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Expand test framework and test cases (#685)
* Fix comment * Ekf wrapper for testing Add utility function for accessing information in the ekf object * Add step function for Gps sensor * Add RangeFinder and Flow to simulated sensors * Add first fusion logic tests * Add units to function name * Use EXPECT_TRUE * Adding missing qualifiers * Improve EXPECT_ calls * Improve naming
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kritz
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/****************************************************************************
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*
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* Copyright (c) 2019 ECL Development Team. All rights reserved.
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****************************************************************************/
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/**
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* Feeds Ekf with Imu data
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* @author Kamil Ritz <ka.ritz@hotmail.com>
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*/
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#include <gtest/gtest.h>
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#include "EKF/ekf.h"
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#include "sensor_simulator/sensor_simulator.h"
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#include "sensor_simulator/ekf_wrapper.h"
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class EkfFusionLogicTest : public ::testing::Test {
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public:
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EkfFusionLogicTest(): ::testing::Test(),
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_ekf{std::make_shared<Ekf>()},
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_sensor_simulator(_ekf),
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_ekf_wrapper(_ekf) {};
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std::shared_ptr<Ekf> _ekf;
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SensorSimulator _sensor_simulator;
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EkfWrapper _ekf_wrapper;
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// Setup the Ekf with synthetic measurements
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void SetUp() override
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{
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_ekf->init(0);
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_sensor_simulator.runSeconds(5);
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}
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// Use this method to clean up any memory, network etc. after each test
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void TearDown() override
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{
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}
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};
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TEST_F(EkfFusionLogicTest, doGpsFusion)
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{
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// GIVEN: a tilt and heading aligned filter
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// WHEN: we enable GPS fusion and we send good quality gps data for 11s
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_ekf_wrapper.enableGpsFusion();
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_sensor_simulator.startGps();
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_sensor_simulator.runSeconds(15);
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// THEN: EKF should intend to fuse GPS
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EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
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// THEN: Local and global position should be valid
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EXPECT_TRUE(_ekf->local_position_is_valid());
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EXPECT_TRUE(_ekf->global_position_is_valid());
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// WHEN: GPS data is not send for 11s
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_sensor_simulator.stopGps();
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_sensor_simulator.runSeconds(11);
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// THEN: EKF should stop to intend to fuse GPS
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EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion());
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EXPECT_FALSE(_ekf->local_position_is_valid());
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EXPECT_FALSE(_ekf->global_position_is_valid());
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// WHEN: GPS data is send again for 11s
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_sensor_simulator.startGps();
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_sensor_simulator.runSeconds(11);
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// THEN: EKF should to intend to fuse GPS
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EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
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EXPECT_TRUE(_ekf->local_position_is_valid());
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EXPECT_TRUE(_ekf->global_position_is_valid());
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// // WHEN: clients decides to stop GPS fusion
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// _ekf_wrapper.disableGpsFusion();
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// // THEN: EKF should stop to intend to fuse GPS immediately
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// _sensor_simulator.runMicroseconds(1000);
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// EXPECT_FALSE(_ekf_wrapper.isIntendingGpsFusion());
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// THIS is not happening at the moment
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}
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TEST_F(EkfFusionLogicTest, rejectGpsSignalJump)
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{
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// GIVEN: a tilt and heading aligned filter
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// WHEN: we enable GPS fusion and we send good quality gps data for 11s
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_ekf_wrapper.enableGpsFusion();
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_sensor_simulator.startGps();
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_sensor_simulator.runSeconds(15);
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// THEN: EKF should intend to fuse GPS
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EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
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// WHEN: Having a big horizontal position Gps jump coming from the Gps Receiver
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Vector3f pos_old = _ekf_wrapper.getPosition();
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Vector3f vel_old = _ekf_wrapper.getVelocity();
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Vector3f accel_bias_old = _ekf_wrapper.getAccelBias();
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_sensor_simulator._gps.stepHorizontalPositionByMeters(Vector2f{10.0f, 0.0f});
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_sensor_simulator.runSeconds(2);
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// THEN: The estimate should not change much in the short run
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// and GPS fusion should be stopped after a while.
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Vector3f pos_new = _ekf_wrapper.getPosition();
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Vector3f vel_new = _ekf_wrapper.getVelocity();
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Vector3f accel_bias_new = _ekf_wrapper.getAccelBias();
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EXPECT_TRUE(matrix::isEqual(pos_new, pos_old, 0.01f));
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EXPECT_TRUE(matrix::isEqual(vel_new, vel_old, 0.01f));
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EXPECT_TRUE(matrix::isEqual(accel_bias_new, accel_bias_old, 0.01f));
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_sensor_simulator.runSeconds(10);
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pos_new = _ekf_wrapper.getPosition();
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vel_new = _ekf_wrapper.getVelocity();
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accel_bias_new = _ekf_wrapper.getAccelBias();
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EXPECT_TRUE(matrix::isEqual(pos_new, pos_old, 0.01f));
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EXPECT_TRUE(matrix::isEqual(vel_new, vel_old, 0.01f));
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EXPECT_TRUE(matrix::isEqual(accel_bias_new, accel_bias_old, 0.01f));
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// EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion()); // What do we expect here?
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}
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TEST_F(EkfFusionLogicTest, doFlowFusion)
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{
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// GIVEN: a tilt and heading aligned filter
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// WHEN: sending flow data without having the flow fusion enabled
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// flow measurement fusion should not be intended.
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_sensor_simulator.startFlow();
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_sensor_simulator.runSeconds(3);
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// THEN: EKF should intend to fuse flow measurements
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EXPECT_FALSE(_ekf_wrapper.isIntendingFlowFusion());
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// THEN: Local and global position should not be valid
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EXPECT_FALSE(_ekf->local_position_is_valid());
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EXPECT_FALSE(_ekf->global_position_is_valid());
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// WHEN: Flow data is not send and we enable flow fusion
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_sensor_simulator.stopFlow();
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_sensor_simulator.runSeconds(3); // TODO: without this line tests fail
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// probably there are still values in the buffer.
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_ekf_wrapper.enableFlowFusion();
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_sensor_simulator.runSeconds(3);
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// THEN: EKF should not intend to fuse flow
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EXPECT_FALSE(_ekf_wrapper.isIntendingFlowFusion());
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// THEN: Local and global position should not be valid
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EXPECT_FALSE(_ekf->local_position_is_valid());
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EXPECT_FALSE(_ekf->global_position_is_valid());
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// WHEN: Flow data is send and we enable flow fusion
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_sensor_simulator.startFlow();
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_ekf_wrapper.enableFlowFusion();
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_sensor_simulator.runSeconds(10);
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// THEN: EKF should intend to fuse flow
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EXPECT_TRUE(_ekf_wrapper.isIntendingFlowFusion());
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// THEN: Local and global position should be valid
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EXPECT_TRUE(_ekf->local_position_is_valid());
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EXPECT_FALSE(_ekf->global_position_is_valid());
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}
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