class TestCanvasMarker(unittest.TestCase):
def setUp(self):
self.app = QApplication(sys.argv)
self.config = Config()
self.config.load()
self.config.csettings = self.config.settings
self.canvas = QgsMapCanvas()
self.canvas.setObjectName("canvas")
self.default_color_auv = Qt.darkGreen
self.marker = CanvasMarker(self.canvas,
self.default_color_auv,
None,
marker_mode=True,
config=self.config)
def test_buttons(self):
self.trackwidget_auv = TrackWidget()
self.trackwidget_auv.init("AUV track", self.canvas,
self.default_color_auv,
QgsWkbTypes.LineGeometry, self.marker)
for i in range(0, 10):
self.trackwidget_auv.track_update_canvas(
QgsPointXY(i * 10, i * -10), 0)
QTest.mouseClick(self.trackwidget_auv.centerButton, Qt.LeftButton)
QTest.mouseClick(self.trackwidget_auv.clearTrackButton, Qt.LeftButton)
class TestVehicleData(unittest.TestCase):
def setUp(self):
self.app = QApplication(sys.argv)
#sparus2 default
self.config = Config()
self.config.load()
self.config.csettings = self.config.settings
vinfo = VehicleInfo(self.config)
self.vd = VehicleData(self.config, vinfo)
def test_subscribed(self):
self.assertEqual(self.vd.is_subscribed(), False)
def test_gets(self):
#empty none gets
self.assertEqual(self.vd.get_total_time(), None)
self.assertEqual(self.vd.get_watchdog(), None)
self.assertEqual(self.vd.get_goto_status(), None)
self.assertEqual(self.vd.get_thrusters_status(), None)
self.assertEqual(self.vd.get_active_controller(), None)
self.assertEqual(self.vd.get_captain_state(), None)
self.assertEqual(self.vd.get_battery_charge(), None)
self.assertEqual(self.vd.get_cpu_usage(), None)
self.assertEqual(self.vd.get_ram_usage(), None)
self.assertEqual(self.vd.get_thruster_setpoints(), None)
self.assertEqual(self.vd.get_mission_active(), None)
self.assertEqual(self.vd.get_total_steps(), None)
self.assertEqual(self.vd.get_status_code(), None)
self.assertEqual(self.vd.get_error_code(), None)
self.assertEqual(self.vd.get_recovery_action(), None)
self.assertEqual(self.vd.get_rosout(), None)
self.assertEqual(self.vd.get_calibrate_magnetometer_service(),
"/imu_angle_estimator/calibrate_magnetometer")
self.assertEqual(self.vd.get_stop_magnetometer_calibration_service(),
"/imu_angle_estimator/stop_magnetometer_calibration")
self.assertEqual(self.vd.get_keep_position_service(),
"/captain/enable_keep_position_non_holonomic")
self.assertEqual(self.vd.get_disable_keep_position_service(),
"/captain/disable_keep_position")
self.assertEqual(self.vd.get_disable_all_keep_positions_service(),
"/captain/disable_all_keep_positions")
self.assertEqual(self.vd.get_reset_timeout_service(),
"/cola2_watchdog/reset_timeout")
self.assertEqual(self.vd.get_goto_service(), "/captain/enable_goto")
self.assertEqual(self.vd.get_disable_goto_service(),
"/captain/disable_goto")
self.assertEqual(self.vd.get_enable_thrusters_service(),
"/controller/enable_thrusters")
self.assertEqual(self.vd.get_disable_thrusters_service(),
"/controller/disable_thrusters")
self.assertEqual(self.vd.get_enable_mission_service(),
"/captain/enable_default_mission_non_block")
self.assertEqual(self.vd.get_disable_mission_service(),
"/captain/disable_mission")
self.assertEqual(
self.vd.get_teleoperation_launch(),
"roslaunch cola2_sparus2 sparus2_teleoperation.launch")
class TestVesselPosSystem(unittest.TestCase):
def setUp(self):
self.app = QApplication(sys.argv)
self.config = Config()
self.config.load()
self.config.csettings = self.config.settings
self.vps = VesselPositionSystem(self.config)
def test_spinbox(self):
self.assertEqual(type(self.vps.vessel_width_doubleSpinBox.value()), type(0.0))
self.assertEqual(type(self.vps.vessel_length_doubleSpinBox.value()), type(0.0))
self.assertEqual(type(self.vps.gps_x_offset_doubleSpinBox.value()), type(0.0))
