def setUpClass(self):
self.swarm_config = load_json_config("swarm_config")
self.swarm = Swarm(self.swarm_config.Swarm)
self.ip = self.swarm.ip
self.webport = self.swarm.webport
self.swarmSize = 0
self.swarm_data_structure = {
"Swarm": {
"size": self.swarmSize,
"ip": self.ip,
"webport": self.webport
},
"Drones": []
}
for idx, drone_cfg in enumerate(self.swarm_config.Drones):
drone = Drone(drone_cfg)
self.swarm_data_structure.get("Drones").append(drone)
self.swarmSize = idx
#idx is zero based so we make is not
self.swarmSize += 1
######################################
print("Setup testConfig() complete!")
class FirstSetOfTests(DroneUnitTest):
@classmethod
def setUpClass(self):
super(FirstSetOfTests, self).setUpClass()
def test_swarm_size(self):
self.assertEqual(
self.swarm_data_structure.get("Drones").__len__(), self.swarmSize)
def test_drone_put_request(self):
for idx, drone in enumerate(self.swarm_data_structure.get("Drones")):
status_code = drone.update_self_to_swarm("/Swarm")
self.assertEqual(200, status_code)
def test_drone_get(self):
for idx, drone in enumerate(self.swarm_data_structure.get("Drones")):
data = drone.get_data_from_server("/Swarm")
self.assertTrue(data)
def test_wait_for_swarm_ready(self):
self.swarm.wait_for_swarm_ready()
def test_swarm(self):
swarm_config = load_json_config("swarm_config")
self.swarm = Swarm(swarm_config.Swarm)
self.assertTrue(self.swarm)
def test_add_to_swarm(self):
swarm_config = load_json_config("swarm_config")
self.swarm = Swarm(swarm_config.Swarm)
for idx, drone in enumerate(self.swarm_data_structure.get("Drones")):
self.swarm.add_drone(self.drones[idx])
self.assertTrue(self.swarm.swarmSize(), idx + 1)
"""
def test_swarm_takeoff_altitude(self):
altitude = 10
for idx, drone in enumerate(self.swarm_data_structure.get("Drones")):
drone.arm_and_takeoff(10)
self.swarm_data_structure.get("Drones")[0].wait_for_swarm_to_match_altitude()
"""
""
"""def test_sitl_instance(self):
def __init__(self, swarm):
self.swarm = swarm
self.app = Flask("abc")
self.app = self.app.register_blueprint
self.api = Api(self.app)
self.api.add_resource(Swarm.get_swarm(self.swarm), '/Swarm')
for idx, drone in enumerate(self.swarm):
self.newDrone(drone)
if __name__ == "__main__":
self.gevent_server = gevent.pywsgi.WSGIServer(('', 5000), self.app)
self.gevent_server.serve_forever() #instead of self.app.run()
formationList = ["triangle", "xaxis", "yaxis", "stacked"]
formationAlt = 15
waypoints = {
"lat1": 47.9190654,
"lon1": -97.0647079,
"lat2": 47.9188605,
"lon2": -97.0647106,
"lat3": 47.9188623,
"lon3": -97.0641875,
"lat4": 47.9190798,
"lon4": -97.0641875
}
"""
Initialize drones in the swarm
"""
swarm = Swarm(swarm_config.Swarm)
for idx, drone_cfg in enumerate(swarm_config.Drones):
drone = Drone(drone_cfg)
drone.update_self_to_swarm('/Swarm')
swarm.add_drone(drone)
swarm.list_swarm()
swarm.wait_for_swarm_ready()
swarm.launch_swarm(15)
# Cycle through formations and waypoints
# Move to a different formation each lap
for idx in range(0, 3):
for idx2, drone in enumerate(swarm.swarm):
drone.goto_formation(formationList[idx2], formationAlt, False)
def test_add_to_swarm(self):
swarm_config = load_json_config("swarm_config")
self.swarm = Swarm(swarm_config.Swarm)
for idx, drone in enumerate(self.swarm_data_structure.get("Drones")):
self.swarm.add_drone(self.drones[idx])
self.assertTrue(self.swarm.swarmSize(), idx + 1)
def test_swarm(self):
swarm_config = load_json_config("swarm_config")
self.swarm = Swarm(swarm_config.Swarm)
self.assertTrue(self.swarm)
for idx in (0, instance):
drone_config = {
"id": default_id + idx,
"ip": default_ip,
"port": str(int(default_port) + (instance * 10)),
"sitl": sitl,
"webport": default_webport
}
swarm_config.get('Drones').append((drone_config))
print(swarm_config.get("Drones").__len__())
#swarm_config = Config(swarm_config)
swarm = Swarm(swarm_config.Swarm)
for idx in enumerate(swarm_config.Drones):
drone = Drone(swarm_config.Drones[idx])
swarm.add_drone(drone)
print("Finished!")
"""
if (sitl):
import dronekit_sitl
sitl = dronekit_sitl.start_default(47.920198, -97.064737)
connection_string = sitl.connection_string()
else:
connection_string = '/dev/ttyACM0'
drone = Drone(connection_string,'http://localhost',id,ip,True)
def newDrone(self, drone):
self.api.add_resource(Swarm.get_drone(self.swarm, drone.id))
self.api.add_resource(drone.get_drone_data(),
'/Swarm/' + str(drone.id))