def test_that_logging_is_started_on_start(self):
# Fixture
with patch('edlib.utils.multiranger.LogConfig',
return_value=self.log_config_mock):
sut = Multiranger(self.ed_mock)
# Test
sut.start()
# Assert
self.log_config_mock.start.assert_called_once_with()
def test_that_log_configuration_is_added_on_connect(self):
# Fixture
with patch('edlib.utils.multiranger.LogConfig',
return_value=self.log_config_mock):
sut = Multiranger(self.ed_mock)
# Test
sut.start()
# Assert
self.log_mock.add_config.assert_called_once_with(
self.log_config_mock)
def test_that_data_callback_is_set(self):
# Fixture
with patch('edlib.utils.multiranger.LogConfig',
return_value=self.log_config_mock):
sut = Multiranger(self.ed_mock)
# Test
sut.start()
# Assert
self.log_config_mock.start.assert_called_once_with()
self.assertEqual(1, len(
self.log_config_mock.data_received_cb.callbacks))
def test_that_log_configuration_is_correct(self):
# Fixture
with patch('edlib.utils.multiranger.LogConfig',
return_value=self.log_config_mock):
sut = Multiranger(self.ed_mock)
# Test
sut.start()
# Assert
self.log_config_mock.add_variable.assert_has_calls([
call(self.FRONT),
call(self.BACK),
call(self.LEFT),
call(self.RIGHT),
call(self.UP),
])
def test_that_using_context_manager_calls_start_and_stop(self):
# Fixture
with patch('edlib.utils.multiranger.LogConfig',
return_value=self.log_config_mock):
with Multiranger(self.ed_mock):
pass
# Assert
self.log_config_mock.start.assert_called_once_with()
self.log_config_mock.delete.assert_called_once_with()
def _validate_distance_from_getter(self, expected, getter_name,
zranger=False):
# Fixture
with patch('edlib.utils.multiranger.LogConfig',
return_value=self.log_config_mock):
sut = Multiranger(self.ed_mock, zranger=zranger)
timestmp = 1234
logconf = None
self.log_config_mock.data_received_cb.call(timestmp, self.log_data,
logconf)
# Test
actual = getattr(sut, getter_name)
# Assert
self.assertEqual(expected, actual)
MIN_DISTANCE = 0.2 # m
if range is None:
return False
else:
return range < MIN_DISTANCE
if __name__ == '__main__':
# Initialize the low-level drivers (don't list the debug drivers)
edlib.crtp.init_drivers(enable_debug_driver=False)
ed = Espdrone(rw_cache='./cache')
with SyncEspdrone(URI, ed=ed) as sed:
with MotionCommander(sed) as motion_commander:
with Multiranger(sed) as multiranger:
keep_flying = True
while keep_flying:
VELOCITY = 0.5
velocity_x = 0.0
velocity_y = 0.0
if is_close(multiranger.front):
velocity_x -= VELOCITY
if is_close(multiranger.back):
velocity_x += VELOCITY
if is_close(multiranger.left):
velocity_y -= VELOCITY
if is_close(multiranger.right):