def setUp(self):
super(TestSailingHelm, self).setUp()
config = {'no go angle': 50, 'min tack duration': 5}
self.no_go = config['no go angle']
self.sensors = Mock()
self.logger = Mock()
self.sailing_helm = SailingHelm(self.exchange, self.sensors,
self.logger, config)
self.listen(EventName.set_course)
self.listen(EventName.tack)
self.listen(EventName.after)
def setUp(self):
super(TestSailingHelm, self).setUp()
config = {'no go angle': 50, 'min tack duration': 5}
self.no_go = config['no go angle']
self.sensors = Mock()
self.logger = Mock()
self.sailing_helm = SailingHelm(self.exchange, self.sensors, self.logger, config)
self.listen(EventName.set_course)
self.listen(EventName.tack)
self.listen(EventName.after)
class TestSailingHelm(EventTestCase):
def setUp(self):
super(TestSailingHelm, self).setUp()
config = {'no go angle': 50, 'min tack duration': 5}
self.no_go = config['no go angle']
self.sensors = Mock()
self.logger = Mock()
self.sailing_helm = SailingHelm(self.exchange, self.sensors,
self.logger, config)
self.listen(EventName.set_course)
self.listen(EventName.tack)
self.listen(EventName.after)
def test_sail_directly_if_running(self):
self.sensors.wind_direction_abs_average = 270
self.exchange.publish(
Event(EventName.sail_course, heading=90, seconds=100))
self.assertEqual(self.last_event,
Event(EventName.set_course, heading=90))
def test_sail_directly_if_close_hauled_outside_no_go(self):
self.sensors.wind_direction_abs_average = 0
self.exchange.publish(
Event(EventName.sail_course, heading=51, seconds=100))
self.assertEqual(self.last_event,
Event(EventName.set_course, heading=51))
self.sensors.wind_direction_abs_average = 0
self.exchange.publish(
Event(EventName.sail_course, heading=309, seconds=100))
self.assertEqual(self.last_event,
Event(EventName.set_course, heading=309))
def test_should_tack_left_for_half_the_time_then_right_if_wind_straight_ahead(
self):
self.sensors.wind_direction_abs_average = 190
self.exchange.publish(
Event(EventName.sail_course, heading=190, seconds=100))
right_tack = Event(EventName.tack, heading=240)
left_tack = Event(EventName.tack, heading=140.0)
self.assertEqual(self.events[EventName.tack], [left_tack])
self.assertEqual(
self.events[EventName.after],
[Event(EventName.after, seconds=50, next_event=right_tack)])
def test_should_issue_a_set_course_event_when_the_tack_event_is_fired(
self):
right_tack = Event(EventName.tack, heading=240)
self.exchange.publish(right_tack)
self.assertEqual(self.last_event,
Event(EventName.set_course, heading=240))
def test_should_tack_right_first_and_longer_then_left_if_wind_in_no_go_to_left_of_centre(
self):
self.sensors.wind_direction_abs_average = 350
self.exchange.publish(
Event(EventName.sail_course, heading=10, seconds=200))
right_tack = Event(EventName.tack, heading=40)
left_tack = Event(EventName.tack, heading=300)
self.assertEqual(self.events[EventName.tack], [right_tack])
self.assertEqual(
self.events[EventName.after],
[Event(EventName.after, seconds=131.0, next_event=left_tack)])
def test_should_tack_left_first_and_longer_then_right_if_wind_in_no_go_to_right_of_centre(
self):
self.sensors.wind_direction_abs_average = 5
self.exchange.publish(
Event(EventName.sail_course, heading=345, seconds=120))
left_tack = Event(EventName.tack, heading=315.0)
right_tack = Event(EventName.tack, heading=55.0)
self.assertEqual(self.events[EventName.tack], [left_tack])
self.assertEqual(
self.events[EventName.after],
[Event(EventName.after, seconds=78.0, next_event=right_tack)])
def ignore_should_calculate_length_of_tacks_based_on_angle_total_sailing_time_and_no_go_angle(
self):
wind_course_difference, total_time = 10, 30
results = self.sailing_helm._leg_times(wind_course_difference,
total_time)
sin_tack_angle = sin(radians(180 - (2 * self.no_go)))
expected_first_leg_long = round(
float(total_time) *
sin(radians((2 * self.no_go) - wind_course_difference)) /
sin_tack_angle)
expected_second_leg_short = round(
float(total_time) * sin(radians(wind_course_difference)) /
sin_tack_angle)
self.assertEqual(results,
(expected_first_leg_long, expected_second_leg_short))
def ignore_should_produce_zero_second_leg_if_steering_straight_ahead(self):
self.assertEqual((20, 0), self.sailing_helm._leg_times(0, 20))
