def build_route(waypoint_id_list, edge_id_list):
""" Generate the API RouteGenParams for navigation requests.
Args:
waypoint_id_list: List of waypoint id strings in which a route should pass through.
The ids should be ordered from [start waypoint --> destination waypoint].
edge_id_list: List of the edge_id's which should be in the same ordering as the waypoint list.
Returns:
The API Route protobuf message.
"""
route = nav_pb2.Route()
route.waypoint_id.extend(waypoint_id_list)
route.edge_id.extend(edge_id_list)
return route
def test_navigate_route_exceptions(client, service, server):
make_call = lambda: client.navigate_route(nav_pb2.Route(), 2.0)
cmd_id = make_call()
assert cmd_id == 0
service.lease_use_result = lease_pb2.LeaseUseResult(
status=lease_pb2.LeaseUseResult.STATUS_OLDER)
with pytest.raises(bosdyn.client.LeaseUseError):
make_call()
service.lease_use_result = lease_pb2.LeaseUseResult(
status=lease_pb2.LeaseUseResult.STATUS_OK)
cmd_id = make_call()
assert type(cmd_id) is int
service.nav_route_resp.status = service.nav_route_resp.STATUS_NO_TIMESYNC
with pytest.raises(bosdyn.client.graph_nav.NoTimeSyncError):
make_call()
service.nav_route_resp.status = service.nav_route_resp.STATUS_EXPIRED
with pytest.raises(bosdyn.client.graph_nav.CommandExpiredError):
make_call()
service.nav_route_resp.status = service.nav_route_resp.STATUS_TOO_DISTANT
with pytest.raises(bosdyn.client.graph_nav.TooDistantError):
make_call()
service.nav_route_resp.status = service.nav_route_resp.STATUS_ROBOT_IMPAIRED
with pytest.raises(bosdyn.client.graph_nav.RobotImpairedError):
make_call()
service.nav_route_resp.status = service.nav_route_resp.STATUS_RECORDING
with pytest.raises(bosdyn.client.graph_nav.IsRecordingError):
make_call()
service.nav_route_resp.status = service.nav_route_resp.STATUS_UNKNOWN_ROUTE_ELEMENTS
with pytest.raises(bosdyn.client.graph_nav.UnknownRouteElementsError):
make_call()
#make sure the misspelled error works for backwards compatibility.
with pytest.raises(bosdyn.client.graph_nav.UnkownRouteElementsError):
make_call()
service.nav_route_resp.status = service.nav_route_resp.STATUS_INVALID_EDGE
with pytest.raises(bosdyn.client.graph_nav.InvalidEdgeError):
make_call()
service.nav_route_resp.status = service.nav_route_resp.STATUS_CONSTRAINT_FAULT
with pytest.raises(bosdyn.client.graph_nav.ConstraintFaultError):
make_call()
service.nav_route_resp.status = service.nav_route_resp.STATUS_FEATURE_DESERT
with pytest.raises(bosdyn.client.graph_nav.FeatureDesertError):
make_call()
service.nav_route_resp.status = service.nav_route_resp.STATUS_LOST
with pytest.raises(bosdyn.client.graph_nav.RobotLostError):
make_call()
service.nav_route_resp.status = service.nav_route_resp.STATUS_NOT_LOCALIZED_TO_ROUTE
with pytest.raises(bosdyn.client.graph_nav.RobotNotLocalizedToRouteError):
make_call()
service.nav_route_resp.status = service.nav_route_resp.STATUS_COULD_NOT_UPDATE_ROUTE
with pytest.raises(bosdyn.client.graph_nav.RouteNotUpdatingError):
make_call()