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TestInitialConditions.py
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# TestInitialConditions.py
#
# A regression test that checks that IC are correctly read from the IC file
# then loaded in the ic/ properties. It also checks that the correct ICs are
# reported in the data written in CSV files.
#
# Copyright (c) 2015 Bertrand Coconnier
#
# This program is free software; you can redistribute it and/or modify it under
# the terms of the GNU General Public License as published by the Free Software
# Foundation; either version 3 of the License, or (at your option) any later
# version.
#
# This program is distributed in the hope that it will be useful, but WITHOUT
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
# details.
#
# You should have received a copy of the GNU General Public License along with
# this program; if not, see <http://www.gnu.org/licenses/>
#
import os, math
import xml.etree.ElementTree as et
import pandas as pd
from JSBSim_utils import CreateFDM, append_xml, ExecuteUntil, JSBSimTestCase, RunTest
# Values copied from FGJSBBase.cpp and FGXMLElement.cpp
convtoft = {'FT': 1.0, 'M': 3.2808399, 'IN': 1.0/12.0}
convtofps = {'FT/SEC': 1.0, 'KTS': 1.68781}
convtodeg = {'DEG': 1.0, 'RAD': 57.295779513082320876798154814105}
convtokts = {'KTS': 1.0, 'FT/SEC': 1.0/1.68781}
class TestInitialConditions(JSBSimTestCase):
def getElementTrees(self, s):
# Read the IC file name from the script
tree = et.parse(s)
use_tag = tree.getroot().find('use')
aircraft_name = use_tag.attrib['aircraft']
aircraft_path = os.path.join('aircraft', aircraft_name)
path_to_jsbsim_aircrafts = self.sandbox.path_to_jsbsim_file(aircraft_path)
IC_file = append_xml(use_tag.attrib['initialize'])
IC_tree = et.parse(os.path.join(path_to_jsbsim_aircrafts, IC_file))
return (tree, IC_tree)
def test_initial_conditions_v1(self):
prop_output_to_CSV = ['velocities/vc-kts']
# A dictionary that contains the XML tags to extract from the IC file
# along with the name of the properties that contain the values
# extracted from the IC file.
vars = [{'tag': 'vt', 'unit': convtofps, 'default_unit': 'FT/SEC',
'ic_prop': 'ic/vt-fps', 'prop': 'velocities/vt-fps',
'CSV_header': 'V_{Total} (ft/s)'},
{'tag': 'vc', 'unit': convtokts, 'default_unit': 'KTS',
'ic_prop': 'ic/vc-kts', 'prop': 'velocities/vc-kts',
'CSV_header': '/fdm/jsbsim/velocities/vc-kts'},
{'tag': 'ubody', 'unit': convtofps, 'default_unit': 'FT/SEC',
'ic_prop': 'ic/u-fps', 'prop': 'velocities/u-fps',
'CSV_header': 'UBody'},
{'tag': 'vbody', 'unit': convtofps, 'default_unit': 'FT/SEC',
'ic_prop': 'ic/v-fps', 'prop': 'velocities/v-fps',
'CSV_header': 'VBody'},
{'tag': 'wbody', 'unit': convtofps, 'default_unit': 'FT/SEC',
'ic_prop': 'ic/w-fps', 'prop': 'velocities/w-fps',
'CSV_header': 'WBody'},
{'tag': 'vnorth', 'unit': convtofps, 'default_unit': 'FT/SEC',
'ic_prop': 'ic/vn-fps', 'prop': 'velocities/v-north-fps',
'CSV_header': 'V_{North} (ft/s)'},
{'tag': 'veast', 'unit': convtofps, 'default_unit': 'FT/SEC',
'ic_prop': 'ic/ve-fps', 'prop': 'velocities/v-east-fps',
'CSV_header': 'V_{East} (ft/s)'},
{'tag': 'vdown', 'unit': convtofps, 'default_unit': 'FT/SEC',
'ic_prop': 'ic/vd-fps', 'prop': 'velocities/v-down-fps',
'CSV_header': 'V_{Down} (ft/s)'},
{'tag': 'latitude', 'unit': convtodeg, 'default_unit': 'RAD',
'ic_prop': 'ic/lat-gc-deg', 'prop': 'position/lat-gc-deg',
'CSV_header': 'Latitude (deg)'},
{'tag': 'longitude', 'unit': convtodeg, 'default_unit': 'RAD',
'ic_prop': 'ic/long-gc-deg', 'prop': 'position/long-gc-deg',
'CSV_header': 'Longitude (deg)'},
{'tag': 'altitude', 'unit': convtoft, 'default_unit': 'FT',
'ic_prop': 'ic/h-agl-ft', 'prop': 'position/h-agl-ft',
