Virtual Altimeter base code + initial tests #21

daftcube · 2024-10-26T20:57:27Z

Consider removing debug std::cout prints and instead either:

Print to file

Write function that prints state of barometer every simulation tick, and call that in simulate loop

daftcube · 2024-10-26T21:00:07Z

Not sure if you folks are changing the architecture, but you probably want to call position_provider.process(deltatime) in the main simulation loop as a first step, then call VirtualBarometer::process() after it. This prevents coupling that is present here.

daftcube · 2024-10-26T21:01:31Z

This should probably be a pointer to position_provider. Currently, it is declared as a unique instance that is a member of this class. Consider change to PhoenixPositionProvider* position_provider.

daftcube · 2024-10-26T21:04:03Z

These look good, but check with someone more familiar with the vehicle, I have been retired for a while.

daftcube · 2024-10-26T21:02:27Z

daftcube · 2024-10-26T21:03:08Z

Engine will probably not explode if this happens, it will probably just sputter out. Check w/ Fluid Systems and/or Prop.

daftcube · 2024-10-26T21:03:36Z

Great tests, especially checking for determinism!

-Original file line number
+Diff line change
@@ Expand Up / @@ -5,6 +5,7 @@ test/.DS_Store @@
     .vscode
     rpl-sim
     build/*
+    data/*
     # CMake Ignore
     CMakeLists.txt.user
@@ Expand Down @@

-Original file line number
+Diff line change
@@ Expand Up / @@ -9,7 +9,7 @@ include(FetchContent) @@
     # PROJECT FILES
     ##############################################################################
-    set(RPLSIM_FILES src/PhoenixPositionProvider.cpp src/PhoenixPositionProviderUtility.cpp src/Vector3.cpp)
+    set(RPLSIM_FILES src/VirtualBarometer.cpp src/PhoenixPositionProvider.cpp src/PhoenixPositionProviderUtility.cpp src/Vector3.cpp)
     ##############################################################################
     # CATCH2 AND EIGEN -- REMOTE SOURCE
@@ Expand Down Expand Up / @@ -101,8 +101,28 @@ add_executable( @@
     target_link_libraries(tests LINK_PUBLIC Boost::boost Boost::program_options)
     target_link_libraries(tests PRIVATE Catch2::Catch2WithMain Eigen3::Eigen)
+    add_executable(
+    	vbtests
+    	test/VirtualBarometerTests.cpp
+    	${RPLSIM_FILES}
+    )
+    target_link_libraries(vbtests LINK_PUBLIC Boost::boost Boost::program_options)
+    target_link_libraries(vbtests PRIVATE Catch2::Catch2WithMain Eigen3::Eigen)
+    # add_executable(
+    # 	fsimtests
+    # 	test/FluidToEngineSimTests.cpp
+    # 	${RPLSIM_FILES}
+    # )
+    # target_link_libraries(fsimtests LINK_PUBLIC Boost::boost Boost::program_options)
+    # target_link_libraries(fsimtests PRIVATE Catch2::Catch2WithMain Eigen3::Eigen)
     # https://github.com/catchorg/Catch2/blob/devel/docs/cmake-integration.md
     list(APPEND CMAKE_MODULE_PATH ${catch2_SOURCE_DIR}/extras)
     include(CTest)
     include(Catch)
-    catch_discover_tests(tests)
+    catch_discover_tests(tests)
+    catch_discover_tests(vbtests)
+    # catch_discover_tests(fsimtests)

-Original file line number
+Diff line change
@@ -1,6 +1,6 @@
     #ifndef PHOENIX_POSITION_PROVIDER_H
     #define PHOENIX_POSITION_PROVIDER_H
-    #include <time.h> // for seeind rand
+    #include <ctime> // for seeding rand
     #include <stdlib.h> // for rand
     #include "PhoenixPositionProviderUtility.h"
     #include "Vector3.hpp"
@@ Expand Down @@

-Original file line number
+Diff line change
@@ -1,5 +1,5 @@
     #ifndef PHOENIX_POSITION_PROVIDER_UTILITY_H
-    #define PHOENIX_POSITION_PROVIDER_UTILITY_H
+    #define PHOmENIX_POSITION_PROVIDER_UTILITY_H
     #include <boost/numeric/odeint.hpp>
     #include "spline.h"
     #include <cmath>
@@ Expand Down @@

