implemented init, update test and passed

test/test_gnss.py

@@ -0,0 +1,68 @@
+"""
+Unit test of Gnss
+
+Author: Shisato Yano
+"""
+
+import matplotlib as mpl
+mpl.use("Agg")
+import matplotlib.pyplot as plt
+import numpy as np
+import pytest
+import sys
+from pathlib import Path
+
+sys.path.append(str(Path(__file__).absolute().parent) + "/../src/components/sensors/gnss")
+from gnss import Gnss
+
+
+# mock class
+class MockState:
+    def __init__(self):
+        pass
+
+    def get_x_m(self):
+        return 1.0
+
+    def get_y_m(self):
+        return 1.0
+
+    def get_yaw_rad(self):
+        return 1.0
+
+    def get_speed_mps(self):
+        return 1.0
+
+
+# test instance
+gnss = Gnss()
+state = MockState()
+
+
+def test_initialize():
+    assert gnss.NOISE_VAR_MAT.shape == (2, 2)
+    assert gnss.NOISE_VAR_MAT[0, 0] == 0.25
+    assert gnss.NOISE_VAR_MAT[0, 1] == 0.0
+    assert gnss.NOISE_VAR_MAT[1, 0] == 0.0
+    assert gnss.NOISE_VAR_MAT[1, 1] == 0.25
+    assert gnss.DRAW_COLOR == 'g'
+    assert gnss.latest_observed_xy == None
+    assert len(gnss.x_history) == 0
+    assert len(gnss.y_history) == 0
+
+
+def test_update():
+    gnss.update(state)
+    assert gnss.latest_observed_xy.shape == (2, 1)
+    assert len(gnss.x_history) != 0
+    assert len(gnss.y_history) != 0
+
+
+def test_draw():
+    plt.clf()
+    plt.close()
+
+    figure = plt.figure(figsize=(8, 8))
+    axes = figure.add_subplot(111)
+
+    gnss.draw(axes, [])