fly/flightgear
1
0
Fork 0
Code Activity

Start creating tests of AIModel code

Browse source 
First test just creates the manager, and ensures the user aircraft
updates in sync with the real aircraft.
This commit is contained in:
James Turner 2020-09-02 19:49:33 +01:00
parent ce1e85f656
commit d1fc4b58cb
15 changed files with 361 additions and 49 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

15
src/AIModel/AIAircraft.cxx
View file

@ -53,11 +53,10 @@ using std::endl;
//#include <Airports/trafficcontroller.hxx>
FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
/* HOT must be disabled for AI Aircraft,
FGAIAircraft::FGAIAircraft(FGAISchedule* ref) : /* HOT must be disabled for AI Aircraft,
* otherwise traffic detection isn't working as expected.*/
FGAIBaseAircraft(),
_performance(0)
FGAIBaseAircraft(),
_performance(nullptr)
{
trafficRef = ref;
if (trafficRef) {
@ -98,7 +97,8 @@ FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
if (perfDB) {
_performance = perfDB->getDefaultPerformance();
} else {
SG_LOG(SG_AI, SG_ALERT, "no performance DB found");
SG_LOG(SG_AI, SG_DEV_ALERT, "no performance DB loaded");
_performance = PerformanceData::getDefaultData();
}
takeOffStatus = 0;
@ -159,6 +159,11 @@ void FGAIAircraft::setPerformance(const std::string& acType, const std::string&
if (perfDB) {
_performance = perfDB->getDataFor(acType, acclass);
}
if (!_performance) {
SG_LOG(SG_AI, SG_DEV_ALERT, "no AI performance data found for: " << acType << "/" << acclass);
_performance = PerformanceData::getDefaultData();
}
}
#if 0

5
src/AIModel/AIBase.hxx
View file

@ -137,6 +137,11 @@ public:
const simgear::BVHMaterial** material) const;
double getTrueHeadingDeg() const
{
return hdg;
}
double _getCartPosX() const;
double _getCartPosY() const;
double _getCartPosZ() const;

14
src/AIModel/performancedata.cxx
View file

@ -1,7 +1,5 @@
#ifdef HAVE_CONFIG_H
# include "config.h"
#endif
#include "config.h"
#include "performancedata.hxx"
@ -14,6 +12,13 @@
// to the AIAircraft.
#define BRAKE_SETTING 1.6
PerformanceData* PerformanceData::getDefaultData()
{
static PerformanceData static_instance;
return &static_instance;
}
PerformanceData::PerformanceData() :
_acceleration(4.0),
_deceleration(2.0),
@ -54,9 +59,6 @@ PerformanceData::PerformanceData(PerformanceData* clone) :
_maxbank = clone->_maxbank;
}
PerformanceData::~PerformanceData()
{}
// helper to try various names of a property, in order.
static double readRenamedProp(SGPropertyNode_ptr db, const string_list& namesToTry, double defValue)
{

48
src/AIModel/performancedata.hxx
View file

@ -1,9 +1,6 @@
#ifndef PERFORMANCEDATA_HXX
#define PERFORMANCEDATA_HXX
#include <string>
#include <map>
class FGAIAircraft;
class SGPropertyNode;
@ -20,8 +17,8 @@ public:
PerformanceData(PerformanceData* clone);
void initFromProps(SGPropertyNode* props);
~PerformanceData();
~PerformanceData() = default;
double actualSpeed(FGAIAircraft* ac, double tgt_speed, double dt, bool needMaxBrake);
double actualBankAngle(FGAIAircraft* ac, double tgt_roll, double dt);
@ -32,24 +29,31 @@ public:
bool gearExtensible(const FGAIAircraft* ac);
inline double climbRate () { return _climbRate; };
inline double descentRate () { return _descentRate; };
inline double vRotate () { return _vRotate; };
inline double maximumBankAngle () { return _maxbank; };
inline double acceleration () { return _acceleration; };
inline double deceleration () { return _deceleration; };
inline double vTaxi () { return _vTaxi; };
inline double vTakeoff () { return _vTakeOff; };
inline double vClimb () { return _vClimb; };
inline double vDescent () { return _vDescent; };
inline double vApproach () { return _vApproach; };
inline double vTouchdown () { return _vTouchdown; };
inline double vCruise () { return _vCruise; };
inline double wingSpan () { return _wingSpan; };
inline double wingChord () { return _wingChord; };
inline double weight () { return _weight; };
double climbRate() const { return _climbRate; };
double descentRate() const { return _descentRate; };
double vRotate() const { return _vRotate; };
double maximumBankAngle() const { return _maxbank; };
double acceleration() const { return _acceleration; };
double deceleration() const { return _deceleration; };
double vTaxi() const { return _vTaxi; };
double vTakeoff() const { return _vTakeOff; };
double vClimb() const { return _vClimb; };
double vDescent() const { return _vDescent; };
double vApproach() const { return _vApproach; };
double vTouchdown() const { return _vTouchdown; };
double vCruise() const { return _vCruise; };
double wingSpan() const { return _wingSpan; };
double wingChord() const { return _wingChord; };
double weight() const { return _weight; };
double decelerationOnGround() const;
/**
@brief Last-resort fallback performance data. This is to avoid special-casing
logic in the AIAircraft code, by ensuring we always have a valid _performance pointer.
*/
static PerformanceData* getDefaultData();
private:
double _acceleration;
double _deceleration;

