altos: Fix up flight code testing

This automates flight code testing by reporting mis-detected apogee or
main events.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c
index e7bfbdd2f3b3351142678d435ee815f87579438b..51a5965c9c3302d6d6d1b965868b149ed5df4023 100644 (file)
--- a/src/ao_flight_test.c
+++ b/src/ao_flight_test.c
@@ -22,6 +22,7 @@
 #include <stdlib.h>
 #include <string.h>
 #include <getopt.h>
 #include <stdlib.h>
 #include <string.h>
 #include <getopt.h>

+#include <math.h>

 
 #define AO_HERTZ       100
 
 
 #define AO_HERTZ       100
 


@@ -87,11 +88,27 @@ enum ao_igniter {
 
 struct ao_adc ao_adc_static;
 
 
 struct ao_adc ao_adc_static;
 

+int    drogue_height;
+double drogue_time;
+int    main_height;
+double main_time;
+
+int    tick_offset;
+
+static int32_t ao_k_height;
+

 void
 ao_ignite(enum ao_igniter igniter)
 {
 void
 ao_ignite(enum ao_igniter igniter)
 {

-       printf ("ignite %s at %7.2f\n", igniter == ao_igniter_drogue ? "drogue" : "main",
-               (double) ao_adc_static.tick / 100.0);
+       double time = (double) (ao_adc_static.tick + tick_offset) / 100;
+
+       if (igniter == ao_igniter_drogue) {
+               drogue_time = time;
+               drogue_height = ao_k_height >> 16;
+       } else {
+               main_time = time;
+               main_height = ao_k_height >> 16;
+       }

 }
 
 struct ao_task {
 }
 
 struct ao_task {


@@ -108,7 +125,12 @@ struct ao_task {
 
 #define AO_FLIGHT_TEST
 
 
 #define AO_FLIGHT_TEST
 

+int    ao_flight_debug;
+

 FILE *emulator_in;
 FILE *emulator_in;

+char *emulator_app;
+char *emulator_name;
+double emulator_error_max = 10;

 
 void
 ao_dump_state(void);
 
 void
 ao_dump_state(void);


@@ -157,51 +179,84 @@ struct ao_config ao_config;
 extern int16_t ao_ground_accel, ao_raw_accel;
 extern int16_t ao_accel_2g;
 
 extern int16_t ao_ground_accel, ao_raw_accel;
 extern int16_t ao_accel_2g;
 

-int32_t        drogue_height;
-int32_t main_height;
-
-int            tick_offset;

 uint16_t       prev_tick;
 static int     ao_records_read = 0;
 static int     ao_eof_read = 0;
 static int     ao_flight_ground_accel;
 static int     ao_flight_started = 0;
 uint16_t       prev_tick;
 static int     ao_records_read = 0;
 static int     ao_eof_read = 0;
 static int     ao_flight_ground_accel;
 static int     ao_flight_started = 0;

+static int     ao_test_max_height;
+static double  ao_test_max_height_time;
+static int     ao_test_main_height;
+static double  ao_test_main_height_time;

 
 void
 ao_insert(void)
 {
 
 void
 ao_insert(void)
 {

+       double  time;
+

        ao_adc_ring[ao_adc_head] = ao_adc_static;
        ao_adc_head = ao_adc_ring_next(ao_adc_head);
        ao_adc_ring[ao_adc_head] = ao_adc_static;
        ao_adc_head = ao_adc_ring_next(ao_adc_head);

-       if (ao_summary)
-               return;
-       if (ao_flight_state == ao_flight_startup)
-               return;
-       {
+       if (ao_flight_state != ao_flight_startup) {

                double  height = ao_pres_to_altitude(ao_raw_pres) - ao_ground_height;
                double  accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
                        (ao_config.accel_minus_g - ao_config.accel_plus_g);
 
                if (!tick_offset)
                double  height = ao_pres_to_altitude(ao_raw_pres) - ao_ground_height;
                double  accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
                        (ao_config.accel_minus_g - ao_config.accel_plus_g);
 
                if (!tick_offset)

-                       tick_offset = ao_adc_static.tick;
-               if (!drogue_height && ao_flight_state >= ao_flight_drogue)
-                       drogue_height = ao_k_height;
-               if (!main_height && ao_flight_state >= ao_flight_main)
-                       main_height = ao_k_height;
-               if ((prev_tick - ao_adc_static.tick) > 0)
+                       tick_offset = -ao_adc_static.tick;
+               if ((prev_tick - ao_adc_static.tick) > 0x400)

