def road_config_controller(
self, mqtt_address: Tuple[str,
int]) -> Iterator[RoadConfigController]:
host = mqtt_address[0]
port = mqtt_address[1]
wait_port_open(host=host, port=port)
road_config = RoadConfigController(
mqtt_enable=True,
enable=True,
horizon_hough_max_line_gap=10,
horizon_hough_min_line_length=1,
horizon_hough_threshold=100,
kernel_size=4,
morpho_iterations=3,
canny_threshold1=120,
canny_threshold2=250,
approx_poly_epsilon_factor=0.01,
mqtt_topic='test/car/config/road/#',
mqtt_hostname=host,
mqtt_port=port,
mqtt_client_id='donkey-config-road-',
mqtt_qos=1)
wait_all_mqtt_messages_consumed(
f'mqtt-subscription-{road_config._mqtt_client_id}'
f'qos{road_config.qos}')
yield road_config
road_config.shutdown()
def fixture_road_part(self) -> RoadPart:
road_config = RoadConfigController(enable=True,
canny_threshold1=180,
canny_threshold2=200,
kernel_size=4,
mqtt_enable=False)
return RoadPart(config=road_config)
def fixture_road_config() -> RoadConfigController:
return RoadConfigController(enable=True,
canny_threshold1=180,
canny_threshold2=200,
kernel_size=4,
mqtt_enable=False)
def test_values(self, config: RoadConfigController, mqtt_config: Client):
enable, horizon_hough_min_line_length, horizon_hough_max_line_gap, horizon_hough_threshold, kernel_size, \
morpho_iterations, canny_threshold1, canny_threshold2, approx_poly_epsilon_factor = config.run()
assert enable == True
assert horizon_hough_min_line_length == 1
assert horizon_hough_max_line_gap == 10
assert horizon_hough_threshold == 100
assert kernel_size == 4
assert morpho_iterations == 3
assert canny_threshold1 == 120
assert canny_threshold2 == 250
assert approx_poly_epsilon_factor == 0.01
mqtt_config.publish(
topic=f'test/car/config/{CFG_ROAD_ENABLE.replace("cfg/", "")}',
payload="false",
qos=1).wait_for_publish()
mqtt_config.publish(
topic=
f'test/car/config/{CFG_ROAD_HORIZON_HOUGH_MIN_LINE_LENGTH.replace("cfg/", "")}',
payload="10",
qos=1).wait_for_publish()
mqtt_config.publish(
topic=
f'test/car/config/{CFG_ROAD_HORIZON_HOUGH_MAX_LINE_GAP.replace("cfg/", "")}',
payload="5",
qos=1).wait_for_publish()
mqtt_config.publish(
topic=
f'test/car/config/{CFG_ROAD_HORIZON_HOUGH_THRESHOLD.replace("cfg/", "")}',
payload="20",
qos=1).wait_for_publish()
mqtt_config.publish(
topic=
f'test/car/config/{CFG_ROAD_CONTOUR_KERNEL_SIZE.replace("cfg/", "")}',
payload="30",
qos=1).wait_for_publish()
mqtt_config.publish(
topic=
f'test/car/config/{CFG_ROAD_CONTOUR_MORPHO_ITERATIONS.replace("cfg/", "")}',
payload="40",
qos=1).wait_for_publish()
mqtt_config.publish(
topic=
f'test/car/config/{CFG_ROAD_CONTOUR_CANNY_THRESHOLD1.replace("cfg/", "")}',
payload="50",
qos=1).wait_for_publish()
mqtt_config.publish(
topic=
f'test/car/config/{CFG_ROAD_CONTOUR_CANNY_THRESHOLD2.replace("cfg/", "")}',
payload="60",
qos=1).wait_for_publish()
mqtt_config.publish(
topic=
f'test/car/config/{CFG_ROAD_CONTOUR_APPROX_POLY_EPSILON_FACTOR.replace("cfg/", "")}',
payload="70.5",
qos=1).wait_for_publish()
wait_all_mqtt_messages_consumed(
f'mqtt-subscription-{config._mqtt_client_id}'
f'qos{config.qos}')
enable, horizon_hough_min_line_length, horizon_hough_max_line_gap, horizon_hough_threshold, kernel_size, \
morpho_iterations, canny_threshold1, canny_threshold2, approx_poly_epsilon_factor = config.run()
assert enable == False
assert horizon_hough_min_line_length == 10
assert horizon_hough_max_line_gap == 5
assert horizon_hough_threshold == 20
assert kernel_size == 30
assert morpho_iterations == 40
assert canny_threshold1 == 50
assert canny_threshold2 == 60
assert approx_poly_epsilon_factor == 70.5