px4_autopilot/geo_lookup/generate_gtest.py

#!/usr/bin/env python3
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#   Copyright (c) 2020 Estimation and Control Library (ECL). All rights reserved.
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import json
import urllib.request

SAMPLING_RES = 5
SAMPLING_MIN_LAT = -50
SAMPLING_MAX_LAT = 60
SAMPLING_MIN_LON = -180
SAMPLING_MAX_LON = 180

header = """/****************************************************************************
 *
 *   Copyright (c) 2020 Estimation and Control Library (ECL). All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name ECL nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

#include <gtest/gtest.h>
#include <math.h>
#include <mathlib/mathlib.h>

#include <geo_lookup/geo_mag_declination.h>
"""

print(header)

print('')

# Declination
params = urllib.parse.urlencode({'lat1': 0, 'lat2': 0, 'lon1': 0, 'lon2': 0, 'latStepSize': 1, 'lonStepSize': 1, 'magneticComponent': 'd', 'resultFormat': 'json'})
f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
data = json.loads(f.read())


print('TEST(GeoLookupTest, declination) {')
for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
    params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'd', 'resultFormat': 'json'})
    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
    data = json.loads(f.read())

    for p in data['result']:
        error = 1

        # thing start getting worse here
        if latitude <= -44:
            error = 2

        print('\tEXPECT_NEAR(get_mag_declination_degrees({}, {}), {}, {} + {});'.format(p['latitude'], p['longitude'], p['declination'], p['declination_uncertainty'], error))
print('}')

print('')

print('TEST(GeoLookupTest, inclination) {')
for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
    params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'i', 'resultFormat': 'json'})
    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
    data = json.loads(f.read())

    for p in data['result']:
        error = 1.2

        # thing start getting worse here
        if latitude <= -44:
            error = 2

        print('\tEXPECT_NEAR(get_mag_inclination_degrees({}, {}), {}, {} + {});'.format(p['latitude'], p['longitude'], p['inclination'], p['inclination_uncertainty'], error))
print('}')

print('')

print('TEST(GeoLookupTest, strength) {')
for latitude in range(SAMPLING_MIN_LAT, SAMPLING_MAX_LAT+1, SAMPLING_RES):
    params = urllib.parse.urlencode({'lat1': latitude, 'lat2': latitude, 'lon1': SAMPLING_MIN_LON, 'lon2': SAMPLING_MAX_LON, 'latStepSize': 1, 'lonStepSize': SAMPLING_RES, 'magneticComponent': 'f', 'resultFormat': 'json'})
    f = urllib.request.urlopen("https://www.ngdc.noaa.gov/geomag-web/calculators/calculateIgrfgrid?%s" % params)
    data = json.loads(f.read())

    for p in data['result']:
        error = 500

        print('\tEXPECT_NEAR(get_mag_strength_tesla({}, {}) * 1e9, {}, {} + {});'.format(p['latitude'], p['longitude'], p['totalintensity'], p['totalintensity_uncertainty'], error))
print('}')