def test_start():
config = create_core_test_config({"movement": {
"walk_speed": 4.16,
}})
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(51.5044524, -0.0752479, 10)
assert stepper.origin_lat == 51.5044524
assert stepper.origin_lng == -0.0752479
assert stepper.origin_alt == 10
assert stepper.current_lat == 51.5044524
assert stepper.current_lng == -0.0752479
assert stepper.current_alt == 10
pgo = api_wrapper.get_api()
lat, lng, alt = pgo.get_position()
assert lat == 51.5044524
assert lng == -0.0752479
assert alt == 10
def test_start():
config = create_core_test_config({
"movement": {
"walk_speed": 4.16,
}
})
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(51.5044524, -0.0752479, 10)
assert stepper.origin_lat == 51.5044524
assert stepper.origin_lng == -0.0752479
assert stepper.origin_alt == 10
assert stepper.current_lat == 51.5044524
assert stepper.current_lng == -0.0752479
assert stepper.current_alt == 10
pgo = api_wrapper.get_api()
lat, lng, alt = pgo.get_position()
assert lat == 51.5044524
assert lng == -0.0752479
assert alt == 10
def test_snap_to_over_distance():
config = create_core_test_config({
"movement": {
"walk_speed": 5,
}
})
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)
# pre-calculated distance is 17.8 meters
stepper.snap_to(51.50436, -0.07616, 11)
pgo = api_wrapper.get_api()
lat, lng, alt = pgo.get_position()
assert stepper.current_lat == 51.50451
assert stepper.current_lng == -0.07607
assert stepper.current_alt == 10
assert lat == 51.50451
assert lng == -0.07607
assert alt == 10
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_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
def test_get_route_between():
config = create_core_test_config({"movement": {
"walk_speed": 5,
}})
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(51.5044524, -0.0752479, 10)
# pre-calculated distance is 205.5 meters
# expected steps is 205.5 / (0.6 * 5) = 68.5 (which rounds to 69)
steps = stepper.get_route_between(51.5044524, -0.0752479, 51.5062939,
-0.0750065, 10)
assert len(steps) == 69
for step in steps:
assert len(step) == 3
def test_get_route_between():
config = create_core_test_config({
"movement": {
"walk_speed": 5,
}
})
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(51.5044524, -0.0752479, 10)
# pre-calculated distance is 205.5 meters
# expected steps is 205.5 / (0.6 * 5) = 68.5 (which rounds to 69)
steps = stepper.get_route_between(51.5044524, -0.0752479, 51.5062939, -0.0750065, 10)
assert len(steps) == 69
for step in steps:
assert len(step) == 3
def test_snap_to_over_distance():
config = create_core_test_config({"movement": {
"walk_speed": 5,
}})
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)
# pre-calculated distance is 17.8 meters
stepper.snap_to(51.50436, -0.07616, 11)
pgo = api_wrapper.get_api()
lat, lng, alt = pgo.get_position()
assert stepper.current_lat == 51.50451
assert stepper.current_lng == -0.07607
assert stepper.current_alt == 10
assert lat == 51.50451
assert lng == -0.07607
assert alt == 10
