def test_yaw_demand(target, expected):
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, 0, 0, 0, 0)
config = sim_config('config/sim_config.csv')
AUV.waypoints = [target]
AUV.move_to_waypoint()
assert AUV.yaw_demand == expected
def test_pitch_demand(start, target, expected):
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, start[0], start[1], start[2], 0)
config = sim_config('config/sim_config.csv')
AUV.waypoints = [target]
AUV.move_to_waypoint()
assert abs(AUV.pitch_demand - expected) < 0.0000001
def test_waypoint_setting(state, start, target, expected):
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, start[0], start[1], start[2], 0)
config = sim_config('config/sim_config.csv')
AUV.state = state
AUV.set_waypoint(target, config)
assert (abs(AUV.waypoints[0][0] - expected[0]) < 0.0000001 and
abs(AUV.waypoints[0][1] - expected[1]) < 0.0000001 and
abs(AUV.waypoints[0][2] - expected[2]) < 0.0000001)
def test_time_checks(elps_time, state, expected):
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, 0, 0, -50, 0)
config = sim_config('config/sim_config.csv')
AUV.state = state
#t_uw set to 1200
AUV.time_checks(elps_time, config)
assert AUV.state == expected
def test_time_checks(elps_time, state, expected):
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, 0, 0, -50, 0)
config = sim_config('config/sim_config.csv')
AUV.state = state
#t_uw set to 1200
AUV.time_checks(elps_time, config)
assert AUV.state == expected
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 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_transmit(loc_1, loc_2, loc_3, expected):
AUV_A = Vehicle(0, 3, loc_1[0], loc_1[1], loc_1[2], 0)
AUV_B = Vehicle(1, 3, loc_2[0], loc_2[1], loc_2[2], 0)
AUV_C = Vehicle(2, 3, loc_3[0], loc_3[1], loc_3[2], 0)
config = sim_config('tests/config/sim_config.csv')
achannel = V2V_comms(config)
AUV_A.send_acc_msg(achannel, 5, config, [AUV_A, AUV_B, AUV_C])
assert (achannel.receive_msg[0] == expected[0] and
achannel.receive_msg[1] == expected[1] and
achannel.receive_msg[2] == expected[2])
def test_uw_condition():
AUV_A = Vehicle(0, 3, 10, 10, -10, 0)
AUV_B = Vehicle(1, 3, 499, 0, -10, 0)
AUV_C = Vehicle(2, 3, 998, 0, -10, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(3)
AUV_A.sat_up(base, 1)
# Assert nothing was uploaded due to not being on surface
assert base.log[0].x == []
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_upload():
AUV_A = Vehicle(0, 3, 10, 10, 0, 0)
AUV_B = Vehicle(1, 3, 499, 0, 0, 0)
AUV_C = Vehicle(2, 3, 998, 0, 0, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(3)
AUV_A.sat_up(base, 1)
assert (base.log[0].x[-1] == AUV_A.x and
base.log[0].y[-1] == AUV_A.y and
base.log[0].z[-1] == AUV_A.z)
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 test_set_state(curr_state, desired_state, z, expected):
AUV = Vehicle(0, 1, 50, 50, -10, 0)
AUV.state = curr_state
AUV.z = z
if expected == 1:
with pytest.raises(Exception) as e_info:
AUV.set_state(desired_state)
else:
AUV.set_state(desired_state)
assert AUV.state == desired_state
def test_reached_waypoint():
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, 50, 50, -10, 0)
config = sim_config('config/sim_config.csv')
AUV.state = 0
# AUV at 1m depth and surfacing
AUV.waypoints = [[50, 50, -20]]
AUV.move_to_waypoint()
assert AUV.state == 0
AUV.z = -19
AUV.move_to_waypoint()
assert AUV.state == 1
def test_yaw_logic(yaw, yaw_demand, expected):
init_x, init_y, init_z, init_yaw = 0, 0, 0, 0
AUV = Vehicle(0, 1, init_x, init_y, init_z, init_yaw)
config = sim_config('config/sim_config.csv')
AUV.set_yaw(yaw)
AUV.set_yaw_demand(yaw_demand)
