def setUp(self):
nav = Navigation(beating_angle=45, utm_zone=30)
self.hp = HeadingPlan(nav, waypoint=LatLon(50.7, -0.98),
tack_decision_samples=100,
tack_line_offset=0.01)
self.hp.nav.update_position(DummyNSF(50.7, -1.02))
def setUp(self):
nav = Navigation(beating_angle=45, utm_zone=30)
self.hp = HeadingPlan(nav, waypoint=LatLon(50.7, -0.98),
tack_line_offset=0.01)
self.hp.nav.update_position(DummyNSF(50.7, -1.02))
class HeadingPlanTests(unittest.TestCase):
def setUp(self):
nav = Navigation(beating_angle=45, utm_zone=30)
self.hp = HeadingPlan(nav, waypoint=LatLon(50.7, -0.98),
tack_decision_samples=100,
tack_line_offset=0.01)
self.hp.nav.update_position(DummyNSF(50.7, -1.02))
# Should head east
def test_complete_tack_to_port(self):
self.hp.sailing_state = 'tack_to_port_tack'
self.hp.nav.wind_direction = 50
self.hp.nav.heading = 310
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'tack_to_port_tack')
self.assertEqual(goal, 45)
self.hp.nav.wind_direction = 350
self.hp.nav.heading = 10
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'tack_to_port_tack')
self.assertEqual(goal, 45)
self.hp.nav.wind_direction = 313
self.hp.nav.heading = 47
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'normal')
self.assertGreater(goal, 45)
def test_continue_tack_to_stbd(self):
self.hp.sailing_state = 'tack_to_stbd_tack'
self.hp.nav.heading = 200
self.hp.nav.wind_direction = 340 # Wind from the south
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'tack_to_stbd_tack')
self.assertEqual(goal, 135)
self.hp.nav.wind_direction = 10
self.hp.nav.heading = 170
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'tack_to_stbd_tack')
self.assertEqual(goal, 135)
self.hp.nav.wind_direction = 48
self.hp.nav.heading = 132
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'normal')
self.assertLess(goal, 135)
def test_plain_sailing(self):
self.hp.nav.wind_direction = 260
self.hp.nav.heading = 110
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'normal')
# Heading ~= 90, but not exactly, because LatLon calculations are
# not on a plane.
self.assertGreater(goal, 89)
self.assertLess(goal, 91)
def test_tack_to_port(self):
self.hp.nav.wind_direction = 90
self.hp.nav.heading = 280 # We're reaching the wrong way!
self.hp.tack_voting.reset(0)
for _ in range(75): # On tack threshold
self.hp.tack_voting.vote(1)
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'tack_to_port_tack')
def test_tack_to_stbd(self):
self.hp.nav.wind_direction = 270
self.hp.nav.heading = 280 # We're reaching the wrong way!