self.assertEqual(type(self.vps.gps_y_offset_doubleSpinBox.value()), type(0.0))
self.assertEqual(type(self.vps.usbl_x_offset_doubleSpinBox.value()), type(0.0))
self.assertEqual(type(self.vps.usbl_y_offset_doubleSpinBox.value()), type(0.0))
self.assertEqual(type(self.vps.usbl_z_offset_doubleSpinBox.value()), type(0.0))
def test_buttons(self):
okwidget = self.vps.buttonBox.button(self.vps.buttonBox.Ok)
cancelwidget = self.vps.buttonBox.button(self.vps.buttonBox.Ok)
QTest.mouseClick(okwidget, Qt.LeftButton)
QTest.mouseClick(cancelwidget, Qt.LeftButton)
def setUp(self):
self.app = QApplication(sys.argv)
#sparus2 default
self.config = Config()
self.config.load()
self.config.csettings = self.config.settings
self.vehicle_info = VehicleInfo(self.config)
self.proj = QgsProject.instance()
self.proj.setFileName("")
self.canvas = QgsMapCanvas()
self.view = None
self.wp_dock = None
self.templates_dock = None
self.minfo_dock = None
self.msg_log = None
self.MISSION_NAME = "temp_mission"
# self.mt = MissionTrack(mission_filename="mission_test.xml")
self.mission_ctrl = MissionController(self.config, self.vehicle_info,
self.proj, self.canvas,
self.view, self.wp_dock,
self.templates_dock,
self.minfo_dock, self.msg_log)
def setUp(self):
self.app = QApplication(sys.argv)
self.config = Config()
self.config.load()
self.config.csettings = self.config.settings
self.vps = VesselPositionSystem(self.config)
def setUp(self):
self.app = QApplication(sys.argv)
#sparus2 default
self.config = Config()
self.config.load()
self.config.csettings = self.config.settings
vinfo = VehicleInfo(self.config)
self.vd = VehicleData(self.config, vinfo)
def setUp(self):
self.app = QApplication(sys.argv)
self.config = Config()
self.config.load()
self.config.csettings = self.config.settings
self.canvas = QgsMapCanvas()
self.canvas.setObjectName("canvas")
self.default_color_auv = Qt.darkGreen
self.marker = CanvasMarker(self.canvas,
self.default_color_auv,
None,
marker_mode=True,
config=self.config)
class TestMissionTrack(unittest.TestCase):
def setUp(self):
self.app = QApplication(sys.argv)
#sparus2 default
self.config = Config()
self.config.load()
self.config.csettings = self.config.settings
self.vehicle_info = VehicleInfo(self.config)
self.proj = QgsProject.instance()
self.proj.setFileName("")
self.canvas = QgsMapCanvas()
self.view = None
self.wp_dock = None
self.templates_dock = None
self.minfo_dock = None
self.msg_log = None
self.MISSION_NAME = "temp_mission"
# self.mt = MissionTrack(mission_filename="mission_test.xml")
self.mission_ctrl = MissionController(self.config, self.vehicle_info,
self.proj, self.canvas,
self.view, self.wp_dock,
self.templates_dock,
self.minfo_dock, self.msg_log)
def tearDown(self):
os.remove("temp_mission.xml")
def test_structure(self):
self.write_temp_mission_xml()
self.mission_ctrl.load_mission(self.MISSION_NAME + ".xml")
self.mission_track = self.mission_ctrl.mission_list[0]
self.assertNotEqual(self.mission_track, None)
self.assertEqual(self.mission_track.get_mission_length(), 3)
self.assertEqual(self.mission_track.mission_layer.geometryType(),
QgsWkbTypes.LineGeometry)
self.assertEqual(self.mission_track.get_mission_name(),
self.MISSION_NAME)
def test_remove_step(self):
self.write_temp_mission_xml()
self.mission_ctrl.load_mission(self.MISSION_NAME + ".xml")
self.mission_track = self.mission_ctrl.mission_list[0]
self.mission_track.remove_step(2)
self.assertEqual(self.mission_track.get_mission_length(), 2)
self.assertEqual(self.mission_track.mission_layer.geometryType(),
QgsWkbTypes.LineGeometry)
self.mission_track.remove_step(1)
self.assertEqual(self.mission_track.get_mission_length(), 1)
self.assertEqual(self.mission_track.mission_layer.geometryType(),
