def setUp(self):
gVars.logger = sailbot_logger.Logger()
self.round_buoy = roundbuoy.RoundBuoy()
gVars.currentData = datatypes.ArduinoData(
0, 0, 0, 0, datatypes.GPSCoordinate(0, 0), 0, 0, 0, 0, 0)
self.buoyLoc = datatypes.GPSCoordinate(1, 1)
self.angleBetweenBuoyAndGPSCoord = standardcalc.angleBetweenTwoCoords(
gVars.currentData.gps_coord, self.buoyLoc)
def setUp(self): self.stationKeeping = stationkeeping.StationKeeping() topLeftCoord= datatypes.GPSCoordinate(50,-123) topRightCoord=datatypes.GPSCoordinate(50,-122) botLeftCoord=datatypes.GPSCoordinate(49,-123) botRightCoord=datatypes.GPSCoordinate(49,-122) self.boxCoords = standardcalc.setBoxCoords(topLeftCoord, topRightCoord, botLeftCoord, botRightCoord) self.waypoints = self.stationKeeping.setWayPtCoords(self.boxCoords)
def setUp(self):
self.coords=[]
self.coords.append(datatypes.GPSCoordinate(1.0,1.0))
self.coords.append(datatypes.GPSCoordinate(1.0,2.0))
self.coords.append(datatypes.GPSCoordinate(2.0,2.0))
self.coords.append(datatypes.GPSCoordinate(2.0,1.0))
self.chaseRace = chaserace.ChaseRace()
gVars.instructions = datatypes.Instructions("none",[],[],"port",0)
gVars.currentData = datatypes.ArduinoData(0, 1, 2, 3, datatypes.GPSCoordinate(4, 4) , 5, 6, 7, 0, 20)
def testReadyToTackTrue(self):
AWA = 30
GPSCoord = datatypes.GPSCoordinate(49, -123)
Dest = datatypes.GPSCoordinate(49.1, -123) # 0 degrees, N
bearingToMark = standardcalc.angleBetweenTwoCoords(GPSCoord, Dest)
hog = 90 # E
self.assertTrue(self.tackengine.readyToTack(AWA, hog, bearingToMark))
hog = -90 # NW
self.assertTrue(self.tackengine.readyToTack(AWA, hog, bearingToMark))
def testSetInstructionsWithNavChallenge(self):
self.resetGlobVar()
self.instructions = datatypes.Instructions(
sVars.NAVIGATION_CHALLENGE,
[datatypes.Waypoint(datatypes.GPSCoordinate(1, 1), sVars.GO_TO)],
[datatypes.Boundary(datatypes.GPSCoordinate(1, 1), 1)], "port", 0)
self.gui_handler.setInstructions(self.instructions)
self.assertTrue(gVars.instructions, self.instructions)
self.assertListEqual(gVars.functionQueue, [sVars.NAVIGATION_CHALLENGE])
self.assertEqual(gVars.queueParameters[0][0].coordinate.lat, 1)
def testSetOuterBoundaries(self):
gVars.currentData.gps_coord = datatypes.GPSCoordinate(49, -123.1)
coordinate = datatypes.GPSCoordinate(49, -123) #same coordinate
radius = 50
boundary1 = datatypes.Boundary(coordinate, radius)
coordinate = datatypes.GPSCoordinate(49, -123.1) #same coordinate
radius = 50
boundary2 = datatypes.Boundary(coordinate, radius)
boundaries = [boundary1, boundary2]
self.assertEqual(self.boundaryHandler.getInnerBoundaries(boundaries),
[boundary2])
def setUp(self):
self.source1 = datatypes.GPSCoordinate(100,100)
self.dest1 = datatypes.GPSCoordinate(300,100)
self.angle1 = standardcalc.angleBetweenTwoCoords(self.source1, self.dest1)
self.angle2 = standardcalc.angleBetweenTwoCoords(self.dest1, self.source1)
self.source2 = datatypes.GPSCoordinate(0,0)
self.dest2 = datatypes.GPSCoordinate(1,1)
self.angle3 = standardcalc.angleBetweenTwoCoords(self.source2, self.dest2)
self.angle4 = standardcalc.angleBetweenTwoCoords(self.dest2, self.source2)
def initControlInstructionsObject(self, instructions):
waypointsList = []
boundariesList = []
for wpt in instructions['waypoints']:
coordinate = control.GPSCoordinate(wpt[0], wpt[1])
waypointsList.append(control.Waypoint(coordinate, wpt[2]))
for bnd in instructions['boundaries']:
