Add test_parking.jl

test/test_parking.jl

@@ -0,0 +1,51 @@
+using Pkg
+if ! ("KiteModels" ∈ keys(Pkg.project().dependencies))
+    using TestEnv; TestEnv.activate()
+end
+
+using KiteViewers, KiteModels, KitePodModels, Rotations, Timers
+
+# change this to KPS3 or KPS4
+const Model = KPS4
+set_data_path()
+
+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 = 30
+TIME_LAPSE_RATIO = 1
+STEPS = Int64(round(TIME/dt))
+STATISTIC = false
+SHOW_KITE = false
+# end of user parameter section #
+
+viewer::Viewer3D = Viewer3D(SHOW_KITE)
+
+function update_system2(kps)
+    sys_state = SysState(kps)
+    KiteViewers.update_system(viewer, sys_state; scale = 0.08, kite_scale=3)
+end 
+
+function simulate(integrator, steps)
+    start = integrator.p.iter
+    start_time_ns = time_ns()
+    for i in 1:steps
+        set_depower_steering(kps4.kcu, 0.25, 0.0)            
+        # 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_system2(kps4) 
+            wait_until(start_time_ns+dt, always_sleep=true) 
+            start_time_ns = time_ns()
+        end
+    end
+    (integrator.p.iter - start) / steps
+end
+
+integrator = KiteModels.init_sim!(kps4, stiffness_factor=0.5, prn=STATISTIC)
+
+av_steps = simulate(integrator, STEPS)
+nothing