fixed waypoints_to_spline_commands

modules/waypoints_to_spline_commands.py

@@ -0,0 +1,56 @@
+"""
+Function to convert list of waypoints to dronekit commands.
+"""
+
+import dronekit
+
+from . import waypoint
+
+
+MAVLINK_FRAME = dronekit.mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT
+MAVLINK_COMMAND = dronekit.mavutil.mavlink.MAV_CMD_NAV_SPLINE_WAYPOINT
+ACCEPT_RADIUS = 10
+
+
+def waypoints_to_spline_commands(waypoints: "list[waypoint.Waypoint]",
+                                 altitude: int) -> "tuple[bool, list[dronekit.Command] | None]":
+    """
+    Convert list of waypoints to dronekit commands.
+
+    Parameters
+    ----------
+    waypoints: list[Waypoint]
+        list of Waypoint objects containing names and coordinates in decimal degrees.
+    altitude: int
+        altitude in meters to command the drone to.
+    Returns
+    -------
+    tuple[bool, list[dronekit.Command] | None]: 
+        (False, None) if empty waypoints list,
+        (True, dronekit commands that can be sent to the drone)
+    """
+    if len(waypoints) == 0:
+        return False, None
+
+    dronekit_command_list = []
+
+    for point in waypoints:
+        command = dronekit.Command(
+            0,
+            0,
+            0,
+            MAVLINK_FRAME,
+            MAVLINK_COMMAND,
+            0,
+            0,
+            0,  # param1
+            ACCEPT_RADIUS,
+            0,
+            0,
+            point.latitude,
+            point.longitude,
+            altitude,
+        )
+        dronekit_command_list.append(command)
+
+    return True, dronekit_command_list

tests/test_waypoints_to_spline_commands.py

@@ -0,0 +1,61 @@
+"""
+Test process.
+"""
+
+import dronekit
+
+from modules import waypoint
+from modules import waypoints_to_spline_commands
+
+
+def test_waypoints_to_spline_commands_empty_input():
+    """
+    Tests functionality correctness of waypoints_to_spline_commands on empty input.
+    """
+    waypoints = []
+    altitude = 100
+
+    result, commands_actual = waypoints_to_spline_commands.waypoints_to_spline_commands(
+        waypoints, 
+        altitude
+    )
+
+    assert not result
+    assert commands_actual is None
+
+
+def test_waypoints_to_spline_commands():
+    """
+    Tests functionality correctness of waypoints_to_spline_commands.
+    """
+    waypoints = [
+        waypoint.Waypoint("Waypoint 1", 42.123, -73.456),
+        waypoint.Waypoint("Waypoint 2", 42.789, -73.987),
+        waypoint.Waypoint("Waypoint 3", 42.555, -73.321),
+    ]
+    altitude = 100
+
+    result, commands_actual = waypoints_to_spline_commands.waypoints_to_spline_commands(
+        waypoints, 
+        altitude
+    )
+
+    assert result
+
+    assert isinstance(commands_actual, list)
+    assert len(commands_actual) == len(waypoints)
+
+    for i, command in enumerate(commands_actual):
+        lat_expected = waypoints[i].latitude
+        lng_expected = waypoints[i].longitude
+
+        assert isinstance(command, dronekit.Command)
+        assert command.frame == waypoints_to_spline_commands.MAVLINK_FRAME
+        assert command.command == waypoints_to_spline_commands.MAVLINK_COMMAND
+        assert command.param1 == 0
+        assert command.param2 == waypoints_to_spline_commands.ACCEPT_RADIUS
+        assert command.param3 == 0
+        assert command.param4 == 0
+        assert command.x == lat_expected
+        assert command.y == lng_expected
+        assert command.z == altitude