                        tick_offset += 65536;
                prev_tick = ao_adc_static.tick;
                        tick_offset += 65536;
                prev_tick = ao_adc_static.tick;

-               printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %g main %g error %d\n",
-                      (double) (ao_adc_static.tick + tick_offset) / 100,
-                      height,
-                      accel,
-                      ao_state_names[ao_flight_state],
-                      ao_k_height / 65536.0,
-                      ao_k_speed / 65536.0 / 16.0,
-                      ao_k_accel / 65536.0 / 16.0,
-                      drogue_height / 65536.0,
-                      main_height / 65536.0,
-                      ao_error_h_sq_avg);
+               time = (double) (ao_adc_static.tick + tick_offset) / 100;
+               if (!ao_summary) {
+                       printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %d main %d error %d\n",
+                              time,
+                              height,
+                              accel,
+                              ao_state_names[ao_flight_state],
+                              ao_k_height / 65536.0,
+                              ao_k_speed / 65536.0 / 16.0,
+                              ao_k_accel / 65536.0 / 16.0,
+                              drogue_height,
+                              main_height,
+                              ao_error_h_sq_avg);
+               }
+
+               if (ao_test_max_height < height) {
+                       ao_test_max_height = height;
+                       ao_test_max_height_time = time;
+               }
+               if (height > ao_config.main_deploy) {
+                       ao_test_main_height_time = time;
+                       ao_test_main_height = height;
+               }
+       }
+}
+
+void
+ao_test_exit(void)
+{
+       double  drogue_error;
+       double  main_error;
+
+       if (!ao_test_main_height_time) {
+               ao_test_main_height_time = ao_test_max_height_time;
+               ao_test_main_height = ao_test_max_height;
+       }
+       drogue_error = fabs(ao_test_max_height_time - drogue_time);
+       main_error = fabs(ao_test_main_height_time - main_time);
+       if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
+               printf ("%s %s\n",
+                       emulator_app, emulator_name);
+               printf ("\tApogee error %g\n", drogue_error);
+               printf ("\tMain error %g\n", main_error);
+               printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f\n",
+                       ao_test_max_height, ao_test_max_height_time,
+                       ao_test_main_height, ao_test_main_height_time);
+               printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f\n",
+                       drogue_height, drogue_time, main_height, main_time);
+               exit (1);

        }
        }

+       exit(0);

 }
 
 void
 }
 
 void


@@ -228,8 +283,9 @@ ao_sleep(void *wchan)
 
                        if (!fgets(line, sizeof (line), emulator_in)) {
                                if (++ao_eof_read >= 1000) {
 
                        if (!fgets(line, sizeof (line), emulator_in)) {
                                if (++ao_eof_read >= 1000) {

-                                       printf ("no more data, exiting simulation\n");
-                                       exit(0);
+                                       if (!ao_summary)
+                                               printf ("no more data, exiting simulation\n");
+                                       ao_test_exit();

                                }
                                ao_adc_static.tick += 10;
                                ao_insert();
                                }
                                ao_adc_static.tick += 10;
                                ao_insert();


@@ -247,10 +303,10 @@ ao_sleep(void *wchan)
                                tick = strtoul(words[1], NULL, 16);
                                a = strtoul(words[2], NULL, 16);
                                b = strtoul(words[3], NULL, 16);
                                tick = strtoul(words[1], NULL, 16);
                                a = strtoul(words[2], NULL, 16);
                                b = strtoul(words[3], NULL, 16);

-                       } else if (nword >= 6 && strcmp(words[0], "Accel")) {
+                       } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {

                                ao_config.accel_plus_g = atoi(words[3]);
                                ao_config.accel_minus_g = atoi(words[5]);
                                ao_config.accel_plus_g = atoi(words[3]);
                                ao_config.accel_minus_g = atoi(words[5]);

-                       } else if (nword >= 4 && strcmp(words[0], "Main")) {
+                       } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {

                                ao_config.main_deploy = atoi(words[2]);
                        } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
                                tick = atoi(words[10]);
                                ao_config.main_deploy = atoi(words[2]);
                        } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
                                tick = atoi(words[10]);