def ignore_should_produce_equal_legs_if_steering_at_no_go_angle(self):
self.assertEqual((16, 16),
self.sailing_helm._leg_times(self.no_go, 20))
def ignore_should_steer_left_first_using_diff_between_wind_and_course_if_wind_is_coming_from_the_right(
self):
self.assertEqual(self.sailing_helm._initial_tack_deflection(40),
40 - self.no_go)
def ignore_should_steer_right_first_using_diff_between_wind_and_course_if_wind_is_coming_from_the_left(
self):
self.assertEqual(self.sailing_helm._initial_tack_deflection(-30),
self.no_go - 30)
def ignore_should_only_perform_first_tack_if_second_tack_is_five_seconds_or_less(
self):
wind_direction = 260
self.sensors.wind_direction = wind_direction
self.sailing_helm.steer_course(215, 30)
self.course_steerer.steer_course.assert_called_with(
210.0, 30, self.no_go)
class TestSailingHelm(EventTestCase):
def setUp(self):
super(TestSailingHelm, self).setUp()
config = {'no go angle': 50, 'min tack duration': 5}
self.no_go = config['no go angle']
self.sensors = Mock()
self.logger = Mock()
self.sailing_helm = SailingHelm(self.exchange, self.sensors, self.logger, config)
self.listen(EventName.set_course)
self.listen(EventName.tack)
self.listen(EventName.after)
def test_sail_directly_if_running(self):
self.sensors.wind_direction_abs_average = 270
self.exchange.publish(Event(EventName.sail_course,heading=90,seconds=100))
self.assertEqual(self.last_event, Event(EventName.set_course, heading=90))
def test_sail_directly_if_close_hauled_outside_no_go(self):
self.sensors.wind_direction_abs_average = 0
self.exchange.publish(Event(EventName.sail_course,heading=51,seconds=100))
self.assertEqual(self.last_event, Event(EventName.set_course, heading=51))
self.sensors.wind_direction_abs_average = 0
self.exchange.publish(Event(EventName.sail_course,heading=309,seconds=100))
self.assertEqual(self.last_event, Event(EventName.set_course, heading=309))
def test_should_tack_left_for_half_the_time_then_right_if_wind_straight_ahead(self):
self.sensors.wind_direction_abs_average = 190
self.exchange.publish(Event(EventName.sail_course,heading=190, seconds=100))
right_tack = Event(EventName.tack, heading=240)
left_tack = Event(EventName.tack, heading=140.0)
self.assertEqual(self.events[EventName.tack], [left_tack])
self.assertEqual(self.events[EventName.after],[Event(EventName.after, seconds=50, next_event=right_tack)])
def test_should_issue_a_set_course_event_when_the_tack_event_is_fired(self):
right_tack = Event(EventName.tack, heading=240)
self.exchange.publish(right_tack)
self.assertEqual(self.last_event, Event(EventName.set_course, heading=240))
def test_should_tack_right_first_and_longer_then_left_if_wind_in_no_go_to_left_of_centre(self):
self.sensors.wind_direction_abs_average = 350
self.exchange.publish(Event(EventName.sail_course,heading=10, seconds=200))
right_tack = Event(EventName.tack, heading=40)
left_tack = Event(EventName.tack, heading=300)
self.assertEqual(self.events[EventName.tack],[right_tack])
self.assertEqual(self.events[EventName.after],[Event(EventName.after, seconds=131.0, next_event=left_tack)])
def test_should_tack_left_first_and_longer_then_right_if_wind_in_no_go_to_right_of_centre(self):
self.sensors.wind_direction_abs_average = 5
self.exchange.publish(Event(EventName.sail_course,heading=345, seconds=120))
left_tack = Event(EventName.tack, heading=315.0)
right_tack = Event(EventName.tack, heading=55.0)
self.assertEqual(self.events[EventName.tack],[left_tack])
self.assertEqual(self.events[EventName.after],[Event(EventName.after, seconds=78.0, next_event=right_tack)])
def ignore_should_calculate_length_of_tacks_based_on_angle_total_sailing_time_and_no_go_angle(self):
wind_course_difference,total_time = 10,30
results = self.sailing_helm._leg_times(wind_course_difference,total_time)
sin_tack_angle = sin(radians(180 - (2 * self.no_go)))
expected_first_leg_long = round(float(total_time) * sin(radians((2 * self.no_go) - wind_course_difference)) / sin_tack_angle)
expected_second_leg_short = round(float(total_time) * sin(radians(wind_course_difference)) /sin_tack_angle)
self.assertEqual(results,(expected_first_leg_long,expected_second_leg_short))
def ignore_should_produce_zero_second_leg_if_steering_straight_ahead(self):
