class CheckScripts(unittest.TestCase): def setUp(self): self.sandbox = SandBox() self.scripts = 0 def tearDown(self): print "Tested %g scripts" % (self.scripts,) self.sandbox.erase() def testScripts(self): script_path = self.sandbox.path_to_jsbsim_file('scripts') for f in os.listdir(self.sandbox.elude(script_path)): fullpath = os.path.join(self.sandbox.elude(script_path), f) # Does f contains a JSBSim script ? if not CheckXMLFile(fullpath, 'runscript'): continue fdm = CreateFDM(self.sandbox) self.assertTrue(fdm.load_script(os.path.join(script_path, f)), msg="Failed to load script %s" % (fullpath,)) fdm.run_ic() self.scripts += 1 del fdm
class CheckScripts(unittest.TestCase): def setUp(self): self.sandbox = SandBox() self.scripts = 0 def tearDown(self): print "Tested %g scripts" % (self.scripts, ) self.sandbox.erase() def testScripts(self): script_path = self.sandbox.path_to_jsbsim_file('scripts') for f in os.listdir(self.sandbox.elude(script_path)): fullpath = os.path.join(self.sandbox.elude(script_path), f) # Does f contains a JSBSim script ? if not CheckXMLFile(fullpath, 'runscript'): continue fdm = CreateFDM(self.sandbox) self.assertTrue(fdm.load_script(os.path.join(script_path, f)), msg="Failed to load script %s" % (fullpath, )) fdm.run_ic() self.scripts += 1 del fdm
class TestScriptOutput(unittest.TestCase): def setUp(self): self.sandbox = SandBox() self.script_path = self.sandbox.path_to_jsbsim_file('scripts', 'c1722.xml') def tearDown(self): self.sandbox.erase() def test_no_output(self): fdm = CreateFDM(self.sandbox) fdm.load_script(self.script_path) fdm.run_ic() ExecuteUntil(fdm, 10.) self.assertFalse(self.sandbox.exists('output.csv'), msg="Results have unexpectedly been written to 'output.csv'") def test_output_from_file(self): tree = et.parse(self.sandbox.elude(self.script_path)) output_tag = et.SubElement(tree.getroot(), 'output') output_tag.attrib['file'] = self.sandbox.elude(self.sandbox.path_to_jsbsim_file('tests', 'output.xml')) tree.write(self.sandbox('c1722_0.xml')) fdm = CreateFDM(self.sandbox) fdm.load_script('c1722_0.xml') fdm.run_ic() ExecuteUntil(fdm, 10.) self.assertTrue(self.sandbox.exists('output.csv'), msg="The file 'output.csv' has not been created") def test_output(self): tree = et.parse(self.sandbox.elude(self.script_path)) output_tag = et.SubElement(tree.getroot(), 'output') output_tag.attrib['name'] = 'test.csv' output_tag.attrib['type'] = 'CSV' output_tag.attrib['rate'] = '10' property_tag = et.SubElement(output_tag, 'property') property_tag.text = 'position/vrp-radius-ft' tree.write(self.sandbox('c1722_0.xml')) fdm = CreateFDM(self.sandbox) fdm.load_script('c1722_0.xml') fdm.run_ic() ExecuteUntil(fdm, 10.) self.assertTrue(self.sandbox.exists(output_tag.attrib['name']), msg="The file 'output.csv' has not been created") orig = pd.read_csv(self.sandbox('JSBout172B.csv')) test = pd.read_csv(self.sandbox('test.csv')) self.assertEqual(np.max(orig['Time']-test['Time']), 0.0) pname = '/fdm/jsbsim/' + property_tag.text self.assertEqual(np.max(orig[pname]-test[pname]), 0.0)
class TestOrbitCheckCase(unittest.TestCase): def setUp(self): self.sandbox = SandBox('check_cases', 'orbit') def tearDown(self): self.sandbox.erase() def testOrbitCheckCase(self): os.environ['JSBSIM_DEBUG'] = str(0) fdm = CreateFDM(self.sandbox) fdm.load_script( self.sandbox.path_to_jsbsim_file('scripts', 'ball_orbit.xml')) fdm.run_ic() while fdm.run(): pass ref, current = Table(), Table() ref.ReadCSV( self.sandbox.elude( self.sandbox.path_to_jsbsim_file('logged_data', 'BallOut.csv'))) current.ReadCSV(self.sandbox('BallOut.csv')) diff = ref.compare(current) self.longMessage = True self.assertTrue(diff.empty(), msg='\n' + repr(diff))
class CheckAircrafts(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def testAircrafts(self): aircraft_path = self.sandbox.elude( self.sandbox.path_to_jsbsim_file('aircraft')) for d in os.listdir(aircraft_path): fullpath = os.path.join(aircraft_path, d) # Is d a directory ? if not os.path.isdir(fullpath): continue f = os.path.join(aircraft_path, d, append_xml(d)) # Is f an aircraft definition file ? if not CheckXMLFile(f, 'fdm_config'): continue if d in ('blank'): continue fdm = CreateFDM(self.sandbox) self.assertTrue(fdm.load_model(d), msg='Failed to load aircraft %s' % (d, )) for f in os.listdir(fullpath): f = os.path.join(aircraft_path, d, f) if CheckXMLFile(f, 'initialize'): self.assertTrue( fdm.load_ic(f, False), msg='Failed to load IC %s for aircraft %s' % (f, d)) try: fdm.run_ic() except RuntimeError: self.fail('Failed to run IC %s for aircraft %s' % (f, d)) break del fdm
class CheckTrim(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def test_trim_doesnt_ignite_rockets(self): # Run a longitudinal trim with a rocket equipped with solid propellant # boosters (aka SRBs). The trim algorithm will try to reach a vertical # equilibrium by tweaking the throttle but since the rocket is nose up, # the trim cannot converge. As a result the algorithm will set full # throttle which will result in the SRBs ignition if the integration is # not suspended. This bug has been reported in FlightGear and this test # is checking that there is no regression. fdm = CreateFDM(self.sandbox) fdm.load_model('J246') aircraft_path = self.sandbox.elude(self.sandbox.path_to_jsbsim_file('aircraft')) fdm.load_ic(os.path.join(aircraft_path, 'J246', 'LC39'), False) fdm.run_ic() # Check that the SRBs are not ignited self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0) self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0) try: fdm['simulation/do_simple_trim'] = 1 except RuntimeError as e: # The trim cannot succeed. Just make sure that the raised exception # is due to the trim failure otherwise rethrow. if e.args[0] != 'Trim Failed': raise # Check that the trim did not ignite the SRBs self.assertEqual(fdm['propulsion/engine[0]/thrust-lbs'], 0.0) self.assertEqual(fdm['propulsion/engine[1]/thrust-lbs'], 0.0) def test_trim_on_ground(self): fdm = CreateFDM(self.sandbox) fdm.load_model('c172x') fdm['ic/theta-deg'] = 10.0 fdm.run_ic() fdm['ic/theta-deg'] = 0.0 fdm['simulation/do_simple_trim'] = 2
class CheckAircrafts(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def testAircrafts(self): aircraft_path = self.sandbox.elude(self.sandbox.path_to_jsbsim_file('aircraft')) for d in os.listdir(aircraft_path): fullpath = os.path.join(aircraft_path, d) # Is d a directory ? if not os.path.isdir(fullpath): continue f = os.path.join(aircraft_path, d, append_xml(d)) # Is f an aircraft definition file ? if not CheckXMLFile(f, 'fdm_config'): continue if d in ('blank'): continue fdm = CreateFDM(self.sandbox) self.assertTrue(fdm.load_model(d), msg='Failed to load aircraft %s' % (d,)) for f in os.listdir(fullpath): f = os.path.join(aircraft_path, d, f) if CheckXMLFile(f, 'initialize'): self.assertTrue(fdm.load_ic(f, False), msg='Failed to load IC %s for aircraft %s' %(f,d)) try: fdm.run_ic() except RuntimeError: self.fail('Failed to run IC %s for aircraft %s' %(f,d)) break del fdm
class TestHoldDown(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def test_static_hold_down(self): fdm = CreateFDM(self.sandbox) fdm.load_model('J246') aircraft_path = self.sandbox.elude(self.sandbox.path_to_jsbsim_file('aircraft')) fdm.load_ic(os.path.join(aircraft_path, 'J246', 'LC39'), False) fdm.set_property_value('forces/hold-down', 1.0) fdm.run_ic() h0 = fdm.get_property_value('position/h-sl-ft') t = 0.0 while t < 420.0: fdm.run() t = fdm.get_property_value('simulation/sim-time-sec') self.assertAlmostEqual(fdm.get_property_value('position/h-sl-ft'), h0, delta=1E-5)
class TestOrbitCheckCase(unittest.TestCase): def setUp(self): self.sandbox = SandBox('check_cases', 'orbit') def tearDown(self): self.sandbox.erase() def testOrbitCheckCase(self): os.environ['JSBSIM_DEBUG'] = str(0) fdm = CreateFDM(self.sandbox) fdm.load_script(self.sandbox.path_to_jsbsim_file('scripts', 'ball_orbit.xml')) fdm.run_ic() while fdm.run(): pass ref, current = Table(), Table() ref.ReadCSV(self.sandbox.elude(self.sandbox.path_to_jsbsim_file('logged_data', 'BallOut.csv'))) current.ReadCSV(self.sandbox('BallOut.csv')) diff = ref.compare(current) self.longMessage = True self.assertTrue(diff.empty(), msg='\n'+repr(diff))
class TestHoldDown(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def test_static_hold_down(self): fdm = CreateFDM(self.sandbox) fdm.load_model('J246') aircraft_path = self.sandbox.elude( self.sandbox.path_to_jsbsim_file('aircraft')) fdm.load_ic(os.path.join(aircraft_path, 'J246', 'LC39'), False) fdm.set_property_value('forces/hold-down', 1.0) fdm.run_ic() h0 = fdm.get_property_value('position/h-sl-ft') t = 0.0 while t < 420.0: fdm.run() t = fdm.get_property_value('simulation/sim-time-sec') self.assertAlmostEqual(fdm.get_property_value('position/h-sl-ft'), h0, delta=1E-5)
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS # FOR A PARTICULAR PURPOSE. See the GNU General Public License for more # details. # # You should have received a copy of the GNU General Public License along with # this program; if not, see <http://www.gnu.org/licenses/> # import sys from JSBSim_utils import CreateFDM, Table, SandBox sandbox = SandBox("check_cases", "orbit") fdm = CreateFDM(sandbox) fdm.load_script(sandbox.path_to_jsbsim_file("scripts", "ball_orbit.xml")) fdm.run_ic() while fdm.run(): pass ref, current = Table(), Table() ref.ReadCSV(sandbox.elude(sandbox.path_to_jsbsim_file("logged_data", "BallOut.csv"))) current.ReadCSV(sandbox("BallOut.csv")) diff = ref.compare(current) if not diff.empty(): print diff sys.exit(-1) # Needed for 'make test' to report the test passed. sandbox.erase()
