From d9eeb504d9435b5b009a21a410fa67da53ded7e0 Mon Sep 17 00:00:00 2001 From: cinnaboot Date: Fri, 24 Apr 2026 09:07:57 -0400 Subject: [PATCH] remove maneuver tests expecting old quantized behavior --- tests/test_maneuver_planning.cpp | 399 ------------------------------- 1 file changed, 399 deletions(-) diff --git a/tests/test_maneuver_planning.cpp b/tests/test_maneuver_planning.cpp index 93ebbd1..a17dec8 100644 --- a/tests/test_maneuver_planning.cpp +++ b/tests/test_maneuver_planning.cpp @@ -150,402 +150,3 @@ TEST_CASE("Duplicate maneuver names fail config load", "[maneuver][config][error destroy_simulation(sim); } -TEST_CASE("Time-triggered burn executes at step boundary", "[maneuver][timing][quantization]") { - const double DT = 10.0; - - SimulationState* sim = create_simulation(10, 10, 100, DT); - REQUIRE(load_system_config(sim, "tests/test_maneuver_planning.toml")); - initialize_orbital_objects(sim); - - // Trigger at t=305.0, steps are at 0, 10, 20, ..., 300, 310 - // Should fire at t=310 (5s late) - const double BURN_TIME = 305.0; - - Maneuver burn = create_maneuver( - "TestBurst", - 0, - BURN_PROGRADE, - 10.0, - TRIGGER_TIME, - BURN_TIME - ); - - int idx = add_maneuver_to_simulation(sim, &burn); - REQUIRE(idx >= 0); - - int steps = 0; - const int MAX_STEPS = 1000; - while (!sim->maneuvers[idx].executed && steps < MAX_STEPS) { - update_simulation(sim); - steps++; - } - - REQUIRE(sim->maneuvers[idx].executed); - INFO("Trigger time: " << BURN_TIME); - INFO("Executed at: " << sim->maneuvers[idx].executed_time); - INFO("Steps taken: " << steps); - INFO("Quantization error: " << (sim->maneuvers[idx].executed_time - BURN_TIME) << " s"); - - double expected_step = std::ceil(BURN_TIME / DT) * DT; - INFO("Expected step: " << expected_step); - REQUIRE(sim->maneuvers[idx].executed_time == expected_step); - REQUIRE_THAT(sim->maneuvers[idx].executed_time - BURN_TIME, WithinAbs(5.0, 0.01)); - - destroy_simulation(sim); -} - -TEST_CASE("Time-triggered burn on exact step boundary", "[maneuver][timing][quantization]") { - const double DT = 10.0; - - SimulationState* sim = create_simulation(10, 10, 100, DT); - REQUIRE(load_system_config(sim, "tests/test_maneuver_planning.toml")); - initialize_orbital_objects(sim); - - // Trigger at exact step boundary - const double BURN_TIME = 300.0; - - Maneuver burn = create_maneuver( - "TestBurst", - 0, - BURN_PROGRADE, - 10.0, - TRIGGER_TIME, - BURN_TIME - ); - - int idx = add_maneuver_to_simulation(sim, &burn); - REQUIRE(idx >= 0); - - int steps = 0; - const int MAX_STEPS = 1000; - while (!sim->maneuvers[idx].executed && steps < MAX_STEPS) { - update_simulation(sim); - steps++; - } - - REQUIRE(sim->maneuvers[idx].executed); - INFO("Trigger time: " << BURN_TIME); - INFO("Executed at: " << sim->maneuvers[idx].executed_time); - INFO("Steps taken: " << steps); - INFO("Quantization error: " << (sim->maneuvers[idx].executed_time - BURN_TIME) << " s"); - - REQUIRE(sim->maneuvers[idx].executed_time == BURN_TIME); - - destroy_simulation(sim); -} - -TEST_CASE("Time-triggered burn quantization error accumulates over long sim", "[maneuver][timing][quantization]") { - const double DT = 10.0; - - SimulationState* sim = create_simulation(10, 10, 100, DT); - REQUIRE(load_system_config(sim, "tests/test_maneuver_planning.toml")); - initialize_orbital_objects(sim); - - // Trigger at a time that's 7s after a step boundary - const double BURN_TIME = 62807.0; - double expected_step = std::ceil(BURN_TIME / DT) * DT; // 62810 - double quantization_error = expected_step - BURN_TIME; // 3s - - Maneuver burn = create_maneuver( - "TestBurst", - 0, - BURN_PROGRADE, - 10.0, - TRIGGER_TIME, - BURN_TIME - ); - - int idx = add_maneuver_to_simulation(sim, &burn); - REQUIRE(idx >= 0); - - int steps = 0; - const int MAX_STEPS = 10000; - while (!sim->maneuvers[idx].executed && steps < MAX_STEPS) { - update_simulation(sim); - steps++; - } - - REQUIRE(sim->maneuvers[idx].executed); - INFO("Trigger time: " << BURN_TIME); - INFO("Executed at: " << sim->maneuvers[idx].executed_time); - INFO("Steps taken: " << steps); - INFO("Quantization error: " << (sim->maneuvers[idx].executed_time - BURN_TIME) << " s"); - INFO("Expected quantization error: " << quantization_error << " s"); - - REQUIRE(sim->maneuvers[idx].executed_time == expected_step); - REQUIRE_THAT(sim->maneuvers[idx].executed_time - BURN_TIME, WithinAbs(quantization_error, 0.01)); - - destroy_simulation(sim); -} - -// ============================================================================ -// DT Sweep Tests - Measure quantization error at different time steps -// ============================================================================ - -static int find_spacecraft_by_name(SimulationState* sim, const char* name) { - for (int i = 0; i < sim->craft_count; i++) { - if (strcmp(sim->spacecraft[i].name, name) == 0) { - return i; - } - } - return -1; -} - -static double compute_separation(SimulationState* sim, int chaser_idx, int target_idx) { - Vec3 sep = vec3_sub(sim->spacecraft[chaser_idx].local_position, - sim->spacecraft[target_idx].local_position); - return vec3_magnitude(sep); -} - -TEST_CASE("DT sweep: Hohmann transfer separation vs time step", "[rendezvous_hohmann][integration][dt_sweep]") { - // Run the same Hohmann transfer scenario at multiple DT values - // and measure the final separation between chaser and target. - // This reproduces the quantization error documented in - // docs/planning/hohmann-rendezvous-quantization-fix.md - - const double DT_VALUES[] = {0.1, 0.5, 1.0, 2.0, 5.0, 10.0}; - const int NUM_DT = sizeof(DT_VALUES) / sizeof(DT_VALUES[0]); - - // Expected separations from planning doc (measured at each DT) - // The actual values will vary based on the specific trigger offset - // within the step boundary. - const double EXPECTED_SEP[] = {8.75, 40.0, 55.0, 150.0, 500.0, 1324.0}; - - for (int d = 0; d < NUM_DT; d++) { - const double DT = DT_VALUES[d]; - - CAPTURE(DT); - - SimulationState* sim = create_simulation(3, 5, 10, DT); - REQUIRE(load_system_config(sim, "tests/test_rendezvous.toml")); - - int target_idx = find_spacecraft_by_name(sim, "Target_Satellite"); - int chaser_idx = find_spacecraft_by_name(sim, "Chaser_Lower"); - REQUIRE(target_idx >= 0); - REQUIRE(chaser_idx >= 0); - - Spacecraft* target = &sim->spacecraft[target_idx]; - Spacecraft* chaser = &sim->spacecraft[chaser_idx]; - CelestialBody* earth = &sim->bodies[0]; - - initialize_orbital_objects(sim); - - double r1 = vec3_magnitude(chaser->local_position); - double r2 = vec3_magnitude(target->local_position); - - // Calculate Hohmann transfer parameters - HohmannTransfer hohmann = calculate_hohmann_transfer(r1, r2, earth->mass); - double angular_separation = chaser->orbit.true_anomaly - target->orbit.true_anomaly; - while (angular_separation > M_PI) angular_separation -= 2.0 * M_PI; - while (angular_separation < -M_PI) angular_separation += 2.0 * M_PI; - double wait_time = calculate_next_hohmann_wait_time(r1, r2, angular_separation, earth->mass, DT); - double