mirror of
https://github.com/CopterExpress/clever-show.git
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165 lines
6.6 KiB
Python
165 lines
6.6 KiB
Python
import os
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import sys
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import shutil
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from pytest import approx
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import pytest
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import logging
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logging.basicConfig( # TODO all prints as logs
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level=logging.DEBUG, # INFO
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format="%(asctime)s [%(name)-7.7s] [%(threadName)-12.12s] [%(levelname)-5.5s] %(message)s",
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handlers=[
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logging.StreamHandler(sys.stdout),
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])
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# Add parent dir to PATH to import messaging_lib and config_lib
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current_dir = (os.path.dirname(os.path.realpath(__file__)))
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root_dir = os.path.realpath(os.path.join(current_dir,'../..'))
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lib_dir = os.path.realpath(os.path.join(root_dir, 'lib'))
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modules_dir = os.path.realpath(os.path.join(root_dir, 'drone/modules'))
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sys.path.insert(0, lib_dir)
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sys.path.insert(0, modules_dir)
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# print("PATH: {}".format(sys.path))
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from config import ConfigManager
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config_path = 'animation_config/config'
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spec_path = os.path.join(config_path,'spec')
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if not os.path.exists(spec_path):
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try:
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os.makedirs(spec_path)
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except OSError:
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print("Creation of the directory {} failed".format(spec_path))
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else:
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print("Successfully created the directory {}".format(spec_path))
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configspec_path = os.path.realpath(os.path.join(root_dir,"drone/config/spec/configspec_client.ini"))
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shutil.copy(configspec_path, spec_path)
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config = ConfigManager()
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config.load_config_and_spec(os.path.join(config_path,'client.ini'))
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assert config.config_name == "client"
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import animation
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assets_dir = os.path.realpath(os.path.join(root_dir, 'drone/tests/assets'))
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def test_animation_1_2():
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a = animation.Animation(os.path.join(assets_dir, 'animation_1.csv'), config)
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assert a.id == 'basic'
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assert a.state == "OK"
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assert approx(a.original_frames[0].get_pos()) == [0,0,0]
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assert a.original_frames[0].get_color() == [204,2,0]
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assert a.original_frames[0].pose_is_valid()
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assert a.takeoff_index == 10
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assert a.route_index == 20
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assert a.land_index == 29
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assert a.static_end_index == 39
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assert a.start_frame_index == a.takeoff_index
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assert approx(a.start_time) == 1
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assert a.output_frames[a.start_frame_index].action == 'arm'
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assert a.output_frames_takeoff[a.start_frame_index].action == 'takeoff'
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assert approx(a.output_frames_min_z) == 0
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assert a.get_start_action() == 'fly'
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config.set('ANIMATION', 'ratio', [1,2,3])
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config.set('ANIMATION', 'common_offset', [4,5,6])
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a.on_config_update(config)
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assert approx(a.output_frames[0].get_pos()) == [4.,5.,6.]
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assert approx(a.output_frames_min_z) == 6.
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assert approx(a.get_start_frame('fly').get_pos()) == [4.,5.,6.]
