def test_should_use_minimum_steer_time_if_time_calculation_returns_small_value(self):
self.listen(EventName.after)
waypoint = Waypoint(Position(53.0001,-1.9999),5)
fake_gps = FakeMovingGPS([self.current_position, waypoint.position])
fake_gps.speed = 100
navigator = self.new_navigator(fake_gps)
self.exchange.publish(Event(EventName.navigate,waypoint))
self.assertEqual(self.last_event.seconds,MIN_TIME_TO_STEER)
def test_should_use_a_minimum_speed_for_calculation_preventing_divide_by_zero_error(self):
self.listen(EventName.after)
waypoint = Waypoint(Position(53.001,-2.001),5)
fake_gps = FakeMovingGPS([self.current_position, waypoint.position])
fake_gps.speed = 0
expected_time = expected_time_to_steer(self.current_position,waypoint.position,0.01)
navigator = self.new_navigator(fake_gps)
self.exchange.publish(Event(EventName.navigate,waypoint))
self.assertEqual(self.last_event.seconds,expected_time)
def test_should_use_maximum_steer_time_if_its_a_long_way_to_go(self):
self.listen(EventName.after)
waypoint = Waypoint(Position(60.0001,10),5)
fake_gps = FakeMovingGPS([self.current_position, waypoint.position])
fake_gps.speed = 1
expected_bearing = self.globe.bearing(self.current_position,waypoint.position)
navigator = self.new_navigator(fake_gps)
self.exchange.publish(Event(EventName.navigate,waypoint))
self.assertEqual(self.last_event.seconds,MAX_TIME_TO_STEER)
def test_should_navigate_to_next_waypoint_with_kink_in_route(self):
destination = Waypoint(Position(10.03, 10.03), 10)
gps = FakeMovingGPS([
Position(10, 10),
Position(10.01, 10.01),
Position(10.025, 10.015),
Position(10.03, 10.03)
])
sensors = FakeSensors(gps, 1, 45)
steerer = Steerer(self.servo, self.logger, CONFIG['steerer'])
helm = Helm(self.exchange, sensors, steerer, self.logger,
CONFIG['helm'])
navigator = Navigator(sensors, Globe(), self.exchange, self.logger,
CONFIG['navigator'])
self.exchange.publish(Event(EventName.navigate, waypoint=destination))
self.ticks(number=14, duration=200)
self.logger.info.assert_has_calls([
call(
'Navigator, steering to +10.030000,+10.030000, bearing 44.6, distance 4681.8m, review after 600s'
),
call(
'Navigator, steering to +10.030000,+10.030000, bearing 44.6, distance 3121.2m, review after 600s'
),
call(
'Navigator, steering to +10.030000,+10.030000, bearing 71.3, distance 1734.0m, review after 600s'
),
call('Navigator, arrived at +10.030000,+10.030000')
])
def test_should_steer_repeatedly_during_navigation(self):
logger = Mock()
destination = Waypoint(Position(10.0003, 10.0003), 10)
gps = FakeMovingGPS([
Position(10, 10),
Position(10.0001, 10.00015),
Position(10.00025, 10.0002),
Position(10.0003, 10.0003)
])
sensors = FakeSensors(gps, 1, 45)
steerer = Steerer(self.servo, logger, CONFIG['steerer'])
helm = Helm(self.exchange, sensors, steerer, logger, CONFIG['helm'])
navigator = Navigator(sensors, Globe(), self.exchange, logger,
CONFIG['navigator'])
self.exchange.publish(Event(EventName.navigate, waypoint=destination))
self.ticks(number=7, duration=20)
logger.debug.assert_has_calls([
call(
'Navigator, distance from waypoint +46.819018, combined tolerance +10.000000'
),
call(
'Navigator, distance from waypoint +27.647432, combined tolerance +10.000000'
),
call(
'Steerer, steering 36.4, heading 45.0, rate of turn +1.0, rudder +0.0, new rudder +4.6'
),
call(
'Steerer, steering 36.4, heading 45.0, rate of turn +1.0, rudder +4.6, new rudder +9.2'
),
call(
'Navigator, distance from waypoint +12.281099, combined tolerance +10.000000'
),
call(
'Steerer, steering 63.1, heading 45.0, rate of turn +1.0, rudder +9.2, new rudder +0.4'
),
call(
'Navigator, distance from waypoint +0.000000, combined tolerance +10.000000'
),
call(
'Steerer, steering 63.1, heading 45.0, rate of turn +1.0, rudder +0.4, new rudder -8.3'
),
call(
'Steerer, steering 63.1, heading 45.0, rate of turn +1.0, rudder -8.3, new rudder -17.1'
