def prove_yaw_behaviour(config):
print_time(0)
start_loc = [0,0]
start_yaw = 0
AUV = Vehicle(config, 0, config.swarm_size, start_loc[0], start_loc[1], 0, start_yaw)
AUV.waypoints = [[50,0,0],[50,50,0],[0,50,0],[0,0,0]]
for elps_time in range(config.run_time):
AUV.go(config, elps_time)
update_progress(elps_time, config.run_time)
# Outputs results
print('\nWriting Results')
write_proof(AUV, config)
print_time(1)
def prove_yaw_behaviour(config):
print_time(0)
start_loc = [0, 0]
start_yaw = 0
AUV = Vehicle(config, 0, config.swarm_size, start_loc[0], start_loc[1], 0,
start_yaw)
AUV.waypoints = [[50, 0, 0], [50, 50, 0], [0, 50, 0], [0, 0, 0]]
for elps_time in range(config.run_time):
AUV.go(config, elps_time)
update_progress(elps_time, config.run_time)
# Outputs results
print('\nWriting Results')
write_proof(AUV, config)
print_time(1)
def prove_vel_behaviour(config):
print_time(0)
start_loc = [0, 0]
start_yaw = 0
AUV = Vehicle(config, 0, config.swarm_size, start_loc[0], start_loc[1], 0, start_yaw)
AUV.waypoints = [[50000, 0, 0]]
v_demands = [1.0,1.5,0.75,0.25,0.0]
for v in v_demands:
AUV.v_demand = v
for elps_time in range(100):
AUV.go(config, elps_time)
write_proof(AUV, config)
print_time(1)
def prove_vel_behaviour(config):
print_time(0)
start_loc = [0, 0]
start_yaw = 0
AUV = Vehicle(config, 0, config.swarm_size, start_loc[0], start_loc[1], 0,
start_yaw)
AUV.waypoints = [[50000, 0, 0]]
v_demands = [1.0, 1.5, 0.75, 0.25, 0.0]
for v in v_demands:
AUV.v_demand = v
for elps_time in range(100):
AUV.go(config, elps_time)
write_proof(AUV, config)
print_time(1)
def main():
Base = Base_Station(1)
config = sim_config('config/sim_config.csv')
AUV = Vehicle(0, 1, 0, 0, 0, 0)
AUV.waypoints = [[50,0,-50], [100, 0, -50], [100, 0, 0], [150, 0, -50], [200, 0, 0]]
for elps_time in range(5000):
AUV.sat_comms(Base, config, elps_time)
AUV.go(config, elps_time)
write_proof(AUV, config, fn = 'results/sat_delay_test.csv')
df = pd.read_csv('results/sat_delay_test.csv')
plt.plot(df.index, df.z)
plt.show()
def test_time_stamps():
AUV_A = Vehicle(0, 3, 10, 10, 0, 0)
AUV_B = Vehicle(1, 3, 50, 50, 0, 0)
AUV_C = Vehicle(2, 3, 501, 501, 0, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(config.swarm_size)
achannel = V2V_comms(config)
elps_time = 0
# Information exchanged via satellite
AUV_A.sat_up(base, elps_time)
AUV_B.sat_up(base, elps_time)
AUV_C.sat_up(base, elps_time)
AUV_A.sat_down(base, config.swarm_size, elps_time)
AUV_B.sat_down(base, config.swarm_size, elps_time)
AUV_C.sat_down(base, config.swarm_size, elps_time)
for i in range(100):
AUV_A.go(config, 0)
AUV_B.go(config, 0)
AUV_C.go(config, 0)
elps_time += 1
# Information exchanged via satellite
AUV_A.sat_up(base, elps_time)
AUV_B.sat_up(base, elps_time)
AUV_C.sat_up(base, elps_time)
AUV_A.sat_down(base, config.swarm_size, elps_time)
AUV_B.sat_down(base, config.swarm_size, elps_time)
AUV_C.sat_down(base, config.swarm_size, elps_time)
for i in range(100):
AUV_A.go(config, 0)
AUV_B.go(config, 0)
AUV_C.go(config, 0)
elps_time += 1
# Condition AUVs must be more than 0.5m deep to transmit & receive acc
AUV_A.z, AUV_B.z, AUV_C.z = -1, -1, -1
AUV_B.send_acc_msg(achannel, elps_time, config, [AUV_A, AUV_B, AUV_C])
# A should receive the acc data and update the timestamp
AUV_A.receive_acc_msg(achannel)
# C will not receieve the data as it is out of acc range
AUV_C.receive_acc_msg(achannel)
