def setUp(self) -> None:
self.collision_config = CollisionConfig(collision_meters=0.3, time_interval_seconds=0.1)
self.drone_config_map = {"DRONE1": DroneConfig(init_position=(0, 0, 0), speed_mps=1,
rotate_speed_dps=90, takeoff_height_meters=1),
"DRONE2": DroneConfig(init_position=(1, 0, 0), speed_mps=2,
rotate_speed_dps=180, takeoff_height_meters=1)}
self.state_updater_map = {"DRONE1": StateUpdater(DroneConfig(init_position=(0, 0, 0), speed_mps=1,
rotate_speed_dps=90, takeoff_height_meters=1)),
"DRONE2": StateUpdater(DroneConfig(init_position=(1, 0, 0), speed_mps=2,
rotate_speed_dps=180, takeoff_height_meters=1))}
self.collision_checker = CollisionChecker(self.drone_config_map, self.collision_config)
def test_check_parallel_drone_commands_nested_should_update_states_correctly(
self):
drone_commands = \
[
ParallelDroneCommands([
[SingleDroneCommand("DRONE1", Command.wait(5))],
[SingleDroneCommand("DRONE2", Command.wait(3)),
ParallelDroneCommands([
[SingleDroneCommand("DRONE3", Command.wait(4))],
[SingleDroneCommand("DRONE4", Command.wait(1))]
])]
]),
SingleDroneCommand("DRONE1", Command.wait(1))
]
drones_involved = {"DRONE1", "DRONE2", "DRONE3", "DRONE4", "DRONE5"}
state_updaters = {
name: StateUpdater(DroneConfig((1, 0, 0), 2, 180, 2))
for name in drones_involved
}
drone_state_map = {name: State() for name in drones_involved}
BoundaryChecker(
self.boundary_config)._update_states_and_check_drone_commands(
drone_commands, state_updaters, drone_state_map,
drones_involved)
expected = {
name: State(time_used_seconds=8)
for name in drones_involved
}
self.assertEqual(expected, drone_state_map)
def test_str(self):
drone_config = DroneConfig(init_position=(0, 0, 0),
speed_mps=0.5,
rotate_speed_dps=45,
takeoff_height_meters=1)
self.assertEqual(
"DroneConfig: { init_position: (0, 0, 0), speed_mps: 0.5, " +
"rotate_speed_dps: 45, takeoff_height_meters: 1 }",
str(drone_config))
def test_property(self):
drone_config = DroneConfig(init_position=(0, 0, 0),
speed_mps=0.5,
rotate_speed_dps=45,
takeoff_height_meters=1)
self.assertEqual((0, 0, 0), drone_config.init_position)
self.assertEqual(0.5, drone_config.speed_mps)
self.assertEqual(45, drone_config.rotate_speed_dps)
self.assertEqual(1, drone_config.takeoff_height_meters)
def test_get_init_state(self):
self.assertEqual(State(x_meters=0, y_meters=0, z_meters=0),
self.state_updater.get_init_state())
drone_config = DroneConfig(init_position=(1, 2, 3),
speed_mps=0.5,
rotate_speed_dps=45,
takeoff_height_meters=1)
state_updater = StateUpdater(drone_config=drone_config)
self.assertEqual(State(x_meters=1, y_meters=2, z_meters=3),
state_updater.get_init_state())
def test_parse_if_provided_configs_should_parse_all_configs(self):
config = """
{
"drones": [{
"name": "DRONE1",
"init_position": {"x": 1, "y": 2, "z": 3},
"speed_mps": 2,
"rotate_speed_dps": 180,
"takeoff_height_meters": 2
},{
"name": "DRONE2",
"init_position": {"x": 4, "y": 5, "z": 6},
"speed_mps": 1,
"rotate_speed_dps": 90,
"takeoff_height_meters": 1
}],
"boundary_config": {
"max_seconds": 100,
"max_x_meters": 10,
"max_y_meters": 20,
"max_z_meters": 30,
"min_x_meters": -10,
"min_y_meters": -20,
"min_z_meters": -30
},
"collision_config": {
"collision_meters": 0.3,
"time_interval_seconds": 0.5
}
}
"""
actual_drone_config, actual_boundary_config, acutal_collision_config = ConfigParser.parse(config)
