def _update_land(self, command: Command, state: State) -> State:
assert command.opcode == "land"
state = state.copy_and_set_has_taken_off(False)
state = state.copy_and_set_time_used_seconds(
state.time_used_seconds + state.z_meters / self.drone_config.speed_mps)
state = state.copy_and_set_z_meters(0)
return state
def _update_down(self, command: Command, state: State) -> State:
assert command.opcode == "down"
down_meters, = command.operands
state = state.copy_and_set_time_used_seconds(
state.time_used_seconds + down_meters / self.drone_config.speed_mps)
state = state.copy_and_set_z_meters(state.z_meters - down_meters)
return state
def _update_takeoff(self, command: Command, state: State) -> State:
assert command.opcode == "takeoff"
state = state.copy_and_set_has_taken_off(True)
state = state.copy_and_set_time_used_seconds(
state.time_used_seconds + self.drone_config.takeoff_height_meters / self.drone_config.speed_mps)
state = state.copy_and_set_z_meters(self.drone_config.takeoff_height_meters)
return state
def test_copy_and_set_z_meters(self):
state = State()
actual = state.copy_and_set_z_meters(1)
expected = State(has_taken_off=False, time_used_seconds=0,
x_meters=0, y_meters=0, z_meters=1, orientation_degrees=0)
self.assertEqual(expected, actual)