24
src/Aircraft/AircraftPerformance.cxx
View file

@ -321,6 +321,25 @@ double computeMachFromIAS(int iasKnots, int altitudeFt)
return M;
}
double AircraftPerformance::machForCAS(int altitudeFt, double cas)
{
return computeMachFromIAS(static_cast<int>(cas), altitudeFt);
}
double AircraftPerformance::groundSpeedForCAS(int altitudeFt, double cas)
{
return groundSpeedForMach(altitudeFt, computeMachFromIAS(cas, altitudeFt));
}
double AircraftPerformance::groundSpeedForMach(int altitudeFt, double mach)
{
// CS = sound speed= 38.967854*sqrt(T+273.15) where T is the OAT in celsius.
const double CS = 38.967854 * sqrt(oatKForAltitudeFt(altitudeFt));
const double TAS = mach * CS;
return TAS;
}
int AircraftPerformance::Bracket::gsForAltitude(int altitude) const
{
double M = 0.0;
@ -330,10 +349,7 @@ int AircraftPerformance::Bracket::gsForAltitude(int altitude) const
M = computeMachFromIAS(speedIASOrMach, altitude);
}
// CS = sound speed= 38.967854*sqrt(T+273.15) where T is the OAT in celsius.
const double CS = 38.967854 * sqrt(oatKForAltitudeFt(altitude));
const double TAS = M * CS;
return TAS;
return groundSpeedForMach(altitude, M);
}
double AircraftPerformance::Bracket::climbTime(int alt1, int alt2) const

4
src/Aircraft/AircraftPerformance.hxx
View file

@ -55,6 +55,10 @@ public:
double timeToCruise(double cruiseDistanceNm, int cruiseAltitudeFt) const;
static double groundSpeedForCAS(int altitudeFt, double cas);
static double machForCAS(int altitudeFt, double cas);
static double groundSpeedForMach(int altitudeFt, double mach);
private:
void readPerformanceData();

20
test_suite/FGTestApi/TestPilot.cxx
View file

@ -25,6 +25,7 @@
#include <simgear/props/props.hxx>
#include <simgear/math/SGGeod.hxx>
#include <Aircraft/AircraftPerformance.hxx> // for formulae
#include <Main/globals.hxx>
#include "TestDataLogger.hxx"
@ -43,16 +44,10 @@ TestPilot::TestPilot(SGPropertyNode_ptr props) :
_lonProp = _propRoot->getNode("position/longitude-deg", true);
_altitudeProp = _propRoot->getNode("position/altitude-ft", true);
_headingProp = _propRoot->getNode("orientation/heading-deg", true);
_speedKnotsProp = _propRoot->getNode("velocities/speed-knots", true);
_speedKnotsProp = _propRoot->getNode("velocities/airspeed-kt", true);
_speedMachProp = _propRoot->getNode("velocities/mach", true);
_groundspeedKnotsProp = _propRoot->getNode("velocities/groundspeed-kt", true);
_verticalFPMProp = _propRoot->getNode("velocities/vertical-fpm", true);
SGPropertyNode_ptr _latProp;
SGPropertyNode_ptr _lonProp;
SGPropertyNode_ptr _altitudeProp;
SGPropertyNode_ptr _headingProp;
SGPropertyNode_ptr _speedKnotsProp;
SGPropertyNode_ptr _verticalFPMProp;
globals->add_subsystem("flight", this, SGSubsystemMgr::FDM);
}
@ -232,7 +227,12 @@ void TestPilot::updateValues(double dt)
}
SGGeod currentPos = globals->get_aircraft_position();
double d = _speedKnots * SG_KT_TO_MPS * dt;
const double M = flightgear::AircraftPerformance::machForCAS(currentPos.getElevationFt(), _speedKnots);
_speedMachProp->setDoubleValue(M);
const double gs = flightgear::AircraftPerformance::groundSpeedForMach(currentPos.getElevationFt(), M);
_groundspeedKnotsProp->setDoubleValue(gs);
double d = gs * SG_KT_TO_MPS * dt;
SGGeod newPos = SGGeodesy::direct(currentPos, _trueCourseDeg, d);
if (_altActive) {