coordinate = control.GPSCoordinate(bnd[0], bnd[1])
boundariesList.append(control.Boundary(coordinate, bnd[2]))
controlInstructions = control.Instructions(
instructions['challenge'], waypointsList, boundariesList,
instructions['rounding'], instructions['SK_exit_speed'])
return controlInstructions
def testOutsideHitBoundaries(self):
gVars.currentData.gps_coord = datatypes.GPSCoordinate(49, -123)
gVars.boundaries = []
coordinate = datatypes.GPSCoordinate(49, -123.1) #11ish km west
radius = 50
boundary = datatypes.Boundary(coordinate, radius)
gVars.boundaries.append(boundary)
self.boundaryHandler.innerBoundaries = self.boundaryHandler.getInnerBoundaries(
gVars.boundaries)
self.boundaryHandler.outerBoundaries = self.boundaryHandler.getOuterBoundaries(
gVars.boundaries)
self.assertFalse(self.boundaryHandler.checkInnerBoundaryInterception())
def testInsideHitBoundaries(self):
gVars.currentData.gps_coord = datatypes.GPSCoordinate(49, -123.1)
gVars.boundaries = []
coordinate = datatypes.GPSCoordinate(49, -123) #same coordinate
radius = 50
boundary = datatypes.Boundary(coordinate, radius)
gVars.boundaries = [boundary]
self.boundaryHandler.innerBoundaries = self.boundaryHandler.getInnerBoundaries(
gVars.boundaries)
self.boundaryHandler.outerBoundaries = self.boundaryHandler.getOuterBoundaries(
gVars.boundaries)
gVars.currentData.gps_coord = datatypes.GPSCoordinate(49, -123)
self.assertTrue(len(self.boundaryHandler.outerBoundaries) > 0)
self.assertTrue(self.boundaryHandler.checkOuterBoundaryInterception())
def testGetCurrentData(self):
self.resetGlobVar()
self.currdata = datatypes.ArduinoData(0, 1, 2, 3,
datatypes.GPSCoordinate(4, 4), 5,
6, 7, 0, 20)
gVars.currentData = self.currdata
self.gui_handler.getData()
if (not gVars.taskStartTime):
seconds = None
else:
seconds = (datetime.now() - gVars.taskStartTime).total_seconds()
seconds = round(seconds)
self.assertEqual(
self.gui_handler.getData(), {
"telemetry": {
"Heading": self.currdata.hog,
"COG": self.currdata.cog,
"SOG": self.currdata.sog,
"AWA": self.currdata.awa,
"latitude": self.currdata.gps_coord.lat,
"longitude": self.currdata.gps_coord.long,
"SheetPercent": self.currdata.sheet_percent,
"Rudder": self.currdata.rudder
},
"connectionStatus": {
"gpsSat": self.currdata.num_sat,
"HDOP": self.currdata.gps_accuracy,
"automode": self.currdata.auto
},
"currentProcess": {
"name": gVars.currentProcess,
"Starttime": seconds
}
})
def run(self, wayList):
self.nav_log_timer = 0
buoyCoords = None
portStartInnerPoint = None
starboardStartInnerPoint = None
navMidpoint = None
gVars.kill_flagNav = 0
for waypoint in wayList:
if (waypoint.wtype == sVars.NAV_FIRST):
buoyCoords = waypoint.coordinate
elif (waypoint.wtype == sVars.NAV_START_PORT):
portStartInnerPoint = waypoint.coordinate
elif (waypoint.wtype == sVars.NAV_START_STARBOARD):
starboardStartInnerPoint = waypoint.coordinate
elif (waypoint.wtype == sVars.NAV_MIDPOINT):
navMidpoint = waypoint.coordinate
if not (buoyCoords and portStartInnerPoint
and starboardStartInnerPoint):
gVars.logger.error("Arguments Incorrect!")
self.interpolatedPoint = standardcalc.returnMidPoint(
portStartInnerPoint, starboardStartInnerPoint)
if not navMidpoint:
halfwayBackPoint = datatypes.GPSCoordinate(
(self.interpolatedPoint.lat + buoyCoords.lat) / 2,
(self.interpolatedPoint.long + buoyCoords.long) / 2)
gVars.logger.info("Using dynamically created midpoint.")
