def test_fill_controls_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_controls_data(sensor_data_response)
self.assertAlmostEqual(sensor_data_response.controls.aileron,
aircraft.controls.aileron)
self.assertAlmostEqual(sensor_data_response.controls.elevator,
aircraft.controls.elevator)
self.assertAlmostEqual(sensor_data_response.controls.rudder,
aircraft.controls.rudder)
self.assertAlmostEqual(sensor_data_response.controls.throttle,
aircraft.controls.throttle)
self.assertEqual(sensor_data_response.type, fdm_pb2.CONTROLS_REQUEST)
def test_gyroscope(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
gyroscope = Gyroscope(fdmexec)
self.assertAlmostEqual(gyroscope.true_roll_rate,
math.degrees(fdmexec.GetPropagate().GetPQR(1)),
3)
self.assertAlmostEqual(gyroscope.true_pitch_rate,
math.degrees(fdmexec.GetPropagate().GetPQR(2)),
3)
self.assertAlmostEqual(gyroscope.true_yaw_rate,
math.degrees(fdmexec.GetPropagate().GetPQR(3)),
3)
self.assertAlmostEqual(
gyroscope.roll_rate,
gyroscope.true_roll_rate + gyroscope._roll_rate_measurement_noise,
3)
self.assertAlmostEqual(
gyroscope.pitch_rate, gyroscope.true_pitch_rate +
gyroscope._pitch_rate_measurement_noise, 3)
self.assertAlmostEqual(
gyroscope.yaw_rate,
gyroscope.true_yaw_rate + gyroscope._yaw_rate_measurement_noise, 3)
def test_fill_gps_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_gps_data(sensor_data_response)
self.assertAlmostEqual(sensor_data_response.gps.latitude,
aircraft.instruments.gps.latitude)
self.assertAlmostEqual(sensor_data_response.gps.longitude,
aircraft.instruments.gps.longitude)
self.assertAlmostEqual(sensor_data_response.gps.altitude,
aircraft.instruments.gps.altitude)
self.assertAlmostEqual(sensor_data_response.gps.airspeed,
aircraft.instruments.gps.airspeed)
self.assertAlmostEqual(sensor_data_response.gps.heading,
aircraft.instruments.gps.heading)
self.assertEqual(sensor_data_response.type, fdm_pb2.GPS_REQUEST)
def test_fill_gyroscope_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_gyroscope_data(sensor_data_response)
self.assertAlmostEqual(sensor_data_response.gyroscope.roll_rate,
aircraft.sensors.gyroscope.roll_rate)
self.assertAlmostEqual(sensor_data_response.gyroscope.pitch_rate,
aircraft.sensors.gyroscope.pitch_rate)
self.assertAlmostEqual(sensor_data_response.gyroscope.yaw_rate,
aircraft.sensors.gyroscope.yaw_rate)
self.assertEqual(sensor_data_response.type, fdm_pb2.GYROSCOPE_REQUEST)
def test_datagram_received(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
controls_protocol = ControlsProtocol(fdmexec)
aileron = 0.1
elevator = 0.2
rudder = 0.3
throttle = 0.4
controls = fdm_pb2.Controls()
controls.aileron = aileron
controls.elevator = elevator
controls.rudder = rudder
controls.throttle = throttle
controls_datagram = controls.SerializeToString()
host = "127.0.0.1"
port = 12345
controls_protocol.datagramReceived(controls_datagram, (host, port))
self.assertAlmostEqual(aircraft.controls.aileron, aileron, 3)
self.assertAlmostEqual(aircraft.controls.elevator, elevator, 3)
self.assertAlmostEqual(aircraft.controls.rudder, rudder, 3)
self.assertAlmostEqual(aircraft.controls.throttle, throttle, 3)
def test_inertialNavigationSystem(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
sensors = Sensors(fdmexec)
self.assertAlmostEqual(sensors.inertial_navigation_system.true_roll,
fdmexec.GetPropagate().GetEulerDeg(1), 3)
self.assertAlmostEqual(sensors.inertial_navigation_system.true_pitch,
fdmexec.GetPropagate().GetEulerDeg(2), 3)
self.assertAlmostEqual(