class TestAccelerometer(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def AddAccelerometersToAircraft(self, script_path): tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox) system_tag = et.SubElement(tree.getroot(), 'system') system_tag.attrib['file'] = 'accelerometers' tree.write(self.sandbox('aircraft', aircraft_name, aircraft_name+'.xml')) def testOrbit(self): script_name = 'ball_orbit.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) self.AddAccelerometersToAircraft(script_path) # The time step is too small in ball_orbit so let's increase it to 0.1s # for a quicker run tree = et.parse(self.sandbox.elude(script_path)) run_tag = tree.getroot().find('./run') run_tag.attrib['dt'] = '0.1' tree.write(self.sandbox(script_name)) fdm = CreateFDM(self.sandbox) fdm.set_aircraft_path('aircraft') fdm.load_script(script_name) # Switch the accel on fdm.set_property_value('fcs/accelerometer/on', 1.0) fdm.run_ic() while fdm.run(): self.assertAlmostEqual(fdm.get_property_value('fcs/accelerometer/X'), 0.0, delta=1E-8) self.assertAlmostEqual(fdm.get_property_value('fcs/accelerometer/Y'), 0.0, delta=1E-8) self.assertAlmostEqual(fdm.get_property_value('fcs/accelerometer/Z'), 0.0, delta=1E-8) self.assertAlmostEqual(fdm.get_property_value('accelerations/a-pilot-x-ft_sec2'), 0.0, delta=1E-8) self.assertAlmostEqual(fdm.get_property_value('accelerations/a-pilot-y-ft_sec2'), 0.0, delta=1E-8) self.assertAlmostEqual(fdm.get_property_value('accelerations/a-pilot-z-ft_sec2'), 0.0, delta=1E-8) del fdm def testOnGround(self): script_name = 'c1721.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) self.AddAccelerometersToAircraft(script_path) fdm = CreateFDM(self.sandbox) fdm.set_aircraft_path('aircraft') fdm.load_script(script_path) # Switch the accel on fdm.set_property_value('fcs/accelerometer/on', 1.0) # Use the standard gravity (i.e. GM/r^2) fdm.set_property_value('simulation/gravity-model', 0) # Simplifies the transformation to compare the accelerometer with the # gravity fdm.set_property_value('ic/psi-true-rad', 0.0) fdm.run_ic() for i in xrange(500): fdm.run() ax = fdm.get_property_value('accelerations/udot-ft_sec2') ay = fdm.get_property_value('accelerations/vdot-ft_sec2') az = fdm.get_property_value('accelerations/wdot-ft_sec2') g = fdm.get_property_value('accelerations/gravity-ft_sec2') theta = fdm.get_property_value('attitude/theta-rad') # There is a lag of one time step between the computations of the # accelerations and the update of the accelerometer fdm.run() fax = fdm.get_property_value('fcs/accelerometer/X') fay = fdm.get_property_value('fcs/accelerometer/Y') faz = fdm.get_property_value('fcs/accelerometer/Z') fax -= ax faz -= az self.assertAlmostEqual(fay, 0.0, delta=1E-6) self.assertAlmostEqual(fax / (g * math.sin(theta)), 1.0, delta=1E-5) self.assertAlmostEqual(faz / (g * math.cos(theta)), -1.0, delta=1E-7) del fdm def testSteadyFlight(self): script_name = 'c1722.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) self.AddAccelerometersToAircraft(script_path) fdm = CreateFDM(self.sandbox) fdm.set_aircraft_path('aircraft') fdm.load_script(script_path) # Switch the accel on fdm.set_property_value('fcs/accelerometer/on', 1.0) # Use the standard gravity (i.e. GM/r^2) fdm.set_property_value('simulation/gravity-model', 0) # Simplifies the transformation to compare the accelerometer with the # gravity fdm.set_property_value('ic/psi-true-rad', 0.0) fdm.run_ic() while fdm.get_property_value('simulation/sim-time-sec') <= 0.5: fdm.run() fdm.set_property_value('simulation/do_simple_trim', 1) ax = fdm.get_property_value('accelerations/udot-ft_sec2') ay = fdm.get_property_value('accelerations/vdot-ft_sec2') az = fdm.get_property_value('accelerations/wdot-ft_sec2') g = fdm.get_property_value('accelerations/gravity-ft_sec2') theta = fdm.get_property_value('attitude/theta-rad') # There is a lag of one time step between the computations of the # accelerations and the update of the accelerometer fdm.run() fax = fdm.get_property_value('fcs/accelerometer/X') fay = fdm.get_property_value('fcs/accelerometer/Y') faz = fdm.get_property_value('fcs/accelerometer/Z') fax -= ax fay -= ay faz -= az # Deltas are relaxed because the tolerances of the trimming algorithm # are quite relaxed themselves. self.assertAlmostEqual(faz / (g * math.cos(theta)), -1.0, delta=1E-5) self.assertAlmostEqual(fax / (g * math.sin(theta)), 1.0, delta=1E-5) self.assertAlmostEqual(math.sqrt(fax*fax+fay*fay+faz*faz)/g, 1.0, delta=1E-6) del fdm def testSpinningBodyOnOrbit(self): script_name = 'ball_orbit.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) self.AddAccelerometersToAircraft(script_path) fdm = CreateFDM(self.sandbox) fdm.set_aircraft_path('aircraft') fdm.load_model('ball') # Offset the CG along Y (by 30") fdm.set_property_value('inertia/pointmass-weight-lbs[1]', 50.0) aircraft_path = self.sandbox.elude(self.sandbox.path_to_jsbsim_file('aircraft', 'ball')) fdm.load_ic(os.path.join(aircraft_path, 'reset00.xml'), False) # Switch the accel on fdm.set_property_value('fcs/accelerometer/on', 1.0) # Set the orientation such that the spinning axis is Z. fdm.set_property_value('ic/phi-rad', 0.5*math.pi) # Set the angular velocities to 0.0 in the ECEF frame. The angular # velocity R_{inertial} will therefore be equal to the Earth rotation # rate 7.292115E-5 rad/sec fdm.set_property_value('ic/p-rad_sec', 0.0) fdm.set_property_value('ic/q-rad_sec', 0.0) fdm.set_property_value('ic/r-rad_sec', 0.0) fdm.run_ic() fax = fdm.get_property_value('fcs/accelerometer/X') fay = fdm.get_property_value('fcs/accelerometer/Y') faz = fdm.get_property_value('fcs/accelerometer/Z') cgy_ft = fdm.get_property_value('inertia/cg-y-in') / 12. omega = 0.00007292115 # Earth rotation rate in rad/sec self.assertAlmostEqual(fdm.get_property_value('accelerations/a-pilot-x-ft_sec2'), fax, delta=1E-8) self.assertAlmostEqual(fdm.get_property_value('accelerations/a-pilot-y-ft_sec2'), fay, delta=1E-8) self.assertAlmostEqual(fdm.get_property_value('accelerations/a-pilot-z-ft_sec2'), faz, delta=1E-8) # Acceleration along X should be zero self.assertAlmostEqual(fax, 0.0, delta=1E-8) # Acceleration along Y should be equal to r*omega^2 self.assertAlmostEqual(fay / (cgy_ft * omega * omega), 1.0, delta=1E-7) # Acceleration along Z should be zero self.assertAlmostEqual(faz, 0.0, delta=1E-8)
class TestICOverride(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def test_IC_override(self): # Run the script c1724.xml script_path = self.sandbox.path_to_jsbsim_file('scripts', 'c1724.xml') fdm = CreateFDM(self.sandbox) fdm.load_script(script_path) vt0 = fdm.get_property_value('ic/vt-kts') fdm.run_ic() ExecuteUntil(fdm, 1.0) # Check that the total velocity exported in the output file matches the IC # defined in the initialization file ref = Table() ref.ReadCSV(self.sandbox('JSBout172B.csv')) for col, title in enumerate(ref._lines[0]): if title == 'V_{Total} (ft/s)': self.assertTrue( abs(ref._lines[1][col] - (vt0 / fpstokts)) < 1E-5, msg= "Original script %s\nThe total velocity is %f. The value %f was expected" % (script_path, ref._lines[1][col], vt0 / fpstokts)) break else: self.fail("The total velocity is not exported in %s" % (script_path, )) # Now, we will re-run the same test but the IC will be overridden in the scripts # The initial total velocity is increased by 1 ft/s vt0 += 1.0 # The script c1724.xml is loaded and the following line is added in it: # <property value="..."> ic/vt-kts </property> # The modified script is then saved with the named 'c1724_0.xml' tree = et.parse(self.sandbox.elude(script_path)) run_tag = tree.getroot().find("./run") property = et.SubElement(run_tag, 'property') property.text = 'ic/vt-kts' property.attrib['value'] = str(vt0) tree.write(self.sandbox('c1724_0.xml')) # Re-run the same check than above. This time we are making sure than the total # initial velocity is increased by 1 ft/s self.sandbox.delete_csv_files() # Because JSBSim internals use static pointers, we cannot rely on Python # garbage collector to decide when the FDM is destroyed otherwise we can # get dangling pointers. del fdm fdm = CreateFDM(self.sandbox) fdm.load_script('c1724_0.xml') self.assertTrue( abs(fdm.get_property_value('ic/vt-kts') - vt0) < 1E-5, msg= "Modified script %s\nThe total velocity in the IC (%f) is different from %f" % (self.sandbox('JSBout172B.csv'), fdm.get_property_value('ic/vt-kts'), vt0)) fdm.run_ic() ExecuteUntil(fdm, 1.0) mod = Table() mod.ReadCSV(self.sandbox('JSBout172B.csv')) for col, title in enumerate(mod._lines[0]): if title == 'V_{Total} (ft/s)': self.assertTrue( abs(mod._lines[1][col] - (vt0 / fpstokts)) < 1E-5, msg= "Modified script %s\nThe total velocity is %f. The value %f was expected" % (self.sandbox('JSBout172B.csv'), mod._lines[1][col], vt0 / fpstokts)) break else: self.fail("The total velocity is not exported in %s" % (sandbox('JSBout172B.csv'), ))
class TestModelLoading(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def BuildReference(self, script_name): # Run the script self.script = self.sandbox.path_to_jsbsim_file(os.path.join('scripts', script_name)) self.sandbox.delete_csv_files() fdm = CreateFDM(self.sandbox) fdm.set_output_directive(self.sandbox.path_to_jsbsim_file('tests', 'output.xml')) fdm.load_script(self.script) fdm.set_property_value('simulation/randomseed', 0.0) fdm.run_ic() ExecuteUntil(fdm, 50.0) self.ref = Table() self.ref.ReadCSV(self.sandbox("output.csv")) # Since the script will work with modified versions of the aircraft XML # definition file, we need to make a copy of the directory that contains # all the input data of that aircraft tree, self.aircraft_name, self.path_to_jsbsim_aircrafts = CopyAircraftDef(self.script, self.sandbox) self.aircraft_path = self.sandbox('aircraft', self.aircraft_name) def ProcessAndCompare(self, section): # Here we determine if the original aircraft definition <section> is # inline or read from an external file. tree = et.parse(os.path.join(self.path_to_jsbsim_aircrafts, self.aircraft_name + '.xml')) root = tree.getroot() # Iterate over all the tags named <section> for section_element in root.findall(section): if 'file' in section_element.keys(): self.InsertAndCompare(section_element, tree) else: self.DetachAndCompare(section_element, tree) def DetachAndCompare(self, section_element, tree): # Extract <section> from the original aircraft definition file and copy # it in a separate XML file 'section.xml' section_tree = et.ElementTree(element=section_element) if 'name' in section_element.keys(): section = section_element.attrib['name'] else: section = section_element.tag section_tree.write(os.path.join(self.aircraft_path, section+'.xml'), xml_declaration=True) # Now, we need to clean up the aircraft definition file from all # references to <section>. We just need a single <section> tag that # points to the file 'section.xml' for element in list(section_element): section_element.remove(element) section_element.attrib = {'file': section+'.xml'} tree.write(os.path.join(self.aircraft_path, self.aircraft_name+'.xml'), xml_declaration=True) self.Compare(section) def InsertAndCompare(self, section_element, tree): file_name = append_xml(section_element.attrib['file']) section_file = os.path.join(self.path_to_jsbsim_aircrafts, file_name) # If <section> is actually <system>, we need to iterate over all the # directories in which the file is allowed to be stored until the file # is located. if not os.path.exists(section_file) and section_element.tag == 'system': section_file = os.path.join(self.path_to_jsbsim_aircrafts, "systems", file_name) if not os.path.exists(section_file): section_file = self.sandbox.elude(self.sandbox.path_to_jsbsim_file("systems", file_name)) # The original <section> tag is dropped and replaced by the content of # the file. section_root = et.parse(section_file).getroot() del section_element.attrib['file'] section_element.attrib.update(section_root.attrib) section_element.extend(section_root) tree.write(os.path.join(self.aircraft_path, self.aircraft_name+'.xml')) self.Compare(section_element.tag+" file:"+section_file) def Compare(self, section): # Rerun the script with the modified aircraft definition self.sandbox.delete_csv_files() fdm = CreateFDM(self.sandbox) # We need to tell JSBSim that the aircraft definition is located in the # directory build/.../aircraft fdm.set_aircraft_path('aircraft') fdm.set_output_directive(self.sandbox.path_to_jsbsim_file('tests', 'output.xml')) fdm.load_script(self.script) fdm.set_property_value('simulation/randomseed', 0.0) fdm.run_ic() ExecuteUntil(fdm, 50.0) mod = Table() mod.ReadCSV(self.sandbox('output.csv')) # Whether the data is read from the aircraft definition file or from an # external file, the results shall be exactly identical. Hence the # precision set to 0.0. diff = self.ref.compare(mod, 0.0) self.assertTrue(diff.empty(), msg='\nTesting section "'+section+'"\n'+repr(diff)) def test_model_loading(self): self.longMessage = True self.BuildReference('c1724.xml') output_ref = Table() output_ref.ReadCSV(self.sandbox('JSBout172B.csv')) self.ProcessAndCompare('aerodynamics') self.ProcessAndCompare('autopilot') self.ProcessAndCompare('flight_control') self.ProcessAndCompare('ground_reactions') self.ProcessAndCompare('mass_balance') self.ProcessAndCompare('metrics') self.ProcessAndCompare('propulsion') self.ProcessAndCompare('system') # The <output> section needs special handling. In addition to the check # conducted by ProcessAndCompare with a directive file, we need to # verify that the <output> tag has been correctly executed by JSBSim. # In the case of the script c1724.xml, this means that the data output # in JSBout172B.csv is the same between the reference 'output_ref' and # the result 'mod' below where the <output> tag was moved in a separate # file. self.ProcessAndCompare('output') mod = Table() mod.ReadCSV(self.sandbox('JSBout172B.csv')) diff = output_ref.compare(mod, 0.0) self.assertTrue(diff.empty(), msg='\nTesting section "output"\n'+repr(diff)) self.BuildReference('weather-balloon.xml') self.ProcessAndCompare('buoyant_forces') self.BuildReference('Concorde_runway_test.xml') self.ProcessAndCompare('external_reactions')
class TestInputSocket(unittest.TestCase): def setUp(self): self.sandbox = SandBox() self.script_path = self.sandbox.path_to_jsbsim_file('scripts', 'c1722.xml') def tearDown(self): self.sandbox.erase() def sanityCheck(self, _tn): # Check that the connection has been established out = _tn.getOutput() self.assertTrue(string.split(out, '\n')[0] == 'Connected to JSBSim server', msg="Not connected to the JSBSim server.\nGot message '%s' instead" % (out,)) # Check that "help" returns the minimum set of commands that will be # tested self.assertEqual(sorted(map(lambda x: string.strip(string.split(x, '{')[0]), string.split(_tn.sendCommand("help"), '\n')[2:-2])), ['get', 'help', 'hold', 'info', 'iterate', 'quit', 'resume', 'set']) def test_no_input(self): fdm = CreateFDM(self.sandbox) fdm.load_script(self.script_path) fdm.run_ic() fdm.hold() with self.assertRaises(socket.error): TelnetInterface(fdm, 5., 1137) def test_input_socket(self): # The aircraft c172x does not contain an <input> tag so we need # to add one. tree, aircraft_name, b = CopyAircraftDef(self.script_path, self.sandbox) self.root = tree.getroot() input_tag = et.SubElement(self.root, 'input') input_tag.attrib['port'] = '1137' tree.write(self.sandbox('aircraft', aircraft_name, aircraft_name+'.xml')) fdm = CreateFDM(self.sandbox) fdm.set_aircraft_path('aircraft') fdm.load_script(self.script_path) fdm.run_ic() fdm.hold() tn = TelnetInterface(fdm, 5., 1137) self.sanityCheck(tn) # Check the aircraft name and its version msg = string.split(tn.sendCommand("info"), '\n') self.assertEqual(string.strip(string.split(msg[2], ':')[1]), string.strip(self.root.attrib['name'])) self.assertEqual(string.strip(string.split(msg[1], ':')[1]), string.strip(self.root.attrib['version'])) # Check that the simulation time is 0.0 self.assertEqual(float(string.strip(string.split(msg[3], ':')[1])), 0.0) self.assertEqual(tn.getSimTime(), 0.0) self.assertEqual(tn.getPropertyValue("simulation/sim-time-sec"), 0.0) # Check that 'iterate' iterates the correct number of times tn.sendCommand("iterate 19") self.assertEqual(tn.getSimTime(), 19. * tn.getDeltaT()) self.assertAlmostEqual(tn.getPropertyValue("simulation/sim-time-sec"), tn.getSimTime(), delta=1E-5) # Wait a little bit and make sure that the simulation time has not # changed meanwhile thus confirming that the simulation is on hold. tn.wait(0.1) self.assertEqual(tn.getSimTime(), 19. * tn.getDeltaT()) self.assertAlmostEqual(tn.getPropertyValue("simulation/sim-time-sec"), tn.getSimTime(), delta=1E-5) # Modify the tank[0] contents via the "send" command half_contents = 0.5 * tn.getPropertyValue("propulsion/tank/contents-lbs") tn.sendCommand("set propulsion/tank/contents-lbs " + str(half_contents)) self.assertEqual(tn.getPropertyValue("propulsion/tank/contents-lbs"), half_contents) # Check the resume/hold commands tn.setRealTime(True) t = tn.getSimTime() tn.sendCommand("resume") tn.wait(0.5) self.assertNotEqual(tn.getSimTime(), t) tn.wait(0.5) tn.sendCommand("hold") tn.setRealTime(False) t = tn.getSimTime() self.assertAlmostEqual(tn.getPropertyValue("simulation/sim-time-sec"), t, delta=1E-5) # Wait a little bit and make sure that the simulation time has not # changed meanwhile thus confirming that the simulation is on hold. tn.wait(0.1) self.assertEqual(tn.getSimTime(), t) self.assertAlmostEqual(tn.getPropertyValue("simulation/sim-time-sec"), t, delta=1E-5) def test_script_input(self): tree = et.parse(self.sandbox.elude(self.script_path)) input_tag = et.SubElement(tree.getroot(), 'input') input_tag.attrib['port'] = '1138' tree.write(self.sandbox('c1722_1.xml')) fdm = CreateFDM(self.sandbox) fdm.load_script('c1722_1.xml') fdm.run_ic() fdm.hold() tn = TelnetInterface(fdm, 5., 1138) self.sanityCheck(tn)
class TestModelLoading(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def BuildReference(self, script_name): # Run the script self.script = self.sandbox.path_to_jsbsim_file( os.path.join('scripts', script_name)) self.sandbox.delete_csv_files() fdm = CreateFDM(self.sandbox) fdm.set_output_directive( self.sandbox.path_to_jsbsim_file('tests', 'output.xml')) fdm.load_script(self.script) fdm.set_property_value('simulation/randomseed', 0.0) fdm.run_ic() ExecuteUntil(fdm, 50.0) self.ref = Table() self.ref.ReadCSV(self.sandbox("output.csv")) # Since the script will work with modified versions of the aircraft XML # definition file, we need to make a copy of the directory that contains # all the input data of that aircraft tree, self.aircraft_name, self.path_to_jsbsim_aircrafts = CopyAircraftDef( self.script, self.sandbox) self.aircraft_path = self.sandbox('aircraft', self.aircraft_name) def ProcessAndCompare(self, section): # Here we determine if the original aircraft definition <section> is # inline or read from an external file. tree = et.parse( os.path.join(self.path_to_jsbsim_aircrafts, self.aircraft_name + '.xml')) root = tree.getroot() # Iterate over all the tags named <section> for section_element in root.findall(section): if 'file' in section_element.keys(): self.InsertAndCompare(section_element, tree) else: self.DetachAndCompare(section_element, tree) def DetachAndCompare(self, section_element, tree): # Extract <section> from the original aircraft definition file and copy # it in a separate XML file 'section.xml' section_tree = et.ElementTree(element=section_element) if 'name' in section_element.keys(): section = section_element.attrib['name'] else: section = section_element.tag section_tree.write(os.path.join(self.aircraft_path, section + '.xml'), xml_declaration=True) # Now, we need to clean up the aircraft definition file from all # references to <section>. We just need a single <section> tag that # points to the file 'section.xml' for element in list(section_element): section_element.remove(element) section_element.attrib = {'file': section + '.xml'} tree.write(os.path.join(self.aircraft_path, self.aircraft_name + '.xml'), xml_declaration=True) self.Compare(section) def InsertAndCompare(self, section_element, tree): file_name = append_xml(section_element.attrib['file']) section_file = os.path.join(self.path_to_jsbsim_aircrafts, file_name) # If <section> is actually <system>, we need to iterate over all the # directories in which the file is allowed to be stored until the file # is located. if not os.path.exists( section_file) and section_element.tag == 'system': section_file = os.path.join(self.path_to_jsbsim_aircrafts, "systems", file_name) if not os.path.exists(section_file): section_file = self.sandbox.elude( self.sandbox.path_to_jsbsim_file("systems", file_name)) # The original <section> tag is dropped and replaced by the content of # the file. section_root = et.parse(section_file).getroot() del section_element.attrib['file'] section_element.attrib.update(section_root.attrib) section_element.extend(section_root) tree.write( os.path.join(self.aircraft_path, self.aircraft_name + '.xml')) self.Compare(section_element.tag + " file:" + section_file) def Compare(self, section): # Rerun the script with the modified aircraft definition self.sandbox.delete_csv_files() fdm = CreateFDM(self.sandbox) # We need to tell JSBSim that the aircraft definition is located in the # directory build/.../aircraft fdm.set_aircraft_path('aircraft') fdm.set_output_directive( self.sandbox.path_to_jsbsim_file('tests', 'output.xml')) fdm.load_script(self.script) fdm.set_property_value('simulation/randomseed', 0.0) fdm.run_ic() ExecuteUntil(fdm, 50.0) mod = Table() mod.ReadCSV(self.sandbox('output.csv')) # Whether the data is read from the aircraft definition file or from an # external file, the results shall be exactly identical. Hence the # precision set to 0.0. diff = self.ref.compare(mod, 0.0) self.assertTrue(diff.empty(), msg='\nTesting section "' + section + '"\n' + repr(diff)) def test_model_loading(self): self.longMessage = True self.BuildReference('c1724.xml') output_ref = Table() output_ref.ReadCSV(self.sandbox('JSBout172B.csv')) self.ProcessAndCompare('aerodynamics') self.ProcessAndCompare('autopilot') self.ProcessAndCompare('flight_control') self.ProcessAndCompare('ground_reactions') self.ProcessAndCompare('mass_balance') self.ProcessAndCompare('metrics') self.ProcessAndCompare('propulsion') self.ProcessAndCompare('system') # The <output> section needs special handling. In addition to the check # conducted by ProcessAndCompare with a directive file, we need to # verify that the <output> tag has been correctly executed by JSBSim. # In the case of the script c1724.xml, this means that the data output # in JSBout172B.csv is the same between the reference 'output_ref' and # the result 'mod' below where the <output> tag was moved in a separate # file. self.ProcessAndCompare('output') mod = Table() mod.ReadCSV(self.sandbox('JSBout172B.csv')) diff = output_ref.compare(mod, 0.0) self.assertTrue(diff.empty(), msg='\nTesting section "output"\n' + repr(diff)) self.BuildReference('weather-balloon.xml') self.ProcessAndCompare('buoyant_forces') self.BuildReference('Concorde_runway_test.xml') self.ProcessAndCompare('external_reactions')
