def generate_commands_with_config(program, config_json, has_checks):
drone_config_map, boundary_config, collision_config = ConfigParser.parse(
config_json)
boundary_checker = BoundaryChecker(boundary_config)
collision_checker = CollisionChecker(drone_config_map, collision_config)
generated_commands = generate_commands(program, drone_config_map,
boundary_checker, collision_checker,
has_checks)
return generated_commands, drone_config_map, boundary_config
def test_parse_if_not_provided_configs_should_use_default_configs(self):
config = "{}"
with self.assertLogs(logging.getLogger()) as log:
actual_drone_configs, actual_boundary_config, acutal_collision_config = ConfigParser.parse(config)
expected_log = ["WARNING:root:'drones' missing when parsing configs, using default drone_config. " +
"Position estimation may be inaccurate.",
"WARNING:root:'boundary_config' missing when parsing configs, using unlimited boundary_config. " +
"Time and position will be unlimited.",
"WARNING:root:'collision_config' missing when parsing configs, using default collision_config."]
self.assertEqual(expected_log, log.output)
self.assertEqual({"DEFAULT": DefaultDroneConfig()}, actual_drone_configs)
self.assertEqual(BoundaryConfig.no_limit(), actual_boundary_config)
self.assertEqual(DefaultCollisionConfig(), acutal_collision_config)
def test_parse_if_name_repeated_should_ignore_second_appearance(self):
config = """
{
"drones": [{
"name": "DRONE1",
"init_position": {"x": 1, "y": 2, "z": 3},
"speed_mps": 2,
"rotate_speed_dps": 180,
"takeoff_height_meters": 2
},{
"name": "DRONE1",
"init_position": {"x": 4, "y": 5, "z": 6},
"speed_mps": 1,
"rotate_speed_dps": 90,
"takeoff_height_meters": 1
}],
"boundary_config": {
"max_seconds": 100,
"max_x_meters": 10,
"max_y_meters": 20,
"max_z_meters": 30,
"min_x_meters": -10,
"min_y_meters": -20,
"min_z_meters": -30
},
"collision_config": {
"collision_meters": 0.3,
"time_interval_seconds": 0.5
}
}
"""
with self.assertLogs(logging.getLogger()) as log:
actual_drone_configs, actual_boundary_config, actual_collision_config = ConfigParser.parse(config)
expected_log = ["WARNING:root:Drone name 'DRONE1' appeared more than ones in 'drones', ignored."]
self.assertEqual(expected_log, log.output)
expected_drone_configs = {"DRONE1": DroneConfig(init_position=(1, 2, 3), speed_mps=2,
rotate_speed_dps=180, takeoff_height_meters=2)}
expected_boundary_config = BoundaryConfig(max_seconds=100, max_x_meters=10, max_y_meters=20, max_z_meters=30,
min_x_meters=-10, min_y_meters=-20, min_z_meters=-30)
expected_collision_config = CollisionConfig(collision_meters=0.3, time_interval_seconds=0.5)
self.assertEqual(expected_drone_configs, actual_drone_configs)
self.assertEqual(expected_boundary_config, actual_boundary_config)
self.assertEqual(expected_collision_config, actual_collision_config)
def test_parse_if_init_position_missing_fields_should_use_default_value(self):
config = """
{
"drones": [{
"name": "DRONE1",
"init_position": {},
"speed_mps": 2,
"rotate_speed_dps": 180,
"takeoff_height_meters": 2
}],
"boundary_config": {
"max_seconds": 100,
"max_x_meters": 10,
"max_y_meters": 20,
"max_z_meters": 30,
"min_x_meters": -10,
"min_y_meters": -20,
"min_z_meters": -30
},
"collision_config": {
"collision_meters": 0.3,
"time_interval_seconds": 0.5
}
}
"""
with self.assertLogs(logging.getLogger()) as log:
actual_drone_configs, actual_boundary_config, actual_collision_config = ConfigParser.parse(config)
expected_log = ["WARNING:root:'x' missing when parsing drone 'DRONE1', using default value 0. " +
"Position estimation may be inaccurate.",
"WARNING:root:'y' missing when parsing drone 'DRONE1', using default value 0. " +
"Position estimation may be inaccurate.",
"WARNING:root:'z' missing when parsing drone 'DRONE1', using default value 0. " +
"Position estimation may be inaccurate."]