expected_drone_configs = {"DRONE1": DroneConfig(init_position=(1, 2, 3), speed_mps=2,
rotate_speed_dps=180, takeoff_height_meters=2),
"DRONE2": DroneConfig(init_position=(4, 5, 6), speed_mps=1,
rotate_speed_dps=90, takeoff_height_meters=1)}
expected_boundary_config = BoundaryConfig(max_seconds=100, max_x_meters=10, max_y_meters=20, max_z_meters=30,
min_x_meters=-10, min_y_meters=-20, min_z_meters=-30)
expected_collision_config = CollisionConfig(collision_meters=0.3, time_interval_seconds=0.5)
self.assertEqual(expected_drone_configs, actual_drone_config)
self.assertEqual(expected_boundary_config, actual_boundary_config)
self.assertEqual(expected_collision_config, acutal_collision_config)
def setUp(self) -> None:
self.boundary_config = BoundaryConfig(max_seconds=10,
max_x_meters=5,
max_y_meters=5,
max_z_meters=5,
min_x_meters=-5,
min_y_meters=-5,
min_z_meters=-5)
self.state_updater_map = {
"DRONE1":
StateUpdater(
DroneConfig(init_position=(0, 0, 0),
speed_mps=1,
rotate_speed_dps=90,
takeoff_height_meters=1)),
"DRONE2":
StateUpdater(
DroneConfig(init_position=(1, 0, 0),
speed_mps=2,
rotate_speed_dps=180,
takeoff_height_meters=2))
}
def test_init_with_wrong_parameter_should_give_error(self):
for invalid_value in [-10, -1, 0]:
with self.assertRaises(ValueError) as context:
DroneConfig(init_position=(0, 0, 0),
speed_mps=invalid_value,
rotate_speed_dps=45,
takeoff_height_meters=1)
self.assertTrue("speed_mps should > 0" in str(context.exception))
with self.assertRaises(ValueError) as context:
DroneConfig(init_position=(0, 0, 0),
speed_mps=0.5,
rotate_speed_dps=invalid_value,
takeoff_height_meters=1)
self.assertTrue(
"rotate_speed_dps should > 0" in str(context.exception))
with self.assertRaises(ValueError) as context:
DroneConfig(init_position=(0, 0, 0),
speed_mps=0.5,
rotate_speed_dps=45,
takeoff_height_meters=invalid_value)
self.assertTrue(
"takeoff_height_meters should > 0" in str(context.exception))
def test_if_given_state_updater_should_use_it_to_update_state(self):
commands = "main() {takeoff(); land();}"
with self.assertRaises(SafetyCheckError) as context:
generate_commands(commands,
drone_config_map={
"DEFAULT":
DroneConfig(init_position=(0, 0, 0),
speed_mps=1,
rotate_speed_dps=90,
takeoff_height_meters=10)
},
boundary_checker=BoundaryChecker(
BoundaryConfig(max_seconds=10,
max_z_meters=1)))
self.assertTrue(
"Drone 'DEFAULT': the z coordinate 10 will go beyond its upper limit 1"
in str(context.exception))
def test_parse_if_name_repeated_should_ignore_second_appearance(self):
config = """
{
"drones": [{
"name": "DRONE1",
"init_position": {"x": 1, "y": 2, "z": 3},
"speed_mps": 2,
"rotate_speed_dps": 180,
"takeoff_height_meters": 2
},{
"name": "DRONE1",
"init_position": {"x": 4, "y": 5, "z": 6},
"speed_mps": 1,
"rotate_speed_dps": 90,
"takeoff_height_meters": 1
}],
"boundary_config": {
"max_seconds": 100,
"max_x_meters": 10,
"max_y_meters": 20,
"max_z_meters": 30,
"min_x_meters": -10,
"min_y_meters": -20,
"min_z_meters": -30
},
"collision_config": {
"collision_meters": 0.3,
"time_interval_seconds": 0.5
}
}
"""
with self.assertLogs(logging.getLogger()) as log:
actual_drone_configs, actual_boundary_config, actual_collision_config = ConfigParser.parse(config)
expected_log = ["WARNING:root:Drone name 'DRONE1' appeared more than ones in 'drones', ignored."]
