def test_basic():
track = GpsTrack()
assert len(track) == 0
test_track_data = [(0.5, 1.), (0.7, 0.9), (5, 4.), (-2., 0)]
for p in test_track_data:
track(p)
assert len(track) == len(test_track_data)
for (target_x, target_y), (x, y) in zip(test_track_data, track):
assert x == target_x
assert y == target_y
track.clear()
assert len(track) == 0
def test_dist():
track = GpsTrack(track_length_limit=2)
assert track.get_home() is None
test_track_data = [(45.5, 41.), (45.7, 41.9), (45, 41.), (45.1, 41.2),
(40, 40), (44, 41)]
for p in test_track_data:
track(p)
to_home, total = track.get_distance()
assert to_home == geograph_distance(test_track_data[0],
test_track_data[-1])
target_total = 0.
for i in range(1, len(test_track_data)):
target_total += geograph_distance(test_track_data[i],
test_track_data[i - 1])
assert total == pytest.approx(target_total, 1000)
def test_bad_argument():
track = GpsTrack()
with pytest.raises(TypeError):
track("Bad point")
with pytest.raises(TypeError):
track(1)
with pytest.raises(ValueError):
track((1, "S"))
def test_sresample_track():
pts = [(0., 0.), (0, 5), (0, 10), (5, 10), (10, 10), (10, 5), (10, 0)]
target = [(0., 0.), (0, 10), (10, 10), (10, 0)]
track = GpsTrack(gps_accuracy_meters=10, track_length_limit=None)
for p in pts:
track(p)
tr = track.get_track(len(target))
assert len(tr) == len(target)
for (x, y), (tx, ty) in zip(tr, target):
assert abs(x - tx) < 0.1
assert abs(y - ty) < 0.1
target = [(0., 0.), (5, 10), (10, 0)]
tr = track.get_track(len(target))
assert len(tr) == len(target)
for (x, y), (tx, ty) in zip(tr, target):
assert abs(x - tx) < 0.1
assert abs(y - ty) < 0.1
def test_home():
track = GpsTrack(track_length_limit=2)
assert track.get_home() is None
test_track_data = [(0.5, 1.), [0.7, 0.9], np.asarray([5, 4.]), (5.1, 4.2)]
for p in test_track_data:
track(p)
assert track.get_home() == test_track_data[0]
track.clear()
assert track.get_home() is None
def test_accuracy():
track = GpsTrack(gps_accuracy_meters=1e5)
test_track_data = [(45.5, 1.), [45.5, 0.9],
np.asarray([55, 4.]), (55.1, 4.2)]
for p in test_track_data:
track(p)
assert len(track) == 3
x_target, y_target = test_track_data[3]
assert track[2] == (x_target, y_target)
x_target, y_target = test_track_data[1]
assert track[1] == (x_target, y_target)
def test_limit_length():
max_sz = 3
track = GpsTrack(track_length_limit=max_sz)
for i in range(6):
track((i, i))
assert len(track) == max_sz
from hardware_api.webcamera import WebCamera
class Item(BaseModel):
speed: int
angle: int
led1: bool
led2: bool
class MapRequest(BaseModel):
set_home: bool
clear_track: bool
track = GpsTrack(gps_accuracy_meters=10, track_length_limit=128)
boat = BoatHardware()
cam = WebCamera(0)
app = FastAPI()
app.mount("/static", StaticFiles(directory="static"), name="static")
templates = Jinja2Templates(directory="templates")
@app.get("/", response_class=HTMLResponse)
async def root(request: Request):
# Это все для примера, как можно использовать шаблонизацию. Конечный вариант передаваемых параметров обсуждаем.
return templates.TemplateResponse(
"index.html", {
"request": request,
"telemetry_url": "/telemetry",
"control_url": "/control",