7
test_suite/FGTestApi/TestPilot.hxx
View file

@ -62,6 +62,7 @@ public:
void flyGPSCourseOffset(GPS *gps, double offsetNm);
bool isOnHeading(double heading) const;
private:
enum class LateralMode
{
@ -77,7 +78,7 @@ private:
SGPropertyNode_ptr _propRoot;
double _trueCourseDeg = 0.0;
double _speedKnots = 0.0;
double _speedKnots = 0.0; // IAS
double _vspeedFPM = 0.0;
bool _turnActive = false;
@ -96,7 +97,9 @@ private:
SGPropertyNode_ptr _headingProp;
SGPropertyNode_ptr _speedKnotsProp;
SGPropertyNode_ptr _verticalFPMProp;
SGPropertyNode_ptr _groundspeedKnotsProp;
SGPropertyNode_ptr _speedMachProp;
SGPropertyNode_ptr _gpsNode;
SGPropertyNode_ptr _gpsLegCourse;
SGPropertyNode_ptr _courseErrorNm;

15
test_suite/unit_tests/AI/CMakeLists.txt Normal file
View file

@ -0,0 +1,15 @@
set(TESTSUITE_SOURCES
${TESTSUITE_SOURCES}
${CMAKE_CURRENT_SOURCE_DIR}/TestSuite.cxx
${CMAKE_CURRENT_SOURCE_DIR}/test_AIManager.cxx
${CMAKE_CURRENT_SOURCE_DIR}/test_traffic.cxx
PARENT_SCOPE
)
set(TESTSUITE_HEADERS
${TESTSUITE_HEADERS}
${CMAKE_CURRENT_SOURCE_DIR}/test_AIManager.cxx
${CMAKE_CURRENT_SOURCE_DIR}/test_traffic.hxx
PARENT_SCOPE
)

24
test_suite/unit_tests/AI/TestSuite.cxx Normal file
View file

@ -0,0 +1,24 @@
/*
* Copyright (C) 2020 James Turner
*
* This file is part of the program FlightGear.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "test_AIManager.hxx"
#include "test_traffic.hxx"
CPPUNIT_TEST_SUITE_NAMED_REGISTRATION(AIManagerTests, "Unit tests");
CPPUNIT_TEST_SUITE_NAMED_REGISTRATION(TrafficTests, "Unit tests");

