Test Harness

CMakeLists.txt

@@ -22,3 +22,6 @@ add_subdirectory(src)
 
 # python library
 add_subdirectory(python-bindings)
+
+# tests
+add_subdirectory(tests)

README.md

@@ -82,11 +82,17 @@ sudo make install
 
 ## Tests
 
-Proper testing is TBD, with the coverage 
-* `f16_flight_dynamics` C++ unit tests
-* `f16dynamics` python unit tests
-* Testing the C++ dynamics against the VVaerobench implementation and CSAF
-* Integration testing with VVaerobench and CSAF
+### Core Unit Tests
+CMake will download GoogleTest for unit testing the C++ pieces. Under the `<CMake build folder>/test`, run
+```shell
+ctest
+```
+
+### Integration Tests
+Python bindings require pytest. Run
+```shell
+pytest
+```
 
 ## Jupyter Notebooks
 

src/f16_flight_dynamics/F16Model/src/LowLevelController.cpp

@@ -46,10 +46,13 @@ enum F16StateIdxs {
 } F16StateIdxs;
 
 /* aircraft trim state */
-f16_state_type default_xequil = {502.0, 0.0389, 0.0, 0.0, 0.0389, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0, 9.0567};
+//f16_state_type default_xequil = {502.0, 0.0389, 0.0, 0.0, 0.0389, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0, 9.0567};
+f16_state_type default_xequil = {502.0, 0.03887505597600522, 0.0, 0.0, 0.03887505597600522, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0,
+                                 9.05666543872074};
 
 /* control trim input */
-llc_output_type default_uequil = {0.1395, -0.7496, 0.0, 0.0};
+//llc_output_type default_uequil = {0.1395, -0.7496, 0.0, 0.0};
+llc_output_type default_uequil = {0.13946204864060271, -0.7495784725828754, 0.0, 0.0};
 
 LowLevelController::LowLevelController() {
   xequil = default_xequil;

tests/CMakeLists.txt

@@ -0,0 +1,29 @@
+include(FetchContent)
+FetchContent_Declare(
+        googletest
+        URL https://github.com/google/googletest/archive/609281088cfefc76f9d0ce82e1ff6c30cc3591e5.zip
+)
+# For Windows: Prevent overriding the parent project's compiler/linker settings
+set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+FetchContent_MakeAvailable(googletest)
+
+enable_testing()
+
+add_executable(
+        core_tests
+        core/F16PlantTests.cpp
+)
+target_link_libraries(
+        core_tests
+        gtest_main
+        ${PROJECT_NAME}
+)
+
+include(GoogleTest)
+gtest_discover_tests(core_tests)
+
+# now allow it to be accessed
+enable_testing()
+add_test(NAME CoreTests COMMAND core_tests)
+add_test(NAME PythonBindingTests COMMAND pytest tests/ WORKING_DIRECTORY ${PROJECT_SOURCE_DIR})
+

tests/core/F16PlantTests.cpp

@@ -0,0 +1,24 @@
+//
+// Created by elew on 4/29/22.
+//
+#include <gtest/gtest.h>
+#include <f16_flight_dynamics/F16Model/F16Plant.h>
+
+TEST(F16Plant, Construct) {
+  F16Components::F16Plant plant = F16Components::F16Plant();
+  F16Components::f16_input_type in;
+  F16Components::f16_state_type x{0};
+  F16Components::f16_full_type xd{0};
+
+  /* fill with zeros */
+  std::fill(in.begin(), in.end(), 0.1);
+  std::fill(x.begin(), x.end(), 0.1);
+  std::fill(xd.begin(), xd.end(), 0.0);
+
+  /* hmmm... this isn't good */
+  std::for_each(xd.begin(), xd.end(), [](double &d) { ASSERT_EQ(d, 0.0); });
+
+  plant.subf16_model(x, in, xd);
+
+  std::for_each(xd.begin(), xd.end(), [](double &d) { ASSERT_NE(d, 0.0); });
+}

tests/integration/test_f16plant.py

@@ -0,0 +1,17 @@
+import csaf.utils as csafutils
+import numpy as np
+
+
+def test_f16simple_csaf():
+    """test that the fast version of CSAF F16 Simple matches within tolerance"""
+    from csaf_f16.systems import F16Simple
+    from f16dynamics.csaf import F16FastSimple
+
+    # error that we're willing to accept over 20s
+    abs_tol_20s = 0.4
+
+    sys = F16Simple()
+    sys_fast = F16FastSimple()
+    trajs = sys.simulate_tspan((0.0, 20.0))
+    trajs_fast = sys_fast.simulate_tspan((0.0, 20.0))
+    assert np.all(np.isclose(np.array(trajs["plant"].states), np.array(trajs_fast["plant"].states), atol=abs_tol_20s))