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125 lines
3.8 KiB
Python
125 lines
3.8 KiB
Python
# TestLookAtController.py
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# shotmanager
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#
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# Unit tests for the orbit controller.
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#
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# Created by Nick Speal on 3/16/2016.
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# Copyright (c) 2016 3D Robotics.
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import lookAtController
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from lookAtController import *
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from dronekit import LocationGlobalRelative
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import unittest
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import mock
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from mock import call
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from mock import Mock
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from mock import MagicMock
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from mock import patch
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class TestSetOptions(unittest.TestCase):
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def setUp(self):
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origin = LocationGlobalRelative(37.873168,-122.302062, 0) # lat,lon,alt
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'''Create a mock vehicle object'''
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vehicle = mock.create_autospec(Vehicle)
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controllerAlt = 5
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#Run the controller constructor
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self.controller = lookAtController.LookAtController(vehicle, controllerAlt)
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def testSetBothOptions(self):
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'''Tests setting both options'''
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self.controller.setOptions(maxClimbRate = 3, maxAlt = 75)
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self.assertEqual(self.controller.maxClimbRate, 3)
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self.assertEqual(self.controller.maxAlt, 75)
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def testSetOptionsNoAltLimit(self):
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'''Tests setting both options, with disabled altitude limit'''
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self.controller.setOptions(maxClimbRate = 3, maxAlt = None)
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self.assertEqual(self.controller.maxClimbRate, 3)
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self.assertEqual(self.controller.maxAlt, None)
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class TestMove(unittest.TestCase):
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def setUp(self):
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'''Create a mock vehicle object'''
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vehicle = mock.create_autospec(Vehicle)
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controllerAlt = 105
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#Run the controller constructor
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self.controller = lookAtController.LookAtController(vehicle, controllerAlt)
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self.controller._climb = Mock(return_value = Vector3())
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#Set options
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self.controller.maxClimbRate = 5 # m/s
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self.controller.maxAlt = 100 #m
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#Arbirary sticks
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throttle = 0.3
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roll = -0.4
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pitch = 0.5
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yaw = -0.6
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raw_paddle = 0.7
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self.channels = [throttle, roll, pitch, yaw, 0.0, 0.0, 0.0, raw_paddle]
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self.controller.move(self.channels)
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def testCallClimb(self):
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'''Tests that _climb() is called'''
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self.controller._climb.assert_called_with(0.3)
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class TestClimb(unittest.TestCase):
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def setUp(self):
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'''Create a mock vehicle object'''
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vehicle = mock.create_autospec(Vehicle)
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controllerAlt = 5
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#Run the controller constructor
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self.controller = lookAtController.LookAtController(vehicle, controllerAlt)
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# set options
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self.controller.setOptions(maxClimbRate=1.5 ,maxAlt=45)
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def testClimbUp(self):
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'''Test climbing up with stick up'''
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self.controller.altitude = 100
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climbVel = self.controller._climb(1.0)
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self.assertEqual(climbVel, Vector3(0,0,1.0*self.controller.maxClimbRate))
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def testClimbDown(self):
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'''Test descending with stick down'''
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self.controller.altitude = 100
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climbVel = self.controller._climb(-1.0)
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self.assertEqual(climbVel, Vector3(0,0,-1.0*self.controller.maxClimbRate))
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def testAltitudeLimit(self):
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'''Test that maximum altitude is enforced when climbing'''
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self.controller.altitude = 105
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climbVel = self.controller._climb(-1.0)
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self.assertEqual(self.controller.altitude, self.controller.maxAlt)
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