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_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_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_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_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_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_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_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)