Communication worker unit tests

modules/communications/communications.py

@@ -57,6 +57,8 @@ def run(
     ) -> tuple[True, bytes, list[bytes]] | tuple[False, None, None]:
 
         objects_in_world_global = []
+        objects_in_world = objects_in_world or []
+
         for object_in_world in objects_in_world:
             # We assume detected objects are on the ground
             north = object_in_world.location_x
@@ -91,7 +93,7 @@ def run(
         self.__logger.info(f"{time.time()}: {objects_in_world_global}")
 
         encoded_position_global_objects = []
-        for object in object_in_world_global:
+        for object in objects_in_world_global:
 
             result, message = message_encoding_decoding.encode_position_global(
                 worker_enum.WorkerEnum.COMMUNICATIONS_WORKER, object

tests/unit/test_communications.py

@@ -0,0 +1,338 @@
+"""
+Tests the communications class.
+"""
+
+import pytest
+
+from modules.communications import communications
+from modules.common.modules.logger import logger
+from modules import object_in_world
+from modules.common.modules import position_local
+from modules.common.modules.mavlink import local_global_conversion
+from modules.common.modules import position_global
+from modules.common.modules.data_encoding import metadata_encoding_decoding
+from modules.common.modules.data_encoding import message_encoding_decoding
+
+# Test functions use test fixture signature names and access class privates
+# No enable
+# pylint: disable=protected-access,redefined-outer-name
+
+LATITUDE_TOLERANCE = 0.000001
+LONGITUDE_TOLERANCE = 0.000001
+ALTITUDE_TOLERANCE = 7
+
+
+@pytest.fixture
+def home_position() -> position_global.PositionGlobal:  # type: ignore
+    """
+    Home position.
+    """
+    # University of Waterloo WGS84 Coordinate
+    result, position = position_global.PositionGlobal.create(43.472978, -80.540103, 336.0)
+    assert result
+    assert position is not None
+
+    yield position
+
+
+@pytest.fixture
+def communications_maker(
+    home_position: position_global.PositionGlobal,
+) -> communications.Communications:  # type: ignore
+    """
+    Construct a Communications instance with the Home position
+    """
+    result, test_logger = logger.Logger.create("test_logger", False)
+
+    assert result
+    assert test_logger is not None
+
+    result, communications_instance = communications.Communications.create(
+        home_position, test_logger
+    )
+    assert result
+    assert communications_instance is not None
+
+    yield communications_instance  # type: ignore
+
+
+def object_in_world_from_position_local(
+    position_local: position_local.PositionLocal,
+) -> object_in_world.ObjectInWorld:
+    """
+    Convert position local to object_in_world as defined in Communications.py
+    """
+    result, obj = object_in_world.ObjectInWorld.create(
+        position_local.north, position_local.east, 0.0
+    )
+    assert result
+    assert obj is not None
+
+    return obj
+
+
+def assert_global_positions(
+    expected: position_global.PositionGlobal, actual: position_global.PositionGlobal
+) -> None:
+    """
+    Assert each values of the global positions using the Tolerances
+    """
+    assert abs(expected.latitude - actual.latitude) < LATITUDE_TOLERANCE
+    assert abs(expected.longitude - actual.longitude) < LONGITUDE_TOLERANCE
+    assert abs(expected.altitude - actual.altitude) < ALTITUDE_TOLERANCE
+
+
+class TestCommunications:
+    """
+    Tests for the Communications.run() method.
+    """
+
+    def test_run(
+        self,
+        home_position: position_global.PositionGlobal,
+        communications_maker: communications.Communications,
+    ) -> None:
+        """
+        Test if the Communications.run returns the correct instance
+        """
+        # Setup
+        result, position = position_global.PositionGlobal.create(43.472978, -80.540103, 336.0)
+        assert result
+        assert position is not None
+
+        result, actual = local_global_conversion.position_local_from_position_global(
+            home_position, position
+        )
+        assert result
+        assert actual is not None
+
+        objects_in_world = [object_in_world_from_position_local(actual)]
+
+        # Run
+        result, metadata, generated_objects = communications_maker.run(objects_in_world)
+
+        # Test
+        assert result
+        assert isinstance(metadata, bytes)
+        for generated_object in generated_objects:
+            assert isinstance(generated_object, bytes)
+
+    def test_normal(
+        self,
+        home_position: position_global.PositionGlobal,
+        communications_maker: communications.Communications,
+    ) -> None:
+        """
+        Normal
+        """
+        # Setup
+        result, global_position_1 = position_global.PositionGlobal.create(
+            43.472978, -80.540103, 336.0
+        )
+        assert result
+        assert global_position_1 is not None
+
+        result, local_position_1 = local_global_conversion.position_local_from_position_global(
+            home_position, global_position_1
+        )
+        assert result
+        assert local_position_1 is not None
+
+        result, global_position_2 = position_global.PositionGlobal.create(
+            43.472800, -80.539500, 330.0
+        )
+        assert result
+        assert global_position_2 is not None
+
+        result, local_position_2 = local_global_conversion.position_local_from_position_global(
+            home_position, global_position_2
+        )
+        assert result
+        assert local_position_2 is not None
+
+        global_positions = [global_position_1, global_position_2]
+
+        objects_in_world = [
+            object_in_world_from_position_local(local_position_1),
+            object_in_world_from_position_local(local_position_2),
+        ]
+        number_of_messages = len(objects_in_world)
+
+        # Run
