def test_set_steps():
destination = Destination(1,
2,
0,
name="test_destination",
exact_location=False)
destination.set_steps([(1, 2, 0), (2, 3, 0), (3, 4, 0)])
assert destination.get_step_count() == 3
def test_set_steps():
destination = Destination(1, 2, 0, name="test_destination", exact_location=False)
destination.set_steps([
(1, 2, 0),
(2, 3, 0),
(3, 4, 0)
])
assert destination.get_step_count() == 3
def test_step():
config = create_core_test_config({
"movement": {
"walk_speed": 5,
"path_finder": "direct",
"distance_unit": "m"
}
})
api_wrapper = create_mock_api_wrapper(config)
path_finder = DirectPathFinder(config)
logger = Mock()
logger.log = Mock(return_value=None)
stepper = Stepper(config, api_wrapper, path_finder, logger)
stepper.start(51.50451, -0.07607, 10)
destination = Destination(51.506000,
-0.075049,
11,
name="Test Destination",
exact_location=False)
steps = [(51.504778, -0.075838, 10), (51.505092, -0.075650, 11),
(51.505436, -0.075446, 11)]
destination.set_steps(steps)
pgo = api_wrapper.get_api()
# This route is being walked: http://www.darrinward.com/lat-long/?id=2163411
# pre-calculated distance is 17.8 meters
pointer = 0
for _ in stepper.step(destination):
target_lat, target_lng, target_alt = steps[pointer]
assert stepper.current_lat == target_lat
assert stepper.current_lng == target_lng
assert stepper.current_alt == target_alt
bot_lat, bot_lng, bot_alt = pgo.get_position()
assert bot_lat == target_lat
assert bot_lng == target_lng
assert bot_alt == target_alt
pointer += 1
assert pointer == 3
bot_lat, bot_lng, bot_alt = pgo.get_position()
assert bot_lat == 51.505436
assert bot_lng == -0.075446
assert bot_alt == 11
assert stepper.current_lat == 51.505436
assert stepper.current_lng == -0.075446
assert stepper.current_alt == 11
def test_step():
config = create_core_test_config({
"movement": {
"walk_speed": 5,
"path_finder": "direct",
"distance_unit": "m"
}
})
api_wrapper = create_mock_api_wrapper(config)
path_finder = DirectPathFinder(config)
logger = Mock()
logger.log = Mock(return_value=None)
stepper = Stepper(config, api_wrapper, path_finder, logger)
stepper.start(51.50451, -0.07607, 10)
destination = Destination(51.506000, -0.075049, 11, name="Test Destination", exact_location=False)
steps = [
(51.504778, -0.075838, 10),
(51.505092, -0.075650, 11),
(51.505436, -0.075446, 11)
]
destination.set_steps(steps)
pgo = api_wrapper.get_api()
# This route is being walked: http://www.darrinward.com/lat-long/?id=2163411
# pre-calculated distance is 17.8 meters
pointer = 0
for _ in stepper.step(destination):
target_lat, target_lng, target_alt = steps[pointer]
assert stepper.current_lat == target_lat
assert stepper.current_lng == target_lng
assert stepper.current_alt == target_alt
bot_lat, bot_lng, bot_alt = pgo.get_position()
assert bot_lat == target_lat
assert bot_lng == target_lng
assert bot_alt == target_alt
pointer += 1
assert pointer == 3
bot_lat, bot_lng, bot_alt = pgo.get_position()
assert bot_lat == 51.505436
assert bot_lng == -0.075446
assert bot_alt == 11
assert stepper.current_lat == 51.505436
assert stepper.current_lng == -0.075446
assert stepper.current_alt == 11
def test_step():
calls = []
bot = create_mock_bot({
"walk": 5,
"path_finder": "direct",
"distance_unit": "m"
})
bot.position = (51.50451, -0.07607, 10)
bot.fire = Mock(return_value=None)
bot.heartbeat = Mock(return_value=None)
destination = Destination(51.506000, -0.075049, 11, name="Test Destination", exact_location=False)
steps = [
