IC470 Software Engineering

 

 Autonomous Underwater Vehicle

 

 Acceptance Test Plan

 

The AUV Acceptance Test Plan is broken up into two phases:

  • Static Demos (Focus is on the GUI’s and information displayed), and
  • Operational Demos (System dynamically run using input from files that simulate input from AUV hardware).  Each team will provide their own input files as needed for the test cases so as to minimize I/O problems during Acceptance Testing. 

 

1.     Mission Planning Test. Static Mission Planning GUI Demo: Bring up the Mission Planning Graphical User Interface (GUI) window to show that the system:

 

a.      Provides a pull down menu that allows user to select desired Mission Phases. Phases include:

                                          i.     Initialization/Setup

                                        ii.     Dead Reckoning (DR) Navigation 

                                      iii.     Search/Track Towards an Acoustic Bearing 

                                      iv.     Mission Complete

 

b.     Allows user to select missions that involve Initialization/Setup, DR Navigation (if selected), then Search/Track Towards Acoustical Bearing (if selected), and then execute Mission Complete.

 

c.      Provides Buttons that allow user to:

 

                                          i.     Run Autonomous Mission.  (Non-operational)  

                                        ii.     Run Simulated Mission.  

                                      iii.     Run Tethered (Manual) Mission.    

 

 

2.     Mission Status Test.  Static Mission Status GUI Demo:  Bring up the Mission Status GUI window to show that the system provides fields that display:

a.     Current Mission Phase

b.     Current

                                          i.     Depth (in meters)

                                        ii.     Heading (in degrees true)

 

c.      Targeted

                                          i.     Depth (in meters)

                                        ii.     Heading (in degrees true)

 

d.     Analog Motor Power Setting

                                          i.     Bow

                                        ii.     Stern

                                      iii.     Port

                                      iv.     Starboard

e.     Acoustic Bearing

                                          i.     Targeted Frequency (in Hertz)

                                        ii.     Current Acoustical Bearing (in degrees true)

                                      iii.     Last Known Acoustical Bearing (in degrees true)

 

 

3.     Manual Mission Tests.

 

Part I: GUI Static Demo:  Bring up the Manual Mission GUI window to show that the system provides fields that allow a user to manually input power settings to control the Port, Starboard, Bow and Stern motors. 

 

Part II: Manual Mission Operational Test:

 

a.     Show the contents of the empty textfile:  manualmission.dat. 

b.     Show that the Mission Status GUI appears when a Manual Mission is selected via the Mission Planning GUI, and that the Mission Status Current Mission Phase window displays “Manual Mission”

c.      Enter invalid input via the Manual Mission GUI input fields, and show that the system detects and rejects invalid setting requests.

d.     Take valid input from the user via the Manual Mission GUI input fields

e.     Show that the valid inputs are sent to the Mission Status GUI

f.      Show that the contents of the textfile:  manualmission.dat now contains the input entered by the user in the Manual Mission GUI fields.

 

4.     System Controller Tests.

 

Part I. Simulated Mission 1:  Search/Track Towards Acoustic Bearing Phase Only (Invalid Acoustic Data):

 

a.      Show contents of acousticbearing.dat.  This file should contain invalidly formed lines of text (ie, NOT of the format F1200B187.9). 

b.     Show contents of compass.dat.  This file should contain any properly formed input data.

c.      On the Mission Planning GUI, select a simulated mission with only a Search/Track Towards Acoustic Bearing phase (ie., no DeadReckon phase).

d.     Press the Run Tethered (Manual) Mission button on the Mission Planning GUI.

e.      System displays a message indicating that the acoustic file contains invalid data.

f.      System terminates run.

 

 

Part II. Simulated Mission 2: Nominal DeadReckon Nav phase followed by Search/Track Towards Acoustic Bearing Phase.

 

a.     Show the contents of the empty textfile: missionlog.dat. 

b.     Use any validly formed DeadReckon input file (can use same file as Test C above),

c.      After DeadReckon portion completes, searches for (but does not immediately find) an acoustic signal of 1983Hz while on a heading of 230.  The shift between mission phases is apparent via Mission Status window.

d.     Searches for acoustic frequency 1983Hz long enough to demonstrate the 20-degree random course shift due to not immediately acquiring the signal. 

e.     Finds signal of 1983Hz bearing 040,

f.      turns towards 040, steadies on 040,

g.     loses signal and continues towards last known signal direction.

h.     System terminates run.  

i.       Show the current contents of missionlog.dat which now contains the navigational and acoustical data (updated once per second during program run) to include include time, current compass data, altimeter, current acoustical bearing, last known acoustical bearing, and the current power setting for each motor.

 

 

5.  Dead Reckoning (DR) Navigation Tests.

 

Part I. DR Mission 1: invalid filename:  

 

a.      On the Mission Planning GUI, select a simulated mission with only a DeadReckon phase (ie., no Search/Track Towards Acoustic Bearing phase).

b.     Enter a filename of a file that does not exist for the DR navigation.

c.      Press the Run Tethered (Manual) Mission button on the Mission Planning GUI.

d.     System displays a message indicating that the file indicated does not exist.

e.     System terminates run (since no Search/Track Towards Acoustic Bearing phase was selected).

 

 

Part II. DR Mission 2:  DR navigation (uses default file to go forward for 10 seconds, and then turn towards starboard for 10 seconds.  For logfile purposes, includes files for acoustic signal of 1200 bearing 187.9, and compass headings to mimic AUV movement for display in Mission Status window):  

 

a.     Show the contents of the empty textfile: missionlog.dat. 

b.     Show the contents of the textfile:  deadReckon.dat.  This file should contain a total of 20 lines.  The file is to be set up so that the AUV is propelled forward at full power (5.0) for 10 seconds.  At 11 seconds the Port engine is set to half-forward (2.5), and the Starboard engine is set to half-reverse (-2.5).  For example, the first 10 lines of this file should be: Bow0.0Stern0.0Port2.5Starboard2.5 and the last 10 lines of the file should be Bow0.0Stern0.0Port2.5Starboard-2.5.   

c.      Show the contents of acousticbearing.dat.  This file should contain 20 lines of text, each of which contain F1200B187.9

d.     Show the contents of compass.dat.  This file should contain 20 strings of text that simulate the AUV moving forward for 10 seconds, and then coming right for 10 seconds.  To assist you in your data generation for this test file, you may assume a turn rate of 5 degrees per second with a half-forward Port and half-reverse Starboard twist on the motors.  For example, if the AUV is initially heading 180, the first 10 lines of the file will contain C180.0P1.2R0.8 and the last line would contain C230.0P1.2R0.8.  Recall that the values for Pitch (P) and Roll (R) are ignored by your system.

e.     Show the current contents of the textfile missionlog.dat.  This file should be empty.

f.      Press the Run Tethered (Manual) Mission button on the Mission Planning GUI.

g.     Mission Status GUI is displayed.

h.     Observe the AUV motors being commanded as per part a until the end of input data is reached for all files involved. Mission Status GUI displays appropriate values for motors, heading and acoustic frequency.

i.       System terminates run (since no Search/Track Towards Acoustic Bearing phase was selected).

j.      Show the current contents of missionlog.dat which now contains the navigation and acoustical data (updated once per second during program run) to include include time, current compass data, altimeter, current acoustical bearing, last known acoustical bearing, and the current power setting for each motor.