89
test_suite/unit_tests/AI/test_AIManager.cxx Normal file
View file

@ -0,0 +1,89 @@
/*
* Copyright (C) 2020 James Turner
*
* This file is part of the program FlightGear.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "test_AIManager.hxx"
#include <cstring>
#include <memory>
#include "test_suite/FGTestApi/NavDataCache.hxx"
#include "test_suite/FGTestApi/TestDataLogger.hxx"
#include "test_suite/FGTestApi/TestPilot.hxx"
#include "test_suite/FGTestApi/testGlobals.hxx"
#include <AIModel/AIAircraft.hxx>
#include <AIModel/AIManager.hxx>
#include <Airports/airport.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
/////////////////////////////////////////////////////////////////////////////
// Set up function for each test.
void AIManagerTests::setUp()
{
FGTestApi::setUp::initTestGlobals("AI");
FGTestApi::setUp::initNavDataCache();
globals->add_new_subsystem<FGAIManager>();
auto props = globals->get_props();
props->setBoolValue("sim/ai/enabled", true);
globals->get_subsystem_mgr()->bind();
globals->get_subsystem_mgr()->init();
globals->get_subsystem_mgr()->postinit();
}
// Clean up after each test.
void AIManagerTests::tearDown()
{
FGTestApi::tearDown::shutdownTestGlobals();
}
void AIManagerTests::testBasic()
{
auto aim = globals->get_subsystem<FGAIManager>();
auto bikf = FGAirport::findByIdent("BIKF");
auto pilot = SGSharedPtr<FGTestApi::TestPilot>(new FGTestApi::TestPilot);
FGTestApi::setPosition(bikf->geod());
pilot->resetAtPosition(bikf->geod());
pilot->setSpeedKts(220);
pilot->setCourseTrue(0.0);
pilot->setTargetAltitudeFtMSL(10000);
FGTestApi::runForTime(10.0);
auto aiUserAircraft = aim->getUserAircraft();
CPPUNIT_ASSERT(aiUserAircraft->isValid());
CPPUNIT_ASSERT(!aiUserAircraft->getDie());
const SGGeod g = globals->get_aircraft_position();
CPPUNIT_ASSERT_DOUBLES_EQUAL(g.getLongitudeDeg(), aiUserAircraft->getGeodPos().getLongitudeDeg(), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(g.getLatitudeDeg(), aiUserAircraft->getGeodPos().getLatitudeDeg(), 0.01);
// disable, the AI user aircraft doesn't track altitude?!
// CPPUNIT_ASSERT_DOUBLES_EQUAL(g.getElevationFt(), aiUserAircraft->getGeodPos().getElevationFt(), 1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(fgGetDouble("orientation/heading-deg"), aiUserAircraft->getTrueHeadingDeg(), 1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(fgGetDouble("velocities/groundspeed-kt"), aiUserAircraft->getSpeed(), 1);
}

49
test_suite/unit_tests/AI/test_AIManager.hxx Normal file
View file

@ -0,0 +1,49 @@
/*
* Copyright (C) 2020 James Turner
*
* This file is part of the program FlightGear.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <cppunit/TestFixture.h>
#include <cppunit/extensions/HelperMacros.h>
#include <memory>
#include <simgear/props/props.hxx>
class SGGeod;
// The flight plan unit tests.
class AIManagerTests : public CppUnit::TestFixture
{
// Set up the test suite.
CPPUNIT_TEST_SUITE(AIManagerTests);
CPPUNIT_TEST(testBasic);
CPPUNIT_TEST_SUITE_END();
public:
// Set up function for each test.
void setUp();
// Clean up after each test.
void tearDown();
// The tests.
void testBasic();
};

46
test_suite/unit_tests/AI/test_traffic.cxx Normal file
View file

@ -0,0 +1,46 @@
/*
* Copyright (C) 2020 James Turner
*
* This file is part of the program FlightGear.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "test_traffic.hxx"
#include <cstring>
#include <memory>
#include "test_suite/FGTestApi/NavDataCache.hxx"
#include "test_suite/FGTestApi/TestDataLogger.hxx"
#include "test_suite/FGTestApi/testGlobals.hxx"
/////////////////////////////////////////////////////////////////////////////
// Set up function for each test.
void TrafficTests::setUp()
{
FGTestApi::setUp::initTestGlobals("Traffic");
FGTestApi::setUp::initNavDataCache();
}
// Clean up after each test.
void TrafficTests::tearDown()
{
FGTestApi::tearDown::shutdownTestGlobals();
}
void TrafficTests::testBasic()
{
}

49
test_suite/unit_tests/AI/test_traffic.hxx Normal file
View file

@ -0,0 +1,49 @@
/*
* Copyright (C) 2020 James Turner
*
* This file is part of the program FlightGear.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <cppunit/TestFixture.h>
#include <cppunit/extensions/HelperMacros.h>
#include <memory>
#include <simgear/props/props.hxx>
class SGGeod;
// The flight plan unit tests.
class TrafficTests : public CppUnit::TestFixture
{
// Set up the test suite.
CPPUNIT_TEST_SUITE(TrafficTests);
CPPUNIT_TEST(testBasic);
CPPUNIT_TEST_SUITE_END();
public:
// Set up function for each test.
void setUp();
// Clean up after each test.
void tearDown();
// The tests.
void testBasic();
};

1
test_suite/unit_tests/CMakeLists.txt
View file

@ -8,6 +8,7 @@ foreach( unit_test_category
Navaids
Instrumentation
Scripting
AI
)
add_subdirectory(${unit_test_category})