(51.504778, -0.075838, 10),
(51.505092, -0.075650, 11),
(51.505436, -0.075446, 11)
]
destination.set_steps(steps)
stepper = Stepper(bot)
stepper.start()
pgo = bot.api_wrapper._api # pylint: disable=protected-access
# This route is being walked: http://www.darrinward.com/lat-long/?id=2163411
calls.append(call("walking_started", coords=(51.506000, -0.075049, 11)))
pointer = 0
for step in stepper.step(destination):
calls.append(call("position_updated", coordinates=step))
target_lat, target_lng, target_alt = steps[pointer]
assert stepper.current_lat == target_lat
assert stepper.current_lng == target_lng
assert stepper.current_alt == target_alt
bot_lat, bot_lng, bot_alt = pgo.get_position()
assert bot_lat == target_lat
assert bot_lng == target_lng
assert bot_alt == target_alt
pointer += 1
calls.append(call("walking_finished", coords=(51.506000, -0.075049, 11)))
assert bot.fire.call_count == 5
bot.fire.assert_has_calls(calls, any_order=False)
assert bot.heartbeat.call_count == 3
def test_step():
calls = []
bot = create_mock_bot({
"walk": 5,
"path_finder": "direct",
"distance_unit": "m"
})
bot.position = (51.50451, -0.07607, 10)
bot.fire = Mock(return_value=None)
bot.heartbeat = Mock(return_value=None)
destination = Destination(51.50436, -0.07616, 11, name="Test Destination", exact_location=False)
steps = [
(51.50442, -0.07612, 10),
(51.50448, -0.07609, 11),
(51.50436, -0.07616, 11)
]
destination.set_steps(steps)
stepper = Stepper(bot)
stepper.start()
pgo = bot.api_wrapper._api # pylint: disable=protected-access
calls.append(call("walking_started", coords=(51.50436, -0.07616, 11)))
# pre-calculated distance is 17.8 meters
pointer = 0
for step in stepper.step(destination):
calls.append(call("position_updated", coordinates=step))
target_lat, target_lng, target_alt = steps[pointer]
assert stepper.current_lat == target_lat
assert stepper.current_lng == target_lng
assert stepper.current_alt == target_alt
bot_lat, bot_lng, bot_alt = pgo.get_position()
assert bot_lat == target_lat
assert bot_lng == target_lng
assert bot_alt == target_alt
pointer += 1
calls.append(call("walking_finished", coords=(51.50436, -0.07616, 11)))
assert bot.fire.call_count == 5
bot.fire.assert_has_calls(calls, any_order=False)
assert bot.heartbeat.call_count == 3
def test_step():
destination = Destination(1, 2, 0, name="test_destination", exact_location=False)
steps = [
(1, 2, 0),
(2, 3, 0),
(3, 4, 0)
]
destination.set_steps(steps)
step_values = []
for step in destination.step():
assert step in steps
step_values.append(step)
assert len(step_values) == 3
def test_step():
destination = Destination(1,
2,
0,
name="test_destination",
exact_location=False)
steps = [(1, 2, 0), (2, 3, 0), (3, 4, 0)]
destination.set_steps(steps)
step_values = []
for step in destination.step():
assert step in steps
step_values.append(step)
assert len(step_values) == 3
def test_step_already_near_fort():
calls = []
bot = create_mock_bot({
"walk": 5,
"path_finder": "direct",
"distance_unit": "m"
})
bot.position = (51.50451, -0.07607, 10)
bot.fire = Mock(return_value=None)
bot.heartbeat = Mock(return_value=None)
destination = Destination(51.50436, -0.07616, 11, name="Test Destination", exact_location=False)
steps = [
(51.50442, -0.07612, 10),
(51.50448, -0.07609, 11),
(51.50436, -0.07616, 11)
]
destination.set_steps(steps)
stepper = Stepper(bot)
stepper.start()
pgo = bot.api_wrapper._api # pylint: disable=protected-access
# This route is being walked: http://www.darrinward.com/lat-long/?id=2163408
calls.append(call("walking_started", coords=(51.50436, -0.07616, 11)))
