def test_should_use_minimum_steer_time_if_time_calculation_returns_small_value(self): self.listen(EventName.after) waypoint = Waypoint(Position(53.0001,-1.9999),5) fake_gps = FakeMovingGPS([self.current_position, waypoint.position]) fake_gps.speed = 100 navigator = self.new_navigator(fake_gps) self.exchange.publish(Event(EventName.navigate,waypoint)) self.assertEqual(self.last_event.seconds,MIN_TIME_TO_STEER)
def test_should_use_a_minimum_speed_for_calculation_preventing_divide_by_zero_error(self): self.listen(EventName.after) waypoint = Waypoint(Position(53.001,-2.001),5) fake_gps = FakeMovingGPS([self.current_position, waypoint.position]) fake_gps.speed = 0 expected_time = expected_time_to_steer(self.current_position,waypoint.position,0.01) navigator = self.new_navigator(fake_gps) self.exchange.publish(Event(EventName.navigate,waypoint)) self.assertEqual(self.last_event.seconds,expected_time)
def test_should_use_maximum_steer_time_if_its_a_long_way_to_go(self): self.listen(EventName.after) waypoint = Waypoint(Position(60.0001,10),5) fake_gps = FakeMovingGPS([self.current_position, waypoint.position]) fake_gps.speed = 1 expected_bearing = self.globe.bearing(self.current_position,waypoint.position) navigator = self.new_navigator(fake_gps) self.exchange.publish(Event(EventName.navigate,waypoint)) self.assertEqual(self.last_event.seconds,MAX_TIME_TO_STEER)
def test_should_navigate_to_next_waypoint_with_kink_in_route(self): destination = Waypoint(Position(10.03, 10.03), 10) gps = FakeMovingGPS([ Position(10, 10), Position(10.01, 10.01), Position(10.025, 10.015), Position(10.03, 10.03) ]) sensors = FakeSensors(gps, 1, 45) steerer = Steerer(self.servo, self.logger, CONFIG['steerer']) helm = Helm(self.exchange, sensors, steerer, self.logger, CONFIG['helm']) navigator = Navigator(sensors, Globe(), self.exchange, self.logger, CONFIG['navigator']) self.exchange.publish(Event(EventName.navigate, waypoint=destination)) self.ticks(number=14, duration=200) self.logger.info.assert_has_calls([ call( 'Navigator, steering to +10.030000,+10.030000, bearing 44.6, distance 4681.8m, review after 600s' ), call( 'Navigator, steering to +10.030000,+10.030000, bearing 44.6, distance 3121.2m, review after 600s' ), call( 'Navigator, steering to +10.030000,+10.030000, bearing 71.3, distance 1734.0m, review after 600s' ), call('Navigator, arrived at +10.030000,+10.030000') ])
def test_should_steer_repeatedly_during_navigation(self): logger = Mock() destination = Waypoint(Position(10.0003, 10.0003), 10) gps = FakeMovingGPS([ Position(10, 10), Position(10.0001, 10.00015), Position(10.00025, 10.0002), Position(10.0003, 10.0003) ]) sensors = FakeSensors(gps, 1, 45) steerer = Steerer(self.servo, logger, CONFIG['steerer']) helm = Helm(self.exchange, sensors, steerer, logger, CONFIG['helm']) navigator = Navigator(sensors, Globe(), self.exchange, logger, CONFIG['navigator']) self.exchange.publish(Event(EventName.navigate, waypoint=destination)) self.ticks(number=7, duration=20) logger.debug.assert_has_calls([ call( 'Navigator, distance from waypoint +46.819018, combined tolerance +10.000000' ), call( 'Navigator, distance from waypoint +27.647432, combined tolerance +10.000000' ), call( 'Steerer, steering 36.4, heading 45.0, rate of turn +1.0, rudder +0.0, new rudder +4.6' ), call( 'Steerer, steering 36.4, heading 45.0, rate of turn +1.0, rudder +4.6, new rudder +9.2' ), call( 'Navigator, distance from waypoint +12.281099, combined tolerance +10.000000' ), call( 'Steerer, steering 63.1, heading 45.0, rate of turn +1.0, rudder +9.2, new rudder +0.4' ), call( 'Navigator, distance from waypoint +0.000000, combined tolerance +10.000000' ), call( 'Steerer, steering 63.1, heading 45.0, rate of turn +1.0, rudder +0.4, new rudder -8.3' ), call( 'Steerer, steering 63.1, heading 45.0, rate of turn +1.0, rudder -8.3, new rudder -17.1' ) ]) logger.info.assert_has_calls([ call( 'Navigator, steering to +10.000300,+10.000300, bearing 44.6, distance 46.8m, review after 23s' ), call( 'Navigator, steering to +10.000300,+10.000300, bearing 36.4, distance 27.6m, review after 13s' ), call( 'Navigator, steering to +10.000300,+10.000300, bearing 63.1, distance 12.3m, review after 6s' ), call('Navigator, arrived at +10.000300,+10.000300') ])