# A received the acoustic message therefore has a newer timestamp
assert AUV_A.time_stamps[1] == 200
# C was out of range hence has the timestamp from sat comms
assert AUV_C.time_stamps[1] == 100
# B has not moved since acc comms hence...
assert (AUV_A.loc_pos[1][0] == AUV_B.x and AUV_A.loc_pos[1][1] == AUV_B.y
and AUV_A.loc_pos[1][2] == AUV_B.z)
# Cs knowledge of B should be the same as that on the server
assert (AUV_C.loc_pos[1][0] == base.log[1].x[-1]
and AUV_C.loc_pos[1][1] == base.log[1].y[-1]
and AUV_C.loc_pos[1][2] == base.log[1].z[-1])
# C should not know where B is currently
assert (AUV_C.loc_pos[1][0] != AUV_B.x and AUV_C.loc_pos[1][1] != AUV_B.y
and AUV_C.loc_pos[1][2] != AUV_B.z)
def test_time_stamps():
AUV_A = Vehicle(0, 3, 10, 10, 0, 0)
AUV_B = Vehicle(1, 3, 50, 50, 0, 0)
AUV_C = Vehicle(2, 3, 501, 501, 0, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(config.swarm_size)
achannel = V2V_comms(config)
elps_time = 0
# Information exchanged via satellite
AUV_A.sat_up(base, elps_time)
AUV_B.sat_up(base, elps_time)
AUV_C.sat_up(base, elps_time)
AUV_A.sat_down(base, config.swarm_size, elps_time)
AUV_B.sat_down(base, config.swarm_size, elps_time)
AUV_C.sat_down(base, config.swarm_size, elps_time)
for i in range(100):
AUV_A.go(config, 0)
AUV_B.go(config, 0)
AUV_C.go(config, 0)
elps_time += 1
# Information exchanged via satellite
AUV_A.sat_up(base, elps_time)
AUV_B.sat_up(base, elps_time)
AUV_C.sat_up(base, elps_time)
AUV_A.sat_down(base, config.swarm_size, elps_time)
AUV_B.sat_down(base, config.swarm_size, elps_time)
AUV_C.sat_down(base, config.swarm_size, elps_time)
for i in range(100):
AUV_A.go(config, 0)
AUV_B.go(config, 0)
AUV_C.go(config, 0)
elps_time += 1
# Condition AUVs must be more than 0.5m deep to transmit & receive acc
AUV_A.z, AUV_B.z, AUV_C.z = -1,-1,-1
AUV_B.send_acc_msg(achannel, elps_time, config, [AUV_A, AUV_B, AUV_C])
# A should receive the acc data and update the timestamp
AUV_A.receive_acc_msg(achannel)
# C will not receieve the data as it is out of acc range
AUV_C.receive_acc_msg(achannel)
# A received the acoustic message therefore has a newer timestamp
assert AUV_A.time_stamps[1] == 200
# C was out of range hence has the timestamp from sat comms
assert AUV_C.time_stamps[1] == 100
# B has not moved since acc comms hence...
assert (AUV_A.loc_pos[1][0] == AUV_B.x and
AUV_A.loc_pos[1][1] == AUV_B.y and
AUV_A.loc_pos[1][2] == AUV_B.z)
# Cs knowledge of B should be the same as that on the server
assert (AUV_C.loc_pos[1][0] == base.log[1].x[-1] and
AUV_C.loc_pos[1][1] == base.log[1].y[-1] and
AUV_C.loc_pos[1][2] == base.log[1].z[-1])
# C should not know where B is currently
assert (AUV_C.loc_pos[1][0] != AUV_B.x and
AUV_C.loc_pos[1][1] != AUV_B.y and
AUV_C.loc_pos[1][2] != AUV_B.z)