pointer = 0
for _ in stepper.step(destination):
pointer += 1
assert pointer == 0
bot_lat, bot_lng, bot_alt = pgo.get_position()
assert bot_lat == 51.50451
assert bot_lng == -0.07607
assert bot_alt == 10
assert stepper.current_lat == 51.50451
assert stepper.current_lng == -0.07607
assert stepper.current_alt == 10
calls.append(call("walking_finished", coords=(51.50436, -0.07616, 11)))
assert bot.fire.call_count == 2
bot.fire.assert_has_calls(calls, any_order=False)
assert bot.heartbeat.call_count == 0
def test_step_exact():
destination = Destination(4, 5, 6, name="test_destination", exact_location=True)
steps = [
(1, 2, 0),
(2, 3, 0),
(3, 4, 0)
]
destination.set_steps(steps)
step_values = []
for step in destination.step():
if len(step_values) < 3:
assert step in steps
else:
assert step == (4, 5, 6)
step_values.append(step)
assert len(step_values) == 4
def test_step_exact():
destination = Destination(4,
5,
6,
name="test_destination",
exact_location=True)
steps = [(1, 2, 0), (2, 3, 0), (3, 4, 0)]
destination.set_steps(steps)
step_values = []
for step in destination.step():
if len(step_values) < 3:
assert step in steps
else:
assert step == (4, 5, 6)
step_values.append(step)
assert len(step_values) == 4
def test_step_already_near_fort():
calls = []
config = create_core_test_config({
"movement": {
"walk_speed": 5,
"path_finder": "direct",
"distance_unit": "m"
}
})
api_wrapper = create_mock_api_wrapper(config)
path_finder = DirectPathFinder(config)
destination = Destination(51.50436,
-0.07616,
11,
name="Test Destination",
exact_location=False)
steps = [(51.50442, -0.07612, 10), (51.50448, -0.07609, 11),
(51.50436, -0.07616, 11)]
destination.set_steps(steps)
logger = Mock()
logger.log = Mock(return_value=None)
stepper = Stepper(config, api_wrapper, path_finder, logger)
stepper.start(51.50451, -0.07607, 10)
pgo = api_wrapper.get_api()
# This route is being walked: http://www.darrinward.com/lat-long/?id=2163408
calls.append(call("walking_started", coords=(51.50436, -0.07616, 11)))
pointer = 0
for _ in stepper.step(destination):
pointer += 1
assert pointer == 0
bot_lat, bot_lng, bot_alt = pgo.get_position()
assert bot_lat == 51.50451
assert bot_lng == -0.07607
assert bot_alt == 10
assert stepper.current_lat == 51.50451
assert stepper.current_lng == -0.07607
assert stepper.current_alt == 10
def test_step_already_near_fort():
calls = []
config = create_core_test_config({
"movement": {
"walk_speed": 5,
"path_finder": "direct",
"distance_unit": "m"
}
})
api_wrapper = create_mock_api_wrapper(config)
path_finder = DirectPathFinder(config)
destination = Destination(51.50436, -0.07616, 11, name="Test Destination", exact_location=False)
steps = [
(51.50442, -0.07612, 10),
(51.50448, -0.07609, 11),
(51.50436, -0.07616, 11)
]
destination.set_steps(steps)
logger = Mock()
logger.log = Mock(return_value=None)
stepper = Stepper(config, api_wrapper, path_finder, logger)
stepper.start(51.50451, -0.07607, 10)
pgo = api_wrapper.get_api()
# This route is being walked: http://www.darrinward.com/lat-long/?id=2163408
calls.append(call("walking_started", coords=(51.50436, -0.07616, 11)))
pointer = 0
for _ in stepper.step(destination):
pointer += 1
assert pointer == 0
bot_lat, bot_lng, bot_alt = pgo.get_position()
assert bot_lat == 51.50451
assert bot_lng == -0.07607
assert bot_alt == 10
assert stepper.current_lat == 51.50451
assert stepper.current_lng == -0.07607
assert stepper.current_alt == 10