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331 lines
13 KiB
Python
331 lines
13 KiB
Python
# TestFlyController.py
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# shotmanager
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#
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# Unit tests for the orbit controller.
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#
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# Created by Will Silva and Eric Liao on 1/19/2015.
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# Modified by Nick Speal on 3/16/2016
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# Copyright (c) 2016 3D Robotics.
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import flyController
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from flyController import *
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from dronekit import LocationGlobalRelative
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import unittest
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import mock
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from mock import call
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from mock import Mock
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from mock import MagicMock
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from mock import patch
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class TestSetOptions(unittest.TestCase):
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def setUp(self):
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origin = LocationGlobalRelative(37.873168,-122.302062, 0) # lat,lon,alt
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self.startxOffset = 20 # meters
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self.startyOffset = 15 # meters
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self.startzOffset = 10 # meters
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self.startHeading = 0 # deg
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self.startLocation = location_helpers.addVectorToLocation(origin,Vector3(self.startxOffset, self.startyOffset, self.startzOffset))
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#Run the controller constructor
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self.controller = flyController.FlyController(origin, self.startxOffset, self.startyOffset, self.startzOffset, self.startHeading)
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def testSetBothOptions(self):
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'''Tests setting both options'''
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self.controller.setOptions(maxClimbRate = 3, maxAlt = 75)
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self.assertEqual(self.controller.maxClimbRate, 3)
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self.assertEqual(self.controller.maxAlt, 75)
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def testSetOptionsNoAltLimit(self):
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'''Tests setting both options, with disabled altitude limit'''
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self.controller.setOptions(maxClimbRate = 3, maxAlt = None)
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self.assertEqual(self.controller.maxClimbRate, 3)
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self.assertEqual(self.controller.maxAlt, None)
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class TestMove(unittest.TestCase):
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def setUp(self):
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origin = LocationGlobalRelative(37.873168,-122.302062, 0) # lat,lon,alt
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self.startxOffset = 20 # meters
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self.startyOffset = 15 # meters
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self.startzOffset = 130 # meters
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self.startHeading = 0 # deg
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self.startLocation = location_helpers.addVectorToLocation(origin,Vector3(self.startxOffset, self.startyOffset, self.startzOffset))
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#Run the controller constructor
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self.controller = flyController.FlyController(origin, self.startxOffset, self.startyOffset, self.startzOffset, self.startHeading)
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self.controller._approach = Mock(return_value = Vector3())
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self.controller._strafe = Mock(return_value = Vector3())
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self.controller._climb = Mock(return_value = Vector3())
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#Set options
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self.controller.maxClimbRate = 5 # m/s
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self.controller.maxAlt = 100 #m
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#Arbirary sticks
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throttle = 0.3
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roll = -0.4
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pitch = 0.5
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yaw = -0.6
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raw_paddle = 0.7
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self.channels = [throttle, roll, pitch, yaw, 0.0, 0.0, 0.0, raw_paddle]
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self.controller.move(self.channels, newHeading = 0, newOrigin = LocationGlobalRelative(37.873168,-122.302062, 20))
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def testCallApproach(self):
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'''Tests that _approach() is called'''
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self.controller._approach.assert_called_with(-0.5)
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def testCallStrafe(self):
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'''Tests that _strafe() is called'''
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self.controller._strafe.assert_called_with(-0.4)
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def testCallClimb(self):
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'''Tests that _climb() is called'''
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self.controller._climb.assert_called_with(0.7)
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def testAltitudeLimit(self):
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'''Test that maximum altitude is enforced when climbing'''
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self.assertEqual(self.controller.offset.z, self.controller.maxAlt)
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def testNeworigin(self):
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'''Tests that a new origin is set when passed via optional argument'''
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self.assertEqual(self.controller.origin.alt, 20)
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@mock.patch('location_helpers.addVectorToLocation')
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def testCallAddVectorToLocation(self, location_helpers_addVectorToLocation):
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'''Tests that location_helpers.addVectorToLocation() is called'''
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self.controller.move(self.channels)
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location_helpers_addVectorToLocation.assert_called_with(mock.ANY, mock.ANY)