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assert a.get_start_action() == 'takeoff'
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config.set('ANIMATION', 'ratio', [1,1,1])
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config.set('ANIMATION', 'common_offset', [0,0,0])
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a.on_animation_update(os.path.join(assets_dir, 'animation_2.csv'), config)
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assert a.id == 'parad'
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assert a.state == "OK"
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assert approx(a.original_frames[271].get_pos()) == [-1.00519,2.65699,0.24386]
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assert a.original_frames[271].get_color() == [7,255,0]
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assert a.original_frames[271].pose_is_valid()
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assert a.takeoff_index == 271
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assert a.route_index == 285
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assert a.land_index == 1064
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assert a.static_end_index == 1064
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assert a.start_frame_index == a.takeoff_index
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assert approx(a.start_time) == 27.1
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assert a.output_frames[a.start_frame_index].action == 'arm'
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assert a.output_frames_takeoff[a.start_frame_index].action == 'takeoff'
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assert approx(a.output_frames_min_z) == 0.21
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assert a.get_start_action() == 'fly'
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config.set('ANIMATION', 'ratio', [1,2,3])
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config.set('ANIMATION', 'common_offset', [4,5,6])
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a.on_config_update(config)
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assert approx(a.output_frames[0].get_pos()) == [2.99481, 10.31398, 6.63]
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assert approx(a.output_frames_min_z) == 6.63
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assert approx(a.get_start_frame('fly').get_pos()) == [2.99481, 10.31398, 6.63]
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assert a.get_start_action() == 'takeoff'
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config.set('ANIMATION', 'ratio', [1,1,1])
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config.set('ANIMATION', 'common_offset', [0,0,0])
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def test_animation_3():
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a = animation.Animation(os.path.join(assets_dir, 'animation_3.csv'), config)
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assert a.id == 'route'
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assert a.state == "OK"
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assert approx(a.original_frames[9].get_pos()) == [0.97783,0.0,1.0]
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assert a.original_frames[9].get_color() == [0,204,2]
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assert a.original_frames[9].pose_is_valid()
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assert a.takeoff_index == 0
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assert a.route_index == 0
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assert a.land_index == 10
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assert a.static_end_index == 10
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assert a.start_frame_index == a.takeoff_index
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assert approx(a.start_time) == 0
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assert a.output_frames[a.start_frame_index].action == 'arm'
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assert a.output_frames_takeoff[a.start_frame_index].action == 'takeoff'
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assert approx(a.output_frames_min_z) == 1
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assert a.get_start_action() == 'takeoff'
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config.set('ANIMATION', 'ratio', [1,2,3])
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config.set('ANIMATION', 'common_offset', [4,5,6])
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a.on_config_update(config)
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assert approx(a.output_frames[0].get_pos()) == [4,5,9]
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assert approx(a.output_frames_min_z) == 9
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assert approx(a.get_start_frame('fly').get_pos()) == [4,5,9]
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assert a.get_start_action() == 'takeoff'
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config.set('ANIMATION', 'ratio', [1,1,1])
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config.set('ANIMATION', 'common_offset', [0,0,0])
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def test_animation_4():
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a = animation.Animation(os.path.join(assets_dir, 'animation_4.csv'), config)
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assert a.id == 'two_drones_test'
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assert a.state == "OK"
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assert approx(a.original_frames[11].get_pos()) == [0.21774,1.4,1.0]
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assert a.original_frames[11].get_color() == [0,0,0]
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assert a.original_frames[11].pose_is_valid()
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assert a.takeoff_index == 11
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assert a.route_index == 11
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assert a.land_index == 139
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assert a.static_end_index == 139
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assert a.start_frame_index == 0
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assert approx(a.start_time) == 0
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assert a.output_frames[a.start_frame_index].action == 'arm'
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assert a.output_frames_takeoff[a.start_frame_index].action == 'takeoff'
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assert approx(a.output_frames_min_z) == 1
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assert a.get_start_action() == 'takeoff'
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config.set('ANIMATION', 'ratio', [1,2,3])
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config.set('ANIMATION', 'common_offset', [4,5,6])
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a.on_config_update(config)
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assert approx(a.output_frames[0].get_pos()) == [4.2,7.8,9]
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assert approx(a.output_frames_min_z) == 9
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assert approx(a.get_start_frame('fly').get_pos()) == [4.2,7.8,9]
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assert a.get_start_action() == 'takeoff'
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config.set('ANIMATION', 'ratio', [1,1,1])
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config.set('ANIMATION', 'common_offset', [0,0,0])
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def test_animation_no_file():
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a = animation.Animation('zzz.csv', config)
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assert a.id == None
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assert a.state != "OK"
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assert a.original_frames == []
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assert a.output_frames == []
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assert a.output_frames_min_z is None
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shutil.rmtree('animation_config')
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