test: Move drone related tests to drone dir

drone/tests/animation_test.py

@@ -0,0 +1,144 @@
+import os
+import sys
+import shutil
+from pytest import approx
+import pytest
+
+# Add parent dir to PATH to import messaging_lib and config_lib
+current_dir = (os.path.dirname(os.path.realpath(__file__)))
+root_dir = os.path.realpath(os.path.join(current_dir,'../..'))
+lib_dir = os.path.realpath(os.path.join(root_dir, 'lib'))
+modules_dir = os.path.realpath(os.path.join(root_dir, 'drone/modules'))
+sys.path.insert(0, lib_dir)
+sys.path.insert(0, modules_dir)
+
+# print("PATH: {}".format(sys.path))
+
+from config import ConfigManager
+
+config_path = 'animation_config/config'
+spec_path = os.path.join(config_path,'spec')
+if not os.path.exists(spec_path):
+    try:
+        os.makedirs(spec_path)
+    except OSError:
+        print("Creation of the directory {} failed".format(spec_path))
+    else:
+        print("Successfully created the directory {}".format(spec_path))
+
+configspec_path = os.path.realpath(os.path.join(root_dir,"drone/config/spec/configspec_client.ini"))
+shutil.copy(configspec_path, spec_path)
+
+config = ConfigManager()
+config.load_config_and_spec(os.path.join(config_path,'client.ini'))
+
+assert config.config_name == "client"
+
+import animation
+
+a = animation.Animation()
+
+def test_animation_1():
+    a.update_frames(config, "assets/animation_1.csv")
+    assert a.id == 'basic'
+    assert approx(a.original_frames[0].get_pos()) == [0,0,0]
+    assert a.original_frames[0].get_color() == [204,2,0]
+    assert a.original_frames[0].pose_is_valid()
+    assert animation.get_numbers(a.static_begin_frames) == range(1,11)
+    assert animation.get_numbers(a.takeoff_frames) == range(11,21)
+    assert animation.get_numbers(a.route_frames) == range(21,31)
+    assert animation.get_numbers(a.land_frames) == range(31, 41)
+    assert animation.get_numbers(a.static_end_frames) == range(41, 51)
+    assert animation.get_numbers(a.output_frames) == range(11,31)
+    assert approx(a.static_begin_time) == 1
+    assert approx(a.takeoff_time) == 1
+    assert approx(a.output_frames_min_z) == 0.1
+    assert approx(a.get_scaled_output(ratio=[1,2,3], offset=[4,5,6])[0].get_pos()) == [4.,5.,6.3]
+    assert approx(a.get_scaled_output_min_z(ratio=[1,2,3], offset=[4,5,6])) == 6.3
+    assert approx(a.get_start_point(ratio=[1,2,3], offset=[4,5,6])) == [4.,5.,6.3]
+
+def test_animation_2():
+    a.update_frames(config, "assets/animation_2.csv")
+    assert a.id == 'parad'
+    assert approx(a.original_frames[271].get_pos()) == [-1.00519,2.65699,0.24386]
+    assert a.original_frames[271].get_color() == [7,255,0]
+    assert a.original_frames[271].pose_is_valid()
+    assert animation.get_numbers(a.static_begin_frames) == range(271)
+    assert animation.get_numbers(a.takeoff_frames) == range(271,285)
+    assert animation.get_numbers(a.route_frames) == range(285,1065)
+    assert animation.get_numbers(a.land_frames) == []
+    assert animation.get_numbers(a.static_end_frames) == []
+    assert animation.get_numbers(a.output_frames) == range(271, 1065)
+    assert approx(a.static_begin_time) == 27.1
+    assert approx(a.takeoff_time) == 1.4
+    assert approx(a.output_frames_min_z) == 0.24386
+    assert approx(a.get_scaled_output(ratio=[1,2,3], offset=[4,5,6])[0].get_pos()) == [2.99481, 10.31398, 6.73158]
+    assert approx(a.get_scaled_output_min_z(ratio=[1,2,3], offset=[4,5,6])) == 6.73158
+    assert approx(a.get_start_point(ratio=[1,2,3], offset=[4,5,6])) == [2.99481, 10.31398, 6.73158]
+
+def test_animation_3():
+    a.update_frames(config, "assets/animation_3.csv")
