def test_altitude_ok(monkeypatch):
"""test_altitude_ok()
"""
def new_Auv_init(self):
class new_Auv_MOOS(object):
def publish_variable(self, variable, value, dummy):
pass
self._auv_data = dict()
self._auv_data['NAV_ALTITUDE'] = 5.0
self._current_waypoint = dict()
self._current_waypoint['x'] = 0.0
self._current_waypoint['y'] = 0.0
self._current_waypoint['depth'] = 0.0
self.auv_control = new_Auv_MOOS()
from auv.auv import Auv
monkeypatch.setattr(Auv, '__init__', new_Auv_init)
from auv_bonus_xprize.settings import config
config['auv']['min_altitude_meters'] = '2.5'
config['variables']['altitude'] = 'NAV_ALTITUDE'
auv = Auv()
assert auv.altitude_safety() == 0.0
def test_on_the_waypoint(monkeypatch, mocker):
"""test_on_the_waypoint()
"""
from auv_bonus_xprize.settings import config
config['auv']['distance_tolerance'] = '2.0'
config['auv']['depth_tolerance'] = '1.0'
config['variables']['easting_x'] = 'NAV_X'
config['variables']['northing_y'] = 'NAV_Y'
config['variables']['set_heading'] = 'DESIRED_HEADING'
config['variables']['set_depth'] = 'DESIRED_DEPTH'
config['variables']['set_speed'] = 'DESIRED_SPEED'
config['variables']['depth'] = 'NAV_DEPTH'
config['variables']['heading'] = 'NAV_HEADING'
config['variables']['speed'] = 'NAV_SPEED'
from auv.auv import variables_list
def new_Auv_init(self):
class new_Auv_MOOS(object):
def publish_variable(self, variable, value, dummy):
pass
self._auv_data = dict()
for variable_name in variables_list():
self._auv_data[variable_name] = None
self._current_waypoint = dict()
self._current_waypoint['x'] = 0.0
self._current_waypoint['y'] = 0.0
self._current_waypoint['depth'] = 0.0
self.auv_control = new_Auv_MOOS()
from auv.auv import Auv
monkeypatch.setattr(Auv, '__init__', new_Auv_init)
auv = Auv()
monkeypatch.setattr(auv, '_auv_data', {
'NAV_X': 10.0,
'NAV_Y': 10.0,
'NAV_DEPTH': 5.0
})
mocker.patch.object(auv, 'altitude_safety', return_value=0.0)
waypoint = (10, 10, 5, 90)
assert auv.move_toward_waypoint(waypoint) == 'DONE'
waypoint = (11, 10, 5, 90)
assert auv.move_toward_waypoint(waypoint) == 'DONE'
def test_constrain_search_area(monkeypatch, mocker, auv_position):
"""test_constrain_search_area()
"""
from auv_bonus_xprize.auv_main_loop import constrain_search_area
from auv.auv import variables_list
def new_Auv_init(self):
class new_Auv_MOOS(object):
def publish_variable(self, variable, value, dummy):
pass
self._auv_data = dict()
for variable_name in variables_list():
self._auv_data[variable_name] = None
self.auv_control = new_Auv_MOOS()
from auv.auv import Auv
monkeypatch.setattr(Auv,
'__init__',
new_Auv_init)
from auv_bonus_xprize.settings import config
easting_x = config['variables']['easting_x']
northing_y = config['variables']['northing_y']
depth = config['variables']['depth']
auv = Auv()
monkeypatch.setattr(auv,
'_auv_data',
{easting_x: auv_position[0],
northing_y: auv_position[1],
depth: auv_position[2]})
config['starting']['set'] = '90'
config['search']['min_depth_meters'] = '5.0'
config['search']['up_current_offset'] = '5.0'
config['search']['vertex_offset'] = '10.0'
config['search']['min_depth_offset'] = '10.0'
constrain_search_area(auv, object())
assert config['starting']['auv_position_utm'] == '95.0,200.0'
assert config['search']['min_depth_meters'] == '5.0'
monkeypatch.setattr(auv,
'_auv_data',
{easting_x: auv_position[0],
northing_y: auv_position[1],
depth: 25.0})
constrain_search_area(auv, object())
assert config['search']['min_depth_meters'] == '15.0'
assert config['starting']['northwest_utm'] == '85.0,210.0'
assert config['starting']['northeast_utm'] == '105.0,210.0'
assert config['starting']['southeast_utm'] == '105.0,190.0'
assert config['starting']['southwest_utm'] == '85.0,190.0'
def main_loop():
"""main_loop()
The main logic loop for the AUV control system.