sensors.inertial_navigation_system.true_latitude,
fdmexec.GetPropagate().GetLatitudeDeg(), 3)
self.assertAlmostEqual(
sensors.inertial_navigation_system.true_longitude,
fdmexec.GetPropagate().GetLongitudeDeg(), 3)
self.assertAlmostEqual(
sensors.inertial_navigation_system.true_altitude,
fdmexec.GetPropagate().GetAltitudeASLmeters(), 3)
self.assertAlmostEqual(
sensors.inertial_navigation_system.true_airspeed,
convert_jsbsim_velocity(fdmexec.GetAuxiliary().GetVtrueFPS()), 3)
self.assertAlmostEqual(
sensors.inertial_navigation_system.true_heading,
math.degrees(fdmexec.GetPropagate().GetEuler(3)), 3)
def test_handle_sensor_data_request(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
protocol.send_response_string = MagicMock()
sensor_data_request = fdm_pb2.SensorDataRequest()
sensor_data_request.type = fdm_pb2.GPS_REQUEST
protocol.handle_sensor_data_request(sensor_data_request)
expected_sensor_data_response = fdm_pb2.SensorDataResponse()
expected_sensor_data_response.type = fdm_pb2.GPS_REQUEST
expected_sensor_data_response.gps.latitude = aircraft.instruments.gps.latitude
expected_sensor_data_response.gps.longitude = aircraft.instruments.gps.longitude
expected_sensor_data_response.gps.altitude = aircraft.instruments.gps.altitude
expected_sensor_data_response.gps.airspeed = aircraft.instruments.gps.airspeed
expected_sensor_data_response.gps.heading = aircraft.instruments.gps.heading
protocol.send_response_string.assert_called_once_with(
expected_sensor_data_response.SerializeToString())
def test_fill_accelerometer_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_accelerometer_data(sensor_data_response)
self.assertAlmostEqual(sensor_data_response.accelerometer.x,
aircraft.sensors.accelerometer.x)
self.assertAlmostEqual(sensor_data_response.accelerometer.y,
aircraft.sensors.accelerometer.y)
self.assertAlmostEqual(sensor_data_response.accelerometer.z,
aircraft.sensors.accelerometer.z)
self.assertEqual(sensor_data_response.type,
fdm_pb2.ACCELEROMETER_REQUEST)
def test_fill_ins_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_ins_data(sensor_data_response)
self.assertAlmostEqual(
sensor_data_response.ins.roll,
aircraft.sensors.inertial_navigation_system.roll)
self.assertAlmostEqual(
sensor_data_response.ins.pitch,
aircraft.sensors.inertial_navigation_system.pitch)
self.assertEqual(sensor_data_response.type, fdm_pb2.INS_REQUEST)
def test_ins_meaurement_noise_update(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
ins = InertialNavigationSystem(fdmexec)
ins._roll_measurement_noise = 0.0
ins._pitch_measurement_noise = 0.0
ins._heading_measurement_noise = 0.0
ins._latitude_measurement_noise = 0.0
ins._longitude_measurement_noise = 0.0
ins._altitude_measurement_noise = 0.0
ins._airspeed_measurement_noise = 0.0
fdmexec.Run()
self.assertEqual(ins._roll_measurement_noise, 0.0)
self.assertEqual(ins.roll_measurement_noise, 0.0)
self.assertEqual(ins._pitch_measurement_noise, 0.0)
self.assertEqual(ins.pitch_measurement_noise, 0.0)
self.assertEqual(ins._heading_measurement_noise, 0.0)
self.assertEqual(ins.heading_measurement_noise, 0.0)
self.assertEqual(ins._latitude_measurement_noise, 0.0)
self.assertEqual(ins.latitude_measurement_noise, 0.0)
self.assertEqual(ins._longitude_measurement_noise, 0.0)
self.assertEqual(ins.longitude_measurement_noise, 0.0)
self.assertEqual(ins._airspeed_measurement_noise, 0.0)
self.assertEqual(ins.airspeed_measurement_noise, 0.0)
self.assertEqual(ins._altitude_measurement_noise, 0.0)
self.assertEqual(ins.altitude_measurement_noise, 0.0)
