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d58569b25c
Unit tests cover the SQL gate, broadcast codec, Hive writer layout, and flight kinematics. CI runs pytest first; the simulator image build runs tests in a dedicated stage before the final layer.
36 lines
1.1 KiB
Python
36 lines
1.1 KiB
Python
"""Flight kinematics — waypoint patrol and step integration."""
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from __future__ import annotations
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import random
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from virtual_drone.config import Config
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from virtual_drone.flight import initial_pose, make_waypoints, step
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def test_make_waypoints_returns_closed_perimeter() -> None:
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cfg = Config()
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rng = random.Random(7)
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wps = make_waypoints(cfg, rng)
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assert len(wps) == 4
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assert all(len(p) == 2 for p in wps)
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def test_step_moves_toward_target() -> None:
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cfg = Config()
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rng = random.Random(3)
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pose = initial_pose(cfg, rng, 1_000_000_000)
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target = (pose.x + 50.0, pose.y + 50.0)
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next_pose, _ = step(pose, target, cfg, rng, dt=0.1, ts_ns=1_100_000_000)
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dist_before = ((target[0] - pose.x) ** 2 + (target[1] - pose.y) ** 2) ** 0.5
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dist_after = ((target[0] - next_pose.x) ** 2 + (target[1] - next_pose.y) ** 2) ** 0.5
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assert dist_after < dist_before
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def test_reached_when_close_to_waypoint() -> None:
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cfg = Config()
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rng = random.Random(1)
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pose = initial_pose(cfg, rng, 2_000_000_000)
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_, reached = step(pose, (pose.x, pose.y), cfg, rng, dt=1.0, ts_ns=2_100_000_000)
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assert reached is True
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