self.assertEqual(expected_log, log.output)
expected_drone_configs = {"DRONE1": DroneConfig(init_position=(0, 0, 0), speed_mps=2,
rotate_speed_dps=180, takeoff_height_meters=2)}
expected_boundary_config = BoundaryConfig(max_seconds=100, max_x_meters=10, max_y_meters=20, max_z_meters=30,
min_x_meters=-10, min_y_meters=-20, min_z_meters=-30)
expected_collision_config = CollisionConfig(collision_meters=0.3, time_interval_seconds=0.5)
self.assertEqual(expected_drone_configs, actual_drone_configs)
self.assertEqual(expected_boundary_config, actual_boundary_config)
self.assertEqual(expected_collision_config, actual_collision_config)
def test_parse_if_configs_missing_fields_should_use_default_value(self):
config = """
{
"drones": [],
"boundary_config": {
},
"collision_config": {
}
}
"""
with self.assertLogs(logging.getLogger()) as log:
actual_drone_configs, actual_boundary_config, actual_collision_config = ConfigParser.parse(config)
expected_log = ["WARNING:root:'drones' is empty when parsing configs, using default drone_config. " +
"Position estimation may be inaccurate.",
"WARNING:root:'max_seconds' missing when parsing 'boundary_config', " +
"using default value inf. There will be no limit on 'max_seconds'.",
"WARNING:root:'max_x_meters' missing when parsing 'boundary_config', " +
"using default value inf. There will be no limit on 'max_x_meters'.",
"WARNING:root:'max_y_meters' missing when parsing 'boundary_config', " +
"using default value inf. There will be no limit on 'max_y_meters'.",
"WARNING:root:'max_z_meters' missing when parsing 'boundary_config', " +
"using default value inf. There will be no limit on 'max_z_meters'.",
"WARNING:root:'min_x_meters' missing when parsing 'boundary_config', " +
"using default value -inf. There will be no limit on 'min_x_meters'.",
"WARNING:root:'min_y_meters' missing when parsing 'boundary_config', " +
"using default value -inf. There will be no limit on 'min_y_meters'.",
"WARNING:root:'min_z_meters' missing when parsing 'boundary_config', " +
"using default value -inf. There will be no limit on 'min_z_meters'.",
"WARNING:root:'collision_meters' missing when parsing 'collision_config', " +
"using default value 0. There will be no limit on 'collision_meters'.",
"WARNING:root:'time_interval_seconds' missing when parsing 'collision_config', " +
"using default value 0.1."]
self.assertEqual(expected_log, log.output)
expected_drone_configs = {"DEFAULT": DefaultDroneConfig()}
expected_boundary_config = BoundaryConfig(max_seconds=float("inf"), max_x_meters=float("inf"),
max_y_meters=float("inf"), max_z_meters=float("inf"),
min_x_meters=float("-inf"), min_y_meters=float("-inf"),
min_z_meters=float("-inf"))
expected_collision_config = DefaultCollisionConfig()
self.assertEqual(expected_drone_configs, actual_drone_configs)
self.assertEqual(expected_boundary_config, actual_boundary_config)
self.assertEqual(expected_collision_config, actual_collision_config)
def test_parse_if_provided_configs_should_parse_all_configs(self):
config = """
{
"drones": [{
"name": "DRONE1",
"init_position": {"x": 1, "y": 2, "z": 3},
"speed_mps": 2,
"rotate_speed_dps": 180,
"takeoff_height_meters": 2
},{
"name": "DRONE2",
"init_position": {"x": 4, "y": 5, "z": 6},
"speed_mps": 1,
"rotate_speed_dps": 90,
"takeoff_height_meters": 1
}],
"boundary_config": {
"max_seconds": 100,
"max_x_meters": 10,
"max_y_meters": 20,
"max_z_meters": 30,
"min_x_meters": -10,
"min_y_meters": -20,
"min_z_meters": -30
},
"collision_config": {
"collision_meters": 0.3,
"time_interval_seconds": 0.5
}
}
"""
actual_drone_config, actual_boundary_config, acutal_collision_config = ConfigParser.parse(config)
expected_drone_configs = {"DRONE1": DroneConfig(init_position=(1, 2, 3), speed_mps=2,
rotate_speed_dps=180, takeoff_height_meters=2),