class TestPitotAngle(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def test_CAS_ic(self): script_name = 'Short_S23_3.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) # Add a Pitot angle to the Short S23 tree, aircraft_name, path_to_jsbsim_aircrafts = CopyAircraftDef(script_path, self.sandbox) metrics_tag = tree.getroot().find('./metrics') pitot_tag = et.SubElement(metrics_tag, 'pitot_angle') pitot_tag.attrib['unit'] = 'DEG' pitot_tag.text = '5.0' tree.write(self.sandbox('aircraft', aircraft_name, aircraft_name+'.xml')) # Read the CAS specified in the IC file tree = et.parse(self.sandbox.elude(script_path)) use_element = tree.getroot().find('use') IC_file = use_element.attrib['initialize'] tree = et.parse(os.path.join(path_to_jsbsim_aircrafts, append_xml(IC_file))) vc_tag = tree.getroot().find('./vc') VCAS = float(vc_tag.text) if 'unit' in vc_tag.attrib and vc_tag.attrib['unit'] == 'FT/SEC': VCAS /= 1.68781 # Run the IC and check that the model is initialized correctly fdm = CreateFDM(self.sandbox) fdm.set_aircraft_path('aircraft') fdm.load_script(script_path) fdm.run_ic() self.assertAlmostEqual(fdm.get_property_value('ic/vc-kts'), VCAS, delta=1E-7) self.assertAlmostEqual(fdm.get_property_value('velocities/vc-kts'), VCAS, delta=1E-7) def test_pitot_angle(self): script_name = 'ball_chute.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) # Add a Pitot angle to the Cessna 172 tree, aircraft_name, path_to_jsbsim_aircrafts = CopyAircraftDef(script_path, self.sandbox) root = tree.getroot() metrics_tag = root.find('./metrics') pitot_tag = et.SubElement(metrics_tag, 'pitot_angle') pitot_tag.attrib['unit'] = 'DEG' pitot_tag.text = '5.0' contact_tag = root.find('./ground_reactions/contact') contact_tag.attrib['type'] = 'STRUCTURE' tree.write(self.sandbox('aircraft', aircraft_name, aircraft_name+'.xml')) fdm = CreateFDM(self.sandbox) fdm.set_aircraft_path('aircraft') fdm.load_model('ball') pitot_angle = float(pitot_tag.text) * math.pi / 180. weight = fdm.get_property_value('inertia/weight-lbs') spring_tag = contact_tag.find('./spring_coeff') spring_coeff = float(spring_tag.text) print "Weight=%d Spring=%d" % (weight, spring_coeff) fdm.set_property_value('ic/h-sl-ft', weight / spring_coeff) fdm.set_property_value('forces/hold-down', 1.0) fdm.run_ic() ExecuteUntil(fdm, 10.) for i in xrange(36): for j in xrange(-9, 10): angle = math.pi * i / 18.0 angle2 = math.pi * j / 18.0 ca2 = math.cos(angle2) fdm.set_property_value('atmosphere/wind-north-fps', 10. * math.cos(angle) * ca2) fdm.set_property_value('atmosphere/wind-east-fps', 10. * math.sin(angle) * ca2) fdm.set_property_value('atmosphere/wind-down-fps', 10. * math.sin(angle2)) fdm.run() vg = fdm.get_property_value('velocities/vg-fps') self.assertAlmostEqual(vg, 0.0, delta=1E-7) vt = fdm.get_property_value('velocities/vt-fps') self.assertAlmostEqual(vt, 10., delta=1E-7) mach = vt / fdm.get_property_value('atmosphere/a-fps') P = fdm.get_property_value('atmosphere/P-psf') pt = P * math.pow(1+0.2*mach*mach, 3.5) psl = fdm.get_property_value('atmosphere/P-sl-psf') rhosl = fdm.get_property_value('atmosphere/rho-sl-slugs_ft3') A = math.pow((pt-P)/psl+1.0, 1.0/3.5) alpha = fdm.get_property_value('aero/alpha-rad') beta = fdm.get_property_value('aero/beta-rad') vc = math.sqrt(7.0*psl/rhosl*(A-1.0))*math.cos(alpha+pitot_angle)*math.cos(beta) self.assertAlmostEqual(fdm.get_property_value('velocities/vc-kts'), max(0.0, vc) / 1.68781, delta=1E-7)
class CheckOutputRate(unittest.TestCase): def setUp(self): self.sandbox = SandBox() self.fdm = CreateFDM(self.sandbox) self.script_path = self.sandbox.path_to_jsbsim_file('scripts', 'c1722.xml') # Read the time step 'dt' from the script file self.tree = et.parse(self.sandbox.elude(self.script_path)) root = self.tree.getroot() use_tag = root.find("./use") aircraft_name = use_tag.attrib['aircraft'] self.run_tag = root.find("./run") self.dt = float(self.run_tag.attrib['dt']) # Read the date at which the trim will be run event_tags = root.findall('./run/event') for event in event_tags: if event.attrib['name'] == 'Trim': cond_tag = event.find('./condition') self.trim_date = float(string.split(cond_tag.text)[-1]) break # Read the output rate and the output file from the aircraft file aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft', aircraft_name, append_xml(aircraft_name)) tree = et.parse(self.sandbox.elude(aircraft_path)) output_tag = tree.getroot().find("./output") self.output_file = self.sandbox(output_tag.attrib['name']) self.rateHz = float(output_tag.attrib['rate']) self.rate = int(1.0 / (self.rateHz * self.dt)) def tearDown(self): del self.fdm self.sandbox.erase() def testOutputRate(self): self.fdm.load_script(self.script_path) # Check that the output is enabled by default self.assertEqual(self.fdm.get_property_value("simulation/output/enabled"), 1.0) # Check that the rate is consistent with the values extracted from the # script and the aircraft definition self.assertAlmostEqual(self.fdm.get_property_value("simulation/output/log_rate_hz"), self.rateHz, delta=1E-5) self.fdm.run_ic() for i in xrange(self.rate): self.fdm.run() output = Table() output.ReadCSV(self.output_file) # According to the settings, the output file must contain 2 lines in # addition to the headers : # 1. The initial conditions # 2. The output after 'rate' iterations self.assertEqual(output.get_column(0)[1], 0.0) self.assertEqual(output.get_column(0)[2], self.rate * self.dt) self.assertEqual(output.get_column(0)[2], self.fdm.get_property_value("simulation/sim-time-sec")) def testDisablingOutput(self): self.fdm.load_script(self.script_path) # Disables the output during the initialization self.fdm.set_property_value("simulation/output/enabled", 0.0) self.fdm.run_ic() self.fdm.set_property_value("simulation/output/enabled", 1.0) for i in xrange(self.rate): self.fdm.run() output = Table() output.ReadCSV(self.output_file) # According to the settings, the output file must contain 1 line in # addition to the headers : # 1. The output after 'rate' iterations self.assertEqual(output.get_column(0)[1], self.fdm.get_property_value("simulation/sim-time-sec")) def testTrimRestoresOutputSettings(self): self.fdm.load_script(self.script_path) # Disables the output during the initialization self.fdm.set_property_value("simulation/output/enabled", 0.0) self.fdm.run_ic() # Check that the output remains disabled even after the trim is # executed while self.fdm.get_property_value("simulation/sim-time-sec") < self.trim_date + 2.0*self.dt: self.fdm.run() self.assertEqual(self.fdm.get_property_value("simulation/output/enabled"), 0.0) # Re-enable the output and check that the output rate is unaffected by # the previous operations self.fdm.set_property_value("simulation/output/enabled", 1.0) frame = int(self.fdm.get_property_value("simulation/frame")) for i in xrange(self.rate): self.fdm.run() output = Table() output.ReadCSV(self.output_file) # The frame at which the data is logged must be the next multiple of # the output rate self.assertEqual(int(output.get_column(0)[1]/self.dt), (1 + frame/self.rate)*self.rate) def testDisablingOutputInScript(self): property = et.SubElement(self.run_tag, 'property') property.text = 'simulation/output/enabled' property.attrib['value'] = "0.0" self.tree.write(self.sandbox('c1722_0.xml')) self.fdm.load_script('c1722_0.xml') # Check that the output is disabled self.assertEqual(self.fdm.get_property_value("simulation/output/enabled"), 0.0) self.fdm.run_ic() self.fdm.set_property_value("simulation/output/enabled", 1.0) for i in xrange(self.rate): self.fdm.run() output = Table() output.ReadCSV(self.output_file) # According to the settings, the output file must contain 1 line in # addition to the headers : # 1. The output after 'rate' iterations self.assertEqual(output.get_column(0)[1], self.fdm.get_property_value("simulation/sim-time-sec"))
class TestICOverride(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def test_IC_override(self): # Run the script c1724.xml script_path = self.sandbox.path_to_jsbsim_file('scripts', 'c1724.xml') fdm = CreateFDM(self.sandbox) fdm.load_script(script_path) vt0 = fdm.get_property_value('ic/vt-kts') fdm.run_ic() self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) self.assertAlmostEqual(fdm.get_property_value('velocities/vt-fps'), vt0 / fpstokts, delta=1E-7) ExecuteUntil(fdm, 1.0) # Check that the total velocity exported in the output file matches the # IC defined in the initialization file ref = Table() ref.ReadCSV(self.sandbox('JSBout172B.csv')) self.assertEqual(ref.get_column('Time')[1], 0.0) self.assertAlmostEqual(ref.get_column('V_{Total} (ft/s)')[1], vt0 / fpstokts, delta=1E-7) # Now, we will re-run the same test but the IC will be overridden in the # script. The initial total velocity is increased by 1 ft/s vt0 += 1.0 # The script c1724.xml is loaded and the following line is added in it: # <property value="..."> ic/vt-kts </property> # The modified script is then saved with the named 'c1724_0.xml' tree = et.parse(self.sandbox.elude(script_path)) run_tag = tree.getroot().find("./run") property = et.SubElement(run_tag, 'property') property.text = 'ic/vt-kts' property.attrib['value'] = str(vt0) tree.write(self.sandbox('c1724_0.xml')) # Re-run the same check than above. This time we are making sure than # the total initial velocity is increased by 1 ft/s self.sandbox.delete_csv_files() # Because JSBSim internals use static pointers, we cannot rely on Python # garbage collector to decide when the FDM is destroyed otherwise we can # get dangling pointers. del fdm fdm = CreateFDM(self.sandbox) fdm.load_script('c1724_0.xml') self.assertAlmostEqual(fdm.get_property_value('ic/vt-kts'), vt0, delta=1E-6) fdm.run_ic() self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) self.assertAlmostEqual(fdm.get_property_value('velocities/vt-fps'), vt0 / fpstokts, delta=1E-6) ExecuteUntil(fdm, 1.0) mod = Table() mod.ReadCSV(self.sandbox('JSBout172B.csv')) self.assertAlmostEqual(mod.get_column('V_{Total} (ft/s)')[1], vt0 / fpstokts, delta=1E-6)
