Start creating tests of AIModel code

First test just creates the manager, and ensures the user aircraft
updates in sync with the real aircraft.

src/AIModel/AIAircraft.cxx

@@ -53,11 +53,10 @@ using std::endl;
 
 //#include <Airports/trafficcontroller.hxx>
 
-FGAIAircraft::FGAIAircraft(FGAISchedule *ref) :
+FGAIAircraft::FGAIAircraft(FGAISchedule* ref) : /* HOT must be disabled for AI Aircraft,
-     /* HOT must be disabled for AI Aircraft,
       * otherwise traffic detection isn't working as expected.*/
-    FGAIBaseAircraft(),
+                                                FGAIBaseAircraft(),
-    _performance(0)
+                                                _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

src/AIModel/AIBase.hxx

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

src/AIModel/performancedata.cxx

@@ -1,7 +1,5 @@
 
-#ifdef HAVE_CONFIG_H
+#include "config.h"
-#  include "config.h"
-#endif
 
 #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)
 {

src/AIModel/performancedata.hxx

@@ -1,9 +1,6 @@
 #ifndef PERFORMANCEDATA_HXX
 #define PERFORMANCEDATA_HXX
 
-#include <string>
-#include <map>
-
 class FGAIAircraft;
 class SGPropertyNode;
 
@@ -21,7 +18,7 @@ public:
   
     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; };
+    double climbRate() const { return _climbRate; };
-    inline double descentRate      () { return _descentRate; };
+    double descentRate() const { return _descentRate; };
-    inline double vRotate          () { return _vRotate; };
+    double vRotate() const { return _vRotate; };
-    inline double maximumBankAngle () { return _maxbank; };
+    double maximumBankAngle() const { return _maxbank; };
-    inline double acceleration     () { return _acceleration; };
+    double acceleration() const { return _acceleration; };
-    inline double deceleration     () { return _deceleration; };
+    double deceleration() const { return _deceleration; };
-    inline double vTaxi            () { return _vTaxi; };
+    double vTaxi() const { return _vTaxi; };
-    inline double vTakeoff         () { return _vTakeOff; };
+    double vTakeoff() const { return _vTakeOff; };
-    inline double vClimb           () { return _vClimb; };
+    double vClimb() const { return _vClimb; };
-    inline double vDescent         () { return _vDescent; };
+    double vDescent() const { return _vDescent; };
-    inline double vApproach        () { return _vApproach; };
+    double vApproach() const { return _vApproach; };
-    inline double vTouchdown       () { return _vTouchdown; };
+    double vTouchdown() const { return _vTouchdown; };
-    inline double vCruise          () { return _vCruise; };
+    double vCruise() const { return _vCruise; };
-    inline double wingSpan         () { return _wingSpan; };
+    double wingSpan() const { return _wingSpan; };
-    inline double wingChord        () { return _wingChord; };
+    double wingChord() const { return _wingChord; };
-    inline double weight           () { return _weight; };
+    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;

src/Aircraft/AircraftPerformance.cxx

@@ -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.
+    return groundSpeedForMach(altitude, M);
-    const double CS = 38.967854 * sqrt(oatKForAltitudeFt(altitude));
-    const double TAS = M * CS;
-    return TAS;
 }
 
 double AircraftPerformance::Bracket::climbTime(int alt1, int alt2) const

src/Aircraft/AircraftPerformance.hxx

@@ -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();
 

test_suite/FGTestApi/TestPilot.cxx

@@ -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"
@@ -43,17 +44,11 @@ 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) {

test_suite/FGTestApi/TestPilot.hxx

@@ -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;
@@ -96,6 +97,8 @@ private:
     SGPropertyNode_ptr _headingProp;
     SGPropertyNode_ptr _speedKnotsProp;
     SGPropertyNode_ptr _verticalFPMProp;
+    SGPropertyNode_ptr _groundspeedKnotsProp;
+    SGPropertyNode_ptr _speedMachProp;
 
     SGPropertyNode_ptr _gpsNode;
     SGPropertyNode_ptr _gpsLegCourse;

test_suite/unit_tests/AI/CMakeLists.txt

@@ -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
+)

test_suite/unit_tests/AI/TestSuite.cxx

@@ -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");

test_suite/unit_tests/AI/test_AIManager.cxx

@@ -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);
+}

test_suite/unit_tests/AI/test_AIManager.hxx

@@ -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();
+};

test_suite/unit_tests/AI/test_traffic.cxx

@@ -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()
+{
+}

test_suite/unit_tests/AI/test_traffic.hxx

@@ -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();
+};

test_suite/unit_tests/CMakeLists.txt

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