tests: add tests for new rally/fence loader classes

tests/test_wp.py

@@ -9,6 +9,9 @@
 import os
 import pkg_resources
 import sys
+
+os.environ["MAVLINK20"] = "1"
+
 from pymavlink import mavwp
 from pymavlink import mavutil
 
@@ -52,6 +55,8 @@ def make_wps(self):
     def test_add_remove(self):
         """Test we can add/remove waypoints to/from mavwp"""
         loader = mavwp.MAVWPLoader()
+        self.assertEqual(loader.mav_mission_type(),
+                         mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
 
         waypoints = self.make_wps()
 
@@ -67,6 +72,11 @@ def test_add_remove(self):
         self.assertEqual(loader.wp(0).z, 0)
         self.assertEqual(loader.wp(1).z, 1)
         self.assertEqual(loader.wp(2).z, 2)
+        # short test for the new item() method:
+        self.assertEqual(loader.item(0).z, 0)
+        self.assertEqual(loader.item(1).z, 1)
+        self.assertEqual(loader.item(2).z, 2)
+
 
         # remove a middle one, make sure things get renumbered
         loader.remove(waypoints[0])
@@ -185,11 +195,61 @@ def test_wp_is_loiter(self):
         self.assertFalse(loader.wp_is_loiter(1))
         self.assertFalse(loader.wp_is_loiter(2))
 
+        assert True
+
     def test_is_location_command(self):
         loader = mavwp.MAVWPLoader()
         self.assertFalse(loader.is_location_command(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH))
         self.assertTrue(loader.is_location_command(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT))
         self.assertTrue(loader.is_location_command(mavutil.mavlink.MAV_CMD_NAV_LOITER_TURNS))
 
+class RallyTest(unittest.TestCase):
+    '''tests functions related to loading waypoints and transfering them
+    via the mission-item-protocol'''
+    def test_rally_load(self):
+        '''test loading rally points from old RALLY style file'''
+        loader = mavwp.MissionItemProtocol_Rally()
+        self.assertEqual(loader.mav_mission_type(),
+                         mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
+        self.assertTrue(loader.is_location_command(mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT))
+
+        # test loading a QGC WPL 110 file:
+        rally_filepath = pkg_resources.resource_filename(__name__, "rally-110.txt")
+        loader.load(rally_filepath)
+        self.assertEqual(loader.count(), 2)
+        self.assertEqual(loader.wp(0).command, mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT)
+
+        # test loading tradition "RALLY" style format:
+        rally_filepath = pkg_resources.resource_filename(__name__, "rally.txt")
+        loader.load(rally_filepath)
+        self.assertEqual(loader.count(), 2)
+        self.assertEqual(loader.wp(0).command, mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT)
+
+class FenceTest(unittest.TestCase):
+    def test_fence_load(self):
+        '''test loading rally points from old RALLY style file'''
+        loader = mavwp.MissionItemProtocol_Fence()
+        self.assertEqual(loader.mav_mission_type(),
+                         mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
+        self.assertTrue(loader.is_location_command(mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION))
+
+        # test loading a QGC WPL 110 file:
+        fence_filepath = pkg_resources.resource_filename(__name__,
+                                                         "fence-110.txt")
+        loader.load(fence_filepath)
+        self.assertEqual(loader.count(), 10)
+        self.assertEqual(loader.wp(3).command, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION)
+
+        # test loading tradition lat/lng-pair style format:
+        fence_filepath = pkg_resources.resource_filename(__name__,
+                                                         "fence.txt")
+        loader.load(fence_filepath)
+        # there are 6 lines in the file - one return point, four fence
+        # points and a "fence closing point".  We don't store the
+        # fence closing point.
+        self.assertEqual(loader.count(), 5)
+        self.assertEqual(loader.wp(0).command, mavutil.mavlink.MAV_CMD_NAV_FENCE_RETURN_POINT)
+        self.assertEqual(loader.wp(3).command, mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION)
+
 if __name__ == '__main__':
     unittest.main()