-Original file line number
+Diff line change
@@ -0,0 +1,22 @@
+    #include "VirtualBarometer.h"
+    VirtualBarometer::VirtualBarometer(unsigned int rs, double alt, double ns):
+        random_seed{rs}, altitude_of_launch_site{alt}, noise{ns}, position_provider{},
+        rng {rs}, distribution {-ns, ns}
+    {
+        // initialize position provider
+        current_position = Vector3{0, 0, altitude_of_launch_site};
+    };
+    void VirtualBarometer::process(double deltatime) {
+        std::cout << "PROCESSING NEW POSITION" << '\n';
+        position_provider.process(deltatime);
+        Vector3 new_position = position_provider.getPosition();
+        current_position = current_position + new_position;
+    }
+    double VirtualBarometer::get_reported_altitude() {
+        std::cout << "GETTING REPORTED ALTITUDE" << '\n';
+        double rand = distribution(rng);
+        return current_position.z + rand;
+    }

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Virtual Altimeter base code + initial tests #21

Uh oh!

Diff view

Diff view

There are no files selected for viewing

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

daftcube Oct 26, 2024

Uh oh!

daftcube Oct 26, 2024

Uh oh!

daftcube Oct 26, 2024

Uh oh!

daftcube Oct 26, 2024

Uh oh!

daftcube Oct 26, 2024

Uh oh!

daftcube Oct 26, 2024

Uh oh!

daftcube Oct 26, 2024

Uh oh!

-Original file line number
+Diff line change
@@ -0,0 +1,22 @@
+    #ifndef VIRTUAL_BAROMETER
+    #define VIRTUAL_BAROMETER
+    #include "PhoenixPositionProvider.h"
+    #include <random>
+    #include "Vector3.hpp"
+    class VirtualBarometer {
+        public:
+            VirtualBarometer(unsigned int rs, double alt, double ns);
+            double get_reported_altitude();
+            void process(double);
+            PhoenixPositionProvider position_provider;
+        private:
+            unsigned int random_seed;
+            double altitude_of_launch_site;
+            double noise;
+            Vector3 current_position;
+            std::default_random_engine rng;
+            std::uniform_real_distribution<double> distribution;
+    };
+    #endif

-Original file line number
+Diff line change
@@ -0,0 +1,61 @@
+    #include "catch2/catch_test_macros.hpp"
+    #include "../src/fluid_engine_sim/FluidToEngineSubsystem.cpp"
+    // Checking to see default construtor sets status appropriately
+    TEST_CASE("WAITING FOR LAUNCH COMMAND", "NORMAL") {
+    	FluidToEngineSubsystem fs {};
+    	REQUIRE( fs.getStatus() == FluidToEngineStatus::WAITING_FOR_LAUNCH_COMMAND);
+    }
+    // Status set incorrectly, solenoids weren't opened
+    TEST_CASE("Ignite Bad Status", "Unexpected Status: WAITING FOR LAUNCH COMMAND") {
+    	FluidToEngineSubsystem fs {};
+    	REQUIRE_THROWS_AS(fs.ignite(), std::runtime_error);
+    }
+    // Status set correctly, solenoids weren't opened
+    TEST_CASE("Ignite Closed Solenoids", "CLOSED SOLENIDS") {
+    	FluidToEngineSubsystem fs {};
+    	fs.setStatus(FluidToEngineStatus::SOLENOIDS_OPEN_FUEL_FLOWING);
+    	REQUIRE_THROWS_AS(fs.ignite(), std::runtime_error);
+    }
+    TEST_CASE("Process Loop Run Normal", "Normal") {
+    	FluidToEngineSubsystem fs {};
+    	double solenoid_timer {0.0};
+    	double target {300.0};
+    	while (solenoid_timer < 201) {
+    		REQUIRE_NOTHROW([&](){ // C++ anonymous function
+    			if (solenoid_timer == 200) {
+    				fs.ignite();
+    			}else {
+    				fs.process(solenoid_timer, target);
+    			}
+    		}()); // make sure to actually call lambda function immediately lolz
+    		solenoid_timer++;
+    	}
+    	while (solenoid_timer < target) {
+    		REQUIRE(fs.getStatus() == FluidToEngineStatus::ENGINE_RUNNING);
+    		REQUIRE(fs.getSolenoidState(Solenoid::LNG_solenoid) == true);
+    		REQUIRE(fs.getSolenoidState(Solenoid::LOX_solenoid) == true);
+    		solenoid_timer++;
+    	}
+    }
+    TEST_CASE("Process Loop Run Bad Engine", "Engine never ignites") {
+    	FluidToEngineSubsystem fs {};
+    	double solenoid_timer {301.0};
+    	double target {300.0};
+    	CHECK_THROWS_AS(fs.process(solenoid_timer, target), std::runtime_error);
+    }
+    TEST_CASE("Process Loop Run Explode", "Engine explodes cuz someone closed solenoid while it was running") {
+    	FluidToEngineSubsystem fs {};
+    	double solenoid_timer {0.0};
+    	double target {300.0};
+    	fs.process(solenoid_timer, target);
+    	fs.ignite();
+    	fs.setSolenoidState(Solenoid::LNG_solenoid, false);
+    	CHECK_THROWS_AS(fs.process(solenoid_timer, target), std::runtime_error);
+    }

