/**************************************************************************** * * Copyright (C) 2020 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ #include #include "geofence_breach_avoidance.h" #include "fake_geofence.hpp" #include "dataman_mocks.hpp" #include using namespace matrix; class GeofenceBreachAvoidanceTest : public ::testing::Test { public: void SetUp() override { param_control_autosave(false); } }; TEST_F(GeofenceBreachAvoidanceTest, waypointFromBearingAndDistance) { GeofenceBreachAvoidance gf_avoidance(nullptr); Vector2d home_global(42.1, 8.2); MapProjection ref{home_global(0), home_global(1)}; Vector2f waypoint_north_east_local(1.0, 1.0); waypoint_north_east_local = waypoint_north_east_local.normalized() * 10.5; Vector2d waypoint_north_east_global = gf_avoidance.waypointFromBearingAndDistance(home_global, M_PI_F * 0.25f, 10.5); Vector2f waypoint_north_east_reprojected = ref.project(waypoint_north_east_global(0), waypoint_north_east_global(1)); EXPECT_FLOAT_EQ(waypoint_north_east_local(0), waypoint_north_east_reprojected(0)); EXPECT_FLOAT_EQ(waypoint_north_east_local(1), waypoint_north_east_reprojected(1)); Vector2f waypoint_south_west_local = -waypoint_north_east_local; Vector2d waypoint_southwest_global = gf_avoidance.waypointFromBearingAndDistance(home_global, M_PI_F * 0.25f, -10.5); Vector2f waypoint_south_west_reprojected = ref.project(waypoint_southwest_global(0), waypoint_southwest_global(1)); EXPECT_FLOAT_EQ(waypoint_south_west_local(0), waypoint_south_west_reprojected(0)); EXPECT_FLOAT_EQ(waypoint_south_west_local(1), waypoint_south_west_reprojected(1)); Vector2d same_as_home_global = gf_avoidance.waypointFromBearingAndDistance(home_global, M_PI_F * 0.25f, 0.0); EXPECT_LT(Vector2d(home_global - same_as_home_global).norm(), 1e-4); } TEST_F(GeofenceBreachAvoidanceTest, generateLoiterPointForFixedWing) { GeofenceBreachAvoidance gf_avoidance(nullptr); FakeGeofence geo; Vector2d home_global(42.1, 8.2); MapProjection ref{home_global(0), home_global(1)}; geofence_violation_type_u gf_violation; gf_violation.flags.fence_violation = true; gf_avoidance.setHorizontalTestPointDistance(20.0f); gf_avoidance.setTestPointBearing(0.0f); gf_avoidance.setCurrentPosition(home_global(0), home_global(1), 0); Vector2d loiter_point_lat_lon = gf_avoidance.generateLoiterPointForFixedWing(gf_violation, &geo); // the expected loiter point is located test_point_distance behind Vector2d loiter_point_lat_lon_expected = gf_avoidance.waypointFromBearingAndDistance(home_global, 0.0f, -20.0f); EXPECT_FLOAT_EQ(loiter_point_lat_lon(0), loiter_point_lat_lon_expected(0)); EXPECT_FLOAT_EQ(loiter_point_lat_lon(1), loiter_point_lat_lon_expected(1)); geo.setProbeFunctionBehavior(FakeGeofence::ProbeFunction::LEFT_INSIDE_RIGHT_OUTSIDE); loiter_point_lat_lon = gf_avoidance.generateLoiterPointForFixedWing(gf_violation, &geo); loiter_point_lat_lon_expected = gf_avoidance.waypointFromBearingAndDistance(home_global, -M_PI_F * 0.5f, 20.0f); EXPECT_FLOAT_EQ(loiter_point_lat_lon(0), loiter_point_lat_lon_expected(0)); EXPECT_FLOAT_EQ(loiter_point_lat_lon(1), loiter_point_lat_lon_expected(1)); geo.setProbeFunctionBehavior(FakeGeofence::ProbeFunction::RIGHT_INSIDE_LEFT_OUTSIDE); loiter_point_lat_lon = gf_avoidance.generateLoiterPointForFixedWing(gf_violation, &geo); loiter_point_lat_lon_expected = gf_avoidance.waypointFromBearingAndDistance(home_global, M_PI_F * 0.5f, 20.0f); EXPECT_FLOAT_EQ(loiter_point_lat_lon(0), loiter_point_lat_lon_expected(0)); EXPECT_FLOAT_EQ(loiter_point_lat_lon(1), loiter_point_lat_lon_expected(1)); gf_violation.flags.fence_violation = false; loiter_point_lat_lon = gf_avoidance.generateLoiterPointForFixedWing(gf_violation, &geo); EXPECT_FLOAT_EQ(loiter_point_lat_lon(0), home_global(0)); EXPECT_FLOAT_EQ(loiter_point_lat_lon(1), home_global(1)); } TEST_F(GeofenceBreachAvoidanceTest, generateLoiterPointForMultirotor) { GeofenceBreachAvoidance gf_avoidance(nullptr); FakeGeofence geo; Vector2d home_global(42.1, 8.2); MapProjection ref{42.1, 8.2}; param_t param = param_handle(px4::params::MPC_ACC_HOR); float value = 3; param_set(param, &value); param = param_handle(px4::params::MPC_ACC_HOR_MAX); value = 5; param_set(param, &value); param = param_handle(px4::params::MPC_JERK_AUTO); value = 8; param_set(param, &value); geofence_violation_type_u gf_violation; gf_violation.flags.fence_violation = true; gf_avoidance.setHorizontalTestPointDistance(30.0f); gf_avoidance.setTestPointBearing(0.0f); gf_avoidance.setCurrentPosition(home_global(0), home_global(1), 0); // vehicle is approaching the fence at a crazy velocity gf_avoidance.setHorizontalVelocity(1000.0f); gf_avoidance.computeBrakingDistanceMultirotor(); geo.setProbeFunctionBehavior(FakeGeofence::ProbeFunction::GF_BOUNDARY_20M_AHEAD); Vector2d loiter_point = gf_avoidance.generateLoiterPointForMultirotor(gf_violation, &geo); Vector2d loiter_point_predicted = gf_avoidance.waypointFromBearingAndDistance(home_global, 0.0f, 20.0f - gf_avoidance.getMinHorDistToFenceMulticopter()); float error = get_distance_to_next_waypoint(loiter_point(0), loiter_point(1), loiter_point_predicted(0), loiter_point_predicted(1)); EXPECT_LE(error, 0.5f); // vehicle is approaching fenc slowly, plenty of time to brake gf_avoidance.setHorizontalVelocity(0.1f); gf_avoidance.computeBrakingDistanceMultirotor(); loiter_point = gf_avoidance.generateLoiterPointForMultirotor(gf_violation, &geo); loiter_point_predicted = gf_avoidance.waypointFromBearingAndDistance(home_global, 0.0f, gf_avoidance.computeBrakingDistanceMultirotor()); error = get_distance_to_next_waypoint(loiter_point(0), loiter_point(1), loiter_point_predicted(0), loiter_point_predicted(1)); EXPECT_LE(error, 0.0f); gf_violation.flags.fence_violation = false; loiter_point = gf_avoidance.generateLoiterPointForMultirotor(gf_violation, &geo); EXPECT_LT(Vector2d(loiter_point - home_global).norm(), 1e-4); } TEST_F(GeofenceBreachAvoidanceTest, generateLoiterAltitudeForFixedWing) { GeofenceBreachAvoidance gf_avoidance(nullptr); const float current_alt_amsl = 100.0f; const float vertical_test_point_dist = 10.0f; gf_avoidance.setVerticalTestPointDistance(vertical_test_point_dist); gf_avoidance.setCurrentPosition(0, 0, current_alt_amsl); // just care about altitude geofence_violation_type_u gf_violation; gf_violation.flags.max_altitude_exceeded = true; float loiter_alt = gf_avoidance.generateLoiterAltitudeForFixedWing(gf_violation); EXPECT_EQ(loiter_alt, current_alt_amsl - 2 * vertical_test_point_dist); gf_violation.flags.max_altitude_exceeded = false; loiter_alt = gf_avoidance.generateLoiterAltitudeForFixedWing(gf_violation); EXPECT_EQ(loiter_alt, current_alt_amsl); } TEST_F(GeofenceBreachAvoidanceTest, generateLoiterAltitudeForMulticopter) { GeofenceBreachAvoidance