AUV.plant(config.time_step)
if expected == 1:
assert AUV.yaw > yaw
elif expected == 0:
assert AUV.yaw < yaw
def test_set_state(curr_state, desired_state, z, expected):
AUV = Vehicle(0, 1, 50, 50, -10, 0)
AUV.state = curr_state
AUV.z = z
if expected == 1:
with pytest.raises(Exception) as e_info:
AUV.set_state(desired_state)
else:
AUV.set_state(desired_state)
assert AUV.state == desired_state
def test_reached_waypoint():
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, 50, 50,-10 , 0)
config = sim_config('config/sim_config.csv')
AUV.state = 0
# AUV at 1m depth and surfacing
AUV.waypoints = [[50,50,-20]]
AUV.move_to_waypoint()
assert AUV.state == 0
AUV.z = -19
AUV.move_to_waypoint()
assert AUV.state == 1
def test_pitch_yaw(z, yaw, pitch, expected):
init_x, init_y = 0, 0
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, init_x, init_y, z, yaw)
config = sim_config('config/sim_config.csv')
AUV.set_yaw(yaw)
AUV.set_pitch(pitch)
AUV.dead_reckoner(config.time_step)
x = expected[0]
y = expected[1]
z = expected[2]
assert abs(AUV.x - x) < 0.0000001
assert abs(AUV.y - y) < 0.0000001
assert abs(AUV.z - z) < 0.0000001
def test_v(v, v_demand, expected):
AUV = Vehicle(0, 1, 0, 0, 0, 0)
config = sim_config('config/sim_config.csv')
AUV.set_v(v)
AUV.set_v_demand(v_demand)
AUV.plant(config.time_step)
if expected == 1:
# assert AUV pitches nose down
assert AUV.v > v
elif expected == 0:
# assert AUV pitches nose up
assert AUV.v < v
elif expected == 2:
# assert AUV pitches nose up
assert AUV.v == v
def test_yaw_logic(yaw, yaw_demand, expected):
init_x, init_y, init_z, init_yaw = 0,0,0,0
AUV = Vehicle(0, 1, init_x, init_y, init_z, init_yaw)
config = sim_config('config/sim_config.csv')
AUV.set_yaw(yaw)
AUV.set_yaw_demand(yaw_demand)
AUV.plant(config.time_step)
if expected ==1:
assert AUV.yaw > yaw
elif expected == 0:
assert AUV.yaw < yaw
def prove_dive_behaviour(config):
# INITALISATION
comms_AUV = 0
np.random.seed(42)
start_locs = np.array([
np.random.randint(50, size=config.swarm_size),
np.random.randint(50, size=config.swarm_size)
])
start_yaws = np.random.randint(360, size=config.swarm_size)
Base = Base_Station(config.swarm_size)
Acc_comms = V2V_comms(config)
Swarm = [
Vehicle(config, 0, config.swarm_size, start_locs[0][0],
start_locs[1][0], 0, start_yaws[0])
]
print_time(0)
# Initial communication step to populate data on subs
for AUV in Swarm:
AUV.sat_up(Base, 0)
for AUV in Swarm:
AUV.sat_down(Base, config.swarm_size, 0)
check = 0
# MAIN LOOP
AUV.waypoints = [[400, 0, -50], [500, 0, 0], [550, 0, -50]]
for elps_time in range(config.run_time):
Swarm[comms_AUV].send_acc_msg(Acc_comms, elps_time, config, Swarm)
for AUV in Swarm:
# Performs communication, sat if at surface, recieves acc if submerged
AUV.sat_comms(Base, config, elps_time)
AUV.receive_acc_msg(Acc_comms)
for AUV in Swarm:
AUV.time_checks(elps_time, config)
AUV.go(config, elps_time)
update_progress(elps_time, config.run_time)
# Outputs results
print('\nWriting Results')
write_proof(Swarm[0], config)
print_time(1)
def test_pitch(start_loc, wayp, expected):
AUV = Vehicle(0, 1, start_loc[0], start_loc[1], start_loc[2], 0)
config = sim_config('config/sim_config.csv')
AUV.waypoints = [wayp]
AUV.current_waypoint = 0
AUV.move_to_waypoint()
AUV.plant(config.time_step)
if expected == 1:
# assert AUV pitches nose down
assert AUV.pitch > 0
elif expected == 0:
# assert AUV pitches nose up
assert AUV.pitch < 0
elif expected == 2:
# assert AUV pitches nose up
assert AUV.pitch == 0
def test_uw_condition():
AUV_A = Vehicle(0, 3, 10, 10, -10, 0)
AUV_B = Vehicle(1, 3, 499, 0, -10, 0)
