diff --git a/.github/workflows/functional_change_indicator.yml b/.github/workflows/functional_change_indicator.yml new file mode 100644 index 0000000000..6fa3b1c440 --- /dev/null +++ b/.github/workflows/functional_change_indicator.yml @@ -0,0 +1,15 @@ +name: Change Indicator + +on: [push] + +jobs: + unit_tests: + runs-on: ubuntu-latest + container: px4io/px4-dev-base-bionic:2020-01-13 + steps: + - uses: actions/checkout@v1 + - name: main test + run: make test + - name: Check if there exists diff + run: git diff --exit-code + working-directory: test/change_indication diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index 9d41a3aa0a..048b68a811 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -47,6 +47,7 @@ set(SRCS test_EKF_gps.cpp test_EKF_externalVision.cpp test_EKF_airspeed.cpp + test_EKF_withReplayData.cpp ) add_executable(ECL_GTESTS ${SRCS}) diff --git a/test/change_indication/iris_gps.csv b/test/change_indication/iris_gps.csv new file mode 100644 index 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sensor_simulator.cpp ekf_wrapper.cpp + ekf_logger.cpp sensor.cpp imu.cpp mag.cpp diff --git a/test/sensor_simulator/convertULogToSensorData.py b/test/sensor_simulator/convertULogToSensorData.py new file mode 100644 index 0000000000..0e656a684a --- /dev/null +++ b/test/sensor_simulator/convertULogToSensorData.py @@ -0,0 +1,141 @@ +from pyulog import ULog +import pandas as pd + +def getVioData(ulog: ULog) -> pd.DataFrame: + + vehicle_visual_odometry = ulog.get_dataset("vehicle_visual_odometry").data + vio = pd.DataFrame({'timestamp': vehicle_visual_odometry['timestamp'], + 'sensor' : 'vio', + 'x': vehicle_visual_odometry["x"], + 'y': vehicle_visual_odometry["y"], + 'z': vehicle_visual_odometry["z"], + 'qw': vehicle_visual_odometry["q[0]"], + 'qx': vehicle_visual_odometry["q[1]"], + 'qy': vehicle_visual_odometry["q[2]"], + 'qz': vehicle_visual_odometry["q[3]"], + 'vx': vehicle_visual_odometry["vx"], + 'vy': vehicle_visual_odometry["vy"], + 'vz': vehicle_visual_odometry["vz"] + }) + return vio + + +def getOpticalFlowData(ulog: ULog) -> pd.DataFrame: + + optical_flow = ulog.get_dataset("optical_flow").data + flow = pd.DataFrame({'timestamp': optical_flow['timestamp'], + 'sensor' : 'flow', + 'pixel_flow_x_integral': optical_flow["pixel_flow_x_integral"], + 'pixel_flow_y_integral': optical_flow["pixel_flow_y_integral"], + 'gyro_x_rate_integral': optical_flow["gyro_x_rate_integral"], + 'gyro_y_rate_integral': optical_flow["gyro_y_rate_integral"], + 'gyro_z_rate_integral': optical_flow["gyro_z_rate_integral"], + 'quality': optical_flow["quality"] + }) + return flow + + +def getAirspeedData(ulog: ULog) -> pd.DataFrame: + + airspeed = ulog.get_dataset("airspeed").data + airspeed = pd.DataFrame({'timestamp': airspeed['timestamp'], + 'sensor' : 'airspeed', + 'true_as': airspeed["true_airspeed_m_s"], + 'indicated_as': airspeed["indicated_airspeed_m_s"] + }) + return airspeed + + +def getRangeFinderData(ulog: ULog) -> pd.DataFrame: + + range = pd.DataFrame() + try: + range_0 = ulog.get_dataset("distance_sensor", 0).data + rng_0 = pd.DataFrame({'timestamp': range_0['timestamp'], + 'sensor' : 'range', + 'data': range_0["current_distance"], + 'quality': range_0["signal_quality"] + }) + range = pd.concat([range, rng_0], ignore_index=True, sort=False) + except: + pass + + try: + range_1 = ulog.get_dataset("distance_sensor", 1).data + rng_1 = pd.DataFrame({'timestamp': range_1['timestamp'], + 'sensor' : 'range', + 'data': range_1["current_distance"], + 'quality': range_1["signal_quality"] + }) + range = pd.concat([range, rng_1], ignore_index=True, sort=False) + except: + pass + + try: + range_2 = ulog.get_dataset("distance_sensor", 2).data + rng_2 = pd.DataFrame({'timestamp': range_2['timestamp'], + 'sensor' : 'range', + 'data': range_2["current_distance"], + 'quality': range_2["signal_quality"] + }) + range = pd.concat([range, rng_2], ignore_index=True, sort=False) + except: + pass + + return range + + +def getGpsData(ulog: ULog) -> pd.DataFrame: + + vehicle_gps_position = ulog.get_dataset("vehicle_gps_position").data + gps = pd.DataFrame({'timestamp': vehicle_gps_position['timestamp'], + 'sensor' : 'gps', + 'alt': vehicle_gps_position["alt"], + 'lon': vehicle_gps_position["lon"], + 'lat': vehicle_gps_position["lat"], + 'vel_N': vehicle_gps_position["vel_n_m_s"], + 'vel_E': vehicle_gps_position["vel_e_m_s"], + 'vel_D': vehicle_gps_position["vel_d_m_s"], + }) + return gps + + +def getBarometerData(ulog: ULog) -> pd.DataFrame: + + vehicle_air_data = ulog.get_dataset("vehicle_air_data").data + baro = pd.DataFrame({'timestamp': vehicle_air_data['timestamp'], + 'sensor' : 'baro', + 'baro_alt_meter': vehicle_air_data["baro_alt_meter"]}) + return baro + + +def getMagnetometerData(ulog: ULog) -> pd.DataFrame: + + vehicle_magnetometer = ulog.get_dataset("vehicle_magnetometer").data + mag = pd.DataFrame({'timestamp': vehicle_magnetometer['timestamp'], + 'sensor' : 'mag', + 'magnetometer_ga[0]': vehicle_magnetometer["magnetometer_ga[0]"], + 'magnetometer_ga[1]': vehicle_magnetometer["magnetometer_ga[1]"], + 'magnetometer_ga[2]': vehicle_magnetometer["magnetometer_ga[2]"]}) + return mag + + +def getImuData(ulog: ULog) -> pd.DataFrame: + + sensor_combined = ulog.get_dataset("sensor_combined").data + imu = pd.DataFrame({'timestamp': sensor_combined['timestamp'], + 'sensor' : 'imu', + 'accel_m_s2[0]': sensor_combined["accelerometer_m_s2[0]"], + 'accel_m_s2[1]': sensor_combined["accelerometer_m_s2[1]"], + 'accel_m_s2[2]': sensor_combined["accelerometer_m_s2[2]"], + 'gyro_rad[0]': sensor_combined["gyro_rad[0]"], + 'gyro_rad[1]': sensor_combined["gyro_rad[1]"], + 'gyro_rad[2]': sensor_combined["gyro_rad[2]"]}) + return imu + +def getVehicleLandingStatus(ulog: ULog) -> pd.DataFrame: + vehicle_land_detected = ulog.get_dataset("vehicle_land_detected").data + land = pd.DataFrame({'timestamp': vehicle_land_detected['timestamp'], + 'sensor' : 'landed', + 'landed': vehicle_land_detected["landed"]}) + return land diff --git a/test/sensor_simulator/createSensorDataFile.py b/test/sensor_simulator/createSensorDataFile.py new file mode 100644 index 0000000000..38b26e71ff --- /dev/null +++ b/test/sensor_simulator/createSensorDataFile.py @@ -0,0 +1,124 @@ +from pyulog import ULog +import argparse +import pandas as pd +import csv +import convertULogToSensorData as util + +path = "/home/kamil/Documents/QGroundControl/Logs/iris_vision.ulg" +output_path = "/home/kamil/Documents/QGroundControl/Logs/sensor_data_iris_vision.csv" + + +def get_arguments(): + """ + parses the command line arguments + :return: + """ + parser = argparse.ArgumentParser( + description='Create a csv file with sensor data values in chronological order from a single' + 'ulog file.') + parser.add_argument('input_file', metavar='file.ulg', help='ULog input file path') + parser.add_argument('output_file', metavar='file.ulg', help='csv output file path') + return parser.parse_args() + +def main() -> None: + """ + main entry point + :return: + """ + args = get_arguments() + + table = pd.DataFrame() + + try: + ulog = ULog(args.input_file) + except: + print("Could not find ulog file") + exit(-1) + + try: + imu = util.getImuData(ulog) + print("IMU data detected") + table = pd.concat([table, imu], ignore_index=True, sort=False) + except: + print("IMU data not detected") + + try: + mag = util.getMagnetometerData(ulog) + print("Mag data detected") + table = pd.concat([table, mag], ignore_index=True, sort=False) + except: + print("Mag data not detected") + + try: + baro = util.getBarometerData(ulog) + print("Baro data detected") + table = pd.concat([table, baro], ignore_index=True, sort=False) + except: + print("Baro data not detected") + + try: + gps = util.getGpsData(ulog) + print("GPS data detected") + table = pd.concat([table, gps], ignore_index=True, sort=False) + except: + print("GPS data not detected") + + try: + airspeed = util.getAirspeedData(ulog) + print("Airspeed data detected") + table = pd.concat([table, airspeed], ignore_index=True, sort=False) + except: + print("Airspeed data not detected") + + try: + flow = util.getOpticalFlowData(ulog) + print("Flow data detected") + table = pd.concat([table, flow], ignore_index=True, sort=False) + except: + print("Flow data not detected") + + try: + range = util.getRangeFinderData(ulog) + print("Range data detected") + table = pd.concat([table, range], ignore_index=True, sort=False) + except: + print("Range data not detected") + + try: + vio = util.getVioData(ulog) + print("VIO data detected") + table = pd.concat([table, vio], ignore_index=True, sort=False) + except: + print("VIO data not detected") + + try: + land = util.getVehicleLandingStatus(ulog) + print("Landing data detected") + table = pd.concat([table, land], ignore_index=True, sort=False) + except: + print("Landing data not detected") + + table = table.sort_values('timestamp', axis=0, ascending=True) + table['timestamp'] = table['timestamp'] - table['timestamp'].iloc[0] + # remove the first 0.5 seconds of data to be robust against faulty initialized data + table = table[table.timestamp > 500000] + table.timestamp = table.timestamp - 500000 + + try: + table.to_csv(args.output_file, index=None, header=None) + + # post processing remove empty cells from csv + result = [] + with open(args.output_file, "r") as in_file: + reader = csv.reader(in_file) + result = [[item for item in row if item != ''] for row in reader] + + with open(args.output_file, "w") as out_file: + csv_writer = csv.writer(out_file) + csv_writer.writerows(result) + except: + print("Could not write to specified output file") + + +if __name__ == '__main__': + main() diff --git a/test/sensor_simulator/ekf_logger.cpp b/test/sensor_simulator/ekf_logger.cpp new file mode 100644 index 0000000000..66e8a57b57 --- /dev/null +++ b/test/sensor_simulator/ekf_logger.cpp @@ -0,0 +1,77 @@ +#include "ekf_logger.h" + +EkfLogger::EkfLogger(std::shared_ptr ekf): +_ekf{ekf}, +_ekf_wrapper(ekf) +{ + +} + +EkfLogger::~EkfLogger() {} + +void EkfLogger::setFilePath(std::string file_path) +{ + _file_path = file_path; +} + +void EkfLogger::writeStateToFile() +{ + if(!_file_opened) + { + _file.open(_file_path); + _file_opened = true; + _file << "Timestamp"; + if(_state_logging_enabled) + { + for(int i = 0; i < 24; i++) + { + _file << ",state[" << i << "]"; + } + } + if(_variance_logging_enabled) + { + for(int i = 0; i < 24; i++) + { + _file << ",variance[" << i << "]"; + } + } + _file << std::endl; + } + + if (_file) + { + writeState(); + } + else + { + std::cerr << "Can not write to output file" << std::endl; + std::exit(-1); + } + +} + +void EkfLogger::writeState() +{ + if(_state_logging_enabled) + { + uint64_t time = _ekf->get_imu_sample_delayed().time_us; + _file << time; + if(_state_logging_enabled) + { + matrix::Vector state = _ekf_wrapper.getState(); + for(int i = 0; i < 24; i++) + { + _file << "," << state(i); + } + } + if(_variance_logging_enabled) + { + matrix::Vector variance = _ekf->covariances_diagonal(); + for(int