QgsWkbTypes.PointGeometry)
self.mission_track.remove_step(0)
self.assertEqual(self.mission_track.get_mission_length(), 0)
self.assertEqual(self.mission_track.mission_layer.geometryType(),
QgsWkbTypes.LineGeometry)
self.assertEqual(self.mission_track.is_modified(), True)
def test_add_step(self):
self.write_temp_mission_xml()
self.mission_ctrl.load_mission(self.MISSION_NAME + ".xml")
self.mission_track = self.mission_ctrl.mission_list[0]
point = QgsPointXY(40.0032123, 3.0594338)
point2 = QgsPointXY(40.0032127, 3.0594331)
point3 = QgsPointXY(40.0032151, 3.0594340)
self.mission_track.add_step(3, point)
self.mission_track.add_step(0, point2)
self.mission_track.add_step(2, point3)
self.assertEqual(self.mission_track.get_mission_length(), 6)
self.assertEqual(self.mission_track.mission_layer.geometryType(),
QgsWkbTypes.LineGeometry)
self.assertEqual(self.mission_track.is_modified(), True)
def test_change_position(self):
self.write_temp_mission_xml()
self.mission_ctrl.load_mission(self.MISSION_NAME + ".xml")
self.mission_track = self.mission_ctrl.mission_list[0]
point = QgsPointXY(40.001, 3.002)
self.mission_track.change_position(0, point)
position = self.mission_track.get_step(0).get_maneuver().get_position()
lat = position.get_latitude()
lon = position.get_longitude()
self.assertEqual(point.x(), lon)
self.assertEqual(point.y(), lat)
self.assertEqual(self.mission_track.is_modified(), True)
def test_empty_mission(self):
self.write_temp_mission_xml_empty()
self.mission_ctrl.load_mission(self.MISSION_NAME + '.xml')
self.mission_track = self.mission_ctrl.mission_list[0]
self.assertNotEqual(self.mission_track, None)
self.assertEqual(self.mission_track.get_mission_length(), 0)
self.assertEqual(self.mission_track.mission_layer.geometryType(),
QgsWkbTypes.LineGeometry)
point = QgsPointXY(40.0032123, 3.0594338)
point2 = QgsPointXY(40.0032127, 3.0594331)
self.mission_track.add_step(0, point)
self.assertEqual(self.mission_track.get_mission_length(), 1)
self.assertEqual(self.mission_track.mission_layer.geometryType(),
QgsWkbTypes.PointGeometry)
self.mission_track.add_step(1, point2)
self.assertEqual(self.mission_track.get_mission_length(), 2)
self.assertEqual(self.mission_track.mission_layer.geometryType(),
QgsWkbTypes.LineGeometry)
self.mission_track.remove_step(0)
self.assertEqual(self.mission_track.get_mission_length(), 1)
self.assertEqual(self.mission_track.mission_layer.geometryType(),
QgsWkbTypes.PointGeometry)
self.mission_track.remove_step(0)
self.assertEqual(self.mission_track.get_mission_length(), 0)
self.assertEqual(self.mission_track.mission_layer.geometryType(),
QgsWkbTypes.LineGeometry)
def write_temp_mission_xml(self):
mission = Mission()
mission_step = MissionStep()
param = Parameter("abcd")
param_2 = Parameter("2")
parameters = list()
parameters.append(param)
parameters.append(param_2)
action = MissionAction("action1", parameters)
mission_step.add_action(action)
wp = MissionWaypoint(MissionPosition(41.777, 3.030, 15.0, False), 0.5,
MissionTolerance(2.0, 2.0, 1.0))
mission_step.add_maneuver(wp)
mission.add_step(mission_step)
mission_step2 = MissionStep()
sec = MissionSection(MissionPosition(41.777, 3.030, 15.0, False),
MissionPosition(41.787, 3.034, 15.0, False), 0.5,
MissionTolerance(2.0, 2.0, 1.0))
mission_step2.add_maneuver(sec)
mission.add_step(mission_step2)
mission_step3 = MissionStep()
park = MissionPark(MissionPosition(41.777, 3.030, 15.0, False), 0.5,
120, MissionTolerance(2.0, 2.0, 1.0))
mission_step3.add_maneuver(park)
mission.add_step(mission_step3)
mission.write_mission(self.MISSION_NAME + '.xml')
def write_temp_mission_xml_empty(self):
mission = Mission()
mission.write_mission(self.MISSION_NAME + '.xml')