@@ -308,21 +364,17 @@ ao_sleep(void *wchan)
 void
 ao_dump_state(void)
 {
 void
 ao_dump_state(void)
 {

-       if (ao_flight_state == ao_flight_startup)
-               return;
-       if (ao_summary)
-               return;
-       if (ao_flight_state == ao_flight_landed)
-               exit(0);

 }
 
 static const struct option options[] = {
        { .name = "summary", .has_arg = 0, .val = 's' },
 }
 
 static const struct option options[] = {
        { .name = "summary", .has_arg = 0, .val = 's' },

+       { .name = "debug", .has_arg = 0, .val = 'd' },

        { 0, 0, 0, 0},
 };
 
 void run_flight_fixed(char *name, FILE *f, int summary)
 {
        { 0, 0, 0, 0},
 };
 
 void run_flight_fixed(char *name, FILE *f, int summary)
 {

+       emulator_name = name;

        emulator_in = f;
        ao_summary = summary;
        ao_flight_init();
        emulator_in = f;
        ao_summary = summary;
        ao_flight_init();


@@ -336,11 +388,19 @@ main (int argc, char **argv)
        int     c;
        int     i;
 
        int     c;
        int     i;
 

-       while ((c = getopt_long(argc, argv, "s", options, NULL)) != -1) {
+#if HAS_ACCEL
+       emulator_app="full";
+#else
+       emulator_app="baro";
+#endif
+       while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {

                switch (c) {
                case 's':
                        summary = 1;
                        break;
                switch (c) {
                case 's':
                        summary = 1;
                        break;

+               case 'd':
+                       ao_flight_debug = 1;
+                       break;

                }
        }
 
                }
        }
 

diff --git a/src/test/run-one b/src/test/run-one
index f9d21576187db5c2493a7b1a56303b36225ea87c..d661abec40250ed5eb52d196a744e66aee9f50e3 100755 (executable)
--- a/src/test/run-one
+++ b/src/test/run-one
@@ -1,17 +1,24 @@
 #!/bin/sh
 
 #!/bin/sh
 

-./ao_flight_test "$1" > run-out.full
-./ao_flight_test_baro "$1" > run-out.baro
-./ao_flight_test_accel "$1" > run-out.accel
+for i in "$@"; do
+./ao_flight_test "$i" > run-out.full
+./ao_flight_test_baro "$i" > run-out.baro
+#./ao_flight_test_accel "$i" > run-out.accel

 
 

-gnuplot -persist << EOF
+#"run-out.accel" using 1:9 with lines lt 4 axes x1y1 title "accel height",\
+#"run-out.accel" using 1:11 with lines lt 4 axes x1y2 title "accel speed",\
+#"run-out.accel" using 1:13 with lines lt 4 axes x1y2 title "accel accel",\
+#"run-out.accel" using 1:15 with lines lt 4 axes x1y1 title "accel drogue",\
+#"run-out.accel" using 1:17 with lines lt 4 axes x1y1 title "accel main",\
+
+gnuplot << EOF

 set ylabel "altitude (m)"
 set y2label "velocity (m/s), acceleration(m/s²)"
 set xlabel "time (s)"
 set xtics border out nomirror
 set ytics border out nomirror
 set y2tics border out nomirror
 set ylabel "altitude (m)"
 set y2label "velocity (m/s), acceleration(m/s²)"
 set xlabel "time (s)"
 set xtics border out nomirror
 set ytics border out nomirror
 set y2tics border out nomirror

-set title "$1"
+set title "$i"

 plot "run-out.full" using 1:3 with lines lw 2 lt 1 axes x1y1 title "raw height",\
 "run-out.full" using 1:5 with lines lw 2 lt 1 axes x1y2 title "raw accel",\
 "run-out.full" using 1:9 with lines lt 2 axes x1y1 title "full height",\
 plot "run-out.full" using 1:3 with lines lw 2 lt 1 axes x1y1 title "raw height",\
 "run-out.full" using 1:5 with lines lw 2 lt 1 axes x1y2 title "raw accel",\
 "run-out.full" using 1:9 with lines lt 2 axes x1y1 title "full height",\