self.assertEqual(expected_log, log.output)
expected_drone_configs = {"DRONE1": DroneConfig(init_position=(1, 2, 3), speed_mps=2,
rotate_speed_dps=180, takeoff_height_meters=2)}
expected_boundary_config = BoundaryConfig(max_seconds=100, max_x_meters=10, max_y_meters=20, max_z_meters=30,
min_x_meters=-10, min_y_meters=-20, min_z_meters=-30)
expected_collision_config = CollisionConfig(collision_meters=0.3, time_interval_seconds=0.5)
self.assertEqual(expected_drone_configs, actual_drone_configs)
self.assertEqual(expected_boundary_config, actual_boundary_config)
self.assertEqual(expected_collision_config, actual_collision_config)
def test_parse_if_init_position_missing_fields_should_use_default_value(self):
config = """
{
"drones": [{
"name": "DRONE1",
"init_position": {},
"speed_mps": 2,
"rotate_speed_dps": 180,
"takeoff_height_meters": 2
}],
"boundary_config": {
"max_seconds": 100,
"max_x_meters": 10,
"max_y_meters": 20,
"max_z_meters": 30,
"min_x_meters": -10,
"min_y_meters": -20,
"min_z_meters": -30
},
"collision_config": {
"collision_meters": 0.3,
"time_interval_seconds": 0.5
}
}
"""
with self.assertLogs(logging.getLogger()) as log:
actual_drone_configs, actual_boundary_config, actual_collision_config = ConfigParser.parse(config)
expected_log = ["WARNING:root:'x' missing when parsing drone 'DRONE1', using default value 0. " +
"Position estimation may be inaccurate.",
"WARNING:root:'y' missing when parsing drone 'DRONE1', using default value 0. " +
"Position estimation may be inaccurate.",
"WARNING:root:'z' missing when parsing drone 'DRONE1', using default value 0. " +
"Position estimation may be inaccurate."]
self.assertEqual(expected_log, log.output)
expected_drone_configs = {"DRONE1": DroneConfig(init_position=(0, 0, 0), speed_mps=2,
rotate_speed_dps=180, takeoff_height_meters=2)}
expected_boundary_config = BoundaryConfig(max_seconds=100, max_x_meters=10, max_y_meters=20, max_z_meters=30,
min_x_meters=-10, min_y_meters=-20, min_z_meters=-30)
expected_collision_config = CollisionConfig(collision_meters=0.3, time_interval_seconds=0.5)
self.assertEqual(expected_drone_configs, actual_drone_configs)
self.assertEqual(expected_boundary_config, actual_boundary_config)
self.assertEqual(expected_collision_config, actual_collision_config)
def test_parse_if_drone_object_missing_fields_should_use_default_value(self):
config = """
{
"drones": [{}],
"boundary_config": {
"max_seconds": 100,
"max_x_meters": 10,
"max_y_meters": 20,
"max_z_meters": 30,
"min_x_meters": -10,
"min_y_meters": -20,
"min_z_meters": -30
},
"collision_config": {
"collision_meters": 0.3,
"time_interval_seconds": 0.5
}
}
"""
with self.assertLogs(logging.getLogger()) as log:
actual_drone_configs, actual_boundary_config, actual_collision_config = ConfigParser.parse(config)
expected_log = ["WARNING:root:'name' missing when parsing object in 'drones', using default value 'DEFAULT'.",
"WARNING:root:'init_position' missing when parsing drone 'DEFAULT', " +
"using default value (0, 0, 0). Position estimation may be inaccurate.",
"WARNING:root:'speed_mps' missing when parsing drone 'DEFAULT', " +
"using default value 1. Position estimation may be inaccurate.",
"WARNING:root:'rotate_speed_dps' missing when parsing drone 'DEFAULT', " +
"using default value 90. Position estimation may be inaccurate.",
"WARNING:root:'takeoff_height_meters' missing when parsing drone 'DEFAULT', " +
"using default value 1. Position estimation may be inaccurate."]
self.assertEqual(expected_log, log.output)
expected_drone_configs = {"DEFAULT": DroneConfig(init_position=(0, 0, 0), speed_mps=1,
rotate_speed_dps=90, takeoff_height_meters=1)}
expected_boundary_config = BoundaryConfig(max_seconds=100, max_x_meters=10, max_y_meters=20, max_z_meters=30,
min_x_meters=-10, min_y_meters=-20, min_z_meters=-30)
expected_collision_config = CollisionConfig(collision_meters=0.3, time_interval_seconds=0.5)
self.assertEqual(expected_drone_configs, actual_drone_configs)
self.assertEqual(expected_boundary_config, actual_boundary_config)
self.assertEqual(expected_collision_config, actual_collision_config)
def test_parse_if_name_is_empty_string_should_use_default_value(self):
config = """
{
"drones": [{
"name": "",
"init_position": {"x": 1, "y": 2, "z": 3},
"speed_mps": 2,
"rotate_speed_dps": 180,
"takeoff_height_meters": 2
}],
"boundary_config": {
"max_seconds": 100,
"max_x_meters": 10,
"max_y_meters": 20,
"max_z_meters": 30,
"min_x_meters": -10,
"min_y_meters": -20,
"min_z_meters": -30
},
"collision_config": {
"collision_meters": 0.3,
"time_interval_seconds": 0.5
}
}
"""
with self.assertLogs(logging.getLogger()) as log:
actual_drone_configs, actual_boundary_config, actual_collision_config = ConfigParser.parse(config)
expected_log = ["WARNING:root:'name' cannot be an empty string, using default value 'DEFAULT' instead."]