"""
logging.debug('Instantiating the SearchSpace() object')
search_space = SearchSpace()
search_space.set_search_boundaries()
search_space.set_current_velocity()
logging.debug('Instantiating the Auv() object')
auv = Auv()
auv.watchdog.reset()
logging.debug('Waiting until the AUV is connected')
while not auv.auv_control.connected:
sleep(1.0)
logging.debug('AUV is connected')
system_state = AUVState.WaitingToStart
logging.debug('Starting the state loop')
auv.watchdog.reset()
while system_state not in [AUVState.AbortMission,
AUVState.ReportResults]:
if limit_reached(auv):
system_state = AUVState.AbortMission
break
system_state = state_function[system_state](
auv,
search_space)
auv.watchdog.reset()
state_function[system_state](auv, search_space)
def test_turn_toward_heading(monkeypatch, mocker):
"""test_turn_toward_heading()
"""
from auv.auv import variables_list
def new_Auv_init(self):
class new_Auv_MOOS(object):
def publish_variable(self, variable, value, dummy):
pass
self._auv_data = dict()
for variable_name in variables_list():
self._auv_data[variable_name] = None
self._current_waypoint = dict()
self._current_waypoint['x'] = 0.0
self._current_waypoint['y'] = 0.0
self._current_waypoint['depth'] = 0.0
self.auv_control = new_Auv_MOOS()
from auv.auv import Auv
monkeypatch.setattr(Auv, '__init__', new_Auv_init)
from auv_bonus_xprize.settings import config
config['auv']['spiral_amount'] = '20'
auv = Auv()
assert auv.turn_toward_heading(90, 100) == 110
assert auv.turn_toward_heading(100, 100) == 120
assert auv.turn_toward_heading(100, 90) == 80
assert auv.turn_toward_heading(350, 10) == 10
assert auv.turn_toward_heading(10, 350) == 350
assert auv.turn_toward_heading(90, 10) == 70
def test_distance_to_waypoint(monkeypatch, mocker, auv_position, auv_waypoint):
"""test_distance_to_waypoint()
"""
from auv.auv import variables_list
def new_Auv_init(self):
class new_Auv_MOOS(object):
def publish_variable(self, variable, value, dummy):
pass
self._auv_data = dict()
for variable_name in variables_list():
self._auv_data[variable_name] = None
self._current_waypoint = dict()
self._current_waypoint['x'] = 0.0
self._current_waypoint['y'] = 0.0
self._current_waypoint['depth'] = 0.0
self.auv_control = new_Auv_MOOS()
from auv.auv import Auv
monkeypatch.setattr(Auv, '__init__', new_Auv_init)
from auv_bonus_xprize.settings import config
easting_x = config['variables']['easting_x']
northing_y = config['variables']['northing_y']
depth = config['variables']['depth']
auv = Auv()
monkeypatch.setattr(
auv, '_auv_data', {
easting_x: auv_waypoint[0],
northing_y: auv_waypoint[1],
depth: auv_waypoint[2]
})
mocker.patch.object(auv, 'altitude_safety', return_value=0.0)
auv._current_waypoint['x'] = auv_waypoint[0]
auv._current_waypoint['y'] = auv_waypoint[1]
auv._current_waypoint['depth'] = auv_waypoint[2]
assert auv.distance_to_waypoint() == 0.0
auv._current_waypoint['x'] = auv_waypoint[0]
auv._current_waypoint['y'] = auv_waypoint[1] + 5.0
auv._current_waypoint['depth'] = auv_waypoint[2]
assert auv.distance_to_waypoint() == 5.0
auv._current_waypoint['x'] = auv_waypoint[0]
auv._current_waypoint['y'] = auv_waypoint[1]
auv._current_waypoint['depth'] = auv_waypoint[2] + 5.0
assert auv.distance_to_waypoint() == 0.0
Test the methods:
wait_to_start
enable_steering
plume_detected
surface
"""
import logging
from time import sleep
from auv_bonus_xprize.settings import config
from auv.auv import Auv
auv = Auv()
while not auv.auv_control.connected:
print('Waiting to connect')
sleep(1.0)
logging.debug('wait_to_start() {0}'.format(
config['starting']['auv_position_utm']))
while auv.wait_to_start():
auv.plume_detected()
sleep(10)
logging.debug('enable_steering()')
auv.enable_steering()
auv.plume_detected()
import logging
from time import sleep, time
from auv_bonus_xprize.settings import config
from auv_bonus_xprize.auv_main_loop import limit_reached
from auv.auv import Auv
waypts = list()
# start 750214.5,1987358.1
waypts.append((750214.5, 1987370.1, 4.0, 0)) # 12 m north
waypts.append((750189.5, 1987370.1, 4.0, 0)) # 25 m west, 12 m north
waypts.append((750189.5, 1987345.1, 4.0, 0)) # 25 m west, 13 m south
waypts.append((750214.5, 1987345.1, 4.0, 0)) # 13 m south
waypts.append((750214.5, 1987358.1, 4.0, 0)) #
auv = Auv()
auv.strobe('OFF')
auv.watchdog.stop()
while not auv.auv_control.connected:
print('Waiting to connect')
sleep(1.0)
PAUSE = float(config['starting']['start_delay_secs'])
logging.debug('Pausing for {0} seconds'.format(PAUSE))
sleep(PAUSE)
auv.watchdog.reset()
logging.debug('enable_steering()')
auv.enable_steering()
auv.plume_detected()