def test_track_delta_based_on_distance_and_radius(self):
vehicle = SimulatedVehicle(self.reliable_gps,self.globe,self.mock_logger)
# arc of length 1 radius subtends 1 radian
self.assertEqual(vehicle._track_delta(2,2),degrees(1))
self.assertEqual(vehicle._track_delta(1,2),degrees(0.5))
self.assertEqual(vehicle._track_delta(3,2),degrees(1.5))
def test_straightline_distance_using_radius_and_turn_angle(self):
vehicle = SimulatedVehicle(self.reliable_gps,self.globe,self.mock_logger)
self.assertLess(percentage_diff(vehicle._straightline_distance(1,90),sqrt(2)),0.0001)
self.assertLess(percentage_diff(vehicle._straightline_distance(1,180),2),0.0001)
self.assertLess(percentage_diff(vehicle._straightline_distance(1,-180),2),0.0001)
self.assertLess(percentage_diff(vehicle._straightline_distance(1,60),1),0.0001)
def test_track_delta_based_on_distance_and_radius(self):
vehicle = SimulatedVehicle(self.reliable_gps, self.globe,
self.mock_logger)
# arc of length 1 radius subtends 1 radian
self.assertEqual(vehicle._track_delta(2, 2), degrees(1))
self.assertEqual(vehicle._track_delta(1, 2), degrees(0.5))
self.assertEqual(vehicle._track_delta(3, 2), degrees(1.5))
def test_turn_radius_always_positive_and_inversely_proportional_to_rudder_angle(self):
vehicle = SimulatedVehicle(self.reliable_gps,self.globe,self.mock_logger)
self.assertEqual(vehicle._turn_radius(30),0.5 + MIN_TURN_RADIUS)
self.assertEqual(vehicle._turn_radius(-30),0.5 + MIN_TURN_RADIUS)
self.assertEqual(vehicle._turn_radius(-15),1 + MIN_TURN_RADIUS)
self.assertEqual(vehicle._turn_radius(-10),1.5 + MIN_TURN_RADIUS)
self.assertEqual(vehicle._turn_radius(3),5 + MIN_TURN_RADIUS)
def test_should_turn_a_corner_if_the_rudder_is_deflected(self):
bearing,time_s = 30,2
starting_position = Position(53,-2)
rudder_deflection = 10
gps = SimulatedGPS(starting_position,bearing,INITIAL_SPEED_IN_MS,True)
vehicle = SimulatedVehicle(gps,self.globe,self.mock_logger)
turn_radius = vehicle._turn_radius(rudder_deflection)
bearing_change = - vehicle._track_delta(INITIAL_SPEED_IN_MS*time_s,turn_radius)
expected_track = to_360(bearing + bearing_change)
expected_position = self.globe.new_position(starting_position,bearing + (0.5 * bearing_change),vehicle._straightline_distance(turn_radius,bearing_change))
vehicle.rudder.set_position(rudder_deflection)
vehicle.timer.wait_for(time_s)
new_position = vehicle.gps.position
self.assertEqual(new_position.longitude, expected_position.longitude)
self.assertEqual(new_position.latitude, expected_position.latitude)
self.assertEqual(round(expected_track,5),round(vehicle.gps.track,5))
self.assertEqual(round(expected_track,5), round(vehicle.compass.bearing,5))
def test_should_turn_right_if_rudder_deflection_is_negative(self):
bearing, time_s = 30, 2
starting_position = Position(53, -2)
rudder_deflection = -10
gps = SimulatedGPS(starting_position, bearing, INITIAL_SPEED_IN_MS,
True)
vehicle = SimulatedVehicle(gps, self.globe, self.mock_logger)
vehicle.rudder.set_position(rudder_deflection)
vehicle.timer.wait_for(time_s)
self.assertGreater(vehicle.gps.track, bearing)
def test_should_turn_a_corner_if_the_rudder_is_deflected(self):
bearing, time_s = 30, 2
starting_position = Position(53, -2)
rudder_deflection = 10
gps = SimulatedGPS(starting_position, bearing, INITIAL_SPEED_IN_MS,