AUV_C = Vehicle(2, 3, 998, 0, -10, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(3)
AUV_A.sat_up(base, 1)
# Assert nothing was uploaded due to not being on surface
assert base.log[0].x == []
def test_upload():
AUV_A = Vehicle(0, 3, 10, 10, 0, 0)
AUV_B = Vehicle(1, 3, 499, 0, 0, 0)
AUV_C = Vehicle(2, 3, 998, 0, 0, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(3)
AUV_A.sat_up(base, 1)
assert (base.log[0].x[-1] == AUV_A.x and base.log[0].y[-1] == AUV_A.y
and base.log[0].z[-1] == AUV_A.z)
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_range():
AUV_A = Vehicle(0, 3, 10, 10, -10, 0)
AUV_B = Vehicle(1, 3, 499, 0, -10, 0)
AUV_C = Vehicle(2, 3, 998, 0, -10, 0)
config = sim_config('tests/config/sim_config.csv')
achannel = V2V_comms(config)
AUV_A.send_acc_msg(achannel, 1, config, [AUV_A, AUV_B, AUV_C])
AUV_B.receive_acc_msg(achannel)
AUV_C.receive_acc_msg(achannel)
# assert B received the message
assert AUV_B.loc_pos[0][0] == AUV_A.x
assert AUV_B.loc_pos[0][1] == AUV_A.y
assert AUV_B.loc_pos[0][2] == AUV_A.z
# assert C did not receive the message
assert AUV_C.loc_pos[0][0] != AUV_A.x
assert AUV_C.loc_pos[0][1] != AUV_A.y
assert AUV_C.loc_pos[0][2] != AUV_A.z
def test_transmit(loc_1, loc_2, loc_3, expected):
AUV_A = Vehicle(0, 3, loc_1[0], loc_1[1], loc_1[2], 0)
AUV_B = Vehicle(1, 3, loc_2[0], loc_2[1], loc_2[2], 0)
AUV_C = Vehicle(2, 3, loc_3[0], loc_3[1], loc_3[2], 0)
config = sim_config('tests/config/sim_config.csv')
achannel = V2V_comms(config)
AUV_A.send_acc_msg(achannel, 5, config, [AUV_A, AUV_B, AUV_C])
assert (achannel.receive_msg[0] == expected[0]
and achannel.receive_msg[1] == expected[1]
and achannel.receive_msg[2] == expected[2])
def test_v(v, v_demand, expected):
AUV = Vehicle(0, 1, 0, 0, 0, 0)
config = sim_config('config/sim_config.csv')
AUV.set_v(v)
AUV.set_v_demand(v_demand)
AUV.plant(config.time_step)
if expected == 1:
# assert AUV pitches nose down
assert AUV.v > v
elif expected == 0:
# assert AUV pitches nose up
assert AUV.v < v
elif expected == 2:
# assert AUV pitches nose up
assert AUV.v == v
def test_pitch_yaw(z, yaw, pitch, expected):
init_x, init_y = 0,0
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, init_x, init_y, z, yaw)
config = sim_config('config/sim_config.csv')
AUV.set_yaw(yaw)
AUV.set_pitch(pitch)
AUV.dead_reckoner(config.time_step)
x = expected[0]
y = expected[1]
z = expected[2]
assert abs(AUV.x - x) < 0.0000001
assert abs(AUV.y - y) < 0.0000001
assert abs(AUV.z - z) < 0.0000001
def test_pitch(start_loc, wayp, expected):
AUV = Vehicle(0, 1, start_loc[0], start_loc[1], start_loc[2], 0)
config = sim_config('config/sim_config.csv')
AUV.waypoints = [wayp]
AUV.current_waypoint = 0
AUV.move_to_waypoint()
AUV.plant(config.time_step)
if expected == 1:
# assert AUV pitches nose down
assert AUV.pitch > 0
elif expected == 0:
# assert AUV pitches nose up
assert AUV.pitch < 0
elif expected == 2:
# assert AUV pitches nose up
assert AUV.pitch == 0
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 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_loc_vehicles():
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)
assert (AUV_A.loc_vehicles[0] == 0 and AUV_A.loc_vehicles[1] == 1
and AUV_A.loc_vehicles[2] == 1)
elps_time = 50
# Information exchanged via satellite
AUV_A.sat_up(base, elps_time)
AUV_A.sat_down(base, config.swarm_size, elps_time)
# There has been no update from B or C since last 'surface'
# hence data rendered uncertain and B & C removed from loc_vehicles
assert (AUV_A.loc_vehicles[0] == 0 and AUV_A.loc_vehicles[1] == 0
and AUV_A.loc_vehicles[2] == 0)
AUV_B.sat_up(base, elps_time)
AUV_B.sat_down(base, config.swarm_size, elps_time)
