Пример #1
0
def test_FenceWithGPSError():
    """
    Test using GPS error has to use floating numbers, otherwise the error is never big enough to show in the test.
    TODO improve this test to add randomness
    """
    fence = [(50.863862, 4.67886),(50.863613,  4.678992),(50.863613, 4.678625),(50.863789, 4.678523),(50.863862, 4.67886)]
    minimum_altitude = 10
    maximum_altitude = 20

    gps = MockGps()
    gps.eph = 900 # 9 meter horizontal GPS error

    vehicle = MockVehicle("LOITER", MockLocation(50.863743, 4.678677,11))
    vehicle.gps_0 = gps

    b = GeoFencingBehaviour(fence, minimum_altitude, maximum_altitude, vehicle)
    b.precision = 700

    #
    # We want to receive a halt message with a certainty greater than 99%
    #
    certainty = 0.9
    accumulated_halts = 0
    runs = 1000
    for i in range(1,runs):
        if b.run() == SafeBehaviour.SafeBehaviour.halt:
            accumulated_halts = accumulated_halts + 1


    assert (accumulated_halts/float(runs)) >= certainty
Пример #2
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def test_GeoFenceBehaviourNull():
    fence = [(0,0), (10,0), (10,10), (0,10), (0,0)]
    minimum_altitude = 10
    maximum_altitude = 20

    b = GeoFencingBehaviour(fence, minimum_altitude, maximum_altitude, MockVehicle("RTL"))
    assert b.run() == SafeBehaviour.SafeBehaviour.do_nothing
Пример #3
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def test_AdaptiveFence():
    fence = [(0,0), (10,0), (10,10), (0,10), (0,0)]
    minimum_altitude = 10
    maximum_altitude = 20
    vehicle = MockVehicle("LOITER", MockLocation(1,1,11))


    b = GeoFencingBehaviour(fence, minimum_altitude, maximum_altitude, vehicle)
    b.set_adaptive_fence()

    vehicle.velocity = [0, 0, 0]
    assert b.run() == SafeBehaviour.SafeBehaviour.do_nothing

    vehicle.velocity = [10, 10, 0]
    assert b.run() == SafeBehaviour.SafeBehaviour.halt

    vehicle.velocity = [9, 9, 0]
    assert b.run() == SafeBehaviour.SafeBehaviour.do_nothing

    vehicle.velocity = [0, 9, 0]
    assert b.run() == SafeBehaviour.SafeBehaviour.do_nothing
Пример #4
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def test_GeoFenceBehaviourOK():
    fence = [(0,0), (10,0), (10,10), (0,10), (0,0)]
    minimum_altitude = 10
    maximum_altitude = 20
    b = GeoFencingBehaviour(fence, minimum_altitude, maximum_altitude, MockVehicle("LOITER", MockLocation(1,1,11)))
    assert b.run() == SafeBehaviour.SafeBehaviour.do_nothing