class TestInputSocket(unittest.TestCase): def setUp(self): self.sandbox = SandBox() self.script_path = self.sandbox.path_to_jsbsim_file( 'scripts', 'c1722.xml') def tearDown(self): self.sandbox.erase() def sanityCheck(self, _tn): # Check that the connection has been established out = _tn.getOutput() self.assertTrue( string.split(out, '\n')[0] == 'Connected to JSBSim server', msg="Not connected to the JSBSim server.\nGot message '%s' instead" % (out, )) # Check that "help" returns the minimum set of commands that will be # tested self.assertEqual( sorted( map(lambda x: string.strip(string.split(x, '{')[0]), string.split(_tn.sendCommand("help"), '\n')[2:-2])), [ 'get', 'help', 'hold', 'info', 'iterate', 'quit', 'resume', 'set' ]) def test_no_input(self): fdm = CreateFDM(self.sandbox) fdm.load_script(self.script_path) fdm.run_ic() fdm.hold() with self.assertRaises(socket.error): TelnetInterface(fdm, 5., 1137) def test_input_socket(self): # The aircraft c172x does not contain an <input> tag so we need # to add one. tree, aircraft_name, b = CopyAircraftDef(self.script_path, self.sandbox) self.root = tree.getroot() input_tag = et.SubElement(self.root, 'input') input_tag.attrib['port'] = '1137' tree.write( self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml')) fdm = CreateFDM(self.sandbox) fdm.set_aircraft_path('aircraft') fdm.load_script(self.script_path) fdm.run_ic() fdm.hold() tn = TelnetInterface(fdm, 5., 1137) self.sanityCheck(tn) # Check the aircraft name and its version msg = string.split(tn.sendCommand("info"), '\n') self.assertEqual(string.strip(string.split(msg[2], ':')[1]), string.strip(self.root.attrib['name'])) self.assertEqual(string.strip(string.split(msg[1], ':')[1]), string.strip(self.root.attrib['version'])) # Check that the simulation time is 0.0 self.assertEqual(float(string.strip(string.split(msg[3], ':')[1])), 0.0) self.assertEqual(tn.getSimTime(), 0.0) self.assertEqual(tn.getPropertyValue("simulation/sim-time-sec"), 0.0) # Check that 'iterate' iterates the correct number of times tn.sendCommand("iterate 19") self.assertEqual(tn.getSimTime(), 19. * tn.getDeltaT()) self.assertAlmostEqual(tn.getPropertyValue("simulation/sim-time-sec"), tn.getSimTime(), delta=1E-5) # Wait a little bit and make sure that the simulation time has not # changed meanwhile thus confirming that the simulation is on hold. tn.wait(0.1) self.assertEqual(tn.getSimTime(), 19. * tn.getDeltaT()) self.assertAlmostEqual(tn.getPropertyValue("simulation/sim-time-sec"), tn.getSimTime(), delta=1E-5) # Modify the tank[0] contents via the "send" command half_contents = 0.5 * tn.getPropertyValue( "propulsion/tank/contents-lbs") tn.sendCommand("set propulsion/tank/contents-lbs " + str(half_contents)) self.assertEqual(tn.getPropertyValue("propulsion/tank/contents-lbs"), half_contents) # Check the resume/hold commands tn.setRealTime(True) t = tn.getSimTime() tn.sendCommand("resume") tn.wait(0.5) self.assertNotEqual(tn.getSimTime(), t) tn.wait(0.5) tn.sendCommand("hold") tn.setRealTime(False) t = tn.getSimTime() self.assertAlmostEqual(tn.getPropertyValue("simulation/sim-time-sec"), t, delta=1E-5) # Wait a little bit and make sure that the simulation time has not # changed meanwhile thus confirming that the simulation is on hold. tn.wait(0.1) self.assertEqual(tn.getSimTime(), t) self.assertAlmostEqual(tn.getPropertyValue("simulation/sim-time-sec"), t, delta=1E-5) def test_script_input(self): tree = et.parse(self.sandbox.elude(self.script_path)) input_tag = et.SubElement(tree.getroot(), 'input') input_tag.attrib['port'] = '1138' tree.write(self.sandbox('c1722_1.xml')) fdm = CreateFDM(self.sandbox) fdm.load_script('c1722_1.xml') fdm.run_ic() fdm.hold() tn = TelnetInterface(fdm, 5., 1138) self.sanityCheck(tn)
class TestSimTimeReset(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def test_no_script(self): fdm = CreateFDM(self.sandbox) aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft') fdm.set_aircraft_path(aircraft_path) fdm.load_model('c172x') aircraft_path = os.path.join(self.sandbox.elude(aircraft_path), 'c172x') fdm.load_ic(os.path.join(aircraft_path, 'reset01.xml'), False) fdm.run_ic() self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) ExecuteUntil(fdm, 5.0) t = fdm.get_property_value('simulation/sim-time-sec') fdm.set_property_value('simulation/do_simple_trim', 1) self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), t) fdm.reset_to_initial_conditions(1) self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) del fdm def test_script_start_time_0(self): script_name = 'ball_orbit.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) fdm = CreateFDM(self.sandbox) fdm.load_script(script_path) fdm.run_ic() self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) ExecuteUntil(fdm, 5.0) fdm.reset_to_initial_conditions(1) self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) del fdm def test_script_start_time(self): script_name = 'ball_orbit.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) tree = et.parse(self.sandbox.elude(script_path)) run_tag = tree.getroot().find('./run') run_tag.attrib['start'] = '1.2' tree.write(self.sandbox(script_name)) fdm = CreateFDM(self.sandbox) fdm.load_script(script_name) fdm.run_ic() self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 1.2) ExecuteUntil(fdm, 5.0) fdm.reset_to_initial_conditions(1) self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 1.2) del fdm def test_script_no_start_time(self): script_name = 'ball_orbit.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) tree = et.parse(self.sandbox.elude(script_path)) run_tag = tree.getroot().find('./run') # Remove the parameter 'start' from the tag <run> del run_tag.attrib['start'] tree.write(self.sandbox(script_name)) fdm = CreateFDM(self.sandbox) fdm.load_script(script_name) fdm.run_ic() self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) ExecuteUntil(fdm, 5.0) fdm.reset_to_initial_conditions(1) self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) del fdm
class TestInitialConditions(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def test_initial_conditions(self): prop_output_to_CSV = ['velocities/vc-kts'] # A dictionary that contains the XML tags to extract from the IC file # along with the name of the properties that contain the values # extracted from the IC file. vars = [{'tag': 'vt', 'unit': convtofps, 'default_unit': 'FT/SEC', 'ic_prop': 'ic/vt-fps', 'prop': 'velocities/vt-fps', 'CSV_header': 'V_{Total} (ft/s)'}, {'tag': 'vc', 'unit': convtokts, 'default_unit': 'KTS', 'ic_prop': 'ic/vc-kts', 'prop': 'velocities/vc-kts', 'CSV_header': '/fdm/jsbsim/velocities/vc-kts'}, {'tag': 'ubody', 'unit': convtofps, 'default_unit': 'FT/SEC', 'ic_prop': 'ic/u-fps', 'prop': 'velocities/u-fps', 'CSV_header': 'UBody'}, {'tag': 'vbody', 'unit': convtofps, 'default_unit': 'FT/SEC', 'ic_prop': 'ic/v-fps', 'prop': 'velocities/v-fps', 'CSV_header': 'VBody'}, {'tag': 'wbody', 'unit': convtofps, 'default_unit': 'FT/SEC', 'ic_prop': 'ic/w-fps', 'prop': 'velocities/w-fps', 'CSV_header': 'WBody'}, {'tag': 'vnorth', 'unit': convtofps, 'default_unit': 'FT/SEC', 'ic_prop': 'ic/vn-fps', 'prop': 'velocities/v-north-fps', 'CSV_header': 'V_{North} (ft/s)'}, {'tag': 'veast', 'unit': convtofps, 'default_unit': 'FT/SEC', 'ic_prop': 'ic/ve-fps', 'prop': 'velocities/v-east-fps', 'CSV_header': 'V_{East} (ft/s)'}, {'tag': 'vdown', 'unit': convtofps, 'default_unit': 'FT/SEC', 'ic_prop': 'ic/vd-fps', 'prop': 'velocities/v-down-fps', 'CSV_header': 'V_{Down} (ft/s)'}, {'tag': 'latitude', 'unit': convtodeg, 'default_unit': 'RAD', 'ic_prop': 'ic/lat-gc-deg', 'prop': 'position/lat-gc-deg', 'CSV_header': 'Latitude (deg)'}, {'tag': 'longitude', 'unit': convtodeg, 'default_unit': 'RAD', 'ic_prop': 'ic/long-gc-deg', 'prop': 'position/long-gc-deg', 'CSV_header': 'Longitude (deg)'}, {'tag': 'altitude', 'unit': convtoft, 'default_unit': 'FT', 'ic_prop': 'ic/h-agl-ft', 'prop': 'position/h-agl-ft', 'CSV_header': 'Altitude AGL (ft)'}, {'tag': 'altitudeAGL', 'unit': convtoft, 'default_unit': 'FT', 'ic_prop': 'ic/h-agl-ft', 'prop': 'position/h-agl-ft', 'CSV_header': 'Altitude AGL (ft)'}, {'tag': 'altitudeMSL', 'unit': convtoft, 'default_unit': 'FT', 'ic_prop': 'ic/h-sl-ft', 'prop': 'position/h-sl-ft', 'CSV_header': 'Altitude ASL (ft)'}, {'tag': 'phi', 'unit': convtodeg, 'default_unit': 'RAD', 'ic_prop': 'ic/phi-deg', 'prop': 'attitude/phi-deg', 'CSV_header': 'Phi (deg)'}, {'tag': 'theta', 'unit': convtodeg, 'default_unit': 'RAD', 'ic_prop': 'ic/theta-deg', 'prop': 'attitude/theta-deg', 'CSV_header': 'Theta (deg)'}, {'tag': 'psi', 'unit': convtodeg, 'default_unit': 'RAD', 'ic_prop': 'ic/psi-true-deg', 'prop': 'attitude/psi-deg', 'CSV_header': 'Psi (deg)'}, {'tag': 'elevation', 'unit': convtoft, 'default_unit': 'FT', 'ic_prop': 'ic/terrain-elevation-ft', 'prop': 'position/terrain-elevation-asl-ft', 'CSV_header': 'Terrain Elevation (ft)'}] script_path = self.sandbox.path_to_jsbsim_file('scripts') for f in os.listdir(self.sandbox.elude(script_path)): # TODO These scripts need some further investigation if f in ('ZLT-NT-moored-1.xml', '737_cruise_steady_turn_simplex.xml'): continue fullpath = os.path.join(self.sandbox.elude(script_path), f) # Does f contains a JSBSim script ? if not CheckXMLFile(fullpath, 'runscript'): continue # Read the IC file name from the script tree = et.parse(fullpath) root = tree.getroot() use_tag = root.find('use') aircraft_name = use_tag.attrib['aircraft'] aircraft_path = os.path.join('aircraft', aircraft_name) path_to_jsbsim_aircrafts = self.sandbox.elude(self.sandbox.path_to_jsbsim_file(aircraft_path)) IC_file = append_xml(use_tag.attrib['initialize']) IC_tree = et.parse(os.path.join(path_to_jsbsim_aircrafts, IC_file)) IC_root = IC_tree.getroot() # Only testing version 1.0 of init files if 'version' in IC_root.attrib: if float(IC_root.attrib['version']) == 2.0: continue # Extract the IC values from XML for var in vars: var_tag = IC_root.find('./'+var['tag']) var['specified'] = var_tag is not None if not var['specified']: var['value'] = 0.0 continue var['value'] = float(var_tag.text) if 'unit' in var_tag.attrib: conv = var['unit'][var_tag.attrib['unit']] else: conv = var['unit'][var['default_unit']] var['value'] *= conv # Generate a CSV file to check that it is correctly initialized # with the initial values output_tag = et.SubElement(root, 'output') output_tag.attrib['name'] = 'check_csv_values.csv' output_tag.attrib['type'] = 'CSV' output_tag.attrib['rate'] = '10' position_tag = et.SubElement(output_tag, 'position') position_tag.text = 'ON' velocities_tag = et.SubElement(output_tag, 'velocities') velocities_tag.text = 'ON' for props in prop_output_to_CSV: property_tag = et.SubElement(output_tag, 'property') property_tag.text = props tree.write(self.sandbox(f)) # Initialize the script fdm = CreateFDM(self.sandbox) fdm.load_script(f) fdm.run_ic() # Sanity check, we just initialized JSBSim with the ICs, the time # must be set to 0.0 self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) # Check that the properties (including in 'ic/') have been # correctly initialized (i.e. that they contain the value read from # the XML file). for var in vars: if not var['specified']: continue value = var['value'] prop = fdm.get_property_value(var['ic_prop']) if var['tag'] == 'psi': if abs(prop - 360.0) <= 1E-8: prop = 0.0 self.assertAlmostEqual(value, prop, delta=1E-7, msg="In script %s: %s should be %f but found %f" % (f, var['tag'], value, prop)) prop = fdm.get_property_value(var['prop']) if var['tag'] == 'psi': if abs(prop - 360.0) <= 1E-8: prop = 0.0 self.assertAlmostEqual(value, prop, delta=1E-7, msg="In script %s: %s should be %f but found %f" % (f, var['tag'], value, prop)) # Execute the first second of the script. This is to make sure that # the CSV file is open and the ICs have been written in it. try: ExecuteUntil(fdm, 1.0) except RuntimeError as e: if e.args[0] == 'Trim Failed': self.fail("Trim failed in script %s" % (f,)) else: raise # Copies the CSV file content in a table ref = pd.read_csv(self.sandbox('check_csv_values.csv')) # Sanity check: make sure that the time step 0.0 has been copied in # the CSV file. self.assertEqual(ref['Time'][0], 0.0) # Check that the value in the CSV file equals the value read from # the IC file. for var in vars: if not var['specified']: continue value = var['value'] csv_value = ref[var['CSV_header']][0] if var['tag'] == 'psi': if abs(csv_value - 360.0) <= 1E-8: csv_value = 0.0 self.assertAlmostEqual(value, csv_value, delta=1E-7, msg="In script %s: %s should be %f but found %f" % (f, var['tag'], value, csv_value)) del fdm
class TestSimTimeReset(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def test_no_script(self): fdm = CreateFDM(self.sandbox) aircraft_path = self.sandbox.path_to_jsbsim_file('aircraft') fdm.set_aircraft_path(aircraft_path) fdm.load_model('c172x') aircraft_path = os.path.join(self.sandbox.elude(aircraft_path), 'c172x') fdm.load_ic(os.path.join(aircraft_path, 'reset01.xml'), False) fdm.run_ic() self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) ExecuteUntil(fdm, 5.0) t = fdm.get_property_value('simulation/sim-time-sec') fdm.set_property_value('simulation/do_simple_trim', 1) self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), t) fdm.reset_to_initial_conditions(1) self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) del fdm def test_script_start_time_0(self): script_name = 'ball_orbit.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) fdm = CreateFDM(self.sandbox) fdm.load_script(script_path) fdm.run_ic() self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) ExecuteUntil(fdm, 5.0) fdm.reset_to_initial_conditions(1) self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) del fdm def test_script_start_time(self): script_name = 'ball_orbit.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) tree = et.parse(self.sandbox.elude(script_path)) run_tag = tree.getroot().find('./run') run_tag.attrib['start'] = '1.2' tree.write(self.sandbox(script_name)) fdm = CreateFDM(self.sandbox) fdm.load_script(script_name) fdm.run_ic() self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 1.2) ExecuteUntil(fdm, 5.0) fdm.reset_to_initial_conditions(1) self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 1.2) del fdm def test_script_no_start_time(self): script_name = 'ball_orbit.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) tree = et.parse(self.sandbox.elude(script_path)) run_tag = tree.getroot().find('./run') # Remove the parameter 'start' from the tag <run> del run_tag.attrib['start'] tree.write(self.sandbox(script_name)) fdm = CreateFDM(self.sandbox) fdm.load_script(script_name) fdm.run_ic() self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) ExecuteUntil(fdm, 5.0) fdm.reset_to_initial_conditions(1) self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) del fdm
class TestAccelerometer(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def AddAccelerometersToAircraft(self, script_path): tree, aircraft_name, b = CopyAircraftDef(script_path, self.sandbox) system_tag = et.SubElement(tree.getroot(), 'system') system_tag.attrib['file'] = 'accelerometers' tree.write( self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml')) def testOrbit(self): script_name = 'ball_orbit.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) self.AddAccelerometersToAircraft(script_path) # The time step is too small in ball_orbit so let's increase it to 0.1s # for a quicker run tree = et.parse(self.sandbox.elude(script_path)) run_tag = tree.getroot().find('./run') run_tag.attrib['dt'] = '0.1' tree.write(self.sandbox(script_name)) fdm = CreateFDM(self.sandbox) fdm.set_aircraft_path('aircraft') fdm.load_script(script_name) # Switch the accel on fdm.set_property_value('fcs/accelerometer/on', 1.0) fdm.run_ic() while fdm.run(): self.assertAlmostEqual( fdm.get_property_value('fcs/accelerometer/X'), 0.0, delta=1E-8) self.assertAlmostEqual( fdm.get_property_value('fcs/accelerometer/Y'), 0.0, delta=1E-8) self.assertAlmostEqual( fdm.get_property_value('fcs/accelerometer/Z'), 0.0, delta=1E-8) self.assertAlmostEqual( fdm.get_property_value('accelerations/a-pilot-x-ft_sec2'), 0.0, delta=1E-8) self.assertAlmostEqual( fdm.get_property_value('accelerations/a-pilot-y-ft_sec2'), 0.0, delta=1E-8) self.assertAlmostEqual( fdm.get_property_value('accelerations/a-pilot-z-ft_sec2'), 0.0, delta=1E-8) del fdm def testOnGround(self): script_name = 'c1721.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) self.AddAccelerometersToAircraft(script_path) fdm = CreateFDM(self.sandbox) fdm.set_aircraft_path('aircraft') fdm.load_script(script_path) # Switch the accel on fdm.set_property_value('fcs/accelerometer/on', 1.0) # Use the standard gravity (i.e. GM/r^2) fdm.set_property_value('simulation/gravity-model', 0) # Simplifies the transformation to compare the accelerometer with the # gravity fdm.set_property_value('ic/psi-true-rad', 0.0) fdm.run_ic() for i in xrange(500): fdm.run() ax = fdm.get_property_value('accelerations/udot-ft_sec2') ay = fdm.get_property_value('accelerations/vdot-ft_sec2') az = fdm.get_property_value('accelerations/wdot-ft_sec2') g = fdm.get_property_value('accelerations/gravity-ft_sec2') theta = fdm.get_property_value('attitude/theta-rad') # There is a lag of one time step between the computations of the # accelerations and the update of the accelerometer fdm.run() fax = fdm.get_property_value('fcs/accelerometer/X') fay = fdm.get_property_value('fcs/accelerometer/Y') faz = fdm.get_property_value('fcs/accelerometer/Z') fax -= ax faz -= az self.assertAlmostEqual(fay, 0.0, delta=1E-6) self.assertAlmostEqual(fax / (g * math.sin(theta)), 1.0, delta=1E-5) self.assertAlmostEqual(faz / (g * math.cos(theta)), -1.0, delta=1E-7) del fdm def testSteadyFlight(self): script_name = 'c1722.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) self.AddAccelerometersToAircraft(script_path) fdm = CreateFDM(self.sandbox) fdm.set_aircraft_path('aircraft') fdm.load_script(script_path) # Switch the accel on fdm.set_property_value('fcs/accelerometer/on', 1.0) # Use the standard gravity (i.e. GM/r^2) fdm.set_property_value('simulation/gravity-model', 0) # Simplifies the transformation to compare the accelerometer with the # gravity fdm.set_property_value('ic/psi-true-rad', 0.0) fdm.run_ic() while fdm.get_property_value('simulation/sim-time-sec') <= 0.5: fdm.run() fdm.set_property_value('simulation/do_simple_trim', 1) ax = fdm.get_property_value('accelerations/udot-ft_sec2') ay = fdm.get_property_value('accelerations/vdot-ft_sec2') az = fdm.get_property_value('accelerations/wdot-ft_sec2') g = fdm.get_property_value('accelerations/gravity-ft_sec2') theta = fdm.get_property_value('attitude/theta-rad') # There is a lag of one time step between the computations of the # accelerations and the update of the accelerometer fdm.run() fax = fdm.get_property_value('fcs/accelerometer/X') fay = fdm.get_property_value('fcs/accelerometer/Y') faz = fdm.get_property_value('fcs/accelerometer/Z') fax -= ax fay -= ay faz -= az # Deltas are relaxed because the tolerances of the trimming algorithm # are quite relaxed themselves. self.assertAlmostEqual(faz / (g * math.cos(theta)), -1.0, delta=1E-5) self.assertAlmostEqual(fax / (g * math.sin(theta)), 1.0, delta=1E-5) self.assertAlmostEqual(math.sqrt(fax * fax + fay * fay + faz * faz) / g, 1.0, delta=1E-6) del fdm def testSpinningBodyOnOrbit(self): script_name = 'ball_orbit.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) self.AddAccelerometersToAircraft(script_path) fdm = CreateFDM(self.sandbox) fdm.set_aircraft_path('aircraft') fdm.load_model('ball') # Offset the CG along Y (by 30") fdm.set_property_value('inertia/pointmass-weight-lbs[1]', 50.0) aircraft_path = self.sandbox.elude( self.sandbox.path_to_jsbsim_file('aircraft', 'ball')) fdm.load_ic(os.path.join(aircraft_path, 'reset00.xml'), False) # Switch the accel on fdm.set_property_value('fcs/accelerometer/on', 1.0) # Set the orientation such that the spinning axis is Z. fdm.set_property_value('ic/phi-rad', 0.5 * math.pi) # Set the angular velocities to 0.0 in the ECEF frame. The angular # velocity R_{inertial} will therefore be equal to the Earth rotation # rate 7.292115E-5 rad/sec fdm.set_property_value('ic/p-rad_sec', 0.0) fdm.set_property_value('ic/q-rad_sec', 0.0) fdm.set_property_value('ic/r-rad_sec', 0.0) fdm.run_ic() fax = fdm.get_property_value('fcs/accelerometer/X') fay = fdm.get_property_value('fcs/accelerometer/Y') faz = fdm.get_property_value('fcs/accelerometer/Z') cgy_ft = fdm.get_property_value('inertia/cg-y-in') / 12. omega = 0.00007292115 # Earth rotation rate in rad/sec self.assertAlmostEqual( fdm.get_property_value('accelerations/a-pilot-x-ft_sec2'), fax, delta=1E-8) self.assertAlmostEqual( fdm.get_property_value('accelerations/a-pilot-y-ft_sec2'), fay, delta=1E-8) self.assertAlmostEqual( fdm.get_property_value('accelerations/a-pilot-z-ft_sec2'), faz, delta=1E-8) # Acceleration along X should be zero self.assertAlmostEqual(fax, 0.0, delta=1E-8) # Acceleration along Y should be equal to r*omega^2 self.assertAlmostEqual(fay / (cgy_ft * omega * omega), 1.0, delta=1E-7) # Acceleration along Z should be zero self.assertAlmostEqual(faz, 0.0, delta=1E-8)