i = 0; i < 24; i++) + { + _file << "," << variance(i); + } + } + _file << std::endl; + } +} diff --git a/test/sensor_simulator/ekf_logger.h b/test/sensor_simulator/ekf_logger.h new file mode 100644 index 0000000000..e23cde194a --- /dev/null +++ b/test/sensor_simulator/ekf_logger.h @@ -0,0 +1,74 @@ +/**************************************************************************** + * + * Copyright (c) 2019 ECL 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. + * + ****************************************************************************/ + +/** + * Class to write EKF state to file + * @author Kamil Ritz + */ +#pragma once + +#include "EKF/ekf.h" +#include "EKF/estimator_interface.h" +#include "ekf_wrapper.h" +#include +#include + +class EkfLogger +{ +public: + EkfLogger(std::shared_ptr ekf); + ~EkfLogger(); + void setFilePath(std::string file_path); + + void enableStateLogging(){ _state_logging_enabled = true; }; + void disableStateLogging(){ _state_logging_enabled = false; }; + void enableVarianceLogging(){ _variance_logging_enabled = true; }; + void disableVarianceLogging(){ _variance_logging_enabled = false; }; + + void writeStateToFile(); + +private: + std::shared_ptr _ekf; + EkfWrapper _ekf_wrapper; + + std::string _file_path; + std::ofstream _file; + + bool _file_opened {false}; + + bool _state_logging_enabled {true}; + bool _variance_logging_enabled {true}; + + void writeState(); + +}; diff --git a/test/sensor_simulator/sensor.h b/test/sensor_simulator/sensor.h index a7d6222a3b..813287fb75 100644 --- a/test/sensor_simulator/sensor.h +++ b/test/sensor_simulator/sensor.h @@ -62,6 +62,8 @@ public: void stop(){ _is_running = false; } + bool should_send(uint64_t time) const; + protected: std::shared_ptr _ekf; @@ -71,8 +73,6 @@ protected: bool _is_running{false}; - bool should_send(uint64_t time) const; - // Checks that the right amount time passed since last send data to fulfill rate bool is_time_to_send(uint64_t time) const; diff --git a/test/sensor_simulator/sensor_simulator.cpp b/test/sensor_simulator/sensor_simulator.cpp index a2d8b4a1dc..5399588c73 100644 --- a/test/sensor_simulator/sensor_simulator.cpp +++ b/test/sensor_simulator/sensor_simulator.cpp @@ -22,6 +22,88 @@ SensorSimulator::~SensorSimulator() } +void SensorSimulator::loadSensorDataFromFile(std::string file_name) +{ + std::ifstream file(file_name); + std::string line; + + while (!file.eof()) { + std::string timestamp; + std::string sensor_type; + std::string sensor_data; + sensor_info sensor_sample; + + getline(file, timestamp, ','); + + if (!timestamp.compare("")){ // empty line at end of file + break; + } + sensor_sample.timestamp = std::stoul(timestamp); + + if(_replay_data.size() > 0) { + sensor_info last_sample = _replay_data.back(); + if (sensor_sample.timestamp < last_sample.timestamp) + { + std::cout << "Timestamps not sorted ascendingly" << std::endl; + exit(-1); + } + } + + getline(file, sensor_type, ','); + if (!sensor_type.compare("imu")) { + sensor_sample.sensor_type = sensor_info::IMU; + } else if (!sensor_type.compare("mag")) { + sensor_sample.sensor_type = sensor_info::MAG; + + } else if (!sensor_type.compare("baro")) { + sensor_sample.sensor_type = sensor_info::BARO; + + } else if (!sensor_type.compare("gps")) { + sensor_sample.sensor_type = sensor_info::GPS; + + } else if (!sensor_type.compare("airspeed")) { + sensor_sample.sensor_type = sensor_info::AIRSPEED; + + } else if (!sensor_type.compare("range")) { + sensor_sample.sensor_type = sensor_info::RANGE; + + } else if (!sensor_type.compare("flow")) { + sensor_sample.sensor_type = sensor_info::FLOW; + + } else if (!sensor_type.compare("vio")) { + sensor_sample.sensor_type = sensor_info::VISION; + + } else if (!sensor_type.compare("landed")) { + sensor_sample.sensor_type = sensor_info::LANDING_STATUS; + + } else { + std::cout << "Sensor type in file unknown" << std::endl; + exit(-1); + } + + getline(file, sensor_data); + std::stringstream ss(sensor_data); + int8_t i = 0; + while( ss.good() ) + { + if(i>=10){ + std::cout << "sensor data bigger than expected" << std::endl; + exit(-1); + } + std::string value_string; + getline( ss, value_string, ',' ); + if(!value_string.compare("")){ + continue; + } + sensor_sample.sensor_data[i] = std::stod(value_string); + i++; + } + _replay_data.emplace_back(sensor_sample); + } + file.close(); + _has_replay_data = true; +} + void SensorSimulator::setSensorDataToDefault() { _imu.setRateHz(250); @@ -82,6 +164,118 @@ void SensorSimulator::updateSensors() _airspeed.update(_time); } +void SensorSimulator::runReplaySeconds(float duration_seconds) +{ + runReplayMicroseconds( uint32_t(duration_seconds * 1e6f) ); +} + +void SensorSimulator::runReplayMicroseconds(uint32_t duration) +{ + if(!_has_replay_data) { + std::cout << "Can not run replay without replay data" << std::endl; + exit(-1); + } + // simulate in 1000us steps + const uint64_t start_time = _time; + + for(;_time < start_time + duration; _time+=1000) + { + setSensorDataFromReplayData(); + + bool update_imu = _imu.should_send(_time); + updateSensors(); + + if(update_imu) + { + _ekf->update(); + } + } +} + +void SensorSimulator::setSensorDataFromReplayData() +{ + if(_replay_data.size() > 0) { + sensor_info sample = _replay_data[_current_replay_data_index]; + while(sample.timestamp < _time) + { + setSingleReplaySample(sample); + if(_current_replay_data_index < _replay_data.size()) + { + _current_replay_data_index ++; + } else { + break; + } + sample = _replay_data[_current_replay_data_index]; + } + } else { + std::cerr << "Loaded replay data empty. Likely could not load replay data" << std::endl; + exit(-1); + } +} + +void SensorSimulator::setSingleReplaySample(const sensor_info& sample) +{ + if (sample.sensor_type == sensor_info::IMU) { + Vector3f accel{(float) sample.sensor_data[0], + (float) sample.sensor_data[1], + (float) sample.sensor_data[2]}; + Vector3f gyro{(float) sample.sensor_data[3], + (float) sample.sensor_data[4], + (float) sample.sensor_data[5]}; + _imu.setData(accel, gyro); + + } else if (sample.sensor_type == sensor_info::MAG) { + Vector3f mag{(float) sample.sensor_data[0], + (float) sample.sensor_data[1], + (float) sample.sensor_data[2]}; + _mag.setData(mag); + + } else if (sample.sensor_type == sensor_info::BARO) { + _baro.setData((float) sample.sensor_data[0]); + + } else if (sample.sensor_type == sensor_info::GPS) { + _gps.setAltitude((int32_t) sample.sensor_data[0]); + _gps.setLatitude((int32_t) sample.sensor_data[1]); + _gps.setLongitude((int32_t) sample.sensor_data[2]); + _gps.setVelocity(Vector3f((float) sample.sensor_data[3], + (float) sample.sensor_data[4], + (float) sample.sensor_data[5])); + + } else if (sample.sensor_type == sensor_info::AIRSPEED) { + _airspeed.setData((float) sample.sensor_data[0], (float) sample.sensor_data[1]); + + } else if (sample.sensor_type == sensor_info::RANGE) { + _rng.setData((float) sample.sensor_data[0], (float) sample.sensor_data[1]); + + } else if (sample.sensor_type == sensor_info::FLOW) { + flowSample flow_sample; + flow_sample.flow_xy_rad = Vector2f(sample.sensor_data[0], + sample.sensor_data[1]); + flow_sample.gyro_xyz = Vector3f(sample.sensor_data[2], + sample.sensor_data[3], + sample.sensor_data[4]); + flow_sample.quality = sample.sensor_data[5]; + _flow.setData(flow_sample); + + } else if (sample.sensor_type == sensor_info::VISION) { + // sensor not yet implemented + + // extVisionSample vision_sample; + // vision_sample.pos; + // vision_sample.quat; + // vision_sample.vel; + // _vio.setData((float) sample.sensor_data[0], (float) sample.sensor_data[1]); + + } else if (sample.sensor_type == sensor_info::LANDING_STATUS) { + bool landed = sample.sensor_data[0]; + _ekf->set_in_air_status(!landed); + + } else { + printf("Unknown sensor type, can not set replay sample"); + exit(-1); + } +} + void SensorSimulator::setImuBias(Vector3f accel_bias, Vector3f gyro_bias) { _imu.setData(Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G} + accel_bias, diff --git a/test/sensor_simulator/sensor_simulator.h b/test/sensor_simulator/sensor_simulator.h index fee44cc41d..5ee6d92d43 100644 --- a/test/sensor_simulator/sensor_simulator.h +++ b/test/sensor_simulator/sensor_simulator.h @@ -43,6 +43,10 @@ #pragma once #include +#include +#include +#include +#include #include "imu.h" #include "mag.h" @@ -56,6 +60,12 @@ using namespace sensor_simulator::sensor; +struct sensor_info { +uint64_t timestamp {}; +enum measurement_t {IMU, MAG, BARO, GPS, AIRSPEED, RANGE, FLOW, VISION, LANDING_STATUS} sensor_type = IMU; +std::array sensor_data {}; +}; + class SensorSimulator { @@ -68,6 +78,9 @@ private: void setSensorRateToDefault(); void startBasicSensor(); void updateSensors(); + void setSensorDataFromReplayData(); + void setSingleReplaySample(const sensor_info& sample); + public: SensorSimulator(std::shared_ptr ekf); @@ -78,6 +91,9 @@ public: void runSeconds(float duration_seconds); void runMicroseconds(uint32_t duration); + void runReplaySeconds(float duration_seconds); + void runReplayMicroseconds(uint32_t duration); + void startBaro(){ _baro.start(); } void stopBaro(){ _baro.stop(); } @@ -99,6 +115,8 @@ public: void setImuBias(Vector3f accel_bias, Vector3f gyro_bias); void simulateOrientation(Quatf orientation); + void loadSensorDataFromFile(std::string filename); + Imu _imu; Mag _mag; Baro _baro; @@ -107,4 +125,9 @@ public: RangeFinder _rng; Vio _vio; Airspeed _airspeed; + + bool _has_replay_data {false}; + std::vector _replay_data; + uint64_t _current_replay_data_index {0}; + }; diff --git a/test/test_EKF_withReplayData.cpp b/test/test_EKF_withReplayData.cpp new file mode 100644 index 0000000000..7bc431e3ae --- /dev/null +++ b/test/test_EKF_withReplayData.cpp @@ -0,0 +1,72 @@ +/**************************************************************************** + * + * Copyright (c) 2019 ECL 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 +#include +#include "EKF/ekf.h" +#include "sensor_simulator/sensor_simulator.h" +#include "sensor_simulator/ekf_wrapper.h" +#include "sensor_simulator/ekf_logger.h" + +class EkfReplayTest : public ::testing::Test { + public: + EkfReplayTest(): ::testing::Test(), + _ekf{std::make_shared()}, + _sensor_simulator(_ekf), + _ekf_wrapper(_ekf), + _ekf_logger(_ekf) {}; + + std::shared_ptr _ekf; + SensorSimulator _sensor_simulator; + EkfWrapper _ekf_wrapper; + EkfLogger _ekf_logger; +}; + +TEST_F(EkfReplayTest, replaySensorData) +{ + _sensor_simulator.loadSensorDataFromFile("../../../test/replay_data/iris_gps.csv"); + _ekf_logger.setFilePath("../../../test/change_indication/iris_gps.csv"); + + // Start simulation and enable fusion of additional sensor types here + // By default the IMU, Baro and Mag sensor simulators are already running + _sensor_simulator.startGps(); + _ekf_wrapper.enableGpsFusion(); + + uint8_t logging_rate_hz = 10; + for(int i = 0; i < 35 * logging_rate_hz; ++i) + { + _sensor_simulator.runReplaySeconds(1.0f / logging_rate_hz); + _ekf_logger.writeStateToFile(); + } +}