def MakeFakeLogFile(wind_speed, file_name, num_samples):
"""Makes a fake log file for a worker to consume.
Args:
wind_speed: List of wind speed values.
file_name: Name of the log file.
num_samples: Number of data points for the log file.
"""
log_file = test_util.CreateSampleHDF5File(file_name, num_samples)
telem_time = numpy.linspace(0.0, FLAGS.sim_time, num_samples)
with test_util.H5DatasetWriter(
log_file['parameters']['sim_params']) as sim_params:
sim_params['phys_sim']['wind_speed'] = wind_speed
sim_params['joystick_sim']['updates'][0, 0]['value'] = 0.5
simulator = log_file['messages']['kAioNodeSimulator']
controller_a = log_file['messages']['kAioNodeControllerA']
with test_util.H5DatasetWriter(simulator['kMessageTypeSimTelemetry']) as s:
s['message']['time'] = telem_time
power = 1000.0 * numpy.linalg.norm(wind_speed)**3
s['message']['rotors']['aero_power'][:][:] = power / 8.0
with test_util.H5DatasetWriter(
controller_a['kMessageTypeControlDebug']) as c:
c['message'][
'flight_mode'][:] = control_types.kFlightModeCrosswindNormal
c['message']['time'] = telem_time
log_file.close()
def MakeFakeLogFile(file_name, num_samples):
"""Makes a fake log file for a worker to consume.
Args:
file_name: Name of the log file.
num_samples: Number of data points for the log file.
"""
log_file = test_util.CreateSampleHDF5File(file_name, num_samples)
telem_time = numpy.linspace(0.0, 150.0, num_samples)
simulator = log_file['messages']['kAioNodeSimulator']
with test_util.H5DatasetWriter(
simulator['kMessageTypeSimTelemetry']) as sim:
sim['message']['time'] = telem_time
sim['message']['wing']['tether_force_b']['tension'][:] = 2000.0
for i, x in enumerate(('x', 'y', 'z')):
sim['message']['wing']['Xg'][x] = float(i)
controller = log_file['messages']['kAioNodeControllerA']
with test_util.H5DatasetWriter(
controller['kMessageTypeControlDebug']) as c:
c['message']['time'] = telem_time
log_file.close()
def PcapToHdf5(self, args):
input_filename = self._ParsePositionalArg(args, 0)
if not os.path.isfile(input_filename):
raise ValueError('First positional arg to pcap_to_hdf5 (%s) is '
'not a file.' % input_filename)
self._output_file = self._ParseArg(args, '--output_file')
num_samples = 10 # Arbitrary
telem_time = np.linspace(0.0, self._config['sim']['sim_time'],
num_samples)
with contextlib.closing(
test_util.CreateSampleHDF5File(self._output_file,
num_samples)) as log_file:
sim_node = log_file['messages']['kAioNodeSimulator']
with test_util.H5DatasetWriter(
sim_node['kMessageTypeSimTelemetry']) as s:
s['message']['time'] = telem_time
control_node = log_file['messages']['kAioNodeControllerA']
with test_util.H5DatasetWriter(
control_node['kMessageTypeControlDebug']) as c:
c['message']['time'] = telem_time
return 0
def MakeFakeLogFile(ts, sim_time, wind_speed, faults_sim, file_name):
"""Makes a fake log file for a worker to consume.
Args:
ts: Time step.
sim_time: Simulation duration.
wind_speed: Wind speed.
faults_sim: Simulated fault parameters.
file_name: Name of the log file.
"""
test_ts = 5 * ts # To keep the test fast we sub-sample.
num_samples = int(sim_time / test_ts)
ground_z = 15.0
sim_time = numpy.array(range(num_samples)) * test_ts
control_time = sim_time
log_file = test_util.CreateSampleHDF5File(file_name, num_samples)
with test_util.H5DatasetWriter(
log_file['parameters']['system_params']) as system_params:
system_params['ground_frame']['ground_z'] = ground_z
with test_util.H5DatasetWriter(
log_file['parameters']['sim_params']) as sim_params:
# Wind speed.
sim_params['phys_sim']['wind_speed'] = wind_speed
# Copy over faults.
sim_params['faults_sim']['num_fault_events'] = (
faults_sim['num_fault_events'])
for i in range(faults_sim['num_fault_events']):
sim_params['faults_sim']['fault_events'][0, i]['parameters'][:] = (
faults_sim['fault_events'][i]['parameters'])
for key in ('t_start', 't_end'):
sim_params['faults_sim']['fault_events'][0, i][key] = (
faults_sim['fault_events'][i][key])
simulator = log_file['messages']['kAioNodeSimulator']
with test_util.H5DatasetWriter(
simulator['kMessageTypeSimTelemetry']) as sim:
sim['message']['time'] = sim_time
num_faults = faults_sim['num_fault_events']
faults = faults_sim['fault_events'][0:num_faults]
max_amplitude = numpy.linalg.norm(faults[-1]['parameters'][0:3])
sim['message']['wing']['Xg']['z'][:] = wind_speed
for fault in faults:
amplitude = numpy.linalg.norm(fault['parameters'][0:3])
msk = numpy.logical_and(sim_time >= fault['t_start'],
sim_time <= fault['t_end'])
sim['message']['wing']['Xg']['z'][msk] = (
wind_speed * (1.0 - amplitude / max_amplitude))
controller = log_file['messages']['kAioNodeControllerA']
with test_util.H5DatasetWriter(
controller['kMessageTypeControlDebug']) as ct:
ct['message']['time'] = control_time
ct['message']['hover']['wing_pos_g_cmd']['z'][:] = wind_speed
log_file.close()
def MakeFakeLogFile(ts, sim_time, wind_speed, file_name):
"""Makes a fake log file for a worker to consume.
Args:
ts: Time step.
sim_time: Simulation duration.
wind_speed: Wind speed.
file_name: Name of the log file.
"""
test_ts = 20 * ts # To keep the test fast we sub-sample.
num_samples = 10
ground_z = 15.0
sim_time = numpy.array(range(num_samples)) * test_ts
control_time = sim_time
log_file = test_util.CreateSampleHDF5File(file_name, num_samples)
with test_util.H5DatasetWriter(
log_file['parameters']['system_params']) as system_params:
system_params['ground_frame']['ground_z'] = ground_z
with test_util.H5DatasetWriter(
log_file['parameters']['sim_params']) as sim_params:
# Wind speed.
sim_params['phys_sim']['wind_speed'] = wind_speed
simulator = log_file['messages']['kAioNodeSimulator']
with test_util.H5DatasetWriter(simulator['kMessageTypeSimTelemetry']) as sim:
sim['message']['time'] = sim_time
sim['message']['wing']['Xg']['z'][:] = wind_speed
controller = log_file['messages']['kAioNodeControllerA']
with test_util.H5DatasetWriter(
controller['kMessageTypeControlDebug']) as ct:
ct['message']['time'] = control_time
ct['message']['flight_mode'][:] = control_types.kFlightModeCrosswindNormal
ct['message']['flight_mode'][0] = control_types.kFlightModeHoverFullLength
ct['message']['flight_mode'][1] = control_types.kFlightModeHoverAccel
ct['message']['flight_mode'][2] = control_types.kFlightModeTransIn
ct['message']['crosswind']['loop_angle'][-1] = numpy.pi * 3.0 / 2.0
log_file.close()