True)
vehicle = SimulatedVehicle(gps, self.globe, self.mock_logger)
turn_radius = vehicle._turn_radius(rudder_deflection)
bearing_change = -vehicle._track_delta(INITIAL_SPEED_IN_MS * time_s,
turn_radius)
expected_track = to_360(bearing + bearing_change)
expected_position = self.globe.new_position(
starting_position, bearing + (0.5 * bearing_change),
vehicle._straightline_distance(turn_radius, bearing_change))
vehicle.rudder.set_position(rudder_deflection)
vehicle.timer.wait_for(time_s)
new_position = vehicle.gps.position
self.assertEqual(new_position.longitude, expected_position.longitude)
self.assertEqual(new_position.latitude, expected_position.latitude)
self.assertEqual(round(expected_track, 5), round(vehicle.gps.track, 5))
self.assertEqual(round(expected_track, 5),
round(vehicle.compass.bearing, 5))
def test_turn_radius_always_positive_and_inversely_proportional_to_rudder_angle(
self):
vehicle = SimulatedVehicle(self.reliable_gps, self.globe,
self.mock_logger)
self.assertEqual(vehicle._turn_radius(30), 0.5 + MIN_TURN_RADIUS)
self.assertEqual(vehicle._turn_radius(-30), 0.5 + MIN_TURN_RADIUS)
self.assertEqual(vehicle._turn_radius(-15), 1 + MIN_TURN_RADIUS)
self.assertEqual(vehicle._turn_radius(-10), 1.5 + MIN_TURN_RADIUS)
self.assertEqual(vehicle._turn_radius(3), 5 + MIN_TURN_RADIUS)
def test_should_calculate_new_position_track_and_wind_direction_going_straight_ahead(
self):
bearing, time_s, wind_direction = 30, 2, 15
starting_position = Position(53, -2)
gps = SimulatedGPS(starting_position, bearing, INITIAL_SPEED_IN_MS,
True)
vehicle = SimulatedVehicle(gps, self.globe, self.mock_logger)
expected_position = self.globe.new_position(
starting_position, bearing, INITIAL_SPEED_IN_MS * time_s)
vehicle.rudder.set_position(0)
vehicle.timer.wait_for(time_s)
new_position = vehicle.gps.position
self.assertEqual(new_position.latitude, expected_position.latitude)
self.assertEqual(new_position.longitude, expected_position.longitude)
self.assertEqual(bearing, vehicle.gps.track)
self.assertEqual(bearing, vehicle.compass.bearing)
self.assertEqual(wind_direction, vehicle.windsensor.angle)
def test_straightline_distance_using_radius_and_turn_angle(self):
vehicle = SimulatedVehicle(self.reliable_gps, self.globe,
self.mock_logger)
self.assertLess(
percentage_diff(vehicle._straightline_distance(1, 90), sqrt(2)),
0.0001)
self.assertLess(
percentage_diff(vehicle._straightline_distance(1, 180), 2), 0.0001)
self.assertLess(
percentage_diff(vehicle._straightline_distance(1, -180), 2),
0.0001)
self.assertLess(
percentage_diff(vehicle._straightline_distance(1, 60), 1), 0.0001)
def test_straightline_angle_is_half_turn_angle(self):
vehicle = SimulatedVehicle(self.reliable_gps, self.globe,
self.mock_logger)
self.assertEqual(vehicle._straightline_angle(47), 23.5)
def test_should_set_the_gps_speed_and_wind_direction_immediately(self):
vehicle = SimulatedVehicle(self.reliable_gps, self.globe,
self.mock_logger)
self.assertEqual(vehicle.speed, vehicle.gps.speed)
self.assertEqual(INITIAL_WIND_DIRECTION, vehicle.windsensor.angle)
def test_straightline_angle_is_half_turn_angle(self):
vehicle = SimulatedVehicle(self.reliable_gps,self.globe,self.mock_logger)
self.assertEqual(vehicle._straightline_angle(47),23.5)