run_until = fdmexec.GetSimTime() + (1.0 / ins.update_rate) + 1.0
while fdmexec.GetSimTime() < run_until:
fdmexec.Run()
self.assertNotEqual(ins.roll_measurement_noise, 0.0)
self.assertEqual(ins._roll_measurement_noise,
ins.roll_measurement_noise)
self.assertNotEqual(ins.pitch_measurement_noise, 0.0)
self.assertEqual(ins._pitch_measurement_noise,
ins.pitch_measurement_noise)
self.assertNotEqual(ins.heading_measurement_noise, 0.0)
self.assertEqual(ins._heading_measurement_noise,
ins.heading_measurement_noise)
self.assertNotEqual(ins.latitude_measurement_noise, 0.0)
self.assertEqual(ins._latitude_measurement_noise,
ins.latitude_measurement_noise)
self.assertNotEqual(ins.longitude_measurement_noise, 0.0)
self.assertEqual(ins._longitude_measurement_noise,
ins.longitude_measurement_noise)
self.assertNotEqual(ins.altitude_measurement_noise, 0.0)
self.assertEqual(ins._altitude_measurement_noise,
ins.altitude_measurement_noise)
self.assertNotEqual(ins.airspeed_measurement_noise, 0.0)
self.assertEqual(ins._airspeed_measurement_noise,
ins.airspeed_measurement_noise)
def test_engine(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
engine = Engine(fdmexec)
self.assertAlmostEqual(engine.thrust, convert_jsbsim_force(fdmexec.GetPropulsion().GetEngine(0).GetThruster().GetThrust()))
self.assertAlmostEqual(engine.throttle, fdmexec.GetFCS().GetThrottleCmd(0))
def test_step(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
simulator = Simulator(fdmexec)
result = simulator.step()
self.assertTrue(result)
def test_set_rudder(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
fdmexec.GetFCS().SetDrCmd(0.178)
self.assertAlmostEqual(aircraft.controls.rudder, 0.178, 0.0)
def test_presure_sensor(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
sensors = Sensors(fdmexec)
self.assertAlmostEqual(
sensors.pressure_sensor.true_pressure,
convert_jsbsim_pressure(fdmexec.GetAtmosphere().GetPressure()))
def test_set_throttle(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
fdmexec.GetFCS().SetThrottleCmd(0, 0.198)
self.assertAlmostEqual(aircraft.controls.throttle, 0.198)
def test_pitot_tube(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
sensors = Sensors(fdmexec)
self.assertAlmostEqual(
sensors.pitot_tube.true_pressure,
convert_jsbsim_pressure(fdmexec.GetAuxiliary().GetTotalPressure()))
def test_accelerations(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
velocities = Velocities(fdmexec)
velocity = fdmexec.GetPropagate().GetPQR(1)
expected_velocity = convert_jsbsim_angular_velocity(velocity)
self.assertAlmostEqual(velocities.p, expected_velocity, 3)
velocity = fdmexec.GetPropagate().GetPQR(2)
expected_velocity = convert_jsbsim_angular_velocity(velocity)
self.assertAlmostEqual(velocities.q, expected_velocity, 3)
velocity = fdmexec.GetPropagate().GetPQR(3)
expected_velocity = convert_jsbsim_angular_velocity(velocity)
self.assertAlmostEqual(velocities.r, expected_velocity, 3)
airspeed = fdmexec.GetAuxiliary().GetVtrueFPS()
expected_airspeed = convert_jsbsim_velocity(airspeed)
self.assertAlmostEqual(velocities.true_airspeed, expected_airspeed, 3)
climb_rate = -fdmexec.GetPropagate().GetVel(3)
expected_climb_rate = convert_jsbsim_velocity(climb_rate)
self.assertAlmostEqual(velocities.climb_rate, expected_climb_rate, 3)
velocity = fdmexec.GetPropagate().GetUVW(1)
expected_velocity = convert_jsbsim_velocity(velocity)
self.assertAlmostEqual(velocities.u, expected_velocity, 3)
velocity = fdmexec.GetPropagate().GetUVW(2)
expected_velocity = convert_jsbsim_velocity(velocity)
