def test_waypoint_setting(state, start, target, expected):
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, start[0], start[1], start[2], 0)
config = sim_config('config/sim_config.csv')
AUV.state = state
AUV.set_waypoint(target, config)
assert (abs(AUV.waypoints[0][0] - expected[0]) < 0.0000001 and
abs(AUV.waypoints[0][1] - expected[1]) < 0.0000001 and
abs(AUV.waypoints[0][2] - expected[2]) < 0.0000001)
def test_set_state(curr_state, desired_state, z, expected):
AUV = Vehicle(0, 1, 50, 50, -10, 0)
AUV.state = curr_state
AUV.z = z
if expected == 1:
with pytest.raises(Exception) as e_info:
AUV.set_state(desired_state)
else:
AUV.set_state(desired_state)
assert AUV.state == desired_state
def test_time_checks(elps_time, state, expected):
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, 0, 0, -50, 0)
config = sim_config('config/sim_config.csv')
AUV.state = state
#t_uw set to 1200
AUV.time_checks(elps_time, config)
assert AUV.state == expected
def test_set_state(curr_state, desired_state, z, expected):
AUV = Vehicle(0, 1, 50, 50, -10, 0)
AUV.state = curr_state
AUV.z = z
if expected == 1:
with pytest.raises(Exception) as e_info:
AUV.set_state(desired_state)
else:
AUV.set_state(desired_state)
assert AUV.state == desired_state
def test_time_checks(elps_time, state, expected):
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, 0, 0, -50, 0)
config = sim_config('config/sim_config.csv')
AUV.state = state
#t_uw set to 1200
AUV.time_checks(elps_time, config)
assert AUV.state == expected
def test_surfacing(z, state, expected):
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, 0, 0, z, 0)
config = sim_config('config/sim_config.csv')
base = Base_Station(config.swarm_size)
# AUV at 1m depth and surfacing
AUV.state = state
# Try to sat comm (this triggers state change to diving
# should remain surfacing as deeper than conditional depth for sat (0.5m)
AUV.sat_comms(base, config.swarm_size, 0)
assert AUV.state == expected
def test_surfacing(z, state, expected):
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, 0, 0, z, 0)
config = sim_config('config/sim_config.csv')
base = Base_Station(config.swarm_size)
# AUV at 1m depth and surfacing
AUV.state = state
# Try to sat comm (this triggers state change to diving
# should remain surfacing as deeper than conditional depth for sat (0.5m)
AUV.sat_comms(base, config.swarm_size, 0)
assert AUV.state == expected
def test_reached_waypoint():
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, 50, 50,-10 , 0)
config = sim_config('config/sim_config.csv')
AUV.state = 0
# AUV at 1m depth and surfacing
AUV.waypoints = [[50,50,-20]]
AUV.move_to_waypoint()
assert AUV.state == 0
AUV.z = -19
AUV.move_to_waypoint()
assert AUV.state == 1
def test_reached_waypoint():
# (self,i, Swarm_Size, start_x, start_y, start_z, start_yaw)
AUV = Vehicle(0, 1, 50, 50, -10, 0)
config = sim_config('config/sim_config.csv')
AUV.state = 0
# AUV at 1m depth and surfacing
AUV.waypoints = [[50, 50, -20]]
AUV.move_to_waypoint()
assert AUV.state == 0
AUV.z = -19
AUV.move_to_waypoint()
assert AUV.state == 1
