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flightgear/test_suite/unit_tests/AI/test_submodels.cxx
Colin Geniet 9008b3194f AI: Fix unit problems for AIBase::vs 
It was supposed to be in ft/min, but everything except AIAircraft was
using it as ft/sec. Change the name to AIBase::vs_fps and ensure the
same unit is used everywhere.
2021-02-11 09:27:36 +00:00

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/*
* Copyright (C) 2021 Colin Geniet
*
* 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_submodels.hxx"
#include "test_suite/FGTestApi/NavDataCache.hxx"
#include "test_suite/FGTestApi/TestPilot.hxx"
#include "test_suite/FGTestApi/testGlobals.hxx"
#include <AIModel/AIAircraft.hxx>
#include <AIModel/AIManager.hxx>
#include <AIModel/submodel.hxx>
#include <Airports/airport.hxx>
#include <Main/fg_props.hxx>
#include <Main/globals.hxx>
#include <cmath>
using std::string;
/////////////////////////////////////////////////////////////////////////////
// Set up function for each test.
void SubmodelsTests::setUp()
{
FGTestApi::setUp::initTestGlobals("Submodels");
FGTestApi::setUp::initNavDataCache();
globals->append_aircraft_path(SGPath::fromUtf8(FG_TEST_SUITE_DATA) / "Aircraft");
auto props = globals->get_props();
props->setBoolValue("sim/ai/enabled", true);
props->setStringValue("sim/submodels/path", "Aircraft/Test/submodels.xml");
globals->add_new_subsystem<FGAIManager>();
globals->add_new_subsystem<FGSubmodelMgr>();
globals->get_subsystem_mgr()->bind();
globals->get_subsystem_mgr()->init();
globals->get_subsystem_mgr()->postinit();
}
// Clean up after each test.
void SubmodelsTests::tearDown()
{
FGTestApi::tearDown::shutdownTestGlobals();
}
void SubmodelsTests::testLoadXML()
{
auto props = globals->get_props();
auto sm_node = props->getNode("ai/submodels");
CPPUNIT_ASSERT(sm_node->hasChild("submodel", 0));
sm_node = sm_node->getChild("submodel", 0);
CPPUNIT_ASSERT_EQUAL(string{"testLoadXML"}, static_cast<string>(sm_node->getStringValue("name")));
CPPUNIT_ASSERT_EQUAL(0, sm_node->getIntValue("id"));
CPPUNIT_ASSERT_EQUAL(42, sm_node->getIntValue("count"));
CPPUNIT_ASSERT(sm_node->getBoolValue("serviceable"));
}
FGAIBase* SubmodelsTests::findAIModel(std::string &name) {
auto ai_list = globals->get_subsystem<FGAIManager>()->get_ai_list();
auto filter = [name](FGAIBase *model) { return model->_getName() == name; };
return *std::find_if(ai_list.begin(), ai_list.end(), filter);
}
int SubmodelsTests::countAIModels(std::string &name) {
auto ai_list = globals->get_subsystem<FGAIManager>()->get_ai_list();
auto filter = [name](FGAIBase *model) { return model->_getName() == name; };
return static_cast<int>(std::count_if(ai_list.begin(), ai_list.end(), filter));
}
void SubmodelsTests::testRelease()
{
auto props = globals->get_props();
auto sm_node = props->getNode("ai/submodels/submodel[1]");
std::string name = sm_node->getStringValue("name");
// Setup reasonable flight conditions.
auto bikf = FGAirport::findByIdent("BIKF");
auto pilot = SGSharedPtr<FGTestApi::TestPilot>(new FGTestApi::TestPilot);
FGTestApi::setPosition(bikf->geod());
pilot->resetAtPosition(bikf->geod());
pilot->setSpeedKts(0);
pilot->setCourseTrue(0.0);
pilot->setTargetAltitudeFtMSL(0);
// Sanity check
CPPUNIT_ASSERT_EQUAL(0, countAIModels(name));
// Don't release anything
FGTestApi::runForTime(10.0);
CPPUNIT_ASSERT_EQUAL(0, countAIModels(name));
// Release submodel
sm_node->setBoolValue("trigger", true);
FGTestApi::runForTime(1);
sm_node->setBoolValue("trigger", false);
FGTestApi::runForTime(1);
CPPUNIT_ASSERT_EQUAL(1, countAIModels(name));
// Check validity
auto sm = findAIModel(name);
CPPUNIT_ASSERT(sm->isValid());
CPPUNIT_ASSERT(!sm->getDie());
// Second time
sm_node->setBoolValue("trigger", true);
FGTestApi::runForTime(5);
sm_node->setBoolValue("trigger", false);
FGTestApi::runForTime(1);
CPPUNIT_ASSERT_EQUAL(2, countAIModels(name));
// Let submodels expire
FGTestApi::runForTime(20);
CPPUNIT_ASSERT_EQUAL(0, countAIModels(name));
// Switch to repeat release
sm_node->setBoolValue("repeat", true);
sm_node->setBoolValue("trigger", true);
FGTestApi::runForTime(4.2); // release interval is 1s
sm_node->setBoolValue("trigger", false);
CPPUNIT_ASSERT_EQUAL(4, countAIModels(name));
// Let submodels expire
FGTestApi::runForTime(20);
CPPUNIT_ASSERT_EQUAL(0, countAIModels(name));
// In repeat mode, release timer persists when trigger is false.