else:
halfwayBackPoint = navMidpoint
gVars.logger.info("Using user given midpoint")
gVars.logger.info("Rounding Buoy")
if (gVars.kill_flagNav == 0):
self.roundbuoy.run(buoyCoords)
gVars.logger.info("Heading for Midpoint ")
if (gVars.kill_flagNav == 0):
self.pointtopoint.run(halfwayBackPoint)
gVars.logger.info("Heading for Finish")
if (gVars.kill_flagNav == 0):
acceptDistance = 1
thread.start_new_thread(self.printNavigationLog, ())
self.pointtopoint.run(self.interpolatedPoint, acceptDistance)
if gVars.kill_flagNav == 1:
gVars.logger.info(
"Nav Kill Flag initialized. Nav has been stopped.")
else:
gVars.logger.info("Navigation challenge finished")
def setUp(self):
self.returnstr = "\n1, 22222222, 33333333, 4, 5, 6, 7, 8, 9, 10, 11, 12 \n1, 22222222, 33333333, 4, 5, 6, 7, 8, 9, 10, 11, 12 \n1, 22222222, 33333333, 4, 5, 6, 7, 8, 9, 10, 11, 12"
self.returnarr = [1, 22222222, 33333333, 4, 5, 6, 7, 8, 9, 10, 11, 12]
self.returnstrnospace = "\n1,22222222,33333333,4,5,6,7,8,9,10,11,12\n1,22222222,33333333,4,5,6,7,8,9,10,11,12\n1,22222222,33333333,4,5,6,7,8,9,10,11,12"
self.arduinoData = datatypes.ArduinoData(
5.0, 4.0, 11.0, 7.0, datatypes.GPSCoordinate(3.3333333, 2.2222222),
8.0, 9.0, 10.0, 1.0, 12.0)
self.ser = serial.Serial()
serial.Serial = MagicMock(return_value=self.ser)
self.ser.Serial = MagicMock(return_value=None)
self.ser.flushInput = MagicMock(return_value=None)
self.ard = arduino.arduino()
def interpretArr(self, ardArr):
arduinoData = datatypes.ArduinoData()
arduinoData.hog = standardcalc.boundTo180(ardArr[ARD_HOG])
arduinoData.cog = standardcalc.boundTo180(ardArr[ARD_COG])
arduinoData.sog = ardArr[ARD_SOG]
arduinoData.awa = ardArr[ARD_AWAV]
arduinoData.gps_coord = datatypes.GPSCoordinate(
ardArr[ARD_LAT] / 10000000, ardArr[ARD_LONG] / 10000000)
arduinoData.sheet_percent = ardArr[ARD_SHT]
arduinoData.num_sat = ardArr[ARD_SAT]
arduinoData.gps_accuracy = ardArr[ARD_ACC]
arduinoData.auto = ardArr[ARD_AUT]
arduinoData.rudder = ardArr[ARD_RUD]
return arduinoData
def angleBetweenTwoCoords(sourceCoord, destCoord):
GPSCoord = datatypes.GPSCoordinate()
if (sourceCoord.lat > destCoord.lat):
GPSCoord.lat = sourceCoord.lat
GPSCoord.long = destCoord.long
elif (sourceCoord.lat < destCoord.lat):
GPSCoord.lat = destCoord.lat
GPSCoord.long = sourceCoord.long
elif (sourceCoord.long < destCoord.long):
return 90
elif (sourceCoord.long > destCoord.long):
return -90
else:
return None
distBtwnCoords = distBetweenTwoCoords(sourceCoord, destCoord)
distSin = distBetweenTwoCoords(destCoord, GPSCoord)
angle = math.asin(distSin / distBtwnCoords) * 180 / math.pi
if (sourceCoord.lat < destCoord.lat):
if (sourceCoord.long < destCoord.long):
return angle
elif (sourceCoord.long > destCoord.long):
angle = -angle
return angle
else:
return 0
else:
if (sourceCoord.long < destCoord.long):
angle = 90 + angle
return angle
elif (sourceCoord.long > destCoord.long):
angle = -90 - angle
return angle
else:
return 180
def setUp(self):
self.coords =[]
self.coords.append(datatypes.GPSCoordinate(1.0,3.0))
self.coords.append(datatypes.GPSCoordinate(1.0,2.0))
