def test_given_start_of_position_correction_for_translation_change_translation_status_and_send_translation_vector_towards_current_target_node(
):
position = (40, 50)
robot_status = RobotStatus((30, 30), 90)
robot_status.target_position = (60, 65)
wheels_controller = SimulatedWheelsController()
servo_wheels_manager = ServoWheelsManager(None, None, ExecutionLogger())
servo_wheels_manager.translating_start_position_correction(
position, robot_status, wheels_controller)
vector_x, vector_y = robot_status.get_translation_vector()
assert int(vector_x) == 20
assert int(vector_y) == 15
assert servo_wheels_manager.translation_status == TranslationStatus.CORRECTING_POSITION
position = (50.1, 54.9)
robot_status = RobotStatus((45, 50), 90)
robot_status.target_position = (50, 55)
pathfinder = Pathfinder(ExecutionLogger())
pathfinder.robot_status = robot_status
pathfinder.nodes_queue_to_checkpoint.append((100, 150))
servo_wheels_manager = ServoWheelsManager(None, None, ExecutionLogger())
def test_given_at_checkpoint_when_finishing_translation_then_translation_status_is_updated_and_no_new_vector_is_generated(
):
position = (50.1, 54.9)
robot_status = RobotStatus((45, 50), 90)
robot_status.target_position = (50, 55)
pathfinder = Pathfinder(ExecutionLogger())
pathfinder.robot_status = robot_status
servo_wheels_manager = ServoWheelsManager(None, None, ExecutionLogger())
path_status, new_vector = servo_wheels_manager.finish_translation_and_get_new_path_status_and_vector(
position, pathfinder)
assert servo_wheels_manager.translation_status == TranslationStatus.MOVING
assert new_vector is None
assert path_status == PathStatus.CHECKPOINT_REACHED
def test_given_at_intermediary_node_when_finishing_translation_then_translation_status_is_updated_and_new_vector_towards_next_node_is_generated(
):
position = (50.1, 54.9)
robot_status = RobotStatus((45, 50), 90)
robot_status.target_position = (50, 55)
pathfinder = Pathfinder(ExecutionLogger())
pathfinder.robot_status = robot_status
pathfinder.nodes_queue_to_checkpoint.append((100, 150))
servo_wheels_manager = ServoWheelsManager(None, None, ExecutionLogger())
path_status, new_vector = servo_wheels_manager.finish_translation_and_get_new_path_status_and_vector(
position, pathfinder)
new_vector_x, new_vector_y = new_vector
assert servo_wheels_manager.translation_status == TranslationStatus.MOVING
assert round(new_vector_x, 1) == 49.9
assert round(new_vector_y, 1) == 95.1
assert path_status == PathStatus.INTERMEDIATE_NODE_REACHED