45 lines
1.3 KiB
Python
45 lines
1.3 KiB
Python
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from __future__ import annotations
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import pytest
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from cmvr_edge_ai.connectors.cmvr_es import CmvrAgvCommandSink
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VELOCITY_LIMITS = {
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"vx": {"min": -0.5, "max": 0.5},
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"vy": {"min": -0.3, "max": 0.3},
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"wz": {"min": -1.0, "max": 1.0},
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}
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def test_agv_sink_requires_a_fixed_device() -> None:
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with pytest.raises(ValueError, match="fixed, non-empty device_id"):
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CmvrAgvCommandSink("agv", {"endpoint": "cmvr_es"})
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def test_unsafe_velocity_override_requires_a_real_boolean() -> None:
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with pytest.raises(ValueError, match="must be a boolean"):
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CmvrAgvCommandSink(
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"agv",
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{
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"endpoint": "cmvr_es",
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"device_id": "src1100",
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# Environment expansion deliberately leaves plugin params as
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# strings. The dangerous override must not use bool("false").
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"unsafe_allow_unleased_velocity": "false",
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"velocity_limits": VELOCITY_LIMITS,
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},
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)
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def test_unsafe_velocity_override_requires_sink_side_limits() -> None:
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with pytest.raises(ValueError, match="requires explicit velocity_limits"):
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CmvrAgvCommandSink(
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"agv",
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{
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"endpoint": "cmvr_es",
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"device_id": "src1100",
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"unsafe_allow_unleased_velocity": True,
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},
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)
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