def test_reached(self):
"""Tests the reached waypoint algorithm."""
points = ((19, 7), (20, 21), (-10, 20))
generator = ExtensionWaypointGenerator(points)
# Right on top should count as reached
self.assertTrue(generator.reached(points[0][0], points[0][1]))
self.assertTrue(generator.reached(points[0][0] + 0.5, points[0][1]))
self.assertTrue(generator.reached(points[0][0] - 0.5, points[0][1]))
self.assertTrue(generator.reached(points[0][0] - 0.5, points[0][1] + 0.5))
self.assertTrue(generator.reached(points[0][0] + 0.5, points[0][1] + 0.5))
# And reaching the beyond point should count too
waypoint = generator.get_current_waypoint(points[0][0], points[0][1])
self.assertTrue(generator.reached(waypoint[0], waypoint[1]))
def test_get_current_waypoint(self):
"""Tests the extension waypoint generation."""
points = ((20, 20),)
generator = ExtensionWaypointGenerator(points)
# If there's only one point, always return it
self.assertEqual(points[0], generator.get_current_waypoint(10, 10))
self.assertEqual(points[0], generator.get_current_waypoint(19, 19))
self.assertEqual(points[0], generator.get_current_waypoint(21, 19))
self.assertEqual(points[0], generator.get_current_waypoint(21, 21))
self.assertEqual(points[0], generator.get_current_waypoint(19, 21))
# Project through tests
position = (-100, 20)
points = ((0, 0), (0, 10), (10, 10), (10, 0), (0, 0), (5, 5), (5, 0), (5, -5), (0, 0))
generator = ExtensionWaypointGenerator(points)
self.assertEqual(
generator.get_current_waypoint(
position[0],
position[1]
),
points[0]
)
generator.next()
self.assertTrue(position not in points)
for index in range(1, len(points)):
point = points[index]
previous_point = points[index - 1]
true_waypoint = point
waypoint = generator.get_current_waypoint(
position[0],
position[1]
)
self.assertAlmostEqual(
Telemetry.relative_degrees(
previous_point[0],
previous_point[1],
true_waypoint[0],
true_waypoint[1]
),
Telemetry.relative_degrees(
previous_point[0],
previous_point[1],
waypoint[0],
waypoint[1]
)
)
def distance(x1, y1, x2, y2):
"""Returns distance between 2 points."""
return math.sqrt(
(x1 - x2) ** 2 + (y1 - y2) ** 2
)
self.assertLess(
distance(
previous_point[0],
previous_point[1],
true_waypoint[0],
true_waypoint[1]
) + 1.0,
distance(
previous_point[0],
previous_point[1],
waypoint[0],
waypoint[1]
)
)
generator.next()