-Original file line number
+Diff line change
@@ -0,0 +1,43 @@
+    #include "catch2/catch_test_macros.hpp"
+    #include "../src/PhoenixPositionProvider.h"
+    #include "../src/VirtualBarometer.h"
+    #include "catch2/matchers/catch_matchers_floating_point.hpp"
+    constexpr double delta = 0.001;
+    TEST_CASE("Compare Barometer - Position Provider", "NORMAL") {
+        unsigned int seed = 5;
+        double alt = 0.0;
+        double noise = 0.1;
+        VirtualBarometer vb {seed, alt, noise};
+        vb.process(1);
+        double target = vb.position_provider.getPosition().z;
+        REQUIRE_THAT(vb.get_reported_altitude(), Catch::Matchers::WithinAbs(target, noise));
+    }
+    TEST_CASE("Ensure deterministic - Seperate barometers") {
+        unsigned int seed = 5;
+        double alt = 0.0;
+        double noise = 0.1;
+        VirtualBarometer vb1 {seed, alt, noise};
+        VirtualBarometer vb2 {seed, alt, noise};
+        vb1.process(1);
+        vb2.process(1);
+        double vb1Altitude = vb1.get_reported_altitude();
+        double vb2Altitude = vb2.get_reported_altitude();
+        REQUIRE_THAT(vb1Altitude, Catch::Matchers::WithinAbs(vb2Altitude, delta));
+    }
+    TEST_CASE("Check altitude changes after process - Single barometer") {
+        unsigned int seed = 5;
+        double alt = 0.0;
+        double noise = 0.1;
+        VirtualBarometer vb {seed, alt, noise};
+        vb.process(1);
+        double altitude_before = vb.get_reported_altitude();
+        vb.process(1);
+        double altitude_after = vb.get_reported_altitude();
+        double diff = altitude_after - altitude_before;
+        REQUIRE_THAT(diff, Catch::Matchers::WithinAbs(altitude_before, noise));
+    }

Virtual Altimeter base code + initial tests #21

Are you sure you want to change the base?

Uh oh!

Virtual Altimeter base code + initial tests #21

Uh oh!

Uh oh!

Diff view

Diff view

There are no files selected for viewing

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

daftcube Oct 26, 2024

Choose a reason for hiding this comment

Uh oh!

daftcube Oct 26, 2024

Choose a reason for hiding this comment

Uh oh!

daftcube Oct 26, 2024

Choose a reason for hiding this comment

Uh oh!

daftcube Oct 26, 2024

Choose a reason for hiding this comment

Uh oh!

daftcube Oct 26, 2024

Choose a reason for hiding this comment

Uh oh!

daftcube Oct 26, 2024

Choose a reason for hiding this comment

Uh oh!

daftcube Oct 26, 2024

Choose a reason for hiding this comment

Uh oh!