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 setUp(self):
super(TestNavigator, self).setUp()
self.current_position = Position(53,-2,5,5)
self.mock_gps = Mock(position=self.current_position,speed=1)
self.globe = Globe()
self.mock_logger = Mock()
self.config = {'min time to steer' : MIN_TIME_TO_STEER, 'max time to steer' : MAX_TIME_TO_STEER}
def test_should_calculate_new_position_from_bearing_and_distance(self):
globe = Globe()
chorlton = globe.new_position(Manchester, 200.1, 4565)
new_york = globe.new_position(London, 288.3, 5570000)
self.assertLess(percentage_diff(chorlton.latitude, Chorlton.latitude),
1)
self.assertLess(
percentage_diff(chorlton.longitude, Chorlton.longitude), 1)
self.assertLess(percentage_diff(new_york.longitude, NewYork.longitude),
1)
self.assertLess(percentage_diff(new_york.latitude, NewYork.latitude),
1)
def test_should_calculate_the_initial_compass_bearing_between_points(self):
globe = Globe()
self.assertLess(
percentage_diff(200.1, globe.bearing(Manchester, Chorlton)), 0.1)
self.assertLess(
percentage_diff(145.9, globe.bearing(Manchester, London)), 0.1)
self.assertLess(percentage_diff(288.3, globe.bearing(London, NewYork)),
0.1)
self.assertLess(percentage_diff(64.3, globe.bearing(London, Moscow)),
0.1)
self.assertLess(
percentage_diff(357.3, globe.bearing(Santiago, NewYork)), 0.1)
def __init__(self, gps=False, servo_port=SERVO_PORT):
# devices
self._gps = gps
self.windsensor = WindSensor(I2C(WINDSENSOR_I2C_ADDRESS))
self.compass = Compass(I2C(COMPASS_I2C_ADDRESS),
I2C(ACCELEROMETER_I2C_ADDRESS))
self.red_led = GpioWriter(17, os)
self.green_led = GpioWriter(18, os)
# Navigation
self.globe = Globe()
self.timer = Timer()
self.application_logger = self._rotating_logger(APPLICATION_NAME)
self.position_logger = self._rotating_logger("position")
self.exchange = Exchange(self.application_logger)
self.timeshift = TimeShift(self.exchange, self.timer.time)
self.event_source = EventSource(self.exchange, self.timer,
self.application_logger,
CONFIG['event source'])
self.sensors = Sensors(self.gps, self.windsensor, self.compass,
self.timer.time, self.exchange,
self.position_logger, CONFIG['sensors'])
self.gps_console_writer = GpsConsoleWriter(self.gps)
self.rudder_servo = Servo(serial.Serial(servo_port),
RUDDER_SERVO_CHANNEL, RUDDER_MIN_PULSE,
RUDDER_MIN_ANGLE, RUDDER_MAX_PULSE,
RUDDER_MAX_ANGLE)
self.steerer = Steerer(self.rudder_servo, self.application_logger,
CONFIG['steerer'])
self.helm = Helm(self.exchange, self.sensors, self.steerer,
self.application_logger, CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors, self.helm,
self.timer,
CONFIG['course steerer'])
self.navigator = Navigator(self.sensors, self.globe, self.exchange,
self.application_logger,
CONFIG['navigator'])
self.self_test = SelfTest(self.red_led, self.green_led, self.timer,
self.rudder_servo, RUDDER_MIN_ANGLE,
RUDDER_MAX_ANGLE)
# Tracking
self.tracking_logger = self._rotating_logger("track")
self.tracking_sensors = Sensors(self.gps, self.windsensor,
self.compass, self.timer.time,
self.exchange, self.tracking_logger,
CONFIG['sensors'])
self.tracker = Tracker(self.tracking_logger, self.tracking_sensors,
self.timer)
def __init__(self):
self.globe = Globe()
self.console_logger = self._console_logger()
self.exchange = Exchange(self.console_logger)
self.gps = SimulatedGPS(CHORLTON.position,0,0.1)
self.vehicle = SimulatedVehicle(self.gps, self.globe,self.console_logger,single_step=False)
self.timeshift = TimeShift(self.exchange,self.vehicle.timer.time)
self.event_source = EventSource(self.exchange,self.vehicle.timer,self.console_logger,CONFIG['event source'])
self.sensors = Sensors(self.vehicle.gps, self.vehicle.windsensor,self.vehicle.compass,self.vehicle.timer.time,self.exchange,self.console_logger,CONFIG['sensors'])
self.steerer = Steerer(self.vehicle.rudder,self.console_logger,CONFIG['steerer'])
self.helm = Helm(self.exchange, self.sensors, self.steerer, self.console_logger, CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors,self.helm,self.vehicle.timer, CONFIG['course steerer'])
self.navigator_simulator = Navigator(self.sensors,self.globe,self.exchange,self.console_logger,CONFIG['navigator'])
self.tracking_timer = Timer()
self.tracker_simulator = Tracker(self.console_logger,self.sensors,self.tracking_timer)
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
})
def test_should_calculate_distance_to_within_one_tenth_percent(self):
globe = Globe()
self.assertLess(
percentage_diff(4565, globe.distance_between(Manchester,
Chorlton)), 0.1)
self.assertLess(
percentage_diff(262100, globe.distance_between(Manchester,
London)), 0.1)
self.assertLess(
percentage_diff(5570000, globe.distance_between(London, NewYork)),
0.1)
self.assertLess(
percentage_diff(2543000,
globe.distance_between(Manchester, Moscow)), 0.1)
self.assertLess(
percentage_diff(11010000, globe.distance_between(Sydney,
Capetown)), 0.1)
self.assertLess(
percentage_diff(12560000,
globe.distance_between(Capetown, NewYork)), 0.1)
self.assertLess(
percentage_diff(11680000,
globe.distance_between(Santiago, Chorlton)), 0.1)
def create_globe(self):
print("Creating Map")
self.globe = Globe()
def setUp(self):
self.start_position = Position(53, -2)
self.globe = Globe()
self.reliable_gps = SimulatedGPS(self.start_position, 0, 0.5, True)
self.mock_logger = Mock()
def time_to_destination(position, destination, speed):
globe = Globe()
distance = globe.distance_between(position, destination)
return distance /speed
def __init__(self,positions,globe = Globe()):
self.positions = positions
self.globe = globe
self.position_index = 0
self.wind_direction = 0