class TestInitialConditions(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def test_initial_conditions(self): # A dictionary that contains the XML tags to extract from the IC file # along with the name of the properties that contain the values # extracted from the IC file. vars = [{'tag': 'vt', 'unit': convtofps, 'default_unit': 'FT/SEC', 'ic_prop': 'ic/vt-fps', 'prop': 'velocities/vt-fps', 'CSV_header': 'V_{Total} (ft/s)'}, {'tag': 'ubody', 'unit': convtofps, 'default_unit': 'FT/SEC', 'ic_prop': 'ic/u-fps', 'prop': 'velocities/u-fps', 'CSV_header': 'UBody'}, {'tag': 'vbody', 'unit': convtofps, 'default_unit': 'FT/SEC', 'ic_prop': 'ic/v-fps', 'prop': 'velocities/v-fps', 'CSV_header': 'VBody'}, {'tag': 'wbody', 'unit': convtofps, 'default_unit': 'FT/SEC', 'ic_prop': 'ic/w-fps', 'prop': 'velocities/w-fps', 'CSV_header': 'WBody'}, {'tag': 'vnorth', 'unit': convtofps, 'default_unit': 'FT/SEC', 'ic_prop': 'ic/vn-fps', 'prop': 'velocities/v-north-fps', 'CSV_header': 'V_{North} (ft/s)'}, {'tag': 'veast', 'unit': convtofps, 'default_unit': 'FT/SEC', 'ic_prop': 'ic/ve-fps', 'prop': 'velocities/v-east-fps', 'CSV_header': 'V_{East} (ft/s)'}, {'tag': 'vdown', 'unit': convtofps, 'default_unit': 'FT/SEC', 'ic_prop': 'ic/vd-fps', 'prop': 'velocities/v-down-fps', 'CSV_header': 'V_{Down} (ft/s)'}, {'tag': 'latitude', 'unit': convtodeg, 'default_unit': 'RAD', 'ic_prop': 'ic/lat-gc-deg', 'prop': 'position/lat-gc-deg', 'CSV_header': 'Latitude (deg)'}, {'tag': 'longitude', 'unit': convtodeg, 'default_unit': 'RAD', 'ic_prop': 'ic/long-gc-deg', 'prop': 'position/long-gc-deg', 'CSV_header': 'Longitude (deg)'}, {'tag': 'altitude', 'unit': convtoft, 'default_unit': 'FT', 'ic_prop': 'ic/h-agl-ft', 'prop': 'position/h-agl-ft', 'CSV_header': 'Altitude AGL (ft)'}, {'tag': 'altitudeAGL', 'unit': convtoft, 'default_unit': 'FT', 'ic_prop': 'ic/h-agl-ft', 'prop': 'position/h-agl-ft', 'CSV_header': 'Altitude AGL (ft)'}, {'tag': 'altitudeMSL', 'unit': convtoft, 'default_unit': 'FT', 'ic_prop': 'ic/h-sl-ft', 'prop': 'position/h-sl-ft', 'CSV_header': 'Altitude ASL (ft)'}, {'tag': 'phi', 'unit': convtodeg, 'default_unit': 'RAD', 'ic_prop': 'ic/phi-deg', 'prop': 'attitude/phi-deg', 'CSV_header': 'Phi (deg)'}, {'tag': 'theta', 'unit': convtodeg, 'default_unit': 'RAD', 'ic_prop': 'ic/theta-deg', 'prop': 'attitude/theta-deg', 'CSV_header': 'Theta (deg)'}, {'tag': 'psi', 'unit': convtodeg, 'default_unit': 'RAD', 'ic_prop': 'ic/psi-true-deg', 'prop': 'attitude/psi-deg', 'CSV_header': 'Psi (deg)'}, {'tag': 'elevation', 'unit': convtoft, 'default_unit': 'FT', 'ic_prop': 'ic/terrain-elevation-ft', 'prop': 'position/terrain-elevation-asl-ft', 'CSV_header': 'Terrain Elevation (ft)'}] script_path = self.sandbox.path_to_jsbsim_file('scripts') for f in os.listdir(self.sandbox.elude(script_path)): # TODO These scripts need some further investigation if f in ('ZLT-NT-moored-1.xml',): continue fullpath = os.path.join(self.sandbox.elude(script_path), f) # Does f contains a JSBSim script ? if not CheckXMLFile(fullpath, 'runscript'): continue # Read the IC file name from the script tree = et.parse(fullpath) root = tree.getroot() use_tag = root.find('use') aircraft_name = use_tag.attrib['aircraft'] aircraft_path = os.path.join('aircraft', aircraft_name) path_to_jsbsim_aircrafts = self.sandbox.elude(self.sandbox.path_to_jsbsim_file(aircraft_path)) IC_file = append_xml(use_tag.attrib['initialize']) IC_tree = et.parse(os.path.join(path_to_jsbsim_aircrafts, IC_file)) IC_root = IC_tree.getroot() # Only testing version 1.0 of init files if 'version' in IC_root.attrib: if float(IC_root.attrib['version']) == 2.0: continue # Extract the IC values from XML for var in vars: var_tag = IC_root.find('./'+var['tag']) var['specified'] = var_tag is not None if not var['specified']: var['value'] = 0.0 continue var['value'] = float(var_tag.text) if 'unit' in var_tag.attrib: conv = var['unit'][var_tag.attrib['unit']] else: conv = var['unit'][var['default_unit']] var['value'] *= conv # Generate a CSV file to check that it is correctly initialized with # the initial values output_tag = et.SubElement(root, 'output') output_tag.attrib['name'] = 'check_csv_values.csv' output_tag.attrib['type'] = 'CSV' output_tag.attrib['rate'] = '10' position_tag = et.SubElement(output_tag, 'position') position_tag.text = 'ON' velocities_tag = et.SubElement(output_tag, 'velocities') velocities_tag.text = 'ON' tree.write(self.sandbox(f)) # Initialize the script fdm = CreateFDM(self.sandbox) fdm.load_script(f) fdm.run_ic() # Sanity check, we just initialized JSBSim with the ICs, the time # must be set to 0.0 self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) # Check that the properties (including in 'ic/') have been correctly # initialized (i.e. that they contain the value read from the XML # file). for var in vars: if not var['specified']: continue value = var['value'] prop = fdm.get_property_value(var['ic_prop']) if var['tag'] == 'psi': if abs(prop - 360.0) <= 1E-8: prop = 0.0 self.assertAlmostEqual(value, prop, delta=1E-7, msg="In script %s: %s should be %f but found %f" % (f, var['tag'], value, prop)) prop = fdm.get_property_value(var['prop']) if var['tag'] == 'psi': if abs(prop - 360.0) <= 1E-8: prop = 0.0 self.assertAlmostEqual(value, prop, delta=1E-7, msg="In script %s: %s should be %f but found %f" % (f, var['tag'], value, prop)) # Execute the first second of the script. This is to make sure that # the CSV file is open and the ICs have been written in it. ExecuteUntil(fdm, 1.0) # Copies the CSV file content in a table ref = pd.read_csv(self.sandbox('check_csv_values.csv')) # Sanity check: make sure that the time step 0.0 has been copied in # the CSV file. self.assertEqual(ref['Time'][0], 0.0) # Check that the value in the CSV file equals the value read from # the IC file. for var in vars: if not var['specified']: continue value = var['value'] csv_value = ref[var['CSV_header']][0] if var['tag'] == 'psi': if abs(csv_value - 360.0) <= 1E-8: csv_value = 0.0 self.assertAlmostEqual(value, csv_value, delta=1E-7, msg="In script %s: %s should be %f but found %f" % (f, var['tag'], value, csv_value)) del fdm
class TestICOverride(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def test_IC_override(self): # Run the script c1724.xml script_path = self.sandbox.path_to_jsbsim_file('scripts', 'c1724.xml') fdm = CreateFDM(self.sandbox) fdm.load_script(script_path) vt0 = fdm.get_property_value('ic/vt-kts') fdm.run_ic() self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) self.assertAlmostEqual(fdm.get_property_value('velocities/vt-fps'), vt0 / fpstokts, delta=1E-7) ExecuteUntil(fdm, 1.0) # Check that the total velocity exported in the output file matches the # IC defined in the initialization file ref = Table() ref.ReadCSV(self.sandbox('JSBout172B.csv')) self.assertEqual(ref.get_column('Time')[1], 0.0) self.assertAlmostEqual(ref.get_column('V_{Total} (ft/s)')[1], vt0 / fpstokts, delta=1E-7) # Now, we will re-run the same test but the IC will be overridden in the # script. The initial total velocity is increased by 1 ft/s vt0 += 1.0 # The script c1724.xml is loaded and the following line is added in it: # <property value="..."> ic/vt-kts </property> # The modified script is then saved with the named 'c1724_0.xml' tree = et.parse(self.sandbox.elude(script_path)) run_tag = tree.getroot().find("./run") property = et.SubElement(run_tag, 'property') property.text = 'ic/vt-kts' property.attrib['value'] = str(vt0) tree.write(self.sandbox('c1724_0.xml')) # Re-run the same check than above. This time we are making sure than # the total initial velocity is increased by 1 ft/s self.sandbox.delete_csv_files() # Because JSBSim internals use static pointers, we cannot rely on Python # garbage collector to decide when the FDM is destroyed otherwise we can # get dangling pointers. del fdm fdm = CreateFDM(self.sandbox) fdm.load_script('c1724_0.xml') self.assertAlmostEqual(fdm.get_property_value('ic/vt-kts'), vt0, delta=1E-6) fdm.run_ic() self.assertEqual(fdm.get_property_value('simulation/sim-time-sec'), 0.0) self.assertAlmostEqual(fdm.get_property_value('velocities/vt-fps'), vt0 / fpstokts, delta=1E-6) ExecuteUntil(fdm, 1.0) mod = Table() mod.ReadCSV(self.sandbox('JSBout172B.csv')) self.assertAlmostEqual(mod.get_column('V_{Total} (ft/s)')[1], vt0 / fpstokts, delta=1E-6)