'CSV_header': 'Altitude AGL (ft)'},
{'tag': 'altitudeAGL', 'unit': convtoft, 'default_unit': 'FT',
'ic_prop': 'ic/h-agl-ft', 'prop': 'position/h-agl-ft',
'CSV_header': 'Altitude AGL (ft)'},
{'tag': 'altitudeMSL', 'unit': convtoft, 'default_unit': 'FT',
'ic_prop': 'ic/h-sl-ft', 'prop': 'position/h-sl-ft',
'CSV_header': 'Altitude ASL (ft)'},
{'tag': 'phi', 'unit': convtodeg, 'default_unit': 'RAD',
'ic_prop': 'ic/phi-deg', 'prop': 'attitude/phi-deg',
'CSV_header': 'Phi (deg)'},
{'tag': 'theta', 'unit': convtodeg, 'default_unit': 'RAD',
'ic_prop': 'ic/theta-deg', 'prop': 'attitude/theta-deg',
'CSV_header': 'Theta (deg)'},
{'tag': 'psi', 'unit': convtodeg, 'default_unit': 'RAD',
'ic_prop': 'ic/psi-true-deg', 'prop': 'attitude/psi-deg',
'CSV_header': 'Psi (deg)'},
{'tag': 'elevation', 'unit': convtoft, 'default_unit': 'FT',
'ic_prop': 'ic/terrain-elevation-ft',
'prop': 'position/terrain-elevation-asl-ft',
'CSV_header': 'Terrain Elevation (ft)'}]
for s in self.script_list(('ZLT-NT-moored-1.xml',
'737_cruise_steady_turn_simplex.xml')):
(tree, IC_tree) = self.getElementTrees(s)
IC_root = IC_tree.getroot()
# Only testing version 1.0 of init files
if 'version' in IC_root.attrib and float(IC_root.attrib['version']) != 1.0:
continue
f, fdm = self.LoadScript(tree, s, prop_output_to_CSV)
self.CheckICValues(vars, 'script %s' % (f,), fdm, IC_root)
del fdm
def LoadScript(self, tree, script_path, prop_output_to_CSV=[]):
# Generate a CSV file to check that it is correctly initialized
# with the initial values
output_tag = et.SubElement(tree.getroot(), 'output')
output_tag.attrib['name'] = 'check_csv_values.csv'
output_tag.attrib['type'] = 'CSV'
output_tag.attrib['rate'] = '10'
position_tag = et.SubElement(output_tag, 'position')
position_tag.text = 'ON'
velocities_tag = et.SubElement(output_tag, 'velocities')
velocities_tag.text = 'ON'
for props in prop_output_to_CSV:
property_tag = et.SubElement(output_tag, 'property')
property_tag.text = props
f = os.path.split(script_path)[-1] # Script name
tree.write(f)
# Initialize the script
fdm = CreateFDM(self.sandbox)
fdm.load_script(f)
fdm.run_ic()
return (f, fdm)
def CheckICValues(self, vars, f, fdm, IC_root):
# Extract the IC values from XML
for var in vars:
var_tag = IC_root.find(var['tag'])
var['specified'] = var_tag is not None
if var_tag is None:
var['value'] = 0.0
continue
var['value'] = float(var_tag.text)
if 'unit' in var_tag.attrib:
conv = var['unit'][var_tag.attrib['unit']]
else:
conv = var['unit'][var['default_unit']]
var['value'] *= conv
# Sanity check, we just initialized JSBSim with the ICs, the time must
# be set to 0.0
self.assertEqual(fdm['simulation/sim-time-sec'], 0.0)
# Check that the properties (including in 'ic/') have been correctly
# initialized (i.e. that they contain the value read from the XML
# file).
for var in vars:
if not var['specified']:
continue
value = var['value']
prop = fdm[var['ic_prop']]
if var['tag'] == 'psi':
if abs(prop - 360.0) <= 1E-8:
prop = 0.0
self.assertAlmostEqual(value, prop, delta=1E-7,
msg="In %s: %s should be %f but found %f" % (f, var['tag'], value, prop))
prop = fdm[var['prop']]
if var['tag'] == 'psi':
if abs(prop - 360.0) <= 1E-8:
prop = 0.0
self.assertAlmostEqual(value, prop, delta=1E-7,
msg="In %s: %s should be %f but found %f" % (f, var['tag'], value, prop))
# Execute the first second of the script. This is to make sure that the
# CSV file is open and the ICs have been written in it.
try:
ExecuteUntil(fdm, 1.0)
except RuntimeError as e:
if e.args[0] == 'Trim Failed':
self.fail("Trim failed in %s" % (f,))
else:
raise
# Sanity check: make sure that the time step 0.0 has been copied in the
# CSV file.
ref = pd.read_csv('check_csv_values.csv')
self.assertEqual(ref['Time'][0], 0.0)
