def generate_commands(program,
drone_config_map: Dict[str, DroneConfig] = None,
boundary_checker: BoundaryChecker = None,
collision_checker: CollisionChecker = None,
has_checks: bool = True,
symbol_table: SymbolTable = None,
function_table: FunctionTable = None):
if drone_config_map is None:
drone_config_map = {"DEFAULT": DefaultDroneConfig()}
if boundary_checker is None:
boundary_checker = BoundaryChecker(BoundaryConfig.no_limit())
if collision_checker is None:
collision_checker = CollisionChecker(drone_config_map,
DefaultCollisionConfig())
if symbol_table is None:
symbol_table = SymbolTable()
if function_table is None:
function_table = FunctionTable()
state_updater_map = {
name: StateUpdater(config)
for name, config in drone_config_map.items()
}
tree = _parse_program(program)
drone_commands = Compiler(drone_config_map, symbol_table,
function_table).visit(tree)
if has_checks:
boundary_checker.check(drone_commands, state_updater_map)
collision_checker.check(drone_commands, state_updater_map)
return drone_commands
def test_check_should_call_update_states_and_check_drone_commands_with_correct_parameters(
self):
boundary_checker = BoundaryChecker(self.boundary_config)
boundary_checker._update_states_and_check_drone_commands = Mock()
drone_state_map = {"DRONE1": State(), "DRONE2": State(x_meters=1)}
drones_involved = {"DRONE1", "DRONE2"}
boundary_checker.check([], self.state_updater_map)
boundary_checker._update_states_and_check_drone_commands.assert_called_once_with(
[], self.state_updater_map, drone_state_map, drones_involved)