self.assertEqual(expected_log, log.output)
expected_drone_configs = {"DEFAULT": DroneConfig(init_position=(1, 2, 3), speed_mps=2,
rotate_speed_dps=180, takeoff_height_meters=2)}
expected_boundary_config = BoundaryConfig(max_seconds=100, max_x_meters=10, max_y_meters=20, max_z_meters=30,
min_x_meters=-10, min_y_meters=-20, min_z_meters=-30)
expected_collision_config = CollisionConfig(collision_meters=0.3, time_interval_seconds=0.5)
self.assertEqual(expected_drone_configs, actual_drone_configs)
self.assertEqual(expected_boundary_config, actual_boundary_config)
self.assertEqual(expected_collision_config, actual_collision_config)
def test_convert_command(self):
commands = [
SingleDroneCommand("DRONE1", Command.takeoff()),
SingleDroneCommand("DRONE1", Command.up(1)),
SingleDroneCommand("DRONE1", Command.down(1)),
SingleDroneCommand("DRONE1", Command.left(1)),
SingleDroneCommand("DRONE1", Command.right(1)),
SingleDroneCommand("DRONE1", Command.forward(1)),
SingleDroneCommand("DRONE1", Command.backward(1)),
SingleDroneCommand("DRONE1", Command.rotate_left(1)),
SingleDroneCommand("DRONE1", Command.rotate_right(1)),
ParallelDroneCommands(
[[
ParallelDroneCommands(
[[], [SingleDroneCommand("DRONE1", Command.up(1))]])
],
[
SingleDroneCommand("DRONE2", Command.takeoff()),
SingleDroneCommand("DRONE2", Command.land())
]]),
SingleDroneCommand("DRONE1", Command.land()),
SingleDroneCommand("DRONE1", Command.wait(1))
]
drone_config_map = {
"DRONE1": DroneConfig((1, 2, 3), 1, 90, 2),
"DRONE2": DroneConfig((0, 0, 0), 1, 90, 1)
}
expected = {
"config": [{
"name": "DRONE1",
"init_pos": [1, 2, 3],
"speed": 1,
"rotate_speed": 90,
"takeoff_height": 2
}, {
"name": "DRONE2",
"init_pos": [0, 0, 0],
"speed": 1,
"rotate_speed": 90,
"takeoff_height": 1
}],
"commands": [{
"type": "single",
"name": "DRONE1",
"action": "takeoff",
"values": []
}, {
"type": "single",
"name": "DRONE1",
"action": "up",
"values": [1]
}, {
"type": "single",
"name": "DRONE1",
"action": "down",
"values": [1]
}, {
"type": "single",
"name": "DRONE1",
"action": "left",
"values": [1]
}, {
"type": "single",
"name": "DRONE1",
"action": "right",
"values": [1]
}, {
"type": "single",
"name": "DRONE1",
"action": "forward",
"values": [1]
}, {
"type": "single",
"name": "DRONE1",
"action": "backward",
"values": [1]
}, {
"type": "single",
"name": "DRONE1",
"action": "rotate_left",
"values": [1]
}, {
"type": "single",
"name": "DRONE1",
"action": "rotate_right",
"values": [1]
}, {
"type":
"parallel",
"branches": [[{
"type":
"parallel",
"branches": [[],
[{
"type": "single",
"name": "DRONE1",
"action": "up",
"values": [1]
}]]
}],
[{
"type": "single",
"name": "DRONE2",
"action": "takeoff",
"values": []
}, {
"type": "single",
"name": "DRONE2",
"action": "land",
"values": []
}]]
}, {
"type": "single",
"name": "DRONE1",
"action": "land",
"values": []
}, {
"type": "single",
"name": "DRONE1",
"action": "wait",
"values": [1]
}]
}
actual = SimulationConverter().convert(commands, drone_config_map)
self.assertEqual(expected,
json.loads(zlib.decompress(b64decode(actual))))
def test_eq(self):
self.assertEqual(
DroneConfig(init_position=(0, 0, 0),
speed_mps=0.5,
rotate_speed_dps=45,
takeoff_height_meters=1),
DroneConfig(init_position=(0, 0, 0),
speed_mps=0.5,
rotate_speed_dps=45,
takeoff_height_meters=1))
self.assertNotEqual(
DroneConfig(init_position=(0, 0, 0),
speed_mps=0.5,
rotate_speed_dps=45,
takeoff_height_meters=1),
DroneConfig(init_position=(1, 0, 0),
