class TestHandleRCs(unittest.TestCase):
def setUp(self):
mgr = Mock(spec=["sendPacket", "remapper", "rcMgr", "appMgr"])
mgr.currentShot = shots.APP_SHOT_CABLECAM
mgr.buttonManager = Mock()
mgr.getParam = Mock(return_value=500.0)
self.mock_vehicle = mock.create_autospec(Vehicle)
self.controller = CableCamShot(self.mock_vehicle, mgr)
self.mock_vehicle.location.global_relative_frame = LocationGlobalRelative(
37.242124, -122.12841, 15.3)
self.controller.recordLocation()
self.mock_vehicle.location.global_relative_frame = LocationGlobalRelative(
30.13241, 10.112135, 0.0)
self.controller.recordLocation()
self.controller.yawPitchOffsetter = Mock()
self.controller.yawPitchOffsetter.yawOffset = 2.0
def testRCsMax(self):
""" Test RCs Max """
channels = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
self.controller.handleRCs(channels)
def testRCsMin(self):
""" Test RCs Min """
channels = [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0]
self.controller.handleRCs(channels)
def testRCsZero(self):
""" Test RCs Max """
channels = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
self.controller.handleRCs(channels)
def testRCs2(self):
""" Test RCs Max """
channels = [0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2, 0.2]
self.controller.handleRCs(channels)
def testIsNearTarget(self):
''' Test that pause is activated when we reach a target '''
channels = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
self.controller.handleRCs(channels)
self.controller.pathHandler.isNearTarget = Mock(return_value=True)
self.controller.pathHandler.pause = Mock()
self.controller.handleRCs(channels)
self.controller.pathHandler.pause.assert_called_with()
class TestHandleRCsSetupTargeting(unittest.TestCase):
def setUp(self):
mgr = Mock(spec=["sendPacket", "remapper", "appMgr"])
mgr.currentShot = shots.APP_SHOT_CABLECAM
mgr.buttonManager = Mock()
mgr.getParam = Mock(return_value=500.0)
self.mock_vehicle = mock.create_autospec(Vehicle)
self.controller = CableCamShot(self.mock_vehicle, mgr)
self.mock_vehicle.location.global_relative_frame = LocationGlobalRelative(
37.242124, -122.12841, 15.3)
self.controller.recordLocation()
self.mock_vehicle.location.global_relative_frame = LocationGlobalRelative(
30.13241, 10.112135, 0.0)
self.controller.recordLocation()
self.controller.setupTargeting = Mock()
def testSetupTargetingCalled(self):
""" setupTargeting should be called when we get into guided """
self.mock_vehicle.mode.name = "GUIDED"
channels = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
self.controller.handleRCs(channels)
self.controller.setupTargeting.assert_called_with()
self.assertTrue(self.controller.haveSetupTargeting)
def testSetupTargetingNotCalled(self):
""" Don't call this if we're not yet in guided """
self.mock_vehicle.mode.name = "LOITER"
channels = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
self.controller.handleRCs(channels)
self.assertFalse(self.controller.setupTargeting.called)
self.assertFalse(self.controller.haveSetupTargeting)
def testSetupTargetingAlready(self):
""" Already set up targeting """
self.mock_vehicle.mode.name = "GUIDED"
channels = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
self.controller.haveSetupTargeting = True
self.controller.handleRCs(channels)
self.assertFalse(self.controller.setupTargeting.called)
class TestSetButtonMappings(unittest.TestCase):
def setUp(self):
self.v = mock.create_autospec(Vehicle)
self.v.location.global_relative_frame = LocationGlobalRelative(
30.13241, 10.112135, 0.0)
self.mockMgr = Mock()
self.mockMgr.buttonManager = Mock()
self.mockMgr.getParam = Mock(return_value=500.0)
self.controller = CableCamShot(self.v, self.mockMgr)
def testSetButtonMappingsNoWaypoints(self):
""" Testing setting button mappings when we have no recorded points """
self.controller.setButtonMappings()
calls = [
call(btn_msg.ButtonA, shots.APP_SHOT_CABLECAM,
btn_msg.ARTOO_BITMASK_ENABLED, "Record Point\0"),
call(btn_msg.ButtonB, shots.APP_SHOT_CABLECAM, 0, "\0")
]
self.mockMgr.buttonManager.setArtooButton.assert_has_calls(
calls, any_order=False)
def testSetButtonMappings1Waypoint(self):
""" Testing setting button mappings when we have one recorded point """
self.controller.recordLocation()
self.controller.setButtonMappings()
calls = [
call(btn_msg.ButtonA, shots.APP_SHOT_CABLECAM, 0, "\0"),
call(btn_msg.ButtonB, shots.APP_SHOT_CABLECAM,
btn_msg.ARTOO_BITMASK_ENABLED, "Record Point\0")
]
self.mockMgr.buttonManager.setArtooButton.assert_has_calls(
calls, any_order=False)
def testSetButtonMappings(self):
""" Testing setting button mappings when we have locked on """
self.controller.recordLocation()
self.v.location.global_relative_frame = LocationGlobalRelative(
50.13241, 10.112135, 0.0)
self.controller.recordLocation()
self.controller.setButtonMappings()
calls = [
call(btn_msg.ButtonA, shots.APP_SHOT_CABLECAM, 0, "\0"),
call(btn_msg.ButtonB, shots.APP_SHOT_CABLECAM, 0, "\0")
]
self.mockMgr.buttonManager.setArtooButton.assert_has_calls(
calls, any_order=False)
class TestRecordLocation(unittest.TestCase):
def setUp(self):
self.v = mock.create_autospec(Vehicle)
mgr = Mock(spec=["sendPacket", "remapper", "appMgr"])
mgr.buttonManager = Mock()
mgr.getParam = Mock(return_value=500.0)
self.controller = CableCamShot(self.v, mgr)
def testRecordingLocations(self):
""" Test recording locations """
self.v.location.global_relative_frame = LocationGlobalRelative(
37.242124, -122.12841, 15.3)
self.controller.recordLocation()
self.v.location.global_relative_frame = LocationGlobalRelative(
30.13241, 10.112135, 0.0)
self.controller.recordLocation()
self.v.location.global_relative_frame = LocationGlobalRelative(
-14.654861, 108.4645, 32.6545)
self.controller.recordLocation()
self.assertTrue(len(self.controller.waypoints) == 3)
def testRecordingSameLocations(self):
""" Test recording the same locations """
self.v.location.global_relative_frame = LocationGlobalRelative(
37.242124, -122.12841, 15.3)
self.controller.recordLocation()
self.controller.recordLocation()
self.controller.recordLocation()
self.assertTrue(len(self.controller.waypoints) == 1)
def testCallSetButtonMappings(self):
""" Make sure setButtonMappings is called when recording a location """
self.controller.setButtonMappings = Mock()
self.v.location.global_relative_frame = LocationGlobalRelative(
37.242124, -122.12841, 15.3)
self.controller.recordLocation()
self.controller.setButtonMappings.assert_called_with()
self.controller.setButtonMappings = Mock()
self.v.location.global_relative_frame = LocationGlobalRelative(
30.13241, 10.112135, 0.0)
self.controller.recordLocation()
self.controller.setButtonMappings.assert_called_with()