public ScenarioTestResult(ScenarioIntermediaryTestResult i, Scenario scenario, HelicopterBase helicopter,
GameTime gameTime, TestScenarioEndTrigger endTrigger)
{
Autopilot = new AutopilotConfiguration
{
MaxHVelocity = helicopter.Autopilot.MaxHVelocity,
PIDSetup = helicopter.Autopilot.PIDSetup.Clone()
};
AvgEstimatedPositionError = i.AccEstimatedPositionError / i.UpdateCount;
AvgHeightAboveGround = i.AccHeightAboveGround / i.UpdateCount;
AvgVelocity = i.AccVelocity / i.UpdateCount;
Duration = gameTime.TotalGameTime - i.StartTime;
EndTrigger = endTrigger;
FlightLog = new List <HelicopterLogSnapshot>(helicopter.Log);
MaxEstimatedPositionError = i.MaxEstimatedPositionError;
MaxHeightAboveGround = i.MaxHeightAboveGround;
MaxVelocity = i.MaxVelocity;
MinEstimatedPositionError = i.MinEstimatedPositionError;
MinHeightAboveGround = i.MinHeightAboveGround;
Scenario = scenario;
Sensors = new SensorSpecifications
{
AccelerometerStdDev = DefaultAutopilotConfiguration.AccelerometerStdDev,
GPSVelocityStdDev = DefaultAutopilotConfiguration.GPSVelocityStdDev,
GPSPositionStdDev = DefaultAutopilotConfiguration.GPSPositionStdDev
};
}
public ScenarioTestResult(ScenarioIntermediaryTestResult i, Scenario scenario, HelicopterBase helicopter,
GameTime gameTime, TestScenarioEndTrigger endTrigger)
{
Autopilot = new AutopilotConfiguration
{
MaxHVelocity = helicopter.Autopilot.MaxHVelocity,
PIDSetup = helicopter.Autopilot.PIDSetup.Clone()
};
AvgEstimatedPositionError = i.AccEstimatedPositionError/i.UpdateCount;
AvgHeightAboveGround = i.AccHeightAboveGround/i.UpdateCount;
AvgVelocity = i.AccVelocity/i.UpdateCount;
Duration = gameTime.TotalGameTime - i.StartTime;
EndTrigger = endTrigger;
FlightLog = new List<HelicopterLogSnapshot>(helicopter.Log);
MaxEstimatedPositionError = i.MaxEstimatedPositionError;
MaxHeightAboveGround = i.MaxHeightAboveGround;
MaxVelocity = i.MaxVelocity;
MinEstimatedPositionError = i.MinEstimatedPositionError;
MinHeightAboveGround = i.MinHeightAboveGround;
Scenario = scenario;
Sensors = new SensorSpecifications
{
AccelerometerStdDev = DefaultAutopilotConfiguration.AccelerometerStdDev,
GPSVelocityStdDev = DefaultAutopilotConfiguration.GPSVelocityStdDev,
GPSPositionStdDev = DefaultAutopilotConfiguration.GPSPositionStdDev
};
}
private void UpdateTestResults(GameTime gameTime, TestScenarioEndTrigger endTrigger)
{
if (!_testResults.ContainsKey(_scenario.Name))
_testResults[_scenario.Name] = new List<ScenarioTestResult>();
// Append result to list of results for this scenario name
var r = new ScenarioTestResult(_intermediaryTestResult, _scenario, _helicopter, gameTime, endTrigger);
_testResults[_scenario.Name].Add(r);
}
private void HandleTestScenarioEnded(GameTime gameTime, TestScenarioEndTrigger endTrigger)
{
UpdateTestResults(gameTime, endTrigger);
// If we reached our destination or the user skipped this test scenario, then
// go to next test scenario.
if (endTrigger == TestScenarioEndTrigger.ReachedDestination)
{
Debug.WriteLine("We reached our destination.");
NextTestScenario();
}
else if (endTrigger == TestScenarioEndTrigger.UserSkipped)
{
Debug.WriteLine("User skipped scenario.");
NextTestScenario();
}
else if (endTrigger == TestScenarioEndTrigger.TimedOut)
{
Debug.WriteLine("Test scenario timed out.");
NextTestScenario();
}
else if (endTrigger == TestScenarioEndTrigger.Crashed)
{
// If helicopter crashed then try a slower velocity setting (if available)
// or go to next test scenario (if available).
if (_testMaxHVelocityIter.MoveNext())
Debug.WriteLine("Now testing maxHVelocity " + _testMaxHVelocityIter.Current);
else
{
Debug.WriteLine("Crashed at lowest velocity setting.");
NextTestScenario();
}
}
else
throw new NotImplementedException("Unknown end trigger " + endTrigger);
// Quit if no scenarios are left or reset to start new test scenario.
if (_scenario == null)
Exit();
else
Reset();
}