speed_mps=0.5,
rotate_speed_dps=45,
takeoff_height_meters=1))
self.assertNotEqual(
DroneConfig(init_position=(0, 0, 0),
speed_mps=0.5,
rotate_speed_dps=45,
takeoff_height_meters=1),
DroneConfig(init_position=(0, 0, 0),
speed_mps=1,
rotate_speed_dps=45,
takeoff_height_meters=1))
self.assertNotEqual(
DroneConfig(init_position=(0, 0, 0),
speed_mps=0.5,
rotate_speed_dps=45,
takeoff_height_meters=1),
DroneConfig(init_position=(0, 0, 0),
speed_mps=0.5,
rotate_speed_dps=90,
takeoff_height_meters=1))
self.assertNotEqual(
DroneConfig(init_position=(0, 0, 0),
speed_mps=0.5,
rotate_speed_dps=45,
takeoff_height_meters=1),
DroneConfig(init_position=(0, 0, 0),
speed_mps=0.5,
rotate_speed_dps=45,
takeoff_height_meters=2))
self.assertNotEqual(
None,
DroneConfig(init_position=(0, 0, 0),
speed_mps=0.5,
rotate_speed_dps=45,
takeoff_height_meters=2))
def setUp(self) -> None:
self.drone_config = DroneConfig(init_position=(0, 0, 0),
speed_mps=0.5,
rotate_speed_dps=45,
takeoff_height_meters=1)
self.state_updater = StateUpdater(drone_config=self.drone_config)
def _parse_drone_config(data: dict) -> Dict[str, DroneConfig]:
drone_config_map = {}
if "drones" in data:
if len(data["drones"]) == 0:
warning(
"'drones' is empty when parsing configs, using default drone_config. "
+ "Position estimation may be inaccurate.")
return {"DEFAULT": DefaultDroneConfig()}
for drone in data["drones"]:
if "name" in drone:
name = drone["name"]
if name == "":
warning(
"'name' cannot be an empty string, using default value 'DEFAULT' instead."
)
name = "DEFAULT"
else:
warning(
"'name' missing when parsing object in 'drones', using default value 'DEFAULT'."
)
name = "DEFAULT"
if name in drone_config_map:
warning(
"Drone name '{}' appeared more than ones in 'drones', ignored."
.format(name))
continue
if "init_position" in drone:
position = drone["init_position"]
init_position = []
for dim in ["x", "y", "z"]:
if dim in position:
init_position.append(position[dim])
else:
warning(
"'{}' missing when parsing drone '{}', using default value 0. "
.format(dim, name) +
"Position estimation may be inaccurate.")
init_position.append(0)
init_position = tuple(init_position)
else:
warning("'init_position' missing when parsing drone '{}', "
.format(name) + "using default value (0, 0, 0). " +
"Position estimation may be inaccurate.")
init_position = (0, 0, 0)
if "speed_mps" in drone:
speed_mps = drone["speed_mps"]
else:
warning("'speed_mps' missing when parsing drone '{}', ".
format(name) + "using default value 1. " +
"Position estimation may be inaccurate.")
speed_mps = 1
if "rotate_speed_dps" in drone:
rotate_speed_dps = drone["rotate_speed_dps"]
else:
warning(
"'rotate_speed_dps' missing when parsing drone '{}', ".
format(name) + "using default value 90. " +
"Position estimation may be inaccurate.")
rotate_speed_dps = 90
if "takeoff_height_meters" in drone:
takeoff_height_meters = drone["takeoff_height_meters"]
else:
warning(
"'takeoff_height_meters' missing when parsing drone '{}', "
.format(name) + "using default value 1. " +
"Position estimation may be inaccurate.")
takeoff_height_meters = 1
drone_config = DroneConfig(init_position, speed_mps,
rotate_speed_dps,
takeoff_height_meters)
drone_config_map[name] = drone_config
else:
warning(
"'drones' missing when parsing configs, using default drone_config. "
+ "Position estimation may be inaccurate.")
return {"DEFAULT": DefaultDroneConfig()}
return drone_config_map