def test_is_right_alt(self):
loc = Location()
self.assertFalse(loc.is_right_alt(CHARACTER))
self.assertFalse(loc.is_right_alt(CHAR_NUMBER))
loc.set_altitude(CHAR_NUMBER)
self.assertTrue(loc.is_right_alt(CHAR_NUMBER))
self.assertTrue(loc.is_right_alt(float(CHAR_NUMBER)-0.04))
self.assertTrue(loc.is_right_alt(float(CHAR_NUMBER)+0.04))
self.assertFalse(loc.is_right_alt(float(CHAR_NUMBER)-0.06))
self.assertFalse(loc.is_right_alt(float(CHAR_NUMBER)+0.06))
self.assertTrue(loc.is_right_alt(float(CHAR_NUMBER)-0.05))
self.assertTrue(loc.is_right_alt(float(CHAR_NUMBER)+0.05))
self.assertFalse(loc.is_right_alt(float(CHAR_NUMBER)-0.051))
self.assertFalse(loc.is_right_alt(float(CHAR_NUMBER)+0.051))
def up(self,init_alt_in_meter):
if(self.is_first_function):
head = self.vehicle.heading/ANGLE_FIX
self.is_first_function = False
else:
head= self.vehicle.heading
loc = Location()
loc1 = Location()
loc.setFromVehicleLocation(self.vehicle.location.global_frame)
loc1.setFromVehicleLocation(self.vehicle.location.global_frame)
loc.set_altitude(loc.get_altitude()+init_alt_in_meter)
location_global = LocationGlobal(loc.latitude,loc.longitude,loc.altitude)
self.vehicle.simple_goto(location_global)
while not loc1.is_right_alt(loc.altitude):
loc1.setFromVehicleLocation(self.vehicle.location.global_frame)
self.condition_yaw(head)
time.sleep(DELAY)
if init_alt_in_meter > 0:
print "complete function up"
else:
print "complete function down"
def test_set_altitude(self):
loc = Location()
#set the default location
self.assertEqual(loc.get_altitude(),0)
loc.set_altitude(0)
self.assertEqual(loc.get_altitude(),0)
#check character -> set zero
loc.set_altitude(CHARACTER)
self.assertEqual(loc.get_altitude(),0)
#check character number -> convert to the number
loc.set_altitude(CHAR_NUMBER)
self.assertEqual(loc.get_altitude(),float(CHAR_NUMBER))
def test_equalsTo(self):
loc = Location()
loc1 = Location()
#---------------latitude--------------------#
self.assertTrue(loc.equalsTo(loc1))
loc1.set_latitude(LIMIT_NUMBER_LATITUDE)
self.assertFalse(loc.equalsTo(loc1))
loc.set_latitude(LIMIT_NUMBER_LATITUDE)
self.assertTrue(loc.equalsTo(loc1))
loc.set_latitude(LIMIT_NUMBER_LATITUDE+1)
self.assertTrue(loc.equalsTo(loc1))
loc1.set_latitude(LIMIT_NUMBER_LATITUDE+1)
self.assertTrue(loc.equalsTo(loc1))
loc.set_latitude(-LIMIT_NUMBER_LATITUDE)
self.assertFalse(loc.equalsTo(loc1))
loc1.set_latitude(-LIMIT_NUMBER_LATITUDE)
self.assertTrue(loc.equalsTo(loc1))
loc.set_latitude(-LIMIT_NUMBER_LATITUDE-1)
self.assertTrue(loc.equalsTo(loc1))
loc1.set_latitude(-LIMIT_NUMBER_LATITUDE-1)
self.assertTrue(loc.equalsTo(loc1))
loc.set_latitude(CHARACTER)
self.assertFalse(loc.equalsTo(loc1))
loc1.set_latitude(CHARACTER)
self.assertTrue(loc.equalsTo(loc1))
loc.set_latitude(CHAR_NUMBER)
self.assertFalse(loc.equalsTo(loc1))
loc1.set_latitude(CHAR_NUMBER)
self.assertTrue(loc.equalsTo(loc1))
#print "%f %f " % ( loc.longitude, loc.latitude)
#print "%f %f " % ( loc1.longitude, loc1.latitude)
#---------------longitude-------------------------#
loc1.set_longitude(LIMIT_NUMBER_LONGITUDE)
self.assertFalse(loc.equalsTo(loc1))
loc.set_longitude(LIMIT_NUMBER_LONGITUDE)
self.assertTrue(loc.equalsTo(loc1))
loc.set_longitude(LIMIT_NUMBER_LONGITUDE+1)
#print "%f %f " % ( loc.longitude, loc.latitude)
#print "%f %f " % ( loc1.longitude, loc1.latitude)
self.assertTrue(loc.equalsTo(loc1))
loc1.set_longitude(LIMIT_NUMBER_LONGITUDE+1)
self.assertTrue(loc.equalsTo(loc1))
loc.set_longitude(-LIMIT_NUMBER_LONGITUDE)
self.assertFalse(loc.equalsTo(loc1))
loc1.set_longitude(-LIMIT_NUMBER_LONGITUDE)
self.assertTrue(loc.equalsTo(loc1))
loc.set_longitude(-LIMIT_NUMBER_LONGITUDE-1)
self.assertTrue(loc.equalsTo(loc1))
loc1.set_longitude(-LIMIT_NUMBER_LONGITUDE-1)
self.assertTrue(loc.equalsTo(loc1))
loc.set_longitude(CHARACTER)
self.assertTrue(loc.equalsTo(loc1))
loc1.set_longitude(CHARACTER)
self.assertTrue(loc.equalsTo(loc1))
loc.set_longitude(CHAR_NUMBER)
self.assertFalse(loc.equalsTo(loc1))
loc1.set_longitude(CHAR_NUMBER)
self.assertTrue(loc.equalsTo(loc1))
#-------------altitude--------------------#
loc.set_altitude(CHARACTER)
self.assertTrue(loc.equalsTo(loc1))
loc.set_altitude(CHAR_NUMBER)
self.assertFalse(loc.equalsTo(loc1))
loc1.set_altitude(CHAR_NUMBER)
self.assertTrue(loc.equalsTo(loc1))