self.assertAlmostEqual(velocities.v, expected_velocity, 3)
velocity = fdmexec.GetPropagate().GetUVW(3)
expected_velocity = convert_jsbsim_velocity(velocity)
self.assertAlmostEqual(velocities.w, expected_velocity, 3)
airspeed = fdmexec.GetAuxiliary().GetVcalibratedFPS()
expected_airspeed = convert_jsbsim_velocity(airspeed)
self.assertAlmostEqual(velocities.calibrated_airspeed,
expected_airspeed, 3)
airspeed = fdmexec.GetAuxiliary().GetVequivalentFPS()
expected_airspeed = convert_jsbsim_velocity(airspeed)
self.assertAlmostEqual(velocities.equivalent_airspeed,
expected_airspeed, 3)
def main():
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
with open("fdm_properties.txt", "r") as f, open("fdm_property_values.txt",
"w") as o:
for line in f:
property_name = line.strip()
property_value = fdmexec.GetPropertyValue(property_name)
print("%s\t%f" % (property_name, property_value))
o.write("%s\t%f\n" % (property_name, property_value))
def test_gyroscope(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
sensors = Sensors(fdmexec)
self.assertAlmostEqual(sensors.gyroscope.true_roll_rate,
math.degrees(fdmexec.GetPropagate().GetPQR(1)))
self.assertAlmostEqual(sensors.gyroscope.true_pitch_rate,
math.degrees(fdmexec.GetPropagate().GetPQR(2)))
self.assertAlmostEqual(sensors.gyroscope.true_yaw_rate,
math.degrees(fdmexec.GetPropagate().GetPQR(3)))
def test_pitot_tube(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
pitot_tube = PitotTube(fdmexec)
self.assertAlmostEqual(
pitot_tube.true_pressure,
convert_jsbsim_pressure(fdmexec.GetAuxiliary().GetTotalPressure()),
3)
self.assertAlmostEqual(
pitot_tube.pressure,
pitot_tube.true_pressure + pitot_tube.measurement_noise, 3)
def test_thermometer(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
thermometer = Thermometer(fdmexec)
self.assertAlmostEqual(
thermometer.true_temperature,
convert_jsbsim_temperature(
fdmexec.GetAtmosphere().GetTemperature()))
self.assertAlmostEqual(
thermometer.temperature,
thermometer.true_temperature + thermometer.measurement_noise)
def test_inertialNavigationSystem(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
ins = InertialNavigationSystem(fdmexec)
self.assertAlmostEqual(ins.true_roll,
fdmexec.GetPropagate().GetEulerDeg(1), 3)
self.assertAlmostEqual(ins.true_pitch,
fdmexec.GetPropagate().GetEulerDeg(2), 3)
self.assertAlmostEqual(ins.true_latitude,
fdmexec.GetPropagate().GetLatitudeDeg(), 3)
self.assertAlmostEqual(ins.true_longitude,
fdmexec.GetPropagate().GetLongitudeDeg(), 3)
self.assertAlmostEqual(ins.true_altitude,
fdmexec.GetPropagate().GetAltitudeASLmeters(),
3)
self.assertAlmostEqual(
ins.true_airspeed,
convert_jsbsim_velocity(fdmexec.GetAuxiliary().GetVtrueFPS()), 3)
self.assertAlmostEqual(
ins.true_heading, math.degrees(fdmexec.GetPropagate().GetEuler(3)),
3)
self.assertAlmostEqual(ins.roll,
ins.true_roll + ins.roll_measurement_noise, 3)
self.assertAlmostEqual(ins.pitch,
ins.true_pitch + ins.pitch_measurement_noise, 3)
self.assertAlmostEqual(
ins.latitude, ins.true_latitude + ins.latitude_measurement_noise,
3)
self.assertAlmostEqual(
ins.longitude,
ins.true_longitude + ins.longitude_measurement_noise, 3)
self.assertAlmostEqual(
ins.altitude, ins.true_altitude + ins.altitude_measurement_noise,
3)
self.assertAlmostEqual(
ins.airspeed, ins.true_airspeed + ins.airspeed_measurement_noise,
3)
self.assertAlmostEqual(
ins.heading, ins.true_heading + ins.heading_measurement_noise, 3)
def test_run_for(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
simulator = Simulator(fdmexec)
time_to_run = 1.0