arrival_time = wait_time + hohmann.transfer_time; - - // Create departure maneuver - Maneuver departure = create_maneuver( - "Departure_Burn", - chaser_idx, - BURN_PROGRADE, - hohmann.dv1, - TRIGGER_TIME, - wait_time - ); - int dep_idx = add_maneuver_to_simulation(sim, &departure); - REQUIRE(dep_idx >= 0); - - // Create arrival maneuver - Maneuver arrival = create_maneuver( - "Circularization_Burn", - chaser_idx, - BURN_PROGRADE, - hohmann.dv2, - TRIGGER_TIME, - arrival_time - ); - int arr_idx = add_maneuver_to_simulation(sim, &arrival); - REQUIRE(arr_idx >= 0); - - // Run simulation until arrival burn executes - const int MAX_STEPS = 700000; - bool transfer_complete = false; - for (int i = 0; i < MAX_STEPS; i++) { - update_simulation(sim); - if (sim->maneuvers[arr_idx].executed && !transfer_complete) { - transfer_complete = true; - break; - } - } - - REQUIRE(sim->maneuvers[dep_idx].executed); - REQUIRE(sim->maneuvers[arr_idx].executed); - REQUIRE(transfer_complete); - - // Measure final separation - double separation = compute_separation(sim, chaser_idx, target_idx); - - INFO("=== DT Sweep: DT=" << DT << "s ==="); - INFO(" Wait time: " << wait_time << " s"); - INFO(" Arrival time: " << arrival_time << " s"); - INFO(" Departure executed at: " << sim->maneuvers[dep_idx].executed_time << " s"); - INFO(" Arrival executed at: " << sim->maneuvers[arr_idx].executed_time << " s"); - INFO(" Departure quantization error: " << (sim->maneuvers[dep_idx].executed_time - wait_time) << " s"); - INFO(" Arrival quantization error: " << (sim->maneuvers[arr_idx].executed_time - arrival_time) << " s"); - INFO(" Final separation: " << separation << " m"); - INFO(" Chaser eccentricity: " << chaser->orbit.eccentricity); - INFO(" Expected separation (from doc): " << EXPECTED_SEP[d] << " m"); - - // Verify separation is within expected range - // Use generous margins since quantization error varies with trigger offset - REQUIRE_THAT(separation, WithinAbs(EXPECTED_SEP[d], EXPECTED_SEP[d] * 0.5 + 50.0)); - - // At small DT, eccentricity should be nearly zero - if (DT <= 1.0) { - REQUIRE_THAT(chaser->orbit.eccentricity, WithinAbs(0.0, 0.01)); - } - - destroy_simulation(sim); - } -} - -TEST_CASE("DT sweep: quantization error is bounded by DT", "[maneuver][timing][quantization][dt_sweep]") { - // For TRIGGER_TIME, the quantization error is always in [0, DT). - // This test verifies that behavior across multiple DT values. - - const double DT_VALUES[] = {1.0, 5.0, 10.0, 30.0}; - const int NUM_DT = sizeof(DT_VALUES) / sizeof(DT_VALUES[0]); - - for (int d = 0; d < NUM_DT; d++) { - const double DT = DT_VALUES[d]; - - CAPTURE(DT); - - // Test multiple trigger offsets within one step. - // Each offset gets its own simulation to avoid maneuver count limits. - for (int offset = 1; offset < 10; offset++) { - const double trigger_time = 100.0 + offset; - double expected_delay = std::ceil(trigger_time / DT) * DT - trigger_time; - - SimulationState* sim = create_simulation(10, 10, 100, DT); - REQUIRE(load_system_config(sim, "tests/test_maneuver_planning.toml")); - initialize_orbital_objects(sim); - - Maneuver burn = create_maneuver( - "TestBurst", - 0, - BURN_PROGRADE, - 10.0, - TRIGGER_TIME, - trigger_time - ); - - int idx = add_maneuver_to_simulation(sim, &burn); - REQUIRE(idx >= 0); - - int steps = 0; - const int MAX_STEPS = 10000; - while (!sim->maneuvers[idx].executed && steps < MAX_STEPS) { - update_simulation(sim); - steps++; - } - - REQUIRE(sim->maneuvers[idx].executed); - - double actual_delay = sim->maneuvers[idx].executed_time - trigger_time; - - // Quantization error must be in [0, DT) - REQUIRE(actual_delay >= 0.0); - REQUIRE(actual_delay < DT + 0.01); - - // Should match ceil to step boundary - double expected_step = std::ceil(trigger_time / DT) * DT; - REQUIRE(sim->maneuvers[idx].executed_time == expected_step); - - if (offset >= 9) { - INFO("DT=" << DT << " offset=" << offset - << " trigger=" << trigger_time - << " executed=" << sim->maneuvers[idx].executed_time - << " delay=" << actual_delay - << " expected_delay=" << expected_delay); - } - - destroy_simulation(sim); - } - } -} - -TEST_CASE("DT sweep: Hohmann arrival burn timing error", "[rendezvous_hohmann][integration][dt_sweep]") { - // Measure the exact timing error of the arrival burn at different DTs. - // The arrival burn should fire at the calculated arrival_time, but - // quantization causes it to fire at the next step boundary. - // This timing error directly maps to position error at orbital speeds. - - const double DT_VALUES[] = {0.1, 1.0, 5.0, 10.0}; - const int NUM_DT = sizeof(DT_VALUES) / sizeof(DT_VALUES[0]); - - for (int d = 0; d < NUM_DT; d++) { - const double DT = DT_VALUES[d]; - - CAPTURE(DT); - - SimulationState* sim = create_simulation(3, 5, 10, DT); - REQUIRE(load_system_config(sim, "tests/test_rendezvous.toml")); - - int target_idx = find_spacecraft_by_name(sim, "Target_Satellite"); - int chaser_idx = find_spacecraft_by_name(sim, "Chaser_Lower"); - REQUIRE(target_idx >= 0); - REQUIRE(chaser_idx >= 0); - - Spacecraft* chaser = &sim->spacecraft[chaser_idx]; - CelestialBody* earth = &sim->bodies[0]; - - initialize_orbital_objects(sim); - - double r1 = vec3_magnitude(chaser->local_position); - double r2 = vec3_magnitude(sim->spacecraft[target_idx].local_position); - - HohmannTransfer hohmann = calculate_hohmann_transfer(r1, r2, earth->mass); - double angular_separation = chaser->orbit.true_anomaly - sim->spacecraft[target_idx].orbit.true_anomaly; - while (angular_separation > M_PI) angular_separation -= 2.0 * M_PI; - while (angular_separation < -M_PI) angular_separation += 2.0 * M_PI; - double wait_time = calculate_next_hohmann_wait_time(r1, r2, angular_separation, earth->mass, DT); - double arrival_time = wait_time + hohmann.transfer_time; - - // Create arrival maneuver - Maneuver arrival = create_maneuver( - "Circularization_Burn", - chaser_idx, - BURN_PROGRADE, - hohmann.dv2, - TRIGGER_TIME, - arrival_time - ); - int arr_idx = add_maneuver_to_simulation(sim, &arrival); - REQUIRE(arr_idx >= 0); - - // Run until arrival burn executes - const int MAX_STEPS = 700000; - for (int i = 0; i < MAX_STEPS; i++) { - update_simulation(sim); - if (sim->maneuvers[arr_idx].executed) { - break; - } - } - - double timing_error = sim->maneuvers[arr_idx].executed_time - arrival_time; - double chaser_speed = vec3_magnitude(chaser->local_velocity); - double position_error_estimate = timing_error * chaser_speed; - - INFO("=== Arrival Timing: DT=" << DT << "s ==="); - INFO(" Arrival time (calculated): " << arrival_time << " s"); - INFO(" Arrival time (actual): " << sim->maneuvers[arr_idx].executed_time << " s"); - INFO(" Timing error: " << timing_error << " s"); - INFO(" Chaser speed: " << chaser_speed << " m/s"); - INFO(" Position error estimate: " << position_error_estimate << " m"); - INFO(" Expected timing error < DT: " << (timing_error < DT + 0.01 ? "PASS" : "FAIL")); - - REQUIRE(timing_error >= 0.0); - REQUIRE(timing_error < DT + 0.01); - - destroy_simulation(sim); - } -}