public static void TestPlaneConstructor()
{
PlaneAttributes atts = new PlaneAttributes("badger50", 1, 5, 3, 7, 2000);
Plane p = new Plane("acas-1200-badger50", atts);
//A plane should have anything assigned to it in the constructor reflected in it immediately.
p.attributes.maxHeight.ShouldBe(2000);
p.attributes.planeModelGUID.ShouldBe("badger50");
p.attributes.planeHeight.ShouldBe(3);
p.attributes.planeWidth.ShouldBe(5);
p.attributes.planeLength.ShouldBe(7);
p.attributes.planeClass.ShouldBe(1);
//A new plane should have no position data within it.
p.GetPositionCount().ShouldBe(0);
//A new plane with no position data should have a 'zero' velocity
p.IsClass(p.attributes.planeClass).ShouldBe(true);
Vector3d vel = p.GetVelocity();
vel.x.ShouldBe(0, .01);
vel.y.ShouldBe(0, .01);
vel.z.ShouldBe(0, .01);
//Getting position from a newly constructed plane (with no position data)
//should cause a NotSupportedException
Exception ex = null;
try {
Vector3d pos = p.GetPosition();
} catch (Exception e) {
ex = e;
}
ex.ShouldNotBeNull();
ex.GetType().ShouldBe(typeof(NotSupportedException));
}
public PlaneAttributes(PlaneAttributes values)
{
aileron = values.aileron;
elevator = values.elevator;
rudder = values.rudder;
throttle = values.throttle;
aux = values.aux;
}
//Method for Initializing an array of planes for testing
public static Plane[][] createTestSet()
{
//TBD: Add some plane data for 'successful' collisions tests here
//The test data needs to be pretty precise (down to the .001 lat/long and a number of entries over a few seconds)
PlaneAttributes atts = new PlaneAttributes("default", 1, 150, 150, 150, 3000);
long zeroTime = 0x7000000010000000;
double denverLat = 39.7392;
double denverLong = 104.9903;
double sydneyLat = -33.8830555556;
double sydneyLong = 151.216666667;
double moscowLat = 55.7522222;
double moscowLong = 37.6155556;
//head on collision
Plane a = new Plane("a", atts);
Plane aa = new Plane("aa", atts);
for (int i = 0; i < 100; i++) {
a.AddPosition(new GPSData(denverLat, denverLong + .0223 - i * .0001, 2000, zeroTime + 1000 * i));
aa.AddPosition(new GPSData(denverLat, denverLong - .0223 + i * .0001, 2000, zeroTime + 1000 * i));
}
Console.WriteLine(a.GetPosition() + " : " + a.GetVelocity());
Console.WriteLine(aa.GetPosition() + " : " + aa.GetVelocity());
//right angle collision
Plane b = new Plane("b", atts);
Plane bb = new Plane("bb", atts);
for (int i = 0; i < 100; i++) {
b.AddPosition(new GPSData(sydneyLat - .0223 + i * .0001, sydneyLong, 2000, zeroTime + 1000 * i));
bb.AddPosition(new GPSData(sydneyLat, sydneyLong - .0223 + i * .0001, 2000, zeroTime + 1000 * i));
}
//Collision from behind
Plane c = new Plane("c", atts);
Plane cc = new Plane("cc", atts);
for (int i = 0; i < 100; i++) {
c.AddPosition(new GPSData(moscowLat, moscowLong - .0200 + i * .0002, 2000, zeroTime + 1000 * i));
cc.AddPosition(new GPSData(moscowLat, moscowLong - .0400 + i * .00035, 2000, zeroTime + 1000 * i));
}
Plane[][] planeArray = new Plane[][] {
new Plane[] { a, aa },
new Plane[] { b, bb },
new Plane[] { c, cc }
};
return planeArray;
}
public static void MockDBTest()
{
Dictionary<string, PlaneAttributes> database = PlaneDB.MakeDB(test_plane_data);
//Count should be 2 not 3 because of the bad data in wrongPlane.
database.Count.ShouldBe(2);
PlaneAttributes planeA = new PlaneAttributes("bigPlane", 5, 120, 50, 150, 7000);
PlaneAttributes smallPlane = database["smallPlane"];
//Plane Width attribute for smallPlane within the database should be 12.
