def test_FenceWithGPSError():
"""
Test using GPS error has to use floating numbers, otherwise the error is never big enough to show in the test.
TODO improve this test to add randomness
"""
fence = [(50.863862, 4.67886),(50.863613, 4.678992),(50.863613, 4.678625),(50.863789, 4.678523),(50.863862, 4.67886)]
minimum_altitude = 10
maximum_altitude = 20
gps = MockGps()
gps.eph = 900 # 9 meter horizontal GPS error
vehicle = MockVehicle("LOITER", MockLocation(50.863743, 4.678677,11))
vehicle.gps_0 = gps
b = GeoFencingBehaviour(fence, minimum_altitude, maximum_altitude, vehicle)
b.precision = 700
#
# We want to receive a halt message with a certainty greater than 99%
#
certainty = 0.9
accumulated_halts = 0
runs = 1000
for i in range(1,runs):
if b.run() == SafeBehaviour.SafeBehaviour.halt:
accumulated_halts = accumulated_halts + 1
assert (accumulated_halts/float(runs)) >= certainty
def test_GeoFenceBehaviourNull():
fence = [(0,0), (10,0), (10,10), (0,10), (0,0)]
minimum_altitude = 10
maximum_altitude = 20
b = GeoFencingBehaviour(fence, minimum_altitude, maximum_altitude, MockVehicle("RTL"))
assert b.run() == SafeBehaviour.SafeBehaviour.do_nothing
def test_AdaptiveFence():
fence = [(0,0), (10,0), (10,10), (0,10), (0,0)]
minimum_altitude = 10
maximum_altitude = 20
vehicle = MockVehicle("LOITER", MockLocation(1,1,11))
b = GeoFencingBehaviour(fence, minimum_altitude, maximum_altitude, vehicle)
b.set_adaptive_fence()
vehicle.velocity = [0, 0, 0]
assert b.run() == SafeBehaviour.SafeBehaviour.do_nothing
vehicle.velocity = [10, 10, 0]
assert b.run() == SafeBehaviour.SafeBehaviour.halt
vehicle.velocity = [9, 9, 0]
assert b.run() == SafeBehaviour.SafeBehaviour.do_nothing
vehicle.velocity = [0, 9, 0]
assert b.run() == SafeBehaviour.SafeBehaviour.do_nothing
def test_GeoFenceBehaviourOK():
fence = [(0,0), (10,0), (10,10), (0,10), (0,0)]
minimum_altitude = 10
maximum_altitude = 20
b = GeoFencingBehaviour(fence, minimum_altitude, maximum_altitude, MockVehicle("LOITER", MockLocation(1,1,11)))
assert b.run() == SafeBehaviour.SafeBehaviour.do_nothing