def test_should_calculate_the_initial_compass_bearing_between_points(self):
globe = Globe()
self.assertLess(percentage_diff(200.1,globe.bearing(Manchester,Chorlton)),0.1)
self.assertLess(percentage_diff(145.9,globe.bearing(Manchester,London)),0.1)
self.assertLess(percentage_diff(288.3,globe.bearing(London,NewYork)),0.1)
self.assertLess(percentage_diff(64.3,globe.bearing(London,Moscow)),0.1)
self.assertLess(percentage_diff(357.3,globe.bearing(Santiago,NewYork)),0.1)
def test_should_calculate_the_initial_compass_bearing_between_points(self):
globe = Globe()
self.assertLess(
percentage_diff(200.1, globe.bearing(Manchester, Chorlton)), 0.1)
self.assertLess(
percentage_diff(145.9, globe.bearing(Manchester, London)), 0.1)
self.assertLess(percentage_diff(288.3, globe.bearing(London, NewYork)),
0.1)
self.assertLess(percentage_diff(64.3, globe.bearing(London, Moscow)),
0.1)
self.assertLess(
percentage_diff(357.3, globe.bearing(Santiago, NewYork)), 0.1)
class TestNavigator(EventTestCase):
def new_navigator(self,gps):
return Navigator(gps,self.globe, self.exchange, self.mock_logger, self.config)
def setUp(self):
super(TestNavigator, self).setUp()
self.current_position = Position(53,-2,5,5)
self.mock_gps = Mock(position=self.current_position,speed=1)
self.globe = Globe()
self.mock_logger = Mock()
self.config = {'min time to steer' : MIN_TIME_TO_STEER, 'max time to steer' : MAX_TIME_TO_STEER}
def test_should_not_steer_and_log_arrival_if_arrived(self):
self.listen(EventName.arrived)
self.listen(EventName.set_course)
navigator = self.new_navigator(self.mock_gps)
self.exchange.publish(Event(EventName.navigate,Waypoint(self.current_position,0)))
self.assertEqual(self.event_count(EventName.set_course),0,"expected no event to set course if we have arrived")
self.assertEqual(self.event_count(EventName.arrived),1,"expected arrived event if we have arrived")
self.mock_logger.info.assert_called_with('Navigator, arrived at {:+f},{:+f}'.format(self.current_position.latitude,self.current_position.longitude))
def test_should_allow_a_tolerance_and_consider_errors_when_calculating_if_we_have_reached_waypoint(self):
self.listen(EventName.arrived)
self.listen(EventName.set_course)
waypoint = Waypoint(Position(53.0001,-1.9999),10)
navigator = self.new_navigator(self.mock_gps)
self.exchange.publish(Event(EventName.navigate,waypoint))
self.assertEqual(self.event_count(EventName.arrived),1,"expected arrived event if we have arrived")
self.mock_logger.info.assert_called_with('Navigator, arrived at {:+f},{:+f}'.format(waypoint.latitude,waypoint.longitude))
def test_should_steer_along_the_bearing_to_the_next_waypoint(self):
self.listen(EventName.set_course)
waypoint = Waypoint(Position(53.5,-1.5),0)
expected_distance = self.globe.distance_between(self.current_position,waypoint.position)
expected_bearing = self.globe.bearing(self.current_position,waypoint.position)
navigator = self.new_navigator(self.mock_gps)
self.exchange.publish(Event(EventName.navigate,waypoint))
self.assertEqual(self.event_count(EventName.set_course),1,"expected set course event following navigate")
self.assertEqual(self.last_event.heading,expected_bearing)
# self.mock_logger.info.assert_any_call('Navigator, steering to {:+f},{:+f}, bearing {:5.1f}, distance {:.1f}m, review after 600s'
# .format(waypoint.latitude,waypoint.longitude,expected_bearing,expected_distance))
self.mock_logger.info.assert_has_calls([call('Navigator, steering to {:+f},{:+f}, bearing {:5.1f}, distance {:.1f}m, review after 32394s'
.format(waypoint.latitude,waypoint.longitude,expected_bearing,expected_distance))])
def test_should_steer_to_waypoint_if_outside_tolerance(self):
self.listen(EventName.set_course)
waypoint = Waypoint(Position(53.0001,-1.9999),5)
expected_bearing = self.globe.bearing(self.current_position,waypoint.position)
navigator = self.new_navigator(self.mock_gps)
self.exchange.publish(Event(EventName.navigate,waypoint))
self.assertEqual(self.event_count(EventName.set_course),1,"expected set course event following navigate")
self.assertEqual(self.last_event.heading,expected_bearing)
def test_at_intermediate_point_should_adjust_heading(self):
self.listen(EventName.set_course)
waypoint = Waypoint(Position(11,11),0)
intermediate_position = Position(12,12)
fake_gps = FakeMovingGPS([self.current_position, intermediate_position, waypoint.position])
