New example, unit tests

README.md

@@ -34,7 +34,9 @@ you should see a kite on a tether.
 The same example, but using the 4 point kite model:
 
 ```julia
+using KiteViewers
 using KiteUtils#main
+viewer=Viewer3D(false);
 segments=6
 state=demo_state_4p(segments+1)
 update_points(state.pos, segments, orient=state.orient)

examples/steering_4p.jl

@@ -0,0 +1,88 @@
+using Pkg
+if ! ("KiteModels" ∈ keys(Pkg.project().dependencies))
+    using TestEnv; TestEnv.activate()
+end
+
+using KiteViewers, KiteModels, KitePodModels, Rotations
+
+# change this to KPS3 or KPS4
+const Model = KPS4
+
+if ! @isdefined kcu;  const kcu = KCU(se());   end
+if ! @isdefined kps4; const kps4 = Model(kcu); end
+
+# the following values can be changed to match your interest
+dt = 0.05
+TIME = 45
+TIME_LAPSE_RATIO = 5
+STEPS = Int64(round(TIME/dt))
+STATISTIC = false
+SHOW_KITE = false
+# end of user parameter section #
+
+if ! @isdefined viewer; const viewer = Viewer3D(SHOW_KITE); end
+
+include("timers.jl")
+
+function update_system(kps::KPS3, reltime; segments=se().segments)
+    scale = 0.08
+    pos_kite   = kps.pos[end]
+    pos_before = kps.pos[end-1]
+    elevation = calc_elevation(pos_kite)
+    azimuth = azimuth_east(pos_kite)
+    force = winch_force(kps)    
+    if SHOW_KITE
+        v_app = kps.v_apparent
+        rotation = rot(pos_kite, pos_before, v_app)
+        q = QuatRotation(rotation)
+        orient = MVector{4, Float32}(Rotations.params(q))
+        update_points(kps.pos, segments, scale, reltime, elevation, azimuth, force, orient=orient)
+    else
+        update_points(kps.pos, segments, scale, reltime, elevation, azimuth, force)
+    end
+end 
+
+function update_system(kps::KPS4, reltime; segments=se().segments)
+    scale = 0.08
+    pos_kite   = kps.pos[segments+1] # well, this is the position of the pod...
+    elevation = calc_elevation(pos_kite)
+    azimuth = azimuth_east(pos_kite)
+    force = winch_force(kps)    
+    update_points(kps.pos, segments, scale, reltime, elevation, azimuth, force, scale_kite=3.5)
+end 
+
+function simulate(integrator, steps)
+    start = integrator.p.iter
+    start_time = time()
+    for i in 1:steps
+        if i == 300
+            set_depower_steering(kps4.kcu, 0.25, 0.1)
+        elseif i == 302
+            set_depower_steering(kps4.kcu, 0.25, -0.1)
+        elseif i == 304
+            set_depower_steering(kps4.kcu, 0.25, 0.0)    
+        elseif i == 350
+            set_depower_steering(kps4.kcu, 0.25, -0.04)
+        elseif i == 352
+            set_depower_steering(kps4.kcu, 0.25, 0.0)           
+        end
+        # KitePodModels.on_timer(kcu, dt)
+        KiteModels.next_step!(kps4, integrator, dt=dt)     
+        reltime = i*dt
+        if mod(i, TIME_LAPSE_RATIO) == 0 || i == steps
+            update_system(kps4, reltime; segments=se().segments) 
+            if start_time+dt > time() + 0.002
+                wait_until(start_time+dt) 
+            else
+                sleep(0.001)
+            end
+            start_time = time()
+        end
+    end
+    (integrator.p.iter - start) / steps
+end
+
+integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.04, prn=STATISTIC)
+
+av_steps = simulate(integrator, STEPS)
+nothing

src/viewer3D.jl

@@ -38,17 +38,17 @@ SOFTWARE. =#
     textsize  = Node(TEXT_SIZE)
     textsize2 = Node(AXIS_LABEL_SIZE)
     status = Node("")
-    p1 = Node(Vector{Point2f0}(undef, 6000)) # 5 min
-    p2 = Node(Vector{Point2f0}(undef, 6000)) # 5 min
+    p1 = Node(Vector{Point2f}(undef, 6000)) # 5 min
+    p2 = Node(Vector{Point2f}(undef, 6000)) # 5 min
     pos_x = Node(0.0f0)
 
-    points          = Vector{Point3f0}(undef, se().segments+1+4)
+    points          = Vector{Point3f}(undef, se().segments+1+4)
     quat            = Node(Quaternionf0(0,0,0,1))                                     # orientation of the kite