+        result, metadata, generated_objects = communications_maker.run(objects_in_world)
+        assert result
+        assert metadata is not None
+        assert generated_objects is not None
+
+        result, worker_id, actual_number_of_messages = metadata_encoding_decoding.decode_metadata(
+            metadata
+        )
+        assert result
+        assert worker_id is not None
+        assert actual_number_of_messages is not None
+
+        # Test
+        assert actual_number_of_messages == number_of_messages
+
+        # Conversion
+        for i, global_position in enumerate(global_positions):
+            result, worker_id, actual = message_encoding_decoding.decode_bytes_to_position_global(
+                generated_objects[i]
+            )
+            assert result
+            assert worker_id is not None
+            assert actual is not None
+
+            assert_global_positions(global_position, actual)
+
+    def test_empty_objects(
+        self,
+        communications_maker: communications.Communications,
+    ) -> None:
+        """
+        When nothing is passed in
+        """
+        objects_in_world = []
+
+        result, metadata, generated_objects = communications_maker.run(objects_in_world)
+        assert result
+        assert metadata is not None
+        assert generated_objects is not None
+
+        result, worker_id, actual_number_of_messages = metadata_encoding_decoding.decode_metadata(
+            metadata
+        )
+
+        # it will encounter an error where metadata is failed to encode
+        assert result
+        assert worker_id is not None
+        assert actual_number_of_messages is not None
+
+        # Test
+        assert actual_number_of_messages == 0
+        assert len(generated_objects) == 0
+
+    def test_none(self, communications_maker: communications.Communications) -> None:
+        """
+        When None is passed in
+        """
+        objects_in_world = None
+
+        result, metadata, generated_objects = communications_maker.run(objects_in_world)
+        assert result
+        assert metadata is not None
+        assert generated_objects is not None
+
+        result, worker_id, actual_number_of_messages = metadata_encoding_decoding.decode_metadata(
+            metadata
+        )
+
+        # it will encounter an error where metadata is failed to encode
+        assert result
+        assert worker_id is not None
+        assert actual_number_of_messages is not None
+
+        # Test
+        assert actual_number_of_messages == 0
+        assert len(generated_objects) == 0
+
+    def test_same_as_home(
+        self,
+        home_position: position_global.PositionGlobal,
+        communications_maker: communications.Communications,
+    ) -> None:
+        """
+        When the objects_in_world contains the home positions
+        """
+        # Setup
+        result, local_position = local_global_conversion.position_local_from_position_global(
+            home_position, home_position
+        )
+        assert result
+        assert local_position is not None
+
+        actual = object_in_world_from_position_local(local_position)
+        objects_in_world = [actual]
+        number_of_messages = len(objects_in_world)
+
+        # Run
+        result, metadata, generated_objects = communications_maker.run(objects_in_world)
+        assert result
+        assert metadata is not None
+        assert generated_objects is not None
+
+        # Conversion
+        result, worker_id, actual_number_of_messages = metadata_encoding_decoding.decode_metadata(
+            metadata
+        )
+        assert result
+        assert worker_id is not None
+        assert actual_number_of_messages is not None
+
+        # Test
+        assert actual_number_of_messages == number_of_messages
+
+        # Conversion
+        result, worker_id, actual = message_encoding_decoding.decode_bytes_to_position_global(
+            generated_objects[0]
+        )
+        assert result
+        assert worker_id is not None
+        assert actual is not None
+
+        # Test
+        assert_global_positions(home_position, actual)
+
+    def test_duplicate_coordinates(
+        self,
+        home_position: position_global.PositionGlobal,
+        communications_maker: communications.Communications,
+    ) -> None:
+        """
+        When the objects_in_world contains duplicate positions
+        """
+        # Setup
+        result, global_position = position_global.PositionGlobal.create(
+            43.472978, -80.540103, 336.0
+        )
+        assert result
+        assert global_position is not None
+
+        result, local_position = local_global_conversion.position_local_from_position_global(
+            home_position, global_position
+        )
+        assert result
+        assert local_position is not None
+
+        position = object_in_world_from_position_local(local_position)
+
+        objects_in_world = [position, position, position]
+        number_of_messages = len(objects_in_world)
+
+        # Run
+        result, metadata, generated_objects = communications_maker.run(objects_in_world)
+        assert result
+        assert metadata is not None
+        assert generated_objects is not None
+
+        result, worker_id, actual_number_of_messages = metadata_encoding_decoding.decode_metadata(
+            metadata
+        )
+        assert result
+        assert worker_id is not None
+        assert actual_number_of_messages is not None
+
+        # Test
+        assert actual_number_of_messages == number_of_messages
+
+        for generated_object in generated_objects:
+            # Conversion
+            result, worker_id, actual = message_encoding_decoding.decode_bytes_to_position_global(
+                generated_object
+            )
+            assert result
+            assert worker_id is not None
+            assert actual is not None
+
+            # Test
+            assert_global_positions(global_position, actual)