# There has been an update from A since last sat comm hence A kept
# in loc vehicles but no update from C means C is removed.
assert (AUV_B.loc_vehicles[0] == 1 and AUV_B.loc_vehicles[1] == 0
and AUV_B.loc_vehicles[2] == 0)
def test_download():
AUV_A = Vehicle(0, 3, 10, 10, 0, 0)
AUV_B = Vehicle(1, 3, 499, 0, 0, 0)
AUV_C = Vehicle(2, 3, 998, 0, 0, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(3)
AUV_A.sat_up(base, 1)
AUV_B.sat_up(base, 1)
AUV_C.sat_up(base, 1)
AUV_A.sat_down(base, 3, 1)
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)
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_acc_loc_vehicles(comms_AUV):
# B is in range of A and C
# A is out of range of C
AUV_A = Vehicle(0, 3, 1, 1, -1, 0)
AUV_B = Vehicle(1, 3, 50, 50, -1, 0)
AUV_C = Vehicle(2, 3, 401, 401, -1, 0)
config = sim_config('tests/config/sim_config.csv')
achannel = V2V_comms(config)
if comms_AUV == 0:
AUV_A.send_acc_msg(achannel, 0, config, [AUV_A, AUV_B, AUV_C])
elif comms_AUV == 1:
AUV_B.send_acc_msg(achannel, 0, config, [AUV_A, AUV_B, AUV_C])
elif comms_AUV == 2:
AUV_C.send_acc_msg(achannel, 0, config, [AUV_A, AUV_B, AUV_C])
AUV_A.receive_acc_msg(achannel)
AUV_B.receive_acc_msg(achannel)
AUV_C.receive_acc_msg(achannel)
if comms_AUV == 0:
# B is in range hence As index in Bs loc_vehicles = 1
# C is out of range: As index in B.loc_vehicles = 0
assert AUV_B.loc_vehicles[0] == 1
assert AUV_C.loc_vehicles[0] == 0
elif comms_AUV == 1:
assert AUV_A.loc_vehicles[1] == 1
assert AUV_C.loc_vehicles[1] == 1
elif comms_AUV == 2:
assert AUV_A.loc_vehicles[2] == 0
assert AUV_B.loc_vehicles[2] == 1
def test_sent_time(msg_time, time_1, time_2, expected):
# Examines the condition of accepting messages based on the message timestamp
# and the timestamp of the corresponding data held by the AUV
AUV_A = Vehicle(0, 3, 1, 1, -1, 0)
AUV_B = Vehicle(1, 3, 50, 50, -1, 0)
AUV_C = Vehicle(2, 3, 30, 50, -1, 0)
config = sim_config('tests/config/sim_config.csv')
achannel = V2V_comms(config)
AUV_B.time_stamps[0] = time_1
AUV_C.time_stamps[0] = time_2
AUV_A.send_acc_msg(achannel, msg_time, config, [AUV_A, AUV_B, AUV_C])
AUV_B.receive_acc_msg(achannel)
AUV_C.receive_acc_msg(achannel)
assert AUV_B.time_stamps[0] == expected[0]
assert AUV_C.time_stamps[0] == expected[1]
# call methods and attributes to test
# create 2 car instances
# make car accelerate and make them break
# make car honk and park
# create 2 plane instances here
# make plane accelerate and make them break
# make plane fly and land
from Car_class import Car
from Plane_class import plane
from Vehicle_class import Vehicle
# create 2 vehicle instances
vehicle1 = Vehicle(8, 12)
vehicle2 = Vehicle(5, 9)
# call methods and attributes to test
print("Testing Vehicle acceleration - expected result 'Vroom'' ")
vehicle1.accelerate()
vehicle2.accelerate()
print("Testing Vehicle breaking - expected result 'Slow down'")
vehicle1.car_break()
vehicle2.car_break()
print(
"Testing Vehicle with Passengers = 8 and Cargo = 12. Expected result: 8, 12"
)
print(vehicle1.n_passengers)
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_range():
AUV_A = Vehicle(0, 3, 10, 10, -10, 0)
AUV_B = Vehicle(1, 3, 499, 0, -10, 0)
AUV_C = Vehicle(2, 3, 998, 0, -10, 0)
config = sim_config('tests/config/sim_config.csv')
achannel = V2V_comms(config)
AUV_A.send_acc_msg(achannel, 1, config, [AUV_A, AUV_B, AUV_C])
AUV_B.receive_acc_msg(achannel)
AUV_C.receive_acc_msg(achannel)