# Check that the value in the CSV file equals the value read from the
# IC file.
for var in vars:
if not var['specified']:
continue
value = var['value']
csv_value = ref[var['CSV_header']][0]
if var['tag'] == 'psi':
if abs(csv_value - 360.0) <= 1E-8:
csv_value = 0.0
self.assertAlmostEqual(value, csv_value, delta=1E-7,
msg="In %s: %s should be %f but found %f" % (f, var['tag'], value, csv_value))
def GetVariables(self, lat_tag):
vars = [{'tag': 'longitude', 'unit': convtodeg, 'default_unit': 'RAD',
'ic_prop': 'ic/long-gc-deg', 'prop': 'position/long-gc-deg',
'CSV_header': 'Longitude (deg)'},
{'tag': 'altitudeAGL', 'unit': convtoft, 'default_unit': 'FT',
'ic_prop': 'ic/h-agl-ft', 'prop': 'position/h-agl-ft',
'CSV_header': 'Altitude AGL (ft)'},
{'tag': 'altitudeMSL', 'unit': convtoft, 'default_unit': 'FT',
'ic_prop': 'ic/h-sl-ft', 'prop': 'position/h-sl-ft',
'CSV_header': 'Altitude ASL (ft)'}]
if lat_tag is None:
lat_vars = []
elif 'type' not in lat_tag.attrib or lat_tag.attrib['type'][:4] != "geod":
lat_vars = [{'tag': 'latitude', 'unit': convtodeg,
'default_unit': 'RAD', 'ic_prop': 'ic/lat-gc-deg',
'prop': 'position/lat-gc-deg',
'CSV_header': 'Latitude (deg)'}]
else:
lat_vars = [{'tag': 'latitude', 'unit': convtodeg,
'default_unit': 'RAD', 'ic_prop': 'ic/lat-geod-deg',
'prop': 'position/lat-geod-deg',
'CSV_header': 'Latitude Geodetic (deg)'}]
return lat_vars+vars
def test_geod_position_from_init_file_v2(self):
for s in self.script_list(('ZLT-NT-moored-1.xml',
'737_cruise_steady_turn_simplex.xml')):
(tree, IC_tree) = self.getElementTrees(s)
IC_root = IC_tree.getroot()
# Only testing version 2.0 of init files
if ('version' not in IC_root.attrib or float(IC_root.attrib['version']) != 2.0):
continue
position_tag = IC_root.find('position')
lat_tag = position_tag.find('latitude')
f, fdm = self.LoadScript(tree, s)
self.CheckICValues(self.GetVariables(lat_tag), 'script %s' % (f,),
fdm, position_tag)
del fdm
def test_initial_latitude(self):
Output_file = self.sandbox.path_to_jsbsim_file('tests', 'output.xml')
GEODETIC, ELEVATION, ALTITUDE = (1, 2, 4)
for v in ('', '_v2'):
IC_file = self.sandbox.path_to_jsbsim_file('aircraft', 'ball',
'reset00'+v+'.xml')
for i in xrange(8):
for latitude_pos in xrange(4):
IC_tree = et.parse(IC_file)
IC_root = IC_tree.getroot()
if v:
position_tag = IC_root.find('position')
latitude_tag = et.SubElement(position_tag, 'latitude')
latitude_tag.attrib['unit'] = 'DEG'
else:
position_tag = IC_root
latitude_tag = IC_root.find('latitude')
latitude_tag.text = str(latitude_pos*30.)
if i & GEODETIC:
latitude_tag.attrib['type'] = 'geod'
if i & ELEVATION:
elevation_tag = et.SubElement(IC_root, 'elevation')
elevation_tag.text = '1000.'
if i & ALTITUDE:
if v:
altitude_tag = position_tag.find('altitudeMSL')
altitude_tag.tag = 'altitudeAGL'
else:
altitude_tag = position_tag.find('altitude')
altitude_tag.tag = 'altitudeMSL'
IC_tree.write('IC.xml')
fdm = CreateFDM(self.sandbox)
fdm.load_model('ball')
fdm.set_output_directive(Output_file)
fdm.set_output_filename(1, 'check_csv_values.csv')
fdm.load_ic('IC.xml', False)
fdm.run_ic()
self.CheckICValues(self.GetVariables(latitude_tag),
'IC%d' % (i,), fdm, position_tag)
del fdm
def test_set_initial_geodetic_latitude(self):
script_path = self.sandbox.path_to_jsbsim_file('scripts',
'737_cruise.xml')
output_file = self.sandbox.path_to_jsbsim_file('tests', 'output.xml')
fdm = CreateFDM(self.sandbox)
fdm.load_script(script_path)
fdm.set_output_directive(output_file)
alt = fdm['ic/h-sl-ft']
glat = fdm['ic/lat-geod-deg'] - 30.
fdm['ic/lat-geod-deg'] = glat
fdm.run_ic()
self.assertAlmostEqual(fdm['ic/h-sl-ft'], alt)
self.assertAlmostEqual(fdm['ic/lat-geod-deg'], glat)
self.assertAlmostEqual(fdm['ic/lat-geod-rad'], glat*math.pi/180.)
self.assertAlmostEqual(fdm['position/lat-geod-deg'], glat)
# Sanity check: make sure that the time step 0.0 has been copied in the
# CSV file.
ref = pd.read_csv('output.csv')
self.assertEqual(ref['Time'][0], 0.0)
self.assertAlmostEqual(ref['Latitude Geodetic (deg)'][0], glat)
RunTest(TestInitialConditions)