def setUp(self):
self.sensors = Mock()
self.sensors.wind_direction = 0
self.timer = Mock()
self.helm = Mock()
self.course_steerer = CourseSteerer(self.sensors, self.helm,
self.timer,
CONFIG['course steerer'])
class TestCourseSteerer(unittest.TestCase):
def setUp(self):
self.sensors = Mock()
self.sensors.wind_direction = 0
self.timer = Mock()
self.helm = Mock()
self.course_steerer = CourseSteerer(self.sensors,self.helm,self.timer,CONFIG['course steerer'])
def test_should_return_immediately_if_time_has_expired(self):
self.sensors.track = 200
required_course = 180
for_zero_seconds = 0
self.course_steerer.steer_course(required_course,for_zero_seconds)
self.assertEqual(self.helm.steer.call_count,0)
def test_should_steer_and_wait_for_one_second_if_time_has_not_expired(self):
required_course = 180
for_one_second = 1
self.course_steerer.steer_course(required_course,for_one_second)
self.helm.steer.assert_called_with(180)
self.timer.wait_for.assert_called_with(1)
def test_should_steer_repeatedly_and_with_greater_deflection_to_max_until_time_has_expired(self):
required_course = 180
for_seconds = 4
self.course_steerer.steer_course(required_course,for_seconds)
self.helm.steer.assert_has_calls([call(180),call(180),call(180),call(180)])
self.timer.wait_for.assert_has_calls([call(1),call(1),call(1)])
def test_should_not_steer_right_into_the_no_go_zone(self):
self.sensors.wind_direction = 225
required_course = 190
for_seconds = 2
no_go_angle = 45
self.course_steerer.steer_course(required_course,for_seconds,no_go_angle)
self.helm.steer.assert_has_calls([call(180),call(180)])
self.timer.wait_for.assert_has_calls([call(1),call(1)])
def test_should_not_steer_left_into_the_no_go_zone(self):
self.sensors.wind_direction = 135
required_course = 170
for_seconds = 2
no_go_angle = 45
self.course_steerer.steer_course(required_course,for_seconds,no_go_angle)
self.helm.steer.assert_has_calls([call(180),call(180)])
self.timer.wait_for.assert_has_calls([call(1),call(1)])
def __init__(self, gps=False, servo_port=SERVO_PORT):
# devices
self._gps = gps
self.windsensor = WindSensor(I2C(WINDSENSOR_I2C_ADDRESS))
self.compass = Compass(I2C(COMPASS_I2C_ADDRESS),
I2C(ACCELEROMETER_I2C_ADDRESS))
self.red_led = GpioWriter(17, os)
self.green_led = GpioWriter(18, os)
# Navigation
self.globe = Globe()
self.timer = Timer()
self.application_logger = self._rotating_logger(APPLICATION_NAME)
self.position_logger = self._rotating_logger("position")
self.exchange = Exchange(self.application_logger)
self.timeshift = TimeShift(self.exchange, self.timer.time)
self.event_source = EventSource(self.exchange, self.timer,
self.application_logger,
CONFIG['event source'])
self.sensors = Sensors(self.gps, self.windsensor, self.compass,
self.timer.time, self.exchange,
self.position_logger, CONFIG['sensors'])
self.gps_console_writer = GpsConsoleWriter(self.gps)
self.rudder_servo = Servo(serial.Serial(servo_port),
RUDDER_SERVO_CHANNEL, RUDDER_MIN_PULSE,
RUDDER_MIN_ANGLE, RUDDER_MAX_PULSE,
RUDDER_MAX_ANGLE)
self.steerer = Steerer(self.rudder_servo, self.application_logger,
CONFIG['steerer'])
self.helm = Helm(self.exchange, self.sensors, self.steerer,
self.application_logger, CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors, self.helm,
self.timer,
CONFIG['course steerer'])
self.navigator = Navigator(self.sensors, self.globe, self.exchange,
self.application_logger,
CONFIG['navigator'])
self.self_test = SelfTest(self.red_led, self.green_led, self.timer,