bearing1 = self.globe.bearing(self.current_position,waypoint.position)
bearing2 = self.globe.bearing(intermediate_position,waypoint.position)
navigator = self.new_navigator(fake_gps)
self.exchange.publish(Event(EventName.navigate,waypoint))
self.assertEqual(self.last_event.heading,bearing1)
self.exchange.publish(Event(EventName.navigate_review))
self.assertEqual(self.event_count(EventName.set_course),2,"expected 2 set course events")
self.assertEqual(self.last_event.heading,bearing2)
def test_should_not_fire_a_steer_event_if_no_GPS_signal(self):
self.listen(EventName.set_course)
waypoint = Waypoint(Position(-60,22),0)
no_position = Position(NaN,NaN,NaN,NaN)
first_bearing = self.globe.bearing(self.current_position,waypoint.position)
fake_gps = FakeMovingGPS([self.current_position, no_position, waypoint.position])
navigator = self.new_navigator(fake_gps)
self.exchange.publish(Event(EventName.navigate,waypoint))
self.exchange.publish(Event(EventName.navigate_review))
steer_events = self.event_count(EventName.set_course)
self.assertEqual(steer_events,1,"expected only 1 set course event, got {0}".format(steer_events))
self.assertEqual(self.last_event.heading,first_bearing)
def test_should_signal_review_after_half_way_to_way_point_based_on_speed(self):
self.listen(EventName.after)
waypoint = Waypoint(Position(53.0001,-1.999699),5) #23m from current position
bearing = self.globe.bearing(self.current_position,waypoint.position)
fake_gps = FakeMovingGPS([self.current_position, waypoint.position])
for_expected_seconds = int(0.5 * time_to_destination(self.current_position,waypoint.position,fake_gps.speed))
navigator = self.new_navigator(fake_gps)
self.exchange.publish(Event(EventName.navigate,waypoint))
self.assertEqual(self.event_count(EventName.after),1,"expected 1 'after' event")
self.assertEqual(self.last_event.name,EventName.after)
self.assertEqual(self.last_event.seconds,for_expected_seconds)
self.assertEqual(self.last_event.next_event.name,EventName.navigate_review)
def test_should_return_minimum_review_time_if_time_calculation_results_in_NaN(self):
self.listen(EventName.after)
waypoint = Waypoint(Position(-60,22),0)
no_position = Position(NaN,NaN,NaN,NaN)
fake_gps = FakeMovingGPS([self.current_position, no_position, waypoint.position])
navigator = self.new_navigator(fake_gps)
self.exchange.publish(Event(EventName.navigate,waypoint))
self.assertEqual(self.last_event.seconds,MAX_TIME_TO_STEER)
self.exchange.publish(Event(EventName.navigate_review,waypoint))
self.assertEqual(self.event_count(EventName.after),2,"expected 1 'after' events")
self.assertEqual(self.last_event.seconds,MIN_TIME_TO_STEER)
def test_should_use_minimum_steer_time_if_time_calculation_returns_small_value(self):
self.listen(EventName.after)
waypoint = Waypoint(Position(53.0001,-1.9999),5)
fake_gps = FakeMovingGPS([self.current_position, waypoint.position])
fake_gps.speed = 100
navigator = self.new_navigator(fake_gps)
self.exchange.publish(Event(EventName.navigate,waypoint))
self.assertEqual(self.last_event.seconds,MIN_TIME_TO_STEER)
def test_should_use_maximum_steer_time_if_its_a_long_way_to_go(self):
self.listen(EventName.after)
waypoint = Waypoint(Position(60.0001,10),5)
fake_gps = FakeMovingGPS([self.current_position, waypoint.position])
fake_gps.speed = 1
expected_bearing = self.globe.bearing(self.current_position,waypoint.position)
navigator = self.new_navigator(fake_gps)
self.exchange.publish(Event(EventName.navigate,waypoint))
self.assertEqual(self.last_event.seconds,MAX_TIME_TO_STEER)
def test_should_use_a_minimum_speed_for_calculation_preventing_divide_by_zero_error(self):
self.listen(EventName.after)
waypoint = Waypoint(Position(53.001,-2.001),5)
fake_gps = FakeMovingGPS([self.current_position, waypoint.position])
fake_gps.speed = 0
expected_time = expected_time_to_steer(self.current_position,waypoint.position,0.01)
navigator = self.new_navigator(fake_gps)
self.exchange.publish(Event(EventName.navigate,waypoint))
self.assertEqual(self.last_event.seconds,expected_time)
def test_should_return_false_for_arrived_if_current_position_is_NaN(self):
navigator = self.new_navigator(Mock())
destination = Waypoint(Position(53.001,-2.001),5)
nan_position = Position(NaN,NaN,NaN,NaN)
self.assertFalse(navigator._arrived(nan_position, destination))
