108 lines
3.3 KiB
Python
108 lines
3.3 KiB
Python
"""Regression tests for host-SITL command-path truth assertions."""
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import importlib.machinery
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import importlib.util
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from pathlib import Path
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import unittest
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from unittest import mock
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def load_client_module():
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path = Path(__file__).with_name("kaptan-sim")
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loader = importlib.machinery.SourceFileLoader("kaptan_sim", str(path))
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spec = importlib.util.spec_from_loader(loader.name, loader)
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assert spec is not None
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module = importlib.util.module_from_spec(spec)
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loader.exec_module(module)
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return module
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class TruthAcceptanceTests(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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cls.client = load_client_module()
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def acceptable(self, *, motors_stopped=True, ground_plane_error=0.0, landing=True):
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return self.client.truth_sample_within_tolerance(
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position_error=0.01,
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velocity=0.01,
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attitude_error=0.01,
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motors_stopped=motors_stopped,
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ground_plane_error=ground_plane_error,
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position_tolerance=0.75,
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velocity_tolerance=0.25,
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attitude_tolerance=0.35,
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require_stopped_motors=landing,
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require_ground_plane=landing,
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)
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def test_move_truth_contract_allows_an_armed_hover(self):
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self.assertTrue(
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self.acceptable(motors_stopped=False, ground_plane_error=1.0, landing=False)
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)
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def test_landing_truth_contract_requires_zero_motors_and_ground_plane(self):
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self.assertFalse(self.acceptable(motors_stopped=False))
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self.assertFalse(
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self.acceptable(
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ground_plane_error=self.client.GROUND_PLANE_TOLERANCE_METRES + 0.001
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)
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)
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self.assertTrue(
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self.acceptable(
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ground_plane_error=self.client.GROUND_PLANE_TOLERANCE_METRES
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)
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)
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def test_land_builds_the_terminal_ground_plane_command(self):
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control_socket = object()
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clock_socket = object()
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with (
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mock.patch.object(self.client, "wait_ready") as wait_ready,
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mock.patch.object(self.client, "command_goal") as command_goal,
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):
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self.client.land(
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control_socket,
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clock_socket,
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1.0,
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-2.0,
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60.0,
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True,
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True,
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0.75,
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0.25,
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0.35,
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0.75,
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)
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wait_ready.assert_called_once_with(control_socket, 60.0)
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arguments = command_goal.call_args.args
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self.assertEqual(arguments[0:2], (control_socket, clock_socket))
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magic, version, goal_id, north, east, up = self.client.GOAL.unpack(arguments[2])
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self.assertEqual(
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(magic, version, north, east, up), (b"KSD1", 1, 1.0, -2.0, 0.0)
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)
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self.assertEqual(arguments[3], goal_id)
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self.assertEqual(
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arguments[4:],
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(
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1.0,
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-2.0,
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0.0,
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60.0,
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True,
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True,
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0.75,
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0.25,
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0.35,
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0.75,
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self.client.GOAL_LANDED,
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True,
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"land",
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),
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)
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if __name__ == "__main__":
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unittest.main()
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