02/24/2024 Test Launch Version (BB Black) (#11)

* Adding a 90% completed, compilable but untested ADS

* Made basic changes to actuator & sensor. Also added motor class

* Removed unnecessary .cpp files

* Updated sensor & actuator classes, finished ads, added variable time step to kalman filter, set up all tests for future assertions

* Relocated 'main' to 'active-drag-system.cpp'. Added more info to README

* Removed main.cpp

* Added more details to README

* Changed some function parameters from pass-by-pointer to pass-by-reference. Also removed the std namespace

* Started writing the test cases

* Updated the .gitignore file

* Removed some files that should be gitignored

* Up to date with Jazz's pull request

* Test Launch Branch Created; PRU Servo Control with Test Program

* Added I2C device class and register IDs for MPL [INCOMPLETE SENSOR IMPLEMENTATION]

Needs actual data getting function implementation for both sensors and register IDs for BNO, will implement shortly.

* Partial implementation of MPL sensor

Added startup method, still needs fleshed out data getters and setters and finished I2C implementation. MOST LIKELY WILL HAVE COMPILATION ISSUES.

* *Hypothetically* complete MPL implementation

NEEDS HARDWARE TESTING

* IMU Header and init() method implementation

Needs like, all data handling still lol

* Hypothetically functional (Definitely won't compile)

* We ball?

---------

Co-authored-by: Jazz Jackson <[email protected]>
Co-authored-by: Cian Capacci <[email protected]>

1 files changed, 54 insertions, 0 deletions

diff --git a/test/actuationPlanTest.cpp b/test/actuationPlanTest.cpp
new file mode 100644
index 0000000..72410b0
--- /dev/null
+++ b/test/actuationPlanTest.cpp
@@ -0,0 +1,54 @@
+#include <iostream>
+#include <gtest/gtest.h>
+#include "../include/surfaceFitModel.hpp"
+#include "../include/actuationPlan.hpp"
+#include "../include/rocketUtils.hpp"
+
+
+class ActuationPlanTest : public ::testing::Test {
+
+	protected:
+
+		ActuationPlanTest() {
+
+            SurfaceFitModel sfm = SurfaceFitModel();
+			plan = new ActuationPlan(sfm);
+		}
+			
+		//~ActuationPlanTest() {}
+
+		ActuationPlan *plan;
+};
+
+
+/**
+ *	@brief Tests running the Actuation Plan
+ *
+ * **/
+TEST_F(ActuationPlanTest, runPlan) {
+	
+	Vehicle rocket;
+
+    rocket.imuInitFail = false;
+    rocket.imuReadFail = false;
+    rocket.altiInitFail = false;
+    rocket.altiReadFail = false;
+
+    // Test when Vehicle Status: Glide
+    rocket.fail_time = (time_t)(-1);
+    rocket.deploy_time = time(nullptr);
+    rocket.status = GLIDE;
+    rocket.filtered_altitude = 1;
+    rocket.filtered_velocity = 2;
+	plan->runPlan(rocket);
+    EXPECT_NEAR(rocket.deployment_angle, 120.0, 0.01);
+    EXPECT_NE(rocket.fail_time, (time_t)(-1));
+
+    // Test when Vehicle Status: Apogee
+    rocket.deploy_time = time(nullptr);
+    rocket.status = APOGEE;
+    rocket.filtered_altitude = 1;
+    rocket.filtered_velocity = 2;
+	plan->runPlan(rocket);
+    EXPECT_NEAR(rocket.deployment_angle, 110.0, 0.01);
+}
\ No newline at end of file