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class TestApproach(unittest.TestCase):
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def setUp(self):
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origin = LocationGlobalRelative(37.873168,-122.302062, 0) # lat,lon,alt
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self.startxOffset = 20 # meters
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self.startyOffset = 15 # meters
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self.startzOffset = 10 # meters
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self.startHeading = 0 # deg
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self.startLocation = location_helpers.addVectorToLocation(origin,Vector3(self.startxOffset, self.startyOffset, self.startzOffset))
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#Run the controller constructor
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self.controller = flyController.FlyController(origin, self.startxOffset, self.startyOffset, self.startzOffset, self.startHeading)
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# set options
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self.controller.setOptions(maxClimbRate=1.5 ,maxAlt=45)
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def testPitchForwards(self):
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'''Stick/pitch forwards to move forwards'''
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approachVel = self.controller._approach(1.0)
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expectedXVel = math.cos(self.controller.heading) * self.controller.approachSpeed
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expectedYVel = math.sin(self.controller.heading) * self.controller.approachSpeed
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self.assertEqual(self.controller.approachSpeed, ACCEL_PER_TICK)
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self.assertEqual(approachVel, Vector3(expectedXVel, expectedYVel, 0))
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def testPitchBackwards(self):
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'''Stick/pitch backwards to move backwards'''
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approachVel = self.controller._approach(-1.0)
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expectedXVel = math.cos(self.controller.heading) * self.controller.approachSpeed
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expectedYVel = math.sin(self.controller.heading) * self.controller.approachSpeed
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self.assertEqual(self.controller.approachSpeed, -ACCEL_PER_TICK)
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self.assertEqual(approachVel, Vector3(expectedXVel, expectedYVel, 0))
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def testApproachSpeedDoNotExceed(self):
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'''Test that the incremented speed doesn't exceed approachSpeed'''
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self.controller.approachSpeed = 3.99
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self.controller._approach(0.5) #desired approach speed is 4 but an increment will put it over 4
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self.assertEqual(self.controller.approachSpeed,4) #make sure we're limited to 4
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def testApproachSpeedDoNotFallBelow(self):
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'''Test that the incremented speed doesn't fall below approachSpeed'''
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self.controller.approachSpeed = -3.99
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self.controller._approach(-0.5) #desired approach speed is 4 but an increment will put it under 4
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self.assertEqual(self.controller.approachSpeed,-4) #make sure we're limited to 4
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class TestStrafe(unittest.TestCase):
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def setUp(self):
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origin = LocationGlobalRelative(37.873168,-122.302062, 0) # lat,lon,alt
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self.startxOffset = 20 # meters
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self.startyOffset = 15 # meters
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self.startzOffset = 10 # meters
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self.startHeading = 0 # deg
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self.startLocation = location_helpers.addVectorToLocation(origin,Vector3(self.startxOffset, self.startyOffset, self.startzOffset))
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#Run the controller constructor
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self.controller = flyController.FlyController(origin, self.startxOffset, self.startyOffset, self.startzOffset, self.startHeading)
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# set options
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self.controller.setOptions(maxClimbRate=1.5 ,maxAlt=45)
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def testStrafeRight(self):
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'''Stick/roll right to move right'''
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strafeVel = self.controller._strafe(1.0)
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expectedXVel = math.cos(self.controller.heading + math.pi/2.) * self.controller.strafeSpeed
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expectedYVel = math.sin(self.controller.heading + math.pi/2.) * self.controller.strafeSpeed
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self.assertEqual(self.controller.strafeSpeed, ACCEL_PER_TICK)
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self.assertEqual(strafeVel, Vector3(expectedXVel, expectedYVel, 0))
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def testStrafeLeft(self):
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'''Stick/roll left to move left'''
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strafeVel = self.controller._strafe(-1.0)
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expectedXVel = math.cos(self.controller.heading + math.pi/2.) * self.controller.strafeSpeed
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expectedYVel = math.sin(self.controller.heading + math.pi/2.) * self.controller.strafeSpeed
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self.assertEqual(self.controller.strafeSpeed, -ACCEL_PER_TICK)
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self.assertEqual(strafeVel, Vector3(expectedXVel, expectedYVel, 0))
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def testApproachSpeedDoNotExceed(self):
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'''Test that the incremented speed doesn't exceed approachSpeed'''
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self.controller.strafeSpeed = 3.99
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self.controller._strafe(0.5) #desired approach speed is 4 but an increment will put it over 4
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self.assertEqual(self.controller.strafeSpeed,4) #make sure we're limited to 4
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def testApproachSpeedDoNotFallBelow(self):
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'''Test that the incremented speed doesn't fall below approachSpeed'''
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self.controller.strafeSpeed = -3.99