+    assert a.id == 'route'
+    assert approx(a.original_frames[9].get_pos()) == [0.97783,0.0,1.0]
+    assert a.original_frames[9].get_color() == [0,204,2]
+    assert a.original_frames[9].pose_is_valid()
+    assert animation.get_numbers(a.static_begin_frames) == []
+    assert animation.get_numbers(a.takeoff_frames) == []
+    assert animation.get_numbers(a.route_frames) == range(20,31)
+    assert animation.get_numbers(a.land_frames) == []
+    assert animation.get_numbers(a.static_end_frames) == []
+    assert approx(a.static_begin_time) == 0
+    assert approx(a.takeoff_time) == 0
+    assert approx(a.output_frames_min_z) == 1
+    assert approx(a.get_scaled_output(ratio=[1,2,3], offset=[4,5,6])[0].get_pos()) == [4,5,9]
+    assert approx(a.get_scaled_output_min_z(ratio=[1,2,3], offset=[4,5,6])) == 9
+    assert approx(a.get_start_point(ratio=[1,2,3], offset=[4,5,6])) == [4,5,9]
+
+def test_animation_4():
+    a.update_frames(config, "assets/animation_4.csv")
+    assert a.id == 'two_drones_test'
+    assert approx(a.original_frames[11].get_pos()) == [0.21774,1.4,1.0]
+    assert a.original_frames[11].get_color() == [0,0,0]
+    assert a.original_frames[11].pose_is_valid()
+    assert animation.get_numbers(a.static_begin_frames) == range(1,12)
+    assert animation.get_numbers(a.takeoff_frames) == []
+    assert animation.get_numbers(a.route_frames) == range(12,141)
+    assert animation.get_numbers(a.land_frames) == []
+    assert animation.get_numbers(a.static_end_frames) == range(141,161)
+    assert animation.get_numbers(a.output_frames) == range(12,141)
+    assert approx(a.static_begin_time) == 1.1
+    assert approx(a.takeoff_time) == 0
+    assert approx(a.output_frames_min_z) == 1
+    assert approx(a.get_scaled_output(ratio=[1,2,3], offset=[4,5,6])[0].get_pos()) == [4.21774,7.8,9]
+    assert approx(a.get_scaled_output_min_z(ratio=[1,2,3], offset=[4,5,6])) == 9
+    assert approx(a.get_start_point(ratio=[1,2,3], offset=[4,5,6])) == [4.21774,7.8,9]
+
+def test_animation_no_file():
+    a.update_frames(config, "zzz.csv")
+    assert a.id == None
+    assert a.original_frames == []
+    assert a.output_frames == []
+    assert animation.get_numbers(a.static_begin_frames) == []
+    assert animation.get_numbers(a.takeoff_frames) == []
+    assert animation.get_numbers(a.route_frames) == []
+    assert animation.get_numbers(a.land_frames) == []
+    assert animation.get_numbers(a.static_end_frames) == []
+    assert a.static_begin_time == 0
+    assert a.takeoff_time == 0
+    assert a.output_frames_min_z is None
+    assert a.get_scaled_output(ratio=[1,2,3], offset=[4,5,6]) == []
+    assert a.get_scaled_output_min_z(ratio=[1,2,3], offset=[4,5,6]) is None
+    assert a.get_start_point(ratio=[1,2,3], offset=[4,5,6]) == []
+
+
+# print animation.get_numbers(a.static_begin_frames)
+# print animation.get_numbers(a.takeoff_frames)
+# print animation.get_numbers(a.route_frames)
+# print animation.get_numbers(a.land_frames)
+# print animation.get_numbers(a.static_end_frames)
+# print animation.get_numbers(a.output_frames)
+# print a.static_begin_time
+# print a.takeoff_time
+# print a.output_frames_min_z
+
+shutil.rmtree('animation_config')

drone/tests/assets/animation_1.csv

@@ -0,0 +1,51 @@
+basic
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drone/tests/assets/animation_3.csv

@@ -0,0 +1,12 @@
+route
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+30,1.0,0.0,1.0,0.0,0,204,2

drone/tests/assets/animation_4.csv

@@ -0,0 +1,161 @@
+two_drones_test
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