class TestICOverride(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def test_IC_override(self): # Run the script c1724.xml script_path = self.sandbox.path_to_jsbsim_file('scripts', 'c1724.xml') fdm = CreateFDM(self.sandbox) fdm.load_script(script_path) vt0 = fdm.get_property_value('ic/vt-kts') fdm.run_ic() ExecuteUntil(fdm, 1.0) # Check that the total velocity exported in the output file matches the IC # defined in the initialization file ref = Table() ref.ReadCSV(self.sandbox('JSBout172B.csv')) for col, title in enumerate(ref._lines[0]): if title == 'V_{Total} (ft/s)': self.assertTrue(abs(ref._lines[1][col] - (vt0 / fpstokts)) < 1E-5, msg="Original script %s\nThe total velocity is %f. The value %f was expected" % (script_path, ref._lines[1][col], vt0 / fpstokts)) break else: self.fail("The total velocity is not exported in %s" % (script_path,)) # Now, we will re-run the same test but the IC will be overridden in the scripts # The initial total velocity is increased by 1 ft/s vt0 += 1.0 # The script c1724.xml is loaded and the following line is added in it: # <property value="..."> ic/vt-kts </property> # The modified script is then saved with the named 'c1724_0.xml' tree = et.parse(self.sandbox.elude(script_path)) run_tag = tree.getroot().find("./run") property = et.SubElement(run_tag, 'property') property.text = 'ic/vt-kts' property.attrib['value'] = str(vt0) tree.write(self.sandbox('c1724_0.xml')) # Re-run the same check than above. This time we are making sure than the total # initial velocity is increased by 1 ft/s self.sandbox.delete_csv_files() # Because JSBSim internals use static pointers, we cannot rely on Python # garbage collector to decide when the FDM is destroyed otherwise we can # get dangling pointers. del fdm fdm = CreateFDM(self.sandbox) fdm.load_script('c1724_0.xml') self.assertTrue(abs(fdm.get_property_value('ic/vt-kts') - vt0) < 1E-5, msg="Modified script %s\nThe total velocity in the IC (%f) is different from %f" % (self.sandbox('JSBout172B.csv'), fdm.get_property_value('ic/vt-kts'), vt0)) fdm.run_ic() ExecuteUntil(fdm, 1.0) mod = Table() mod.ReadCSV(self.sandbox('JSBout172B.csv')) for col, title in enumerate(mod._lines[0]): if title == 'V_{Total} (ft/s)': self.assertTrue(abs(mod._lines[1][col] - (vt0 / fpstokts)) < 1E-5, msg="Modified script %s\nThe total velocity is %f. The value %f was expected" % (self.sandbox('JSBout172B.csv'), mod._lines[1][col], vt0 / fpstokts)) break else: self.fail("The total velocity is not exported in %s" % (sandbox('JSBout172B.csv'),))
class TestPitotAngle(unittest.TestCase): def setUp(self): self.sandbox = SandBox() def tearDown(self): self.sandbox.erase() def test_CAS_ic(self): script_name = 'Short_S23_3.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) # Add a Pitot angle to the Short S23 tree, aircraft_name, path_to_jsbsim_aircrafts = CopyAircraftDef( script_path, self.sandbox) metrics_tag = tree.getroot().find('./metrics') pitot_tag = et.SubElement(metrics_tag, 'pitot_angle') pitot_tag.attrib['unit'] = 'DEG' pitot_tag.text = '5.0' tree.write( self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml')) # Read the CAS specified in the IC file tree = et.parse(self.sandbox.elude(script_path)) use_element = tree.getroot().find('use') IC_file = use_element.attrib['initialize'] tree = et.parse( os.path.join(path_to_jsbsim_aircrafts, append_xml(IC_file))) vc_tag = tree.getroot().find('./vc') VCAS = float(vc_tag.text) if 'unit' in vc_tag.attrib and vc_tag.attrib['unit'] == 'FT/SEC': VCAS /= 1.68781 # Run the IC and check that the model is initialized correctly fdm = CreateFDM(self.sandbox) fdm.set_aircraft_path('aircraft') fdm.load_script(script_path) fdm.run_ic() self.assertAlmostEqual(fdm.get_property_value('ic/vc-kts'), VCAS, delta=1E-7) self.assertAlmostEqual(fdm.get_property_value('velocities/vc-kts'), VCAS, delta=1E-7) def test_pitot_angle(self): script_name = 'ball_chute.xml' script_path = self.sandbox.path_to_jsbsim_file('scripts', script_name) # Add a Pitot angle to the Cessna 172 tree, aircraft_name, path_to_jsbsim_aircrafts = CopyAircraftDef( script_path, self.sandbox) root = tree.getroot() metrics_tag = root.find('./metrics') pitot_tag = et.SubElement(metrics_tag, 'pitot_angle') pitot_tag.attrib['unit'] = 'DEG' pitot_tag.text = '5.0' contact_tag = root.find('./ground_reactions/contact') contact_tag.attrib['type'] = 'STRUCTURE' tree.write( self.sandbox('aircraft', aircraft_name, aircraft_name + '.xml')) fdm = CreateFDM(self.sandbox) fdm.set_aircraft_path('aircraft') fdm.load_model('ball') pitot_angle = float(pitot_tag.text) * math.pi / 180. weight = fdm.get_property_value('inertia/weight-lbs') spring_tag = contact_tag.find('./spring_coeff') spring_coeff = float(spring_tag.text) print "Weight=%d Spring=%d" % (weight, spring_coeff) fdm.set_property_value('ic/h-sl-ft', weight / spring_coeff) fdm.set_property_value('forces/hold-down', 1.0) fdm.run_ic() ExecuteUntil(fdm, 10.) for i in xrange(36): for j in xrange(-9, 10): angle = math.pi * i / 18.0 angle2 = math.pi * j / 18.0 ca2 = math.cos(angle2) fdm.set_property_value('atmosphere/wind-north-fps', 10. * math.cos(angle) * ca2) fdm.set_property_value('atmosphere/wind-east-fps', 10. * math.sin(angle) * ca2) fdm.set_property_value('atmosphere/wind-down-fps', 10. * math.sin(angle2)) fdm.run() vg = fdm.get_property_value('velocities/vg-fps') self.assertAlmostEqual(vg, 0.0, delta=1E-7) vt = fdm.get_property_value('velocities/vt-fps') self.assertAlmostEqual(vt, 10., delta=1E-7) mach = vt / fdm.get_property_value('atmosphere/a-fps') P = fdm.get_property_value('atmosphere/P-psf') pt = P * math.pow(1 + 0.2 * mach * mach, 3.5) psl = fdm.get_property_value('atmosphere/P-sl-psf') rhosl = fdm.get_property_value('atmosphere/rho-sl-slugs_ft3') A = math.pow((pt - P) / psl + 1.0, 1.0 / 3.5) alpha = fdm.get_property_value('aero/alpha-rad') beta = fdm.get_property_value('aero/beta-rad') vc = math.sqrt( 7.0 * psl / rhosl * (A - 1.0)) * math.cos(alpha + pitot_angle) * math.cos(beta) self.assertAlmostEqual( fdm.get_property_value('velocities/vc-kts'), max(0.0, vc) / 1.68781, delta=1E-7)
# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more # details. # # You should have received a copy of the GNU General Public License along with # this program; if not, see <http://www.gnu.org/licenses/> # import sys from JSBSim_utils import CreateFDM, Table, SandBox sandbox = SandBox('check_cases', 'orbit') fdm = CreateFDM(sandbox) fdm.load_script(sandbox.path_to_jsbsim_file('scripts', 'ball_orbit.xml')) fdm.run_ic() while fdm.run(): pass ref, current = Table(), Table() ref.ReadCSV(sandbox.elude(sandbox.path_to_jsbsim_file('logged_data', 'BallOut.csv'))) current.ReadCSV(sandbox('BallOut.csv')) diff = ref.compare(current) if not diff.empty(): print diff sys.exit(-1) # Needed for 'make test' to report the test passed. sandbox.erase()
class CheckOutputRate(unittest.TestCase): def setUp(self): self.sandbox = SandBox() self.fdm = CreateFDM(self.sandbox) self.script_path = self.sandbox.path_to_jsbsim_file("scripts", "c1722.xml") # Read the time step 'dt' from the script file self.tree = et.parse(self.sandbox.elude(self.script_path)) root = self.tree.getroot() use_tag = root.find("./use") aircraft_name = use_tag.attrib["aircraft"] self.run_tag = root.find("./run") self.dt = float(self.run_tag.attrib["dt"]) # Read the date at which the trim will be run event_tags = root.findall("./run/event") for event in event_tags: if event.attrib["name"] == "Trim": cond_tag = event.find("./condition") self.trim_date = float(string.split(cond_tag.text)[-1]) break # Read the output rate and the output file from the aircraft file aircraft_path = self.sandbox.path_to_jsbsim_file("aircraft", aircraft_name, append_xml(aircraft_name)) tree = et.parse(self.sandbox.elude(aircraft_path)) output_tag = tree.getroot().find("./output") self.output_file = self.sandbox(output_tag.attrib["name"]) self.rateHz = float(output_tag.attrib["rate"]) self.rate = int(1.0 / (self.rateHz * self.dt)) def tearDown(self): del self.fdm self.sandbox.erase() def testOutputRate(self): self.fdm.load_script(self.script_path) # Check that the output is enabled by default self.assertEqual(self.fdm.get_property_value("simulation/output/enabled"), 1.0) # Check that the rate is consistent with the values extracted from the # script and the aircraft definition self.assertAlmostEqual(self.fdm.get_property_value("simulation/output/log_rate_hz"), self.rateHz, delta=1e-5) self.fdm.run_ic() for i in xrange(self.rate): self.fdm.run() output = Table() output.ReadCSV(self.output_file) # According to the settings, the output file must contain 2 lines in # addition to the headers : # 1. The initial conditions # 2. The output after 'rate' iterations self.assertEqual(output.get_column(0)[1], 0.0) self.assertEqual(output.get_column(0)[2], self.rate * self.dt) self.assertEqual(output.get_column(0)[2], self.fdm.get_property_value("simulation/sim-time-sec")) def testDisablingOutput(self): self.fdm.load_script(self.script_path) # Disables the output during the initialization self.fdm.set_property_value("simulation/output/enabled", 0.0) self.fdm.run_ic() self.fdm.set_property_value("simulation/output/enabled", 1.0) for i in xrange(self.rate): self.fdm.run() output = Table() output.ReadCSV(self.output_file) # According to the settings, the output file must contain 1 line in # addition to the headers : # 1. The output after 'rate' iterations self.assertEqual(output.get_column(0)[1], self.fdm.get_property_value("simulation/sim-time-sec")) def testTrimRestoresOutputSettings(self): self.fdm.load_script(self.script_path) # Disables the output during the initialization self.fdm.set_property_value("simulation/output/enabled", 0.0) self.fdm.run_ic() # Check that the output remains disabled even after the trim is # executed while self.fdm.get_property_value("simulation/sim-time-sec") < self.trim_date + 2.0 * self.dt: self.fdm.run() self.assertEqual(self.fdm.get_property_value("simulation/output/enabled"), 0.0) # Re-enable the output and check that the output rate is unaffected by # the previous operations self.fdm.set_property_value("simulation/output/enabled", 1.0) frame = int(self.fdm.get_property_value("simulation/frame")) for i in xrange(self.rate): self.fdm.run() output = Table() output.ReadCSV(self.output_file) # The frame at which the data is logged must be the next multiple of # the output rate self.assertEqual(int(output.get_column(0)[1] / self.dt), (1 + frame / self.rate) * self.rate) def testDisablingOutputInScript(self): property = et.SubElement(self.run_tag, "property") property.text = "simulation/output/enabled" property.attrib["value"] = "0.0" self.tree.write(self.sandbox("c1722_0.xml")) self.fdm.load_script("c1722_0.xml") # Check that the output is disabled self.assertEqual(self.fdm.get_property_value("simulation/output/enabled"), 0.0) self.fdm.run_ic() self.fdm.set_property_value("simulation/output/enabled", 1.0) for i in xrange(self.rate): self.fdm.run() output = Table() output.ReadCSV(self.output_file) # According to the settings, the output file must contain 1 line in # addition to the headers : # 1. The output after 'rate' iterations self.assertEqual(output.get_column(0)[1], self.fdm.get_property_value("simulation/sim-time-sec"))