-    kite_pos        = Node(Point3f0(1,0,0))                                           # position of the kite
-    positions       = Node([Point3f0(x,0,0) for x in 1:se().segments+KITE_SPRINGS])   # positions of the tether segments
-    part_positions  = Node([Point3f0(x,0,0) for x in 1:se().segments+1+4])            # positions of the tether particles
-    markersizes     = Node([Point3f0(1,1,1) for x in 1:se().segments+KITE_SPRINGS])   # includes the segment length
-    rotations       = Node([Point3f0(1,0,0) for x in 1:se().segments+KITE_SPRINGS])   # unit vectors corresponding with
+    kite_pos        = Node(Point3f(1,0,0))                                           # position of the kite
+    positions       = Node([Point3f(x,0,0) for x in 1:se().segments+KITE_SPRINGS])   # positions of the tether segments
+    part_positions  = Node([Point3f(x,0,0) for x in 1:se().segments+1+4])            # positions of the tether particles
+    markersizes     = Node([Point3f(1,1,1) for x in 1:se().segments+KITE_SPRINGS])   # includes the segment length
+    rotations       = Node([Point3f(1,0,0) for x in 1:se().segments+KITE_SPRINGS])   # unit vectors corresponding with
                                                                                       #   the orientation of the segments 
     energy = [0.0]
 end 
@@ -67,7 +67,7 @@ end
 
 function Viewer3D(show_kite=true)
     KiteUtils.set_data_path(datapath)
-    scene, layout = layoutscene(resolution = (840, 900), backgroundcolor = RGBf0(0.7, 0.8, 1))
+    scene, layout = layoutscene(resolution = (840, 900), backgroundcolor = RGBf(0.7, 0.8, 1))
     scene3D = LScene(scene, scenekw = (show_axis=false, limits = Rect(-7,-10.0,0, 11,10,11), resolution = (800, 800)), raw=false)
     create_coordinate_system(scene3D)
     cam = cameracontrols(scene3D.scene)
@@ -80,11 +80,11 @@ function Viewer3D(show_kite=true)
 
     textsize[]  = TEXT_SIZE
     textsize2[] = AXIS_LABEL_SIZE
-    text!(scene3D, "z", position = Point3f0(0, 0, 14.6), textsize = textsize2, align = (:center, :center), show_axis = false)
-    text!(scene3D, "x", position = Point3f0(17, 0,0), textsize = textsize2, align = (:center, :center), show_axis = false)
-    text!(scene3D, "y", position = Point3f0( 0, 14.5, 0), textsize = textsize2, align = (:center, :center), show_axis = false)
+    text!(scene3D, "z", position = Point3f(0, 0, 14.6), textsize = textsize2, align = (:center, :center), show_axis = false)
+    text!(scene3D, "x", position = Point3f(17, 0,0), textsize = textsize2, align = (:center, :center), show_axis = false)
+    text!(scene3D, "y", position = Point3f( 0, 14.5, 0), textsize = textsize2, align = (:center, :center), show_axis = false)
 
-    text!(scene, status, position = Point2f0( 20, 0), textsize = TEXT_SIZE, align = (:left, :bottom), show_axis = false)
+    text!(scene, status, position = Point2f( 20, 0), textsize = TEXT_SIZE, align = (:left, :bottom), show_axis = false)
     status[]="Stopped"
 
     layout[1, 1] = scene3D

test/runtests.jl

@@ -1,6 +1,16 @@
-using KiteViewers
+using KiteViewers, KiteUtils
 using Test
 
+cd("..")
+include("test_steering.jl")
+
 @testset "KiteViewers.jl" begin
-    # Write your tests here.
+    segments=se().segments
+    pos_kite   = kps4.pos[segments+1] # well, this is the position of the pod...
+    elevation = calc_elevation(pos_kite)
+    @test rad2deg(elevation) ≈ 70.31815477683752
+    azimuth = azimuth_east(pos_kite)
+    @test rad2deg(azimuth) ≈ 9.217613192065718
+    force = winch_force(kps4) 
+    @test force ≈ 495.7191503651492
 end

test/test_steering.jl

@@ -1,8 +1,3 @@
-using Pkg
-if ! ("KiteModels" ∈ keys(Pkg.project().dependencies))
-    using TestEnv; TestEnv.activate()
-end
-
 using KiteViewers, KiteModels, KitePodModels, Rotations
 
 # change this to KPS3 or KPS4