test navigation + weeding with failing gnss

zauberzeug · Jul 17, 2024 · 0238113 · 0238113
1 parent 6af88a4
commit 0238113
Showing 1 changed file with 25 additions and 0 deletions.
diff --git a/tests/test_navigation.py b/tests/test_navigation.py
@@ -8,6 +8,7 @@
 from field_friend.automations import Field
 from field_friend.automations.implements import Recorder
 from field_friend.automations.navigation import StraightLineNavigation
+from field_friend.localization import GnssSimulation
 
 
 async def test_straight_line(system: System):
@@ -22,6 +23,30 @@ 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
+    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
+                                                                   position=rosys.geometry.Point3d(x=0.1, y=0, z=0)))
+    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
+                                                                   position=rosys.geometry.Point3d(x=0.16, y=0, z=0)))
+    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
+                                                                   position=rosys.geometry.Point3d(x=0.26, y=0, z=0)))
+    detector.simulated_objects.append(rosys.vision.SimulatedObject(category_name='thistle',
+                                                                   position=rosys.geometry.Point3d(x=0.36, y=0, z=0)))
+    system.current_implement = system.implements['Weed Screw']
+    system.automator.start()
+    await forward(10)
+    gnss._create_new_record = empty  # type: ignore
+    await forward(0.5)
+    gnss._create_new_record = create_new_record
+    await forward(20)
+    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_follow_crops(system: System, detector: rosys.vision.DetectorSimulation):
     for i in range(10):
         x = i/10.0