Added higher level functions to controller

tests/common.js

@@ -0,0 +1,5 @@
+var common = exports;
+var path   = require('path');
+
+common.root     = path.join(__dirname, '..');
+common.lib      = path.join(common.root, 'lib');

tests/run.js

@@ -0,0 +1,2 @@
+var urun = require('urun');
+urun(__dirname);

tests/unit/test-Controller.js

@@ -0,0 +1,111 @@
+var common   = require('../common');
+var assert   = require('assert');
+var test     = require('utest');
+var sinon    = require('sinon');
+var autonomy = require(common.root);
+
+test('Controller', {
+    before: function() {
+        this.mockClient      = {};
+        this.mockClient.on   = sinon.stub();
+        this.mockClient.stop = sinon.stub();
+    },
+
+    'controller binds on navdata': function() {
+        var ctrl = new autonomy.Controller(this.mockClient);
+        assert.equal(this.mockClient.on.callCount, 1);
+    },
+
+    'disabling the controller stops the drone': function() {
+        var ctrl = new autonomy.Controller(this.mockClient);
+        ctrl.disable();
+        assert.equal(this.mockClient.stop.callCount, 1);
+        assert.equal(ctrl._enabled, false);
+    },
+
+    'hover assigns current state as goal': function() {
+        var ctrl  = new autonomy.Controller(this.mockClient);
+        var state = {x: 1, y: 2, z: 3, yaw: 0};
+
+        ctrl._state = state;
+        ctrl.hover();
+        var goal = ctrl._goal;
+
+        assert.equal(goal.x, state.x);
+        assert.equal(goal.y, state.y);
+        assert.equal(goal.z, state.z);
+        assert.equal(goal.yaw, state.yaw);
+    },
+
+    'forward mapping works with different yaw': function() {
+        var ctrl  = new autonomy.Controller(this.mockClient);
+        ctrl._state = {x: 0, y: 0, z: 1, yaw: 0};
+
+        // Test forward with yaw 0
+        ctrl.forward(1);
+        assert.equal(ctrl._goal.x, 1);
+        assert.equal(ctrl._goal.y, 0);
+
+        // Test forward with yaw 90
+        var yaw = 90;
+        ctrl._state.yaw = yaw.toRad();
+        ctrl.forward(1);
+        assert.equal(Math.round(ctrl._goal.x * 1000) / 1000, 0);
+        assert.equal(ctrl._goal.y, 1);
+
+        // Test forward with yaw 45
+        var yaw = 45;
+        ctrl._state.yaw = yaw.toRad();
+        ctrl.forward(1);
+        assert.equal(Math.round(ctrl._goal.x * 1000) / 1000, Math.round(ctrl._goal.y * 1000) /1000);
+
+        // Test forward with yaw -45
+        var yaw = -45;
+        ctrl._state.yaw = yaw.toRad();
+        ctrl.forward(1);
+        assert.equal(Math.round(ctrl._goal.x * 1000) / 1000, -Math.round(ctrl._goal.y * 1000) /1000);
+    },
+
+    'right mapping works with different yaw': function() {
+        var ctrl  = new autonomy.Controller(this.mockClient);
+        ctrl._state = {x: 0, y: 0, z: 1, yaw: 0};
+
+        // Test right with yaw 0
+        ctrl.right(1);
+        assert.equal(ctrl._goal.x, 0);
+        assert.equal(ctrl._goal.y, 1);
+
+        // Test right with yaw 90
+        var yaw = 90;
+        ctrl._state.yaw = yaw.toRad();
+        ctrl.right(1);
+        assert.equal(Math.round(ctrl._goal.x * 1000) / 1000, -1);
+        assert.equal(Math.round(ctrl._goal.y * 1000) / 1000, 0);
+
+        // Test right with yaw 45
+        var yaw = 45;
+        ctrl._state.yaw = yaw.toRad();
+        ctrl.right(1);
+        assert.equal(Math.round(ctrl._goal.x * 1000) / 1000, -Math.round(ctrl._goal.y * 1000) /1000);
+    },
+
+    'backward is the inverse of forward': function() {
+        var ctrl    = new autonomy.Controller(this.mockClient);
+        var cb      = function() {};
+        ctrl._state = {x: 0, y: 0, z: 1, yaw: 0};
+        sinon.spy(ctrl, 'forward');
+
+        ctrl.backward(1, cb);
+        assert(ctrl.forward.calledWith(-1, cb));
+    },
+
+    'left is the inverse of right': function() {
+        var ctrl    = new autonomy.Controller(this.mockClient);
+        var cb      = function() {};
+        ctrl._state = {x: 0, y: 0, z: 1, yaw: 0};
+        sinon.spy(ctrl, 'right');
+
+        ctrl.left(1, cb);
+        assert(ctrl.right.calledWith(-1, cb));
+    }
+});