self.coords.append(datatypes.GPSCoordinate(2.0,2.0))
self.coords.append(datatypes.GPSCoordinate(2.0,3.0))
def setUp(self):
gVars.logger = sailbot_logger.Logger()
self.boundaryHandler = circleboundaryhandler.CircleBoundaryHandler()
gVars.currentData = datatypes.ArduinoData(
0, 1, 2, 3, datatypes.GPSCoordinate(4, 4), 5, 6, 7, 0, 20)
def setUp(self):
gVars.logger = sailbot_logger.Logger()
self.p2p = pointtopoint.PointToPoint()
self.p2p.GPSCoord = datatypes.GPSCoordinate(49, -123)
self.p2p.Dest = datatypes.GPSCoordinate(50, -122) #north east
self.p2p.sog = 100
def setUp(self):
self.point1 = datatypes.GPSCoordinate(0,0)
self.point2 = datatypes.GPSCoordinate(1,1)
def testSouthWpt(self): southWpt = datatypes.GPSCoordinate(49,-122.5) self.assertEqual(round(self.waypoints[2].long,1),southWpt.long) self.assertEqual(self.waypoints[2].lat,southWpt.lat)
def setUp(self):
self.coord0 = datatypes.GPSCoordinate(1.0,3.0)
self.coord1 = datatypes.GPSCoordinate(1.0,2.0)
self.coord2 = datatypes.GPSCoordinate(2.0,2.0) #square
self.coord3 = datatypes.GPSCoordinate(2.0,3.0)
def setUp(self):
self.list1 = []
gVars.currentData = datatypes.ArduinoData(0, 1, 2, 3, datatypes.GPSCoordinate(4, 4) , 5, 6, 7, 0, 20)
self.list2 = [1,2,3]
self.list3 = standardcalc.changeSpdList(self.list2)
def testExpectNotNoGoStrange(self):
self.appWind = 130
self.heading = -140
self.GPSCoord = datatypes.GPSCoordinate(49,-123)
self.Dest = datatypes.GPSCoordinate(48,-123)
self.assertFalse(standardcalc.isWPNoGoAWA(self.appWind, self.heading, self.Dest, self.sog, self.GPSCoord))
def setUp(self):
self.appWind = 131
self.heading = -30
self.GPSCoord = datatypes.GPSCoordinate(49,-123)
self.Dest = datatypes.GPSCoordinate(48.9,-123.1)
self.sog = 0
def testEnteringFromEast(self): gVars.currentData.gps_coord = datatypes.GPSCoordinate(49.4,-122) #east edge gVars.currentData.hog = -90 startDirection = self.stationKeeping.getStartDirection(self.waypoints) self.assertEqual(startDirection,3)
def testClosestPointIsIndex1(self):
gVars.currentData.gps_coord = datatypes.GPSCoordinate(2.0,2.0)
self.assertEqual(standardcalc.returnClosestWaypointIndex(self.coords),2)
def testNorthWpt(self): northWpt = datatypes.GPSCoordinate(50,-122.5) self.assertEqual(self.waypoints[0].lat,northWpt.lat) self.assertEqual(round(self.waypoints[0].long,1),northWpt.long)
def setUp(self):
self.coord0 = datatypes.GPSCoordinate(1.0,3.0)
self.coord1 = datatypes.GPSCoordinate(2.0,3.0)
self.coord2 = datatypes.GPSCoordinate(2.0,2.0)#90 degrees
def testWestWpt(self): eastWpt = datatypes.GPSCoordinate(49.5,-123) self.assertEqual(self.waypoints[3].lat,eastWpt.lat) self.assertEqual(self.waypoints[3].long,eastWpt.long)
def setUp(self):
self.source = datatypes.GPSCoordinate(49.262330, -123.248148)
self.result1 = datatypes.GPSCoordinate(49.26322919993, -123.24677409844) #100m north, 100m east
self.result2 = datatypes.GPSCoordinate(49.26143080008, -123.24952185164) #100m south, 100m west
self.result3 = datatypes.GPSCoordinate(49.27132080213, -123.23440919997) #1km north, 1km east
self.result4 = datatypes.GPSCoordinate(49.25333758688, -123.26188680003) #1km south, 1km west
