Merge branch 'main' into i/o-page

.github/workflows/test.yml

@@ -0,0 +1,26 @@
+name: Run Tests
+
+on: [push]
+
+jobs:
+  pytest:
+    runs-on: ubuntu-latest
+    timeout-minutes: 30
+    steps:
+      - uses: actions/checkout@v2
+      - name: set up Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: "3.11"
+      - name: set up Poetry
+        uses: abatilo/[email protected]
+        with:
+          poetry-version: "1.2.2"
+      - name: install dependencies
+        run: |
+          pip install -r requirements.txt
+          pip install pytest pytest-asyncio
+      - name: run pytests
+        env:
+          PYTHONPATH: ${{ github.workspace }}
+        run: pytest

field_friend/__init__.py

@@ -1,4 +1,12 @@
 from . import automations, hardware, interface, localization, log_configuration, vision
 from .system import System
 
-__all__ = ['automations', 'hardware', 'interface', 'localization', 'vision', 'log_configuration', 'System']
+__all__ = [
+    'automations',
+    'hardware',
+    'interface',
+    'localization',
+    'vision',
+    'log_configuration',
+    'System',
+]

tests/test_gnss.py

@@ -1,8 +1,7 @@
 
+import pytest
 from copy import deepcopy
 
-
-import pytest
 import rosys
 from conftest import ROBOT_GEO_START_POSITION
 from rosys.testing import assert_point, forward
@@ -21,8 +20,8 @@ def test_shifted_calculation():
     point = GeoPoint(lat=51.983159, long=7.434212)
     shifted = point.shifted(rosys.geometry.Point(x=6, y=6))
     # coordinates should be x pointing north, y pointing west (verified with https://www.meridianoutpost.com/resources/etools/calculators/calculator-latitude-longitude-distance.php?)
-    assert shifted.lat == 51.98321292429539
-    assert shifted.long == 7.43412466846196
+    assert shifted.lat == pytest.approx(51.983212924295)
+    assert shifted.long == pytest.approx(7.434124668461)
     assert_point(shifted.cartesian(point), rosys.geometry.Point(x=6, y=6))
 
 

tests/test_navigation.py

@@ -56,11 +56,11 @@ async def test_approaching_first_row(system: System, field: Field):
     assert system.field_navigation.automation_watcher.field_watch_active
 
 
-async def test_not_approaching_first_row_when_outside_field(system: System, field: Field):
+async def test_approaching_first_row_when_outside_of_field(system: System, field: Field):
     async def drive_away():
         await system.driver.drive_to(rosys.geometry.Point(x=-5, y=0))
     system.automator.start(drive_away())
-    await forward(22)
+    await forward(50)
     assert not system.automator.is_running
 
     system.field_navigation.field = field
@@ -78,8 +78,9 @@ async def test_resuming_field_navigation_after_automation_stop(system: System, f
     system.automator.start()
     assert field.reference
     await forward(1)  # update gnss reference to use the fields reference
-    point = rosys.geometry.Point(x=1.50, y=-6.1)
+    point = rosys.geometry.Point(x=1.54, y=-6.1)
     await forward(x=point.x, y=point.y, tolerance=0.01)  # drive until we are on first row
+    await forward(2)
     assert system.field_navigation.state == system.field_navigation.State.FOLLOWING_ROW
     system.automator.stop(because='test')
     await forward(2)