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self.controller._strafe(-0.5) #desired approach speed is 4 but an increment will put it under 4
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self.assertEqual(self.controller.strafeSpeed,-4) #make sure we're limited to 4
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class TestClimb(unittest.TestCase):
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def setUp(self):
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origin = LocationGlobalRelative(37.873168,-122.302062, 0) # lat,lon,alt
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self.startxOffset = 20 # meters
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self.startyOffset = 15 # meters
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self.startzOffset = 10 # meters
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self.startHeading = 0 # deg
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self.startLocation = location_helpers.addVectorToLocation(origin,Vector3(self.startxOffset, self.startyOffset, self.startzOffset))
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#Run the controller constructor
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self.controller = flyController.FlyController(origin, self.startxOffset, self.startyOffset, self.startzOffset, self.startHeading)
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# set options
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self.controller.setOptions(maxClimbRate=1.5 ,maxAlt=45)
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def testClimbUp(self):
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'''Test climbing up with stick up'''
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climbVel = self.controller._climb(1.0)
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self.assertEqual(climbVel, Vector3(0,0,1.0*self.controller.maxClimbRate))
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def testClimbDown(self):
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'''Test descending with stick down'''
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climbVel = self.controller._climb(-1.0)
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self.assertEqual(climbVel, Vector3(0,0,-1.0*self.controller.maxClimbRate))
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class TestMaxApproachSpeed(unittest.TestCase):
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def setUp(self):
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origin = LocationGlobalRelative(37.873168,-122.302062, 0) # lat,lon,alt
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self.startxOffset = 20 # meters
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self.startyOffset = 15 # meters
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self.startzOffset = 10 # meters
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self.startHeading = 0 # deg
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self.startLocation = location_helpers.addVectorToLocation(origin,Vector3(self.startxOffset, self.startyOffset, self.startzOffset))
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#Run the controller constructor
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self.controller = flyController.FlyController(origin, self.startxOffset, self.startyOffset, self.startzOffset, self.startHeading)
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# set options
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self.controller.setOptions(maxClimbRate=1.5 ,maxAlt=45)
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def testZeroStrafeSpeed(self):
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'''Test that approachSpeed gets all of MAX_SPEED if strafeSpeed is zero'''
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strafeSpeed = 0.0
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maxSpeed = self.controller._maxApproachSpeed(strafeSpeed)
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self.assertEqual(maxSpeed, MAX_SPEED)
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def testHalfStrafeSpeed(self):
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'''Test that approachSpeed is equal to strafeSpeed if strafeSpeed is sqrt(MAX_SPEED*4)'''
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strafeSpeed = math.sqrt(MAX_SPEED*4)
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maxSpeed = self.controller._maxApproachSpeed(strafeSpeed)
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self.assertAlmostEqual(maxSpeed, strafeSpeed)
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def testAllStrafeSpeed(self):
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'''Test that approachSpeed is zero if strafeSpeed is MAX_SPEED'''
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strafeSpeed = MAX_SPEED
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maxSpeed = self.controller._maxApproachSpeed(strafeSpeed)
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self.assertEqual(maxSpeed, 0.0)
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class TestMaxStrafeSpeed(unittest.TestCase):
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def setUp(self):
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origin = LocationGlobalRelative(37.873168,-122.302062, 0) # lat,lon,alt
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self.startxOffset = 20 # meters
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self.startyOffset = 15 # meters
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self.startzOffset = 10 # meters
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self.startHeading = 0 # deg
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self.startLocation = location_helpers.addVectorToLocation(origin,Vector3(self.startxOffset, self.startyOffset, self.startzOffset))
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#Run the controller constructor
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self.controller = flyController.FlyController(origin, self.startxOffset, self.startyOffset, self.startzOffset, self.startHeading)
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# set options
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self.controller.setOptions(maxClimbRate=1.5 ,maxAlt=45)
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def testZeroApproachSpeed(self):
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'''Test that strafeSpeed gets all of MAX_SPEED if approachSpeed is zero'''
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approachSpeed = 0.0
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maxSpeed = self.controller._maxStrafeSpeed(approachSpeed)
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self.assertEqual(maxSpeed, MAX_SPEED)
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def testHalfApproachSpeed(self):
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'''Test that strafeSpeed is equal to approachSpeed if approachSpeed is sqrt(MAX_SPEED*4)'''
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approachSpeed = math.sqrt(MAX_SPEED*4)
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maxSpeed = self.controller._maxStrafeSpeed(approachSpeed)
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self.assertAlmostEqual(maxSpeed, approachSpeed)
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def testAllApproachSpeed(self):
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'''Test that strafeSpeed is zero if approachSpeed is MAX_SPEED'''
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approachSpeed = MAX_SPEED
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maxSpeed = self.controller._maxStrafeSpeed(approachSpeed)
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self.assertEqual(maxSpeed, 0.0)
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