"DRONE2": DroneConfig(init_position=(4, 5, 6), speed_mps=1,
rotate_speed_dps=90, takeoff_height_meters=1)}
expected_boundary_config = BoundaryConfig(max_seconds=100, max_x_meters=10, max_y_meters=20, max_z_meters=30,
min_x_meters=-10, min_y_meters=-20, min_z_meters=-30)
expected_collision_config = CollisionConfig(collision_meters=0.3, time_interval_seconds=0.5)
self.assertEqual(expected_drone_configs, actual_drone_config)
self.assertEqual(expected_boundary_config, actual_boundary_config)
self.assertEqual(expected_collision_config, acutal_collision_config)
def test_parse_if_drone_object_missing_fields_should_use_default_value(self):
config = """
{
"drones": [{}],
"boundary_config": {
"max_seconds": 100,
"max_x_meters": 10,
"max_y_meters": 20,
"max_z_meters": 30,
"min_x_meters": -10,
"min_y_meters": -20,
"min_z_meters": -30
},
"collision_config": {
"collision_meters": 0.3,
"time_interval_seconds": 0.5
}
}
"""
with self.assertLogs(logging.getLogger()) as log:
actual_drone_configs, actual_boundary_config, actual_collision_config = ConfigParser.parse(config)
expected_log = ["WARNING:root:'name' missing when parsing object in 'drones', using default value 'DEFAULT'.",
"WARNING:root:'init_position' missing when parsing drone 'DEFAULT', " +
"using default value (0, 0, 0). Position estimation may be inaccurate.",
"WARNING:root:'speed_mps' missing when parsing drone 'DEFAULT', " +
"using default value 1. Position estimation may be inaccurate.",
"WARNING:root:'rotate_speed_dps' missing when parsing drone 'DEFAULT', " +
"using default value 90. Position estimation may be inaccurate.",
"WARNING:root:'takeoff_height_meters' missing when parsing drone 'DEFAULT', " +
"using default value 1. Position estimation may be inaccurate."]
self.assertEqual(expected_log, log.output)
expected_drone_configs = {"DEFAULT": DroneConfig(init_position=(0, 0, 0), speed_mps=1,
rotate_speed_dps=90, takeoff_height_meters=1)}
expected_boundary_config = BoundaryConfig(max_seconds=100, max_x_meters=10, max_y_meters=20, max_z_meters=30,
min_x_meters=-10, min_y_meters=-20, min_z_meters=-30)
expected_collision_config = CollisionConfig(collision_meters=0.3, time_interval_seconds=0.5)
self.assertEqual(expected_drone_configs, actual_drone_configs)
self.assertEqual(expected_boundary_config, actual_boundary_config)
self.assertEqual(expected_collision_config, actual_collision_config)
def test_parse_if_name_is_empty_string_should_use_default_value(self):
config = """
{
"drones": [{
"name": "",
"init_position": {"x": 1, "y": 2, "z": 3},
"speed_mps": 2,
"rotate_speed_dps": 180,
"takeoff_height_meters": 2
}],
"boundary_config": {
"max_seconds": 100,
"max_x_meters": 10,
"max_y_meters": 20,
"max_z_meters": 30,
"min_x_meters": -10,
"min_y_meters": -20,
"min_z_meters": -30
},
"collision_config": {
"collision_meters": 0.3,
"time_interval_seconds": 0.5
}
}
"""
with self.assertLogs(logging.getLogger()) as log:
actual_drone_configs, actual_boundary_config, actual_collision_config = ConfigParser.parse(config)
expected_log = ["WARNING:root:'name' cannot be an empty string, using default value 'DEFAULT' instead."]
self.assertEqual(expected_log, log.output)
expected_drone_configs = {"DEFAULT": DroneConfig(init_position=(1, 2, 3), speed_mps=2,
rotate_speed_dps=180, takeoff_height_meters=2)}
expected_boundary_config = BoundaryConfig(max_seconds=100, max_x_meters=10, max_y_meters=20, max_z_meters=30,
min_x_meters=-10, min_y_meters=-20, min_z_meters=-30)
expected_collision_config = CollisionConfig(collision_meters=0.3, time_interval_seconds=0.5)
self.assertEqual(expected_drone_configs, actual_drone_configs)
self.assertEqual(expected_boundary_config, actual_boundary_config)
self.assertEqual(expected_collision_config, actual_collision_config)