self.rudder_servo, RUDDER_MIN_ANGLE,
RUDDER_MAX_ANGLE)
# Tracking
self.tracking_logger = self._rotating_logger("track")
self.tracking_sensors = Sensors(self.gps, self.windsensor,
self.compass, self.timer.time,
self.exchange, self.tracking_logger,
CONFIG['sensors'])
self.tracker = Tracker(self.tracking_logger, self.tracking_sensors,
self.timer)
def __init__(self):
self.globe = Globe()
self.console_logger = self._console_logger()
self.exchange = Exchange(self.console_logger)
self.gps = SimulatedGPS(CHORLTON.position,0,0.1)
self.vehicle = SimulatedVehicle(self.gps, self.globe,self.console_logger,single_step=False)
self.timeshift = TimeShift(self.exchange,self.vehicle.timer.time)
self.event_source = EventSource(self.exchange,self.vehicle.timer,self.console_logger,CONFIG['event source'])
self.sensors = Sensors(self.vehicle.gps, self.vehicle.windsensor,self.vehicle.compass,self.vehicle.timer.time,self.exchange,self.console_logger,CONFIG['sensors'])
self.steerer = Steerer(self.vehicle.rudder,self.console_logger,CONFIG['steerer'])
self.helm = Helm(self.exchange, self.sensors, self.steerer, self.console_logger, CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors,self.helm,self.vehicle.timer, CONFIG['course steerer'])
self.navigator_simulator = Navigator(self.sensors,self.globe,self.exchange,self.console_logger,CONFIG['navigator'])
self.tracking_timer = Timer()
self.tracker_simulator = Tracker(self.console_logger,self.sensors,self.tracking_timer)
def setUp(self):
self.sensors = Mock()
self.sensors.wind_direction = 0
self.timer = Mock()
self.helm = Mock()
self.course_steerer = CourseSteerer(self.sensors,self.helm,self.timer,CONFIG['course steerer'])
class TestCourseSteerer(unittest.TestCase):
def setUp(self):
self.sensors = Mock()
self.sensors.wind_direction = 0
self.timer = Mock()
self.helm = Mock()
self.course_steerer = CourseSteerer(self.sensors, self.helm,
self.timer,
CONFIG['course steerer'])
def test_should_return_immediately_if_time_has_expired(self):
self.sensors.track = 200
required_course = 180
for_zero_seconds = 0
self.course_steerer.steer_course(required_course, for_zero_seconds)
self.assertEqual(self.helm.steer.call_count, 0)
def test_should_steer_and_wait_for_one_second_if_time_has_not_expired(
self):
required_course = 180
for_one_second = 1
self.course_steerer.steer_course(required_course, for_one_second)
self.helm.steer.assert_called_with(180)
self.timer.wait_for.assert_called_with(1)
def test_should_steer_repeatedly_and_with_greater_deflection_to_max_until_time_has_expired(
self):
required_course = 180
for_seconds = 4
self.course_steerer.steer_course(required_course, for_seconds)
self.helm.steer.assert_has_calls(
[call(180), call(180), call(180),
call(180)])
self.timer.wait_for.assert_has_calls([call(1), call(1), call(1)])
def test_should_not_steer_right_into_the_no_go_zone(self):
self.sensors.wind_direction = 225
required_course = 190
for_seconds = 2
no_go_angle = 45
self.course_steerer.steer_course(required_course, for_seconds,
no_go_angle)
self.helm.steer.assert_has_calls([call(180), call(180)])
self.timer.wait_for.assert_has_calls([call(1), call(1)])
def test_should_not_steer_left_into_the_no_go_zone(self):
self.sensors.wind_direction = 135
required_course = 170
for_seconds = 2
no_go_angle = 45
self.course_steerer.steer_course(required_course, for_seconds,
no_go_angle)
self.helm.steer.assert_has_calls([call(180), call(180)])
self.timer.wait_for.assert_has_calls([call(1), call(1)])