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drone: Update animation tests

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This commit is contained in:
Arthur Golubtsov
2020-06-17 21:59:43 +03:00
parent 4b3f4e2db6
commit b3cdb59205
1 changed files with 86 additions and 75 deletions
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161
drone/tests/animation_test.py
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@@ -3,6 +3,15 @@ import sys
import shutil
from pytest import approx
import pytest
import logging
logging.basicConfig( # TODO all prints as logs
level=logging.DEBUG, # INFO
stream=sys.stdout,
format="%(asctime)s [%(name)-7.7s] [%(threadName)-12.12s] [%(levelname)-5.5s] %(message)s",
handlers=[
logging.StreamHandler(sys.stdout),
])
# Add parent dir to PATH to import messaging_lib and config_lib
current_dir = (os.path.dirname(os.path.realpath(__file__)))
@@ -36,111 +45,113 @@ assert config.config_name == "client"
import animation
a = animation.Animation()
assets_dir = os.path.realpath(os.path.join(root_dir, 'drone/tests/assets'))
def test_animation_1():
a.update_frames(config, os.path.join(assets_dir, 'animation_1.csv'))
def test_animation_1_2():
a = animation.Animation(os.path.join(assets_dir, 'animation_1.csv'), config)
assert a.id == 'basic'
assert a.state == "OK"
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]
assert a.takeoff_index == 10
assert a.route_index == 20
assert a.land_index == 29
assert a.static_end_index == 39
assert a.output_frames[a.takeoff_index].action == 'arm'
assert a.output_frames_takeoff[a.takeoff_index].action == 'takeoff'
assert approx(a.output_frames_min_z) == 0
assert a.get_start_action() == 'fly'
config.set('ANIMATION', 'ratio', [1,2,3])
config.set('ANIMATION', 'common_offset', [4,5,6])
a.on_config_update(config)
assert approx(a.output_frames[0].get_pos()) == [4.,5.,6.]
assert approx(a.output_frames_min_z) == 6.
assert approx(a.get_start_frame().get_pos()) == [4.,5.,6.]
assert a.get_start_action() == 'takeoff'
config.set('ANIMATION', 'ratio', [1,1,1])
config.set('ANIMATION', 'common_offset', [0,0,0])
def test_animation_2():
a.update_frames(config, os.path.join(assets_dir, 'animation_2.csv'))
a.on_animation_update(os.path.join(assets_dir, 'animation_2.csv'), config)
assert a.id == 'parad'
assert a.state == "OK"
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]
assert a.takeoff_index == 271
assert a.route_index == 285
assert a.land_index == 1064
assert a.static_end_index == 1064
assert a.output_frames[a.takeoff_index].action == 'arm'
assert a.output_frames_takeoff[a.takeoff_index].action == 'takeoff'
assert approx(a.output_frames_min_z) == 0.21
assert a.get_start_action() == 'fly'
config.set('ANIMATION', 'ratio', [1,2,3])
config.set('ANIMATION', 'common_offset', [4,5,6])
a.on_config_update(config)
assert approx(a.output_frames[0].get_pos()) == [2.99481, 10.31398, 6.63]
assert approx(a.output_frames_min_z) == 6.63
assert approx(a.get_start_frame().get_pos()) == [2.99481, 10.31398, 6.63]
assert a.get_start_action() == 'takeoff'
config.set('ANIMATION', 'ratio', [1,1,1])
config.set('ANIMATION', 'common_offset', [0,0,0])
def test_animation_3():
a.update_frames(config, os.path.join(assets_dir, 'animation_3.csv'))
a = animation.Animation(os.path.join(assets_dir, 'animation_3.csv'), config)
assert a.id == 'route'
assert a.state == "OK"
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 a.takeoff_index == 0
assert a.route_index == 0
assert a.land_index == 10
assert a.static_end_index == 10
assert a.output_frames[a.takeoff_index].action == 'arm'
assert a.output_frames_takeoff[a.takeoff_index].action == 'takeoff'
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]
assert a.get_start_action() == 'takeoff'
config.set('ANIMATION', 'ratio', [1,2,3])
config.set('ANIMATION', 'common_offset', [4,5,6])
a.on_config_update(config)
assert approx(a.output_frames[0].get_pos()) == [4,5,9]
assert approx(a.output_frames_min_z) == 9
assert approx(a.get_start_frame().get_pos()) == [4,5,9]
assert a.get_start_action() == 'takeoff'
config.set('ANIMATION', 'ratio', [1,1,1])
config.set('ANIMATION', 'common_offset', [0,0,0])
def test_animation_4():
a.update_frames(config, os.path.join(assets_dir, 'animation_4.csv'))
a = animation.Animation(os.path.join(assets_dir, 'animation_4.csv'), config)
assert a.id == 'two_drones_test'
assert a.state == "OK"
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 a.takeoff_index == 11
assert a.route_index == 11
assert a.land_index == 139
assert a.static_end_index == 139
assert a.output_frames[0].action == 'arm'
assert a.output_frames_takeoff[0].action == 'takeoff'
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]
assert a.get_start_action() == 'takeoff'
config.set('ANIMATION', 'ratio', [1,2,3])
config.set('ANIMATION', 'common_offset', [4,5,6])
a.on_config_update(config)
assert approx(a.output_frames[0].get_pos()) == [4.2,7.8,9]
assert approx(a.output_frames_min_z) == 9
assert approx(a.get_start_frame().get_pos()) == [4.2,7.8,9]
assert a.get_start_action() == 'takeoff'
config.set('ANIMATION', 'ratio', [1,1,1])
config.set('ANIMATION', 'common_offset', [0,0,0])
def test_animation_no_file():
a.update_frames(config, "zzz.csv")
a = animation.Animation('zzz.csv', config)
assert a.id == None
assert a.state != "OK"
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')