gf_avoidance(nullptr); const float climbrate = 10.0f; const float current_alt_amsl = 100.0f; geofence_violation_type_u gf_violation; gf_violation.flags.max_altitude_exceeded = true; gf_avoidance.setClimbRate(climbrate); gf_avoidance.setCurrentPosition(0, 0, current_alt_amsl); gf_avoidance.computeVerticalBrakingDistanceMultirotor(); float loiter_alt_amsl = gf_avoidance.generateLoiterAltitudeForMulticopter(gf_violation); EXPECT_EQ(loiter_alt_amsl, current_alt_amsl + gf_avoidance.computeVerticalBrakingDistanceMultirotor() - gf_avoidance.getMinVertDistToFenceMultirotor()); gf_violation.flags.max_altitude_exceeded = false; loiter_alt_amsl = gf_avoidance.generateLoiterAltitudeForMulticopter(gf_violation); EXPECT_EQ(loiter_alt_amsl, current_alt_amsl); } TEST_F(GeofenceBreachAvoidanceTest, maxDistToHomeViolationMulticopter) { GeofenceBreachAvoidance gf_avoidance(nullptr); FakeGeofence geo; Vector2d home_global(42.1, 8.2); MapProjection ref{home_global(0), home_global(1)}; geofence_violation_type_u gf_violation; gf_violation.flags.dist_to_home_exceeded = true; const float hor_vel = 8.0f; const float test_point_distance = 30.0f; const float test_point_bearing = 0.0f; const float max_dist_to_home = 100.0f; gf_avoidance.setHorizontalVelocity(hor_vel); gf_avoidance.computeBrakingDistanceMultirotor(); gf_avoidance.setHorizontalTestPointDistance(test_point_distance); gf_avoidance.setTestPointBearing(test_point_bearing); Vector2d current_pos = gf_avoidance.waypointFromBearingAndDistance(home_global, test_point_bearing, 90.0f); gf_avoidance.setCurrentPosition(current_pos(0), current_pos(1), 0); gf_avoidance.setMaxHorDistHome(max_dist_to_home); gf_avoidance.setHomePosition(home_global(0), home_global(1), 0); Vector2d loiter_point_lat_lon = gf_avoidance.generateLoiterPointForMultirotor(gf_violation, &geo); Vector2d loiter_point_predicted = gf_avoidance.waypointFromBearingAndDistance(home_global, test_point_bearing, max_dist_to_home - gf_avoidance.getMinHorDistToFenceMulticopter()); EXPECT_LT(Vector2d(loiter_point_predicted - loiter_point_lat_lon).norm(), 1e-4); } TEST_F(GeofenceBreachAvoidanceTest, maxDistToHomeViolationFixedWing) { GeofenceBreachAvoidance gf_avoidance(nullptr); FakeGeofence geo; Vector2d home_global(42.1, 8.2); MapProjection ref{home_global(0), home_global(1)}; geofence_violation_type_u gf_violation; gf_violation.flags.dist_to_home_exceeded = true; const float test_point_distance = 30.0f; const float max_dist_to_home = 100.0f; const float test_point_bearing = 0.0f; gf_avoidance.setHorizontalTestPointDistance(test_point_distance); gf_avoidance.setTestPointBearing(test_point_bearing); Vector2d current_pos = gf_avoidance.waypointFromBearingAndDistance(home_global, test_point_bearing, 90.0f); gf_avoidance.setCurrentPosition(current_pos(0), current_pos(1), 0); gf_avoidance.setMaxHorDistHome(max_dist_to_home); gf_avoidance.setHomePosition(home_global(0), home_global(1), 0); Vector2d loiter_point_lat_lon = gf_avoidance.generateLoiterPointForFixedWing(gf_violation, &geo); Vector2d loiter_point_predicted = gf_avoidance.waypointFromBearingAndDistance(home_global, test_point_bearing, max_dist_to_home - 2.0f * test_point_distance); EXPECT_LT(Vector2d(loiter_point_predicted - loiter_point_lat_lon).norm(), 1e-4); }