smallPlane.planeWidth.ShouldBe(12);
//wrongPlane should be thorwn out (bad data).
database.ShouldNotContainKey("wrongPlane");
//planeA attributes should be the same as 'bigPlane' attributes within the database.
planeA.ShouldBe(database["bigPlane"]);
}
//Method for initializing an array of planes for fail tests
private static Plane[][] createFailTestSet()
{
//Add some plane data for fail tests here
//The test data needs to be pretty precise (down to the .001 lat/long and a number of entries over a few seconds)
PlaneAttributes atts = new PlaneAttributes("default", 1, 150, 150, 150, 3000);
long zeroTime = 0x7000000010000000;
double denverLat = 39.7392;
double denverLong = 104.9903;
Plane a = new Plane("a", atts);
Plane aa = new Plane("aa", atts);
Plane b = new Plane("b", atts);
Plane bb = new Plane("bb", atts);
Plane c = new Plane("c", atts);
Plane cc = new Plane("cc", atts);
for (int i = 0; i < 100; i++) {
//Running somewhat parralel on different latitudes
a.AddPosition(new GPSData(denverLat+.0050, denverLong + .0223 + i * .0001, 2000, zeroTime + 1000 * i));
aa.AddPosition(new GPSData(denverLat, denverLong + .0213 + i * .0001, 2000, zeroTime + 1000 * i));
//Running parralel on same latitude and different altitudes
b.AddPosition(new GPSData(denverLat, denverLong + .0223 + i * .0001, 2500, zeroTime + 1000 * i));
bb.AddPosition(new GPSData(denverLat, denverLong + .0223 + i * .0001, 2000, zeroTime + 1000 * i));
//cross at different times
c.AddPosition(new GPSData(denverLat + i * .0001, denverLong + .0213 + i * .0001, 2500, zeroTime + 1000 * i));
cc.AddPosition(new GPSData(denverLat + i * .0001, denverLong + .0223 - i * .0001, 2000, zeroTime + 1000 * i));
}
Plane[][] failPlaneArray = new Plane[][] {
new Plane[] { a, aa },
new Plane[] { b, bb },
new Plane[] { c, cc }
};
return failPlaneArray;
}
public static Dictionary<string, PlaneAttributes> MakeDB(string database)
{
//create a variable db that is a Dictionary with parameters string and PlaneAttributes.
var db = new Dictionary<string, PlaneAttributes> ();
//create a string array called 'lines' that splits the database by each line.
string[] lines = database.Split('\n');
/*for every line within the database, split on the '|' character and
store in a new array called 'content'*/
foreach (string line in lines){
string[] content = line.Split('|');
/*declare plane model GUID as a string and make sure content at index 0 is our planeModelGUID,
* which is our key for the dictionary and use Trim() to remove the whitespace around the GUID */
string planeModelGUID = content[0].Trim();
//declare plane class as an integer, and plane width, height, length and max height as doubles.
int planeClass;
double planeWidth, planeHeight, planeLength, maxHeight;
//see if planeClass data is an integer, if not skip it.
if (!int.TryParse(content[1], out planeClass)) {
continue;
}
//see if plane class is less than 0 or greater than 6, if so skip it.
if (planeClass <= 0 || planeClass >= 6) {
continue;
}
//see if planeWidth is a double, if not skip it.
if (!double.TryParse(content[2], out planeWidth)) {
continue;
}
//see if planeWidth is greater than 0 and less than 1000, if not skip it.
if (planeWidth <= 0 || planeWidth >= 1000) {
continue;
}
//see if planeHeight is a double, if not skip it.
if (!double.TryParse(content [3], out planeHeight)) {
continue;
}
//see if planeHeight is greater than 0 and less than 1000, if not skip it.
if (planeHeight <= 0 || planeHeight >= 1000) {
continue;
}
//see if planeLength is a double, if not skip it.
if (!double.TryParse(content[4], out planeLength)) {
continue;
}
//see if planeHeight is greater than 0 and less than 1000, if not skip it.
if (planeLength <= 0 || planeLength >= 1000) {
continue;
}
//see if maxHeight is a double, if not skip it.
if (!double.TryParse (content [5], out maxHeight)) {
continue;
}
//see if maxHeight is greater than 0 and less than 18000, if not skip it.
if (maxHeight <= 0 || maxHeight >= 18000) {
continue;
}
//if a '#' character is found at the beginning of a GUID skip it.
if (planeModelGUID[0] == '#') {
continue;
}
//if a planeModelGUID is already found in the db, so the data are a duplicate, skip it.
if (db.ContainsKey(planeModelGUID)) {
continue;
}
//create new set of PlaneAttributes called 'att'.
