def test_uw_condition():
AUV_A = Vehicle(0, 3, 10, 10, -10, 0)
AUV_B = Vehicle(1, 3, 499, 0, -10, 0)
AUV_C = Vehicle(2, 3, 998, 0, -10, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(3)
AUV_A.sat_up(base, 1)
# Assert nothing was uploaded due to not being on surface
assert base.log[0].x == []
def test_upload():
AUV_A = Vehicle(0, 3, 10, 10, 0, 0)
AUV_B = Vehicle(1, 3, 499, 0, 0, 0)
AUV_C = Vehicle(2, 3, 998, 0, 0, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(3)
AUV_A.sat_up(base, 1)
assert (base.log[0].x[-1] == AUV_A.x and base.log[0].y[-1] == AUV_A.y
and base.log[0].z[-1] == AUV_A.z)
def test_uw_condition():
AUV_A = Vehicle(0, 3, 10, 10, -10, 0)
AUV_B = Vehicle(1, 3, 499, 0, -10, 0)
AUV_C = Vehicle(2, 3, 998, 0, -10, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(3)
AUV_A.sat_up(base, 1)
# Assert nothing was uploaded due to not being on surface
assert base.log[0].x == []
def test_upload():
AUV_A = Vehicle(0, 3, 10, 10, 0, 0)
AUV_B = Vehicle(1, 3, 499, 0, 0, 0)
AUV_C = Vehicle(2, 3, 998, 0, 0, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(3)
AUV_A.sat_up(base, 1)
assert (base.log[0].x[-1] == AUV_A.x and
base.log[0].y[-1] == AUV_A.y and
base.log[0].z[-1] == AUV_A.z)
def test_sat_loc_vehicles():
AUV_A = Vehicle(0, 3, 10, 10, 0, 0)
AUV_B = Vehicle(1, 3, 50, 50, 0, 0)
AUV_C = Vehicle(2, 3, 501, 501, 0, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(config.swarm_size)
achannel = V2V_comms(config)
elps_time = 0
# Information exchanged via satellite
AUV_A.sat_up(base, elps_time)
AUV_B.sat_up(base, elps_time)
AUV_C.sat_up(base, elps_time)
AUV_A.sat_down(base, config.swarm_size, elps_time)
AUV_B.sat_down(base, config.swarm_size, elps_time)
AUV_C.sat_down(base, config.swarm_size, elps_time)
assert (AUV_A.loc_vehicles[0] == 0 and
AUV_A.loc_vehicles[1] == 1 and
AUV_A.loc_vehicles[2] == 1
)
elps_time = 50
# Information exchanged via satellite
AUV_A.sat_up(base, elps_time)
AUV_A.sat_down(base, config.swarm_size, elps_time)
# There has been no update from B or C since last 'surface'
# hence data rendered uncertain and B & C removed from loc_vehicles
assert (AUV_A.loc_vehicles[0] == 0 and
AUV_A.loc_vehicles[1] == 0 and
AUV_A.loc_vehicles[2] == 0
)
AUV_B.sat_up(base, elps_time)
AUV_B.sat_down(base, config.swarm_size, elps_time)
# There has been an update from A since last sat comm hence A kept
# in loc vehicles but no update from C means C is removed.
assert (AUV_B.loc_vehicles[0] == 1 and
AUV_B.loc_vehicles[1] == 0 and
AUV_B.loc_vehicles[2] == 0
)
def test_sat_loc_vehicles():
AUV_A = Vehicle(0, 3, 10, 10, 0, 0)
AUV_B = Vehicle(1, 3, 50, 50, 0, 0)
AUV_C = Vehicle(2, 3, 501, 501, 0, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(config.swarm_size)
achannel = V2V_comms(config)
elps_time = 0
# Information exchanged via satellite
AUV_A.sat_up(base, elps_time)
AUV_B.sat_up(base, elps_time)
AUV_C.sat_up(base, elps_time)
AUV_A.sat_down(base, config.swarm_size, elps_time)
AUV_B.sat_down(base, config.swarm_size, elps_time)
AUV_C.sat_down(base, config.swarm_size, elps_time)
assert (AUV_A.loc_vehicles[0] == 0 and AUV_A.loc_vehicles[1] == 1
and AUV_A.loc_vehicles[2] == 1)
elps_time = 50
# Information exchanged via satellite
AUV_A.sat_up(base, elps_time)
AUV_A.sat_down(base, config.swarm_size, elps_time)
# There has been no update from B or C since last 'surface'
# hence data rendered uncertain and B & C removed from loc_vehicles
assert (AUV_A.loc_vehicles[0] == 0 and AUV_A.loc_vehicles[1] == 0
and AUV_A.loc_vehicles[2] == 0)
AUV_B.sat_up(base, elps_time)
AUV_B.sat_down(base, config.swarm_size, elps_time)