def test_should_return_minimum_review_time_if_time_calculation_results_in_NaN(self): self.listen(EventName.after) waypoint = Waypoint(Position(-60,22),0) no_position = Position(NaN,NaN,NaN,NaN) fake_gps = FakeMovingGPS([self.current_position, no_position, waypoint.position]) navigator = self.new_navigator(fake_gps) self.exchange.publish(Event(EventName.navigate,waypoint)) self.assertEqual(self.last_event.seconds,MAX_TIME_TO_STEER) self.exchange.publish(Event(EventName.navigate_review,waypoint)) self.assertEqual(self.event_count(EventName.after),2,"expected 1 'after' events") self.assertEqual(self.last_event.seconds,MIN_TIME_TO_STEER)
def test_should_signal_review_after_half_way_to_way_point_based_on_speed(self): self.listen(EventName.after) waypoint = Waypoint(Position(53.0001,-1.999699),5) #23m from current position bearing = self.globe.bearing(self.current_position,waypoint.position) fake_gps = FakeMovingGPS([self.current_position, waypoint.position]) for_expected_seconds = int(0.5 * time_to_destination(self.current_position,waypoint.position,fake_gps.speed)) navigator = self.new_navigator(fake_gps) self.exchange.publish(Event(EventName.navigate,waypoint)) self.assertEqual(self.event_count(EventName.after),1,"expected 1 'after' event") self.assertEqual(self.last_event.name,EventName.after) self.assertEqual(self.last_event.seconds,for_expected_seconds) self.assertEqual(self.last_event.next_event.name,EventName.navigate_review)
def test_should_not_fire_a_steer_event_if_no_GPS_signal(self): self.listen(EventName.set_course) waypoint = Waypoint(Position(-60,22),0) no_position = Position(NaN,NaN,NaN,NaN) first_bearing = self.globe.bearing(self.current_position,waypoint.position) fake_gps = FakeMovingGPS([self.current_position, no_position, waypoint.position]) navigator = self.new_navigator(fake_gps) self.exchange.publish(Event(EventName.navigate,waypoint)) self.exchange.publish(Event(EventName.navigate_review)) steer_events = self.event_count(EventName.set_course) self.assertEqual(steer_events,1,"expected only 1 set course event, got {0}".format(steer_events)) self.assertEqual(self.last_event.heading,first_bearing)
def test_at_intermediate_point_should_adjust_heading(self): self.listen(EventName.set_course) waypoint = Waypoint(Position(11,11),0) intermediate_position = Position(12,12) fake_gps = FakeMovingGPS([self.current_position, intermediate_position, waypoint.position]) bearing1 = self.globe.bearing(self.current_position,waypoint.position) bearing2 = self.globe.bearing(intermediate_position,waypoint.position) navigator = self.new_navigator(fake_gps) self.exchange.publish(Event(EventName.navigate,waypoint)) self.assertEqual(self.last_event.heading,bearing1) self.exchange.publish(Event(EventName.navigate_review)) self.assertEqual(self.event_count(EventName.set_course),2,"expected 2 set course events") self.assertEqual(self.last_event.heading,bearing2)
def setUp(self): self.mock_logger = Mock() self.mock_logger.error = Mock(side_effect=print_msg) self.exchange = Exchange(self.mock_logger) self.timer = StubTimer() self.timeshift = TimeShift(self.exchange, self.timer.time) self.event_source = EventSource(self.exchange, self.timer, self.mock_logger, {'tick interval': 0.2}) gps = FakeMovingGPS([ Position(10, 10), Position(11, 11), Position(12, 12), Position(13, 13) ]) self.navigator = Navigator(gps, Globe(), self.exchange, self.mock_logger, { 'min time to steer': 5, 'max time to steer': 20 })