// Currently it is at ~0.2s, so this must not release anything.
sm_node->setBoolValue("trigger", true);
FGTestApi::runForTime(0.5);
sm_node->setBoolValue("trigger", false);
CPPUNIT_ASSERT_EQUAL(0, countAIModels(name));
// Set limited count
sm_node->setIntValue("count", 3);
sm_node->setBoolValue("trigger", true);
FGTestApi::runForTime(1);
CPPUNIT_ASSERT_EQUAL(2, sm_node->getIntValue("count"));
CPPUNIT_ASSERT_EQUAL(1, countAIModels(name));
FGTestApi::runForTime(5);
CPPUNIT_ASSERT_EQUAL(0, sm_node->getIntValue("count"));
CPPUNIT_ASSERT_EQUAL(3, countAIModels(name));
}
void SubmodelsTests::testInitialState()
{
auto props = globals->get_props();
auto sm_node = props->getNode("ai/submodels/submodel[2]");
std::string name = sm_node->getStringValue("name");
// Submodel parameters
double x_offset = 10, y_offset = 6, z_offset = 1, yaw_offset = 30, pitch_offset = 50, speed = 100;
// Setup reasonable flight conditions.
auto bikf = FGAirport::findByIdent("BIKF");
auto pilot = SGSharedPtr<FGTestApi::TestPilot>(new FGTestApi::TestPilot);
FGTestApi::setPosition(bikf->geod());
pilot->resetAtPosition(bikf->geod());
pilot->setSpeedKts(0);
pilot->setCourseTrue(90);
pilot->setTargetAltitudeFtMSL(0);
props->setDoubleValue("/orientation/pitch-deg", 0);
props->setDoubleValue("/orientation/roll-deg", 0);
FGTestApi::runForTime(1);
sm_node->setBoolValue("trigger", true);
// Run update loop with dt=0 to capture initial state.
globals->get_subsystem<FGSubmodelMgr>()->update(0);
globals->get_subsystem<FGAIManager>()->update(0);
sm_node->setBoolValue("trigger", false);
CPPUNIT_ASSERT_EQUAL(1, countAIModels(name));
auto sm = findAIModel(name);
auto sm_pos = sm->getCartPos();
auto ac_pos = globals->get_aircraft_position_cart(); //ac->getCartPosAt(SGVec3d(0, 0, 0));
double heading, pitch, roll;
globals->get_aircraft_orientation(heading, pitch, roll);
CPPUNIT_ASSERT_DOUBLES_EQUAL(90, heading, 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0, pitch, 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(0, roll, 0.1);
// Submodel release point
// Submodels offsets are in x-back,y-right,z-up frame.
// Computation is in x-forward,y-irght,z-down frame.
SGVec3d offset(-x_offset, y_offset, -z_offset);
SGQuatd local_frame_rotation = SGQuatd::fromLonLat(globals->get_aircraft_position());
local_frame_rotation *= SGQuatd::fromYawPitchRollDeg(heading, pitch, roll);
offset = local_frame_rotation.backTransform(offset);
auto release_pos = ac_pos + offset;
CPPUNIT_ASSERT_DOUBLES_EQUAL(release_pos.x(), sm_pos.x(), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(release_pos.y(), sm_pos.y(), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(release_pos.z(), sm_pos.z(), 0.01);
CPPUNIT_ASSERT_DOUBLES_EQUAL(remainder(heading + yaw_offset, 360), remainder(sm->getTrueHeadingDeg(), 360), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(pitch + pitch_offset, sm->_getPitch(), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(speed, sm->_getSpeed() * SG_KT_TO_FPS, 0.1);
// Let submodels expire
FGTestApi::runForTime(20);
CPPUNIT_ASSERT_EQUAL(0, countAIModels(name));
// Second test for velocities
double speed_east = 100, wind_north = 20;
pilot->setSpeedKts(100 * SG_FPS_TO_KT);
props->setDoubleValue("/orientation/pitch-deg", 0);
props->setDoubleValue("/orientation/roll-deg", 0);
props->setDoubleValue("/velocities/speed-north-fps", 0);
props->setDoubleValue("/velocities/speed-east-fps", speed_east);
props->setDoubleValue("/velocities/speed-down-fps", 0);
props->setDoubleValue("/environment/wind-from-north-fps", wind_north);
props->setDoubleValue("/environment/wind-from-east-fps", 0);
FGTestApi::runForTime(1);
sm_node->setBoolValue("trigger", true);
// Run update loop with dt=0 to capture initial state.
globals->get_subsystem<FGSubmodelMgr>()->update(0);
globals->get_subsystem<FGAIManager>()->update(0);
sm_node->setBoolValue("trigger", false);
CPPUNIT_ASSERT_EQUAL(1, countAIModels(name));
sm = findAIModel(name);
// Check initial speeds.
// _get_speed_*_fps gives airspeed for submodels, which initially must be the vector
// parent_ground_velocity + opposed_wind_velocity + submodel_launch_velocity
CPPUNIT_ASSERT_DOUBLES_EQUAL(cos((heading + yaw_offset) * SG_DEGREES_TO_RADIANS)
* cos((pitch + pitch_offset) * SG_DEGREES_TO_RADIANS)
* speed
+ wind_north,
sm->_get_speed_north_fps(), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(sin((heading + yaw_offset) * SG_DEGREES_TO_RADIANS)
* cos((pitch + pitch_offset) * SG_DEGREES_TO_RADIANS)
* speed
+ speed_east,
sm->_get_speed_east_fps(), 0.1);
CPPUNIT_ASSERT_DOUBLES_EQUAL(sin((pitch + pitch_offset) * SG_DEGREES_TO_RADIANS) * speed,
sm->_getVS_fps(), 0.1);
}
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