def _update_states_and_check_single_drone_command(
self, single_drone_command: SingleDroneCommand,
state_updaters: Dict[str, StateUpdater],
drone_state_map: Dict[str,
State], drones_involved: Set[str]) -> float:
self._check_takeoff_state(single_drone_command, drone_state_map)
time_used = self._update_states(single_drone_command, state_updaters,
drone_state_map, drones_involved)
for name, state in drone_state_map.items():
try:
self.boundary_config.check_state(name, state)
except SafetyCheckError as e:
raise SafetyCheckError(
"When running command '{}', boundary limits are violated: {}"
.format(single_drone_command.to_command_str(), str(e)))
return time_used
def test_to_command_str(self):
drone_command = SingleDroneCommand("abc", Command.takeoff())
self.assertEqual("abc.takeoff();", drone_command.to_command_str())
drone_command = SingleDroneCommand("abc", Command.up(1))
self.assertEqual("abc.up(1);", drone_command.to_command_str())