PlaneAttributes att = new PlaneAttributes (planeModelGUID, planeClass, planeWidth, planeHeight, planeLength, maxHeight);
//when all if statements pass for a certain plane model GUID add that plane model GUID to the db.
db [planeModelGUID] = att;
}
return db;
}
public PlaneAttributes(PlaneAttributes values)
{
aileron = values.aileron;
elevator = values.elevator;
rudder = values.rudder;
throttle = values.throttle;
aux = values.aux;
}
public PlaneAttributes ReassignJystValues(JoystickState joyState)
{
PlaneAttributes planeAttrib = new PlaneAttributes();
switch (MapAileron_comboBox.SelectedIndex)
{
case 0: planeAttrib.aileron = joyState.X; break; // X
case 1: planeAttrib.aileron = joyState.Y; break;// Y
case 2: planeAttrib.aileron = joyState.Z; break;// Z
case 3: planeAttrib.aileron = joyState.GetSlider()[0]; break;// Slider1
case 4: planeAttrib.aileron = joyState.GetSlider()[1]; break;// Slider2
default:
break;
}
switch (MapElevator_comboBox.SelectedIndex)
{
case 0: planeAttrib.elevator = joyState.X; break; // X
case 1: planeAttrib.elevator = joyState.Y; break;// Y
case 2: planeAttrib.elevator = joyState.Z; break;// Z
case 3: planeAttrib.elevator = joyState.GetSlider()[0]; break;// Slider1
case 4: planeAttrib.elevator = joyState.GetSlider()[1]; break;// Slider2
default:
break;
}
switch (MapRudder_comboBox.SelectedIndex)
{
case 0: planeAttrib.rudder = joyState.X; break; // X
case 1: planeAttrib.rudder = joyState.Y; break;// Y
case 2: planeAttrib.rudder = joyState.Z; break;// Z
case 3: planeAttrib.rudder = joyState.GetSlider()[0]; break;// Slider1
case 4: planeAttrib.rudder = joyState.GetSlider()[1]; break;// Slider2
default:
break;
}
switch (MapThrottle_comboBox.SelectedIndex)
{
case 0: planeAttrib.throttle = joyState.X; break; // X
case 1: planeAttrib.throttle = joyState.Y; break;// Y
case 2: planeAttrib.throttle = joyState.Z; break;// Z
case 3: planeAttrib.throttle = joyState.GetSlider()[0]; break;// Slider1
case 4: planeAttrib.throttle = joyState.GetSlider()[1]; break;// Slider2
default:
break;
}
return planeAttrib;
}
public PlaneAttributes ReassignJystValues(JoystickState joyState)
{
PlaneAttributes planeAttrib = new PlaneAttributes();
switch (MapAileron_comboBox.SelectedIndex)
{
case 0: planeAttrib.aileron = joyState.X; break; // X
case 1: planeAttrib.aileron = joyState.Y; break; // Y
case 2: planeAttrib.aileron = joyState.Z; break; // Z
case 3: planeAttrib.aileron = joyState.GetSlider()[0]; break; // Slider1
case 4: planeAttrib.aileron = joyState.GetSlider()[1]; break; // Slider2
default:
break;
}
switch (MapElevator_comboBox.SelectedIndex)
{
case 0: planeAttrib.elevator = joyState.X; break; // X
case 1: planeAttrib.elevator = joyState.Y; break; // Y
case 2: planeAttrib.elevator = joyState.Z; break; // Z
case 3: planeAttrib.elevator = joyState.GetSlider()[0]; break; // Slider1
case 4: planeAttrib.elevator = joyState.GetSlider()[1]; break; // Slider2
default:
break;
}
switch (MapRudder_comboBox.SelectedIndex)
{
case 0: planeAttrib.rudder = joyState.X; break; // X
case 1: planeAttrib.rudder = joyState.Y; break; // Y
case 2: planeAttrib.rudder = joyState.Z; break; // Z
case 3: planeAttrib.rudder = joyState.GetSlider()[0]; break; // Slider1
case 4: planeAttrib.rudder = joyState.GetSlider()[1]; break; // Slider2
default:
break;
}
switch (MapThrottle_comboBox.SelectedIndex)
{
case 0: planeAttrib.throttle = joyState.X; break; // X
case 1: planeAttrib.throttle = joyState.Y; break; // Y
case 2: planeAttrib.throttle = joyState.Z; break; // Z
case 3: planeAttrib.throttle = joyState.GetSlider()[0]; break; // Slider1
case 4: planeAttrib.throttle = joyState.GetSlider()[1]; break; // Slider2
default:
break;
}
return(planeAttrib);
}
private void Joystick_timer_Tick(object sender, EventArgs e)
{
if (joystickComboBox.SelectedIndex < 0)
{
// No joystick available, nothing to do.
