def test_surfacing(z, state, expected):
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, 0, 0, z, 0)
config = sim_config('config/sim_config.csv')
base = Base_Station(config.swarm_size)
# AUV at 1m depth and surfacing
AUV.state = state
# Try to sat comm (this triggers state change to diving
# should remain surfacing as deeper than conditional depth for sat (0.5m)
AUV.sat_comms(base, config.swarm_size, 0)
assert AUV.state == expected
def test_surfacing(z, state, expected):
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, 0, 0, z, 0)
config = sim_config('config/sim_config.csv')
base = Base_Station(config.swarm_size)
# AUV at 1m depth and surfacing
AUV.state = state
# Try to sat comm (this triggers state change to diving
# should remain surfacing as deeper than conditional depth for sat (0.5m)
AUV.sat_comms(base, config.swarm_size, 0)
assert AUV.state == expected
def test_sat_commd():
AUV_A = Vehicle(0, 3, 10, 10, 0, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(config.swarm_size)
elps_time = 0
AUV_A.sat_comms(base, config, elps_time)
assert AUV_A.state == 3
assert AUV_A.sat_commd == 0
AUV_A.pitch = AUV_A.config.max_pitch
AUV_A.v = 0
AUV_A.sat_comms(base, config, elps_time)
assert AUV_A.state == 3
assert AUV_A.sat_commd == 1
elps_time = 181 / config.time_step
AUV_A.waypoints = [[2, 2, 2], [4, 4, 4], [5, 5, 5]]
AUV_A.sat_comms(base, config, elps_time)
assert AUV_A.state == 0
assert AUV_A.sat_commd == 1
AUV_A.z = -1
AUV_A.sat_comms(base, config, elps_time)
assert AUV_A.sat_commd == 0
def test_sat_commd():
AUV_A = Vehicle(0, 3, 10, 10, 0, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(config.swarm_size)
elps_time = 0
AUV_A.sat_comms(base, config, elps_time)
assert AUV_A.state == 3
assert AUV_A.sat_commd == 0
AUV_A.pitch = AUV_A.config.max_pitch
AUV_A.v = 0
AUV_A.sat_comms(base, config, elps_time)
assert AUV_A.state == 3
assert AUV_A.sat_commd == 1
elps_time = 181/config.time_step
AUV_A.waypoints = [[2,2,2],[4,4,4],[5,5,5]]
AUV_A.sat_comms(base, config, elps_time)
assert AUV_A.state == 0
assert AUV_A.sat_commd == 1
AUV_A.z = -1
AUV_A.sat_comms(base, config, elps_time)
assert AUV_A.sat_commd == 0
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()
