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