self.hp.tack_voting.reset(1)
for _ in range(75): # On tack threshold
self.hp.tack_voting.vote(0)
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'tack_to_stbd_tack')
def test_to_windward_port_tack(self):
self.hp.nav.wind_direction = 270
self.hp.nav.heading = 180
self.hp.tack_voting.votes_sum = 45 # Below tack threshold
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'normal')
self.assertEqual(goal, 135)
# Time to switch tack
self.hp.tack_voting.votes_sum = 15 # Beyond tack threshold
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'tack_to_stbd_tack')
def test_to_windward_stbd_tack(self):
self.hp.nav.wind_direction = 90
self.hp.nav.heading = 0
self.hp.tack_voting.votes_sum = 45 # Below tack threshold
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'normal')
self.assertEqual(goal, 45)
# Time to switch tack
self.hp.tack_voting.votes_sum = 85 # Above tack threshold
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'tack_to_port_tack')
def test_end_condition(self):
assert not self.hp.check_end_condition()
self.hp.nav.update_position(DummyNSF(50.7, -0.9800001))
assert self.hp.check_end_condition()
def test_distance_heading_to_waypoint(self):
d, h = self.hp.distance_heading_to_waypoint()
self.assertGreater(d, 2500)
self.assertLess(d, 3000)
self.assertGreater(h, 85)
self.assertLess(h, 95)
class HeadingPlanTests(unittest.TestCase):
def setUp(self):
nav = Navigation(beating_angle=45, utm_zone=30)
self.hp = HeadingPlan(nav, waypoint=LatLon(50.7, -0.98),
tack_line_offset=0.01)
self.hp.nav.update_position(DummyNSF(50.7, -1.02))
# Should head east
def test_complete_tack_to_port(self):
self.hp.sailing_state = 'tack_to_port_tack'
self.hp.nav.wind_direction = 50
self.hp.nav.heading = 310
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'tack_to_port_tack')
self.assertEqual(goal, 45)
self.hp.nav.wind_direction = 350
self.hp.nav.heading = 10
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'tack_to_port_tack')
self.assertEqual(goal, 45)
self.hp.nav.wind_direction = 313
self.hp.nav.heading = 47
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'normal')
self.assertGreater(goal, 45)
def test_continue_tack_to_stbd(self):
self.hp.sailing_state = 'tack_to_stbd_tack'
self.hp.nav.heading = 200
self.hp.nav.wind_direction = 340 # Wind from the south
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'tack_to_stbd_tack')
self.assertEqual(goal, 135)
self.hp.nav.wind_direction = 10
self.hp.nav.heading = 170
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'tack_to_stbd_tack')
self.assertEqual(goal, 135)
self.hp.nav.wind_direction = 48
self.hp.nav.heading = 132
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'normal')
self.assertLess(goal, 135)
def test_plain_sailing(self):
self.hp.nav.wind_direction = 260
self.hp.nav.heading = 110
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'normal')
# Heading ~= 90, but not exactly, because LatLon calculations are
# not on a plane.
self.assertGreater(goal, 89)
self.assertLess(goal, 91)
def test_tack_to_port(self):
self.hp.nav.wind_direction = 90
self.hp.nav.heading = 280 # We're reaching the wrong way!
self.hp.tack_voting.reset(0)
for _ in range(75): # On tack threshold
self.hp.tack_voting.vote(1)
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'tack_to_port_tack')
def test_tack_to_stbd(self):
self.hp.nav.wind_direction = 270
self.hp.nav.heading = 280 # We're reaching the wrong way!
self.hp.tack_voting.reset(1)
for _ in range(75): # On tack threshold
self.hp.tack_voting.vote(0)
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'tack_to_stbd_tack')
def test_to_windward_port_tack(self):
self.hp.nav.wind_direction = 270
self.hp.nav.heading = 180
self.hp.tack_voting.votes_sum = 45 # Below tack threshold
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'normal')
self.assertEqual(goal, 135)
# Time to switch tack
self.hp.tack_voting.votes_sum = 15 # Beyond tack threshold
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'tack_to_stbd_tack')
def test_to_windward_stbd_tack(self):
self.hp.nav.wind_direction = 90
self.hp.nav.heading = 0
self.hp.tack_voting.votes_sum = 45 # Below tack threshold
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'normal')
self.assertEqual(goal, 45)
# Time to switch tack
self.hp.tack_voting.votes_sum = 85 # Above tack threshold
state, goal = self.hp.calculate_state_and_goal()
self.assertEqual(state, 'tack_to_port_tack')
def test_end_condition(self):
assert not self.hp.check_end_condition()
self.hp.nav.update_position(DummyNSF(50.7, -0.9800001))
assert self.hp.check_end_condition()
def test_distance_heading_to_waypoint(self):
d, h = self.hp.distance_heading_to_waypoint()
self.assertGreater(d, 2500)
self.assertLess(d, 3000)
self.assertGreater(h, 85)
self.assertLess(h, 95)