self.assertEqual((20,0),self.sailing_helm._leg_times(0,20))
def ignore_should_produce_equal_legs_if_steering_at_no_go_angle(self):
self.assertEqual((16,16),self.sailing_helm._leg_times(self.no_go,20))
def ignore_should_steer_left_first_using_diff_between_wind_and_course_if_wind_is_coming_from_the_right(self):
self.assertEqual(self.sailing_helm._initial_tack_deflection(40),40 - self.no_go)
def ignore_should_steer_right_first_using_diff_between_wind_and_course_if_wind_is_coming_from_the_left(self):
self.assertEqual(self.sailing_helm._initial_tack_deflection(-30),self.no_go - 30)
def ignore_should_only_perform_first_tack_if_second_tack_is_five_seconds_or_less(self):
wind_direction = 260
self.sensors.wind_direction = wind_direction
self.sailing_helm.steer_course(215,30)
self.course_steerer.steer_course.assert_called_with(210.0, 30,self.no_go)
class TestSailingHelm(unittest.TestCase):
def setUp(self):
config = {"no go angle": 50, "min tack duration": 5}
self.no_go = config["no go angle"]
self.course_steerer = Mock()
self.sensors = Mock()
self.sailing_helm = SailingHelm(self.sensors, self.course_steerer, config)
def test_sail_directly_if_wind_not_in_no_go_zone(self):
self.sensors.wind_direction = 270
self.sailing_helm.steer_course(90, 10)
self.course_steerer.steer_course.assert_called_with(90, 10, self.no_go)
self.sensors.wind_direction = 39
self.sailing_helm.steer_course(90, 10)
self.course_steerer.steer_course.assert_called_with(90, 10, self.no_go)
self.sensors.wind_direction = 141
self.sailing_helm.steer_course(90, 10)
self.course_steerer.steer_course.assert_called_with(90, 10, self.no_go)
def test_should_tack_left_then_right_equally_if_wind_straight_ahead(self):
self.sensors.wind_direction = 190
self.sailing_helm.steer_course(190, 150)
self.course_steerer.steer_course.assert_has_calls([call(140.0, 117, self.no_go), call(240.0, 117, self.no_go)])
def test_should_tack_right_first_and_longer_then_left_if_wind_in_no_go_to_left_of_centre(self):
self.sensors.wind_direction = 350
self.sailing_helm.steer_course(10, 200)
self.course_steerer.steer_course.assert_has_calls([call(40.0, 191.0, self.no_go), call(300, 102.0, self.no_go)])
def test_should_tack_left_first_and_longer_then_right_if_wind_in_no_go_to_right_of_centre(self):
self.sensors.wind_direction = 5
self.sailing_helm.steer_course(345, 120)
self.course_steerer.steer_course.assert_has_calls(
[call(315.0, 115.0, self.no_go), call(55.0, 61.0, self.no_go)]
)
def test_should_calculate_length_of_tacks_based_on_angle_total_sailing_time_and_no_go_angle(self):
wind_course_difference, total_time = 10, 30
results = self.sailing_helm._leg_times(wind_course_difference, total_time)
sin_tack_angle = sin(radians(180 - (2 * self.no_go)))
expected_first_leg_long = round(
float(total_time) * sin(radians((2 * self.no_go) - wind_course_difference)) / sin_tack_angle
)
expected_second_leg_short = round(float(total_time) * sin(radians(wind_course_difference)) / sin_tack_angle)
self.assertEqual(results, (expected_first_leg_long, expected_second_leg_short))
def test_should_produce_zero_second_leg_if_steering_straight_ahead(self):
self.assertEqual((20, 0), self.sailing_helm._leg_times(0, 20))
def test_should_produce_equal_legs_if_steering_at_no_go_angle(self):
self.assertEqual((16, 16), self.sailing_helm._leg_times(self.no_go, 20))
def test_should_steer_left_first_using_diff_between_wind_and_course_if_wind_is_coming_from_the_right(self):
self.assertEqual(self.sailing_helm._initial_tack_deflection(40), 40 - self.no_go)
def test_should_steer_right_first_using_diff_between_wind_and_course_if_wind_is_coming_from_the_left(self):
self.assertEqual(self.sailing_helm._initial_tack_deflection(-30), self.no_go - 30)
def test_should_only_perform_first_tack_if_second_tack_is_five_seconds_or_less(self):
wind_direction = 260
self.sensors.wind_direction = wind_direction
self.sailing_helm.steer_course(215, 30)
self.course_steerer.steer_course.assert_called_with(210.0, 30, self.no_go)
def setUp(self):
config = {"no go angle": 50, "min tack duration": 5}
self.no_go = config["no go angle"]
self.course_steerer = Mock()
self.sensors = Mock()
self.sailing_helm = SailingHelm(self.sensors, self.course_steerer, config)
