def test_get_drones_involved(self):
parallel_commands = ParallelDroneCommands()
self.assertEqual(set(), parallel_commands.get_drones_involved())
parallel_commands = ParallelDroneCommands(
[[SingleDroneCommand("DRONE1", Command.takeoff())],
[SingleDroneCommand("DRONE2", Command.takeoff())],
[
ParallelDroneCommands(
[[SingleDroneCommand("DRONE3", Command.takeoff())],
[SingleDroneCommand("DRONE4", Command.takeoff())]])
]])
self.assertEqual({"DRONE1", "DRONE2", "DRONE3", "DRONE4"},
parallel_commands.get_drones_involved())
def _update_states_to_wait_for_slowest_branch(
self, parallel_drone_commands: ParallelDroneCommands,
state_updaters: Dict[str, StateUpdater],
drone_trajectory_map: Dict[str, List[State]],
time_used_in_branches: List[float],
drones_involved: Set[str]) -> float:
longest_time_used = max(time_used_in_branches)
# for each branch, let drones involved in the branch wait until longest_time_used
for i, time_used in enumerate(time_used_in_branches):
for name in parallel_drone_commands.drones_involved_each_branch[i]:
wait_command = Command.wait(longest_time_used - time_used)
self._update_states_for_single_drone_command(
SingleDroneCommand(name, wait_command),
state_updaters,
drone_trajectory_map,
drones_involved={name})
# let drones not involved in any branch wait for longest_time_used
for name in drones_involved.difference(
parallel_drone_commands.get_drones_involved()):
wait_command = Command.wait(longest_time_used)
self._update_states_for_single_drone_command(
SingleDroneCommand(name, wait_command),
state_updaters,
drone_trajectory_map,
drones_involved={name})
return longest_time_used
def _update_states_to_wait_for_slowest_branch(
self, parallel_drone_commands: ParallelDroneCommands,
drone_state_map: Dict[str,
State], time_used_in_branches: List[float],
drones_involved: Set[str]) -> float:
longest_time_used = max(time_used_in_branches)
# for each branch, let drones involved in the branch wait until longest_time_used
for i, time_used in enumerate(time_used_in_branches):
for name in parallel_drone_commands.drones_involved_each_branch[i]:
old_state = drone_state_map[name]
drone_state_map[
name] = old_state.copy_and_set_time_used_seconds(
old_state.time_used_seconds + longest_time_used -
time_used)
# let drones not involved in any branch wait for longest_time_used
for name in drones_involved.difference(
parallel_drone_commands.get_drones_involved()):
old_state = drone_state_map[name]
drone_state_map[name] = old_state.copy_and_set_time_used_seconds(
old_state.time_used_seconds + longest_time_used)
return longest_time_used