# There has been an update from A since last sat comm hence A kept
# in loc vehicles but no update from C means C is removed.
assert (AUV_B.loc_vehicles[0] == 1 and AUV_B.loc_vehicles[1] == 0
and AUV_B.loc_vehicles[2] == 0)
def test_download():
AUV_A = Vehicle(0, 3, 10, 10, 0, 0)
AUV_B = Vehicle(1, 3, 499, 0, 0, 0)
AUV_C = Vehicle(2, 3, 998, 0, 0, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(3)
AUV_A.sat_up(base, 1)
AUV_B.sat_up(base, 1)
AUV_C.sat_up(base, 1)
AUV_A.sat_down(base, 3, 1)
assert (AUV_A.loc_pos[1][0] == AUV_B.x and AUV_A.loc_pos[1][1] == AUV_B.y
and AUV_A.loc_pos[1][2] == AUV_B.z)
def test_download():
AUV_A = Vehicle(0, 3, 10, 10, 0, 0)
AUV_B = Vehicle(1, 3, 499, 0, 0, 0)
AUV_C = Vehicle(2, 3, 998, 0, 0, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(3)
AUV_A.sat_up(base, 1)
AUV_B.sat_up(base, 1)
AUV_C.sat_up(base, 1)
AUV_A.sat_down(base, 3, 1)
assert (AUV_A.loc_pos[1][0] == AUV_B.x and
AUV_A.loc_pos[1][1] == AUV_B.y and
AUV_A.loc_pos[1][2] == AUV_B.z)
def test_time_stamps():
AUV_A = Vehicle(0, 3, 10, 10, 0, 0)
AUV_B = Vehicle(1, 3, 50, 50, 0, 0)
AUV_C = Vehicle(2, 3, 501, 501, 0, 0)
config = sim_config('tests/config/sim_config.csv')
base = Base_Station(config.swarm_size)
achannel = V2V_comms(config)
elps_time = 0
# Information exchanged via satellite
AUV_A.sat_up(base, elps_time)
AUV_B.sat_up(base, elps_time)
AUV_C.sat_up(base, elps_time)
AUV_A.sat_down(base, config.swarm_size, elps_time)
AUV_B.sat_down(base, config.swarm_size, elps_time)
AUV_C.sat_down(base, config.swarm_size, elps_time)
for i in range(100):
AUV_A.go(config, 0)
AUV_B.go(config, 0)
AUV_C.go(config, 0)
elps_time += 1
# Information exchanged via satellite
AUV_A.sat_up(base, elps_time)
AUV_B.sat_up(base, elps_time)
AUV_C.sat_up(base, elps_time)
AUV_A.sat_down(base, config.swarm_size, elps_time)
AUV_B.sat_down(base, config.swarm_size, elps_time)
AUV_C.sat_down(base, config.swarm_size, elps_time)
for i in range(100):
AUV_A.go(config, 0)
AUV_B.go(config, 0)
AUV_C.go(config, 0)
elps_time += 1
# Condition AUVs must be more than 0.5m deep to transmit & receive acc
AUV_A.z, AUV_B.z, AUV_C.z = -1, -1, -1
AUV_B.send_acc_msg(achannel, elps_time, config, [AUV_A, AUV_B, AUV_C])
# A should receive the acc data and update the timestamp
AUV_A.receive_acc_msg(achannel)
# C will not receieve the data as it is out of acc range
AUV_C.receive_acc_msg(achannel)
# A received the acoustic message therefore has a newer timestamp
assert AUV_A.time_stamps[1] == 200
# C was out of range hence has the timestamp from sat comms
assert AUV_C.time_stamps[1] == 100
# B has not moved since acc comms hence...
assert (AUV_A.loc_pos[1][0] == AUV_B.x and AUV_A.loc_pos[1][1] == AUV_B.y
and AUV_A.loc_pos[1][2] == AUV_B.z)
# Cs knowledge of B should be the same as that on the server
assert (AUV_C.loc_pos[1][0] == base.log[1].x[-1]
and AUV_C.loc_pos[1][1] == base.log[1].y[-1]
and AUV_C.loc_pos[1][2] == base.log[1].z[-1])
# C should not know where B is currently
assert (AUV_C.loc_pos[1][0] != AUV_B.x and AUV_C.loc_pos[1][1] != AUV_B.y
and AUV_C.loc_pos[1][2] != AUV_B.z)
def test_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)