)
])
logger.info.assert_has_calls([
call(
'Navigator, steering to +10.000300,+10.000300, bearing 44.6, distance 46.8m, review after 23s'
),
call(
'Navigator, steering to +10.000300,+10.000300, bearing 36.4, distance 27.6m, review after 13s'
),
call(
'Navigator, steering to +10.000300,+10.000300, bearing 63.1, distance 12.3m, review after 6s'
),
call('Navigator, arrived at +10.000300,+10.000300')
])
def test_should_return_minimum_review_time_if_time_calculation_results_in_NaN(self):
self.listen(EventName.after)
waypoint = Waypoint(Position(-60,22),0)
no_position = Position(NaN,NaN,NaN,NaN)
fake_gps = FakeMovingGPS([self.current_position, no_position, waypoint.position])
navigator = self.new_navigator(fake_gps)
self.exchange.publish(Event(EventName.navigate,waypoint))
self.assertEqual(self.last_event.seconds,MAX_TIME_TO_STEER)
self.exchange.publish(Event(EventName.navigate_review,waypoint))
self.assertEqual(self.event_count(EventName.after),2,"expected 1 'after' events")
self.assertEqual(self.last_event.seconds,MIN_TIME_TO_STEER)
def test_should_signal_review_after_half_way_to_way_point_based_on_speed(self):
self.listen(EventName.after)
waypoint = Waypoint(Position(53.0001,-1.999699),5) #23m from current position
bearing = self.globe.bearing(self.current_position,waypoint.position)
fake_gps = FakeMovingGPS([self.current_position, waypoint.position])
for_expected_seconds = int(0.5 * time_to_destination(self.current_position,waypoint.position,fake_gps.speed))
navigator = self.new_navigator(fake_gps)
self.exchange.publish(Event(EventName.navigate,waypoint))
self.assertEqual(self.event_count(EventName.after),1,"expected 1 'after' event")
self.assertEqual(self.last_event.name,EventName.after)
self.assertEqual(self.last_event.seconds,for_expected_seconds)
self.assertEqual(self.last_event.next_event.name,EventName.navigate_review)
def test_should_not_fire_a_steer_event_if_no_GPS_signal(self):
self.listen(EventName.set_course)
waypoint = Waypoint(Position(-60,22),0)
no_position = Position(NaN,NaN,NaN,NaN)
first_bearing = self.globe.bearing(self.current_position,waypoint.position)
fake_gps = FakeMovingGPS([self.current_position, no_position, waypoint.position])
navigator = self.new_navigator(fake_gps)
self.exchange.publish(Event(EventName.navigate,waypoint))
self.exchange.publish(Event(EventName.navigate_review))
steer_events = self.event_count(EventName.set_course)
self.assertEqual(steer_events,1,"expected only 1 set course event, got {0}".format(steer_events))
self.assertEqual(self.last_event.heading,first_bearing)
def test_at_intermediate_point_should_adjust_heading(self):
self.listen(EventName.set_course)
waypoint = Waypoint(Position(11,11),0)
intermediate_position = Position(12,12)
fake_gps = FakeMovingGPS([self.current_position, intermediate_position, waypoint.position])
bearing1 = self.globe.bearing(self.current_position,waypoint.position)
bearing2 = self.globe.bearing(intermediate_position,waypoint.position)
navigator = self.new_navigator(fake_gps)
self.exchange.publish(Event(EventName.navigate,waypoint))
self.assertEqual(self.last_event.heading,bearing1)
self.exchange.publish(Event(EventName.navigate_review))
self.assertEqual(self.event_count(EventName.set_course),2,"expected 2 set course events")
self.assertEqual(self.last_event.heading,bearing2)
def setUp(self):
self.mock_logger = Mock()
self.mock_logger.error = Mock(side_effect=print_msg)
self.exchange = Exchange(self.mock_logger)
self.timer = StubTimer()
self.timeshift = TimeShift(self.exchange, self.timer.time)
self.event_source = EventSource(self.exchange, self.timer,
self.mock_logger,
{'tick interval': 0.2})
gps = FakeMovingGPS([
Position(10, 10),
Position(11, 11),
Position(12, 12),
Position(13, 13)
])
self.navigator = Navigator(gps, Globe(), self.exchange,
self.mock_logger, {
'min time to steer': 5,
'max time to steer': 20
})
