7d
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Showing 5 changed files with 82 additions and 2 deletions.
diff --git a/.github/workflows/run-tests-dev.yml b/.github/workflows/run-tests-dev.yml
@@ -26,6 +26,7 @@ jobs:
         release: [R2020b, latest]
         folder: [Body-to-Body_Interactions,
                  Cable,
+                 Controls,
                  End_Stops,
                  Free_Decay,
                  Generalized_Body_Modes,

diff --git a/.github/workflows/run-tests-master.yml b/.github/workflows/run-tests-master.yml
@@ -26,6 +26,7 @@ jobs:
         release: [R2020b, latest]
         folder: [Body-to-Body_Interactions,
                  Cable,
+                 Controls,                 
                  End_Stops,
                  Free_Decay,
                  Generalized_Body_Modes,

diff --git a/Controls/MPC/wecSimInputFile.m b/Controls/MPC/wecSimInputFile.m
@@ -41,13 +41,13 @@
 controller(1).modelPredictiveControl.maxPTOForceChange = 1.5e6;             % (`float`) Maximum Change in PTO Force (N/s)
 controller(1).modelPredictiveControl.maxPos = 4;                            % (`float`) Maximum Position (m)
 controller(1).modelPredictiveControl.maxVel = 3;                            % (`float`) Maximum Velocity (m/s)
-controller(1).modelPredictiveControl.rScale = 4e-8;                         % (`float`) Scale for penalizing PTO force rate of change
+controller(1).modelPredictiveControl.rScale = 1e-7;                         % (`float`) Scale for penalizing PTO force rate of change
 controller(1).modelPredictiveControl.Ho = 200;                              % (`float`) Number of timesteps before MPC begins
 controller(1).modelPredictiveControl.predictionHorizon = 15;                % (`float`) Future time period predicted by plant model (s)
 controller(1).modelPredictiveControl.coeffFile = 'coeff.mat';               % (`string`) File containing frequnecy dependent coeffcients
 controller(1).modelPredictiveControl.plantFile = 'makePlantModel.m';        % (`string`) File used to create plant model
 controller(1).modelPredictiveControl.predictFile = 'makePredictiveModel.m'; % (`string`) File used to create prediction model
-controller(1).modelPredictiveControl.dt = 0.25;                              % (`float`) Timestep in which MPC is applied (s)
+controller(1).modelPredictiveControl.dt = 0.5;                              % (`float`) Timestep in which MPC is applied (s)
 controller(1).modelPredictiveControl.order = 4;                             % (`float`) Order of the plant model
 controller(1).modelPredictiveControl.yLen = 3;                              % (`float`) Length of the output variable
 

diff --git a/Controls/TestControls.m b/Controls/TestControls.m
@@ -0,0 +1,74 @@
+classdef TestControls < matlab.unittest.TestCase
+
+    properties
+        OriginalDefault
+        testDir
+        h5Dir = "hydroData"
+        h5Name = 'sphere.h5'
+        outName = 'sphere.out'
+    end    
+
+    methods (Access = 'public')        
+        function obj = TestControls
+            obj.testDir = fileparts(mfilename('fullpath'));
+        end    
+    end
+
+    methods (TestMethodSetup)
+        function killPlots (~)
+            set(0,'DefaultFigureVisible','off');
+        end
+    end
+
+    methods(TestClassSetup)
+        function captureVisibility(testCase)
+            testCase.OriginalDefault = get(0,'DefaultFigureVisible');
+        end
+        function runBemio(testCase)
+            cd(testCase.h5Dir);
+            if isfile(testCase.h5Name)
+                fprintf('runBemio skipped, *.h5 already exists\n')
+            else
+                bemio
+            end
+            cd(testCase.testDir)
+        end        
+    end
+
+    methods(TestMethodTeardown)
+        function returnHome(testCase)
+            cd(testCase.testDir)
+        end
+    end
+
+    methods(TestClassTeardown)        
+        function checkVisibilityRestored(testCase)
+            set(0,'DefaultFigureVisible',testCase.OriginalDefault);
+            testCase.assertEqual(get(0,'DefaultFigureVisible'),     ...
+                                 testCase.OriginalDefault);
+        end        
+    end
+
+    methods(Test)        
+        function testPassive(testCase)
+            cd('Passive (P)')
+            wecSim
+        end        
+        function testReactive(testCase)
+            cd('Reactive (PI)')
+            wecSim
+        end        
+        function testLatching(testCase)
+            cd('Latching')
+            wecSim
+        end        
+        function testDeclutching(testCase)
+            cd('Declutching')
+            wecSim
+        end        
+        function testMPC(testCase)
+            cd('MPC')
+            wecSim
+        end        
+    end    
+end
diff --git a/wecSimAppTest.m b/wecSimAppTest.m
@@ -27,6 +27,10 @@
     %   results = wecSimAppTest(testsPath)
     %        returns a matlab.unittest.TestResult object for the tests 
     %        located under the given path    
+    %
+    %   runtests <testDirectory>
+    %       runs a specific test directory (e.g., Controls)
+    %
     %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
     arguments
         testsPath string = "."