@@ -23,10 +30,7 @@ plot "run-out.full" using 1:3 with lines lw 2 lt 1 axes x1y1 title "raw height",
 "run-out.baro" using 1:11 with lines lt 3 axes x1y2 title "baro speed",\
 "run-out.baro" using 1:13 with lines lt 3 axes x1y2 title "baro accel",\
 "run-out.baro" using 1:15 with lines lt 3 axes x1y1 title "baro drogue",\
 "run-out.baro" using 1:11 with lines lt 3 axes x1y2 title "baro speed",\
 "run-out.baro" using 1:13 with lines lt 3 axes x1y2 title "baro accel",\
 "run-out.baro" using 1:15 with lines lt 3 axes x1y1 title "baro drogue",\

-"run-out.baro" using 1:17 with lines lt 3 axes x1y1 title "baro main",\
-"run-out.accel" using 1:9 with lines lt 4 axes x1y1 title "accel height",\
-"run-out.accel" using 1:11 with lines lt 4 axes x1y2 title "accel speed",\
-"run-out.accel" using 1:13 with lines lt 4 axes x1y2 title "accel accel",\
-"run-out.accel" using 1:15 with lines lt 4 axes x1y1 title "accel drogue",\
-"run-out.accel" using 1:17 with lines lt 4 axes x1y1 title "accel main"
+"run-out.baro" using 1:17 with lines lt 3 axes x1y1 title "baro main"
+pause mouse close

 EOF
 EOF

+done
\ No newline at end of file

diff --git a/src/test/run-tests b/src/test/run-tests
index ec279776ca902b2fc41cc6c8e92beb1cd41ea36e..11b4c95cd821ee6d9904ded30839a43539adf1bd 100755 (executable)
--- a/src/test/run-tests
+++ b/src/test/run-tests
@@ -2,21 +2,21 @@
 
 DIR=~/src/cc1111/flights
 
 
 DIR=~/src/cc1111/flights
 

+bad_baro=0
+bad_full=0

 while read flight; do
 while read flight; do

-       baro=`./ao_flight_test_baro -s $DIR/$flight |
-               awk '/drogue/ { printf "%s ", $4 }
-               /main/ { printf "%s\n", $4 }'`
-       full=`./ao_flight_test -s $DIR/$flight |
-               awk '/drogue/ { printf "%s ", $4 }
-               /main/ { printf "%s\n", $4 }'`
-       echo $flight $baro $full
-done < test-flights |
-awk '{ name = $1;
-       drogue_error = $2 - $4;
-       if (drogue_error < 0) drogue_error = -drogue_error;
-       main_error = $3 - $5;
-       if (main_error < 0) main_error = -main_error;
-       if (drogue_error > 4 || main_error > 4)
-               printf ("%s: baro drogue %f main %f. full drogue %f main %f\n",
-                       name, $2, $3, $4, $5);
-       }'
+    if ./ao_flight_test_baro -s $DIR/$flight; then
+       :
+    else
+       ((bad_baro++))
+    fi
+    if ./ao_flight_test -s $DIR/$flight; then
+       :
+    else
+       ((bad_full++))
+    fi
+done < test-flights
+echo baro errors $bad_baro
+echo full errors $bad_full
+((bad = bad_baro + bad_full))
+exit $bad
\ No newline at end of file

diff --git a/src/test/test-flights b/src/test/test-flights
index afdaba5a33467af87a3350a5d5c5aadcd7b71dc8..0b90d9e0e3204dd0ae7f53a1a615981b160f4b70 100644 (file)
--- a/src/test/test-flights
+++ b/src/test/test-flights
@@ -63,7 +63,6 @@
 2010-09-24-serial-236-flight-006.eeprom
 2010-09-25-serial-223-flight-001.eeprom
 2010-10-17-serial-215-flight-006.eeprom
 2010-09-24-serial-236-flight-006.eeprom
 2010-09-25-serial-223-flight-001.eeprom
 2010-10-17-serial-215-flight-006.eeprom

-2010-10-23-serial-236-flight-008.eeprom

 2011-01-30-serial-056-flight-001.eeprom
 2011-01-30-serial-250-flight-002.eeprom
 2011-02-19-serial-215-flight-007.eeprom
 2011-01-30-serial-056-flight-001.eeprom
 2011-01-30-serial-250-flight-002.eeprom
 2011-02-19-serial-215-flight-007.eeprom