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Add test to ensure we can navigate even though the GNSS location becomes None #124

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merged 5 commits into from
Jul 18, 2024
Merged

Add test to ensure we can navigate even though the GNSS location becomes None #124

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0238113
test navigation + weeding with failing gnss
rodja Jul 17, 2024
75a0c51
simplified test
rodja Jul 17, 2024
caab61e
Merge commit '377b0a4907fd7772f4626917b601802ff251504c' into navigati…
pascalzauberzeug Jul 17, 2024
93312dd
Merge commit 'ac9d19e1ce203e0e858bb5ba761a07b22ce44787' into navigati…
rodja Jul 17, 2024
1b90cab
Merge commit '11537341833255d722b353d1605d70ec658c020d' into navigati…
rodja Jul 18, 2024
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16 changes: 16 additions & 0 deletions tests/test_navigation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
from field_friend.automations import Field
from field_friend.automations.implements import Implement, Recorder
from field_friend.automations.navigation import StraightLineNavigation
from field_friend.localization import GnssSimulation


async def test_straight_line(system: System):
Expand All @@ -23,6 +24,21 @@ async def test_straight_line(system: System):
assert system.odometer.prediction.point.x == pytest.approx(system.straight_line_navigation.length, abs=0.1)


async def test_straight_line_with_failing_gnss(system: System, gnss: GnssSimulation, detector: rosys.vision.DetectorSimulation):
async def empty():
return None
create_new_record = gnss._create_new_record
system.automator.start()
await forward(5)
gnss._create_new_record = empty # type: ignore
await forward(0.5)
gnss._create_new_record = create_new_record
await forward(5)
assert system.automator.is_running
assert len(detector.simulated_objects) == 0
assert system.odometer.prediction.yaw_deg == pytest.approx(0, abs=1)


async def test_driving_to_exact_positions(system: System):
class Stopper(Implement):
def __init__(self, system: System) -> None:
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