start_time = simulator.simulation_time
expected_end_time = start_time + time_to_run
result = simulator.run_for(time_to_run)
self.assertTrue(result)
self.assertAlmostEqual(expected_end_time, simulator.simulation_time, 2)
def test_aircraft_position(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
position = Position(fdmexec)
self.assertAlmostEqual(position.latitude,
fdmexec.GetPropagate().GetLatitudeDeg(), 3)
self.assertAlmostEqual(position.longitude,
fdmexec.GetPropagate().GetLongitudeDeg(), 3)
self.assertAlmostEqual(position.altitude,
fdmexec.GetPropagate().GetAltitudeASLmeters(),
3)
self.assertAlmostEqual(
position.heading, math.degrees(fdmexec.GetPropagate().GetEuler(3)),
3)
def test_gps(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
gps = GPS(fdmexec)
self.assertAlmostEqual(gps.latitude,
fdmexec.GetPropagate().GetLatitudeDeg())
self.assertAlmostEqual(gps.longitude,
fdmexec.GetPropagate().GetLongitudeDeg())
self.assertAlmostEqual(gps.altitude,
fdmexec.GetPropagate().GetAltitudeASLmeters())
self.assertAlmostEqual(
gps.airspeed,
convert_jsbsim_velocity(fdmexec.GetAuxiliary().GetVtrueFPS()))
self.assertAlmostEqual(
gps.heading, math.degrees(fdmexec.GetPropagate().GetEuler(3)))
def test_run_with_real_fdmexec(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
self.assertIsNotNone(fdmexec)
simulator = Simulator(fdmexec)
start_time = simulator.simulation_time
simulator.resume()
#run_result = aircraft.run()
simulator.run()
self.assertAlmostEqual(simulator.simulation_time,
start_time + configuration.DT, 6)
def test_fill_pitot_tube_data(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
aircraft = Aircraft(fdmexec)
factory = SensorDataFactory(aircraft)
protocol = factory.buildProtocol(("127.0.0.1", 12345))
sensor_data_response = fdm_pb2.SensorDataResponse()
protocol.fill_pitot_tube_data(sensor_data_response)
self.assertAlmostEqual(sensor_data_response.pitot_tube.pressure,
aircraft.sensors.pitot_tube.pressure)
self.assertEqual(sensor_data_response.type, fdm_pb2.PITOT_TUBE_REQUEST)
def test_accelerometer(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
sensors = Sensors(fdmexec)
self.assertAlmostEqual(
sensors.accelerometer.true_x,
convert_jsbsim_acceleration(
fdmexec.GetAuxiliary().GetPilotAccel(1)))
self.assertAlmostEqual(
sensors.accelerometer.true_y,
convert_jsbsim_acceleration(
fdmexec.GetAuxiliary().GetPilotAccel(2)))
self.assertAlmostEqual(
sensors.accelerometer.true_z,
convert_jsbsim_acceleration(
fdmexec.GetAuxiliary().GetPilotAccel(3)))
def test_schedule_update(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
update_rate = 50
sensor = MockSensor(fdmexec, update_rate)
sensor._update_sensor = MagicMock()
data = sensor.value
sensor._update_sensor.assert_not_called()
while fdmexec.GetSimTime() < sensor._update_at + 0.1:
fdmexec.Run()
data = sensor.value
sensor._update_sensor.assert_called_once()
def test_pitot_tube_meaurement_noise_update(self):
huginn_data_path = configuration.get_data_path()
fdm_builder = FDMBuilder(huginn_data_path)
fdm_builder.aircraft = "Rascal"
fdmexec = fdm_builder.create_fdm()
pitot_tube = PitotTube(fdmexec)
pitot_tube._measurement_noise = 0.0
fdmexec.Run()
self.assertEqual(pitot_tube._measurement_noise, 0.0)
self.assertEqual(pitot_tube.measurement_noise, 0.0)
run_until = fdmexec.GetSimTime() + (1.0 / pitot_tube.update_rate) + 1.0
while fdmexec.GetSimTime() < run_until:
fdmexec.Run()
self.assertNotEqual(pitot_tube.measurement_noise, 0.0)
self.assertEqual(pitot_tube.measurement_noise,
pitot_tube._measurement_noise)