return;
}
jyst.Poll();
if (doCalibartion)
{
doCalibartion = false;
jystHandler.CenterX = jyst.state.X;
jystHandler.CenterY = jyst.state.Y;
}
PlaneAttributes planeAttrib = ReassignJystValues(jyst.state);
JoystickHandler.FbW_Data PwmData = new JoystickHandler.FbW_Data();
// write joystick to the UI
if (OverrideAileron_checkBox.Checked)
{
PwmData.aileron = Aileron_trackBar.Value;
}
else
{
PwmData.aileron = jystHandler.ConvertForUI(planeAttrib.aileron,
AileronScalar_numericUpDown.Value,
AileronTrim_numericUpDown.Value,
InvertAileron_checkBox.Checked);
Aileron_trackBar.Value = MainForm.Clip(PwmData.aileron, PWMminValue, PWMmaxValue);
}
Aileron_label.Text = "Aileron\r" + PwmData.aileron.ToString();
if (OverrideElevator_checkBox.Checked)
{
PwmData.elevator = Elevator_trackBar.Value;
}
else
{
PwmData.elevator = jystHandler.ConvertForUI(planeAttrib.elevator,
ElevatorScalar_numericUpDown.Value,
ElevatorTrim_numericUpDown.Value,
InvertElevator_checkBox.Checked);
Elevator_trackBar.Value = MainForm.Clip(PwmData.elevator, PWMminValue, PWMmaxValue);
}
Elevator_label.Text = "Elevator\r" + PwmData.elevator.ToString();
if (OverrideRudder_checkBox.Checked)
{
PwmData.rudder = Rudder_trackBar.Value;
}
else
{
PwmData.rudder = jystHandler.ConvertForUI(planeAttrib.rudder,
RudderScalar_numericUpDown.Value,
RudderTrim_numericUpDown.Value,
InvertRudder_checkBox.Checked);
Rudder_trackBar.Value = MainForm.Clip(PwmData.rudder, PWMminValue, PWMmaxValue);
}
Rudder_label.Text = "Rudder\r" + PwmData.rudder.ToString();
if (OverrideThrottle_checkBox.Checked)
{
PwmData.throttle = Throttle_trackBar.Value;
}
else
{
PwmData.throttle = jystHandler.ConvertForUI(planeAttrib.throttle,
ThrottleScalar_numericUpDown.Value,
ThrottleTrim_numericUpDown.Value,
InvertThrottle_checkBox.Checked);
Throttle_trackBar.Value = MainForm.Clip(PwmData.throttle, PWMminValue, PWMmaxValue);
}
Throttle_label.Text = "Throttle\r" + PwmData.throttle.ToString();
switch (Mode_comboBox.SelectedIndex)
{
default:
case 0: PwmData.mode = PWMminValue; break; // Manual
case 1: PwmData.mode = PWMmidValue; break; // Stabilized
case 2: PwmData.mode = PWMmaxValue; break; // WayPoint
}
byte[] packet = JoystickHandler.CreateTxPacket(PwmData);
Send(packet);
}
//Basic Constructor for Plane()
public Plane(string guid, PlaneAttributes atts)
{
acasGUID = guid;
attributes = atts;
positions = new LinkedList<GPSData>();
}
