def test_to_command_str(self):
parallel_commands = ParallelDroneCommands()
parallel_commands.add([])
parallel_commands.add([
SingleDroneCommand("abc", Command.takeoff()),
SingleDroneCommand("abc", Command.up(1))
])
self.assertEqual("{ } || { abc.takeoff(); abc.up(1); };",
parallel_commands.to_command_str())
outer_parallel_commands = ParallelDroneCommands()
outer_parallel_commands.add([])
outer_parallel_commands.add([parallel_commands])
self.assertEqual("{ } || { { } || { abc.takeoff(); abc.up(1); }; };",
outer_parallel_commands.to_command_str())
def _update_states_and_check_parallel_drone_commands(
self, parallel_drone_commands: ParallelDroneCommands,
state_updaters: Dict[str, StateUpdater],
drone_state_map: Dict[str,
State], drones_involved: Set[str]) -> float:
assert len(parallel_drone_commands.branches) > 0
time_used_in_branches = self._update_states_and_check_for_each_branch(
parallel_drone_commands, state_updaters, drone_state_map)
longest_time_used = self._update_states_to_wait_for_slowest_branch(
parallel_drone_commands, drone_state_map, time_used_in_branches,
drones_involved)
for name, state in drone_state_map.items():
try:
self.boundary_config.check_state(name, state)
except SafetyCheckError as e:
raise SafetyCheckError(
"When running command '{}', boundary limits are violated: {}"
.format(parallel_drone_commands.to_command_str(), str(e)))
return longest_time_used