# assert B received the message
assert AUV_B.loc_pos[0][0] == AUV_A.x
assert AUV_B.loc_pos[0][1] == AUV_A.y
assert AUV_B.loc_pos[0][2] == AUV_A.z
# assert C did not receive the message
assert AUV_C.loc_pos[0][0] != AUV_A.x
assert AUV_C.loc_pos[0][1] != AUV_A.y
assert AUV_C.loc_pos[0][2] != AUV_A.z
def test_sent_time(msg_time, time_1, time_2, expected):
# Examines the condition of accepting messages based on the message timestamp
# and the timestamp of the corresponding data held by the AUV
AUV_A = Vehicle(0, 3, 1, 1, -1, 0)
AUV_B = Vehicle(1, 3, 50, 50, -1, 0)
AUV_C = Vehicle(2, 3, 30, 50, -1, 0)
config = sim_config('tests/config/sim_config.csv')
achannel = V2V_comms(config)
AUV_B.time_stamps[0] = time_1
AUV_C.time_stamps[0] = time_2
AUV_A.send_acc_msg(achannel, msg_time, config, [AUV_A, AUV_B, AUV_C])
AUV_B.receive_acc_msg(achannel)
AUV_C.receive_acc_msg(achannel)
assert AUV_B.time_stamps[0] == expected[0]
assert AUV_C.time_stamps[0] == expected[1]
def test_waypoint_sequence():
AUV = Vehicle(0, 1, 50, 50, -49, 0)
config = sim_config('config/sim_config.csv')
AUV.waypoints = [[50,50,-50],[100,100,0]]
AUV.move_to_waypoint()
assert AUV.current_waypoint == 1
def test_download():
AUV_A = Vehicle(0, 3, 10, 10, 0, 0)
AUV_B = Vehicle(1, 3, 499, 0, 0, 0)
AUV_C = Vehicle(2, 3, 998, 0, 0, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(3)
AUV_A.sat_up(base, 1)
AUV_B.sat_up(base, 1)
AUV_C.sat_up(base, 1)
AUV_A.sat_down(base, 3, 1)
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)
def test_acc_loc_vehicles(comms_AUV):
# B is in range of A and C
# A is out of range of C
AUV_A = Vehicle(0, 3, 1, 1, -1, 0)
AUV_B = Vehicle(1, 3, 50, 50, -1, 0)
AUV_C = Vehicle(2, 3, 401, 401, -1, 0)
config = sim_config('tests/config/sim_config.csv')
achannel = V2V_comms(config)
if comms_AUV == 0:
AUV_A.send_acc_msg(achannel,0,config, [AUV_A, AUV_B, AUV_C])
elif comms_AUV == 1:
AUV_B.send_acc_msg(achannel, 0, config, [AUV_A, AUV_B, AUV_C])
elif comms_AUV == 2:
AUV_C.send_acc_msg(achannel,0,config, [AUV_A, AUV_B, AUV_C])
AUV_A.receive_acc_msg(achannel)
AUV_B.receive_acc_msg(achannel)
AUV_C.receive_acc_msg(achannel)
if comms_AUV == 0:
# B is in range hence As index in Bs loc_vehicles = 1
# C is out of range: As index in B.loc_vehicles = 0
assert AUV_B.loc_vehicles[0] == 1
assert AUV_C.loc_vehicles[0] == 0
elif comms_AUV == 1:
assert AUV_A.loc_vehicles[1] == 1
assert AUV_C.loc_vehicles[1] == 1
elif comms_AUV == 2:
assert AUV_A.loc_vehicles[2] == 0
assert AUV_B.loc_vehicles[2] == 1
def test_sat_loc_vehicles():
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)
assert (AUV_A.loc_vehicles[0] == 0 and
AUV_A.loc_vehicles[1] == 1 and
AUV_A.loc_vehicles[2] == 1
)
elps_time = 50
# Information exchanged via satellite
AUV_A.sat_up(base, elps_time)
AUV_A.sat_down(base, config.swarm_size, elps_time)
# There has been no update from B or C since last 'surface'
# hence data rendered uncertain and B & C removed from loc_vehicles
assert (AUV_A.loc_vehicles[0] == 0 and
AUV_A.loc_vehicles[1] == 0 and
AUV_A.loc_vehicles[2] == 0
)
AUV_B.sat_up(base, elps_time)
AUV_B.sat_down(base, config.swarm_size, elps_time)
# There has been an update from A since last sat comm hence A kept
# in loc vehicles but no update from C means C is removed.
assert (AUV_B.loc_vehicles[0] == 1 and
AUV_B.loc_vehicles[1] == 0 and
AUV_B.loc_vehicles[2] == 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
