Merge branch 'master' of github.com:bitcraze/crazyflie-lib-python

cflib/positioning/motion_commander.py

@@ -53,33 +53,36 @@
 
 class MotionCommander:
     """The motion commander"""
-    HEIGHT = 0.3
     VELOCITY = 0.2
     RATE = 360.0 / 5
 
-    def __init__(self, crazyflie):
+    def __init__(self, crazyflie, default_height=0.3):
         """
         Construct an instance of a MotionCommander
 
         :param crazyflie: a Crazyflie or SyncCrazyflie instance
+        :param default_height: the default height to fly at
         """
         if isinstance(crazyflie, SyncCrazyflie):
             self._cf = crazyflie.cf
         else:
             self._cf = crazyflie
 
+        self.default_height = default_height
+
         self._is_flying = False
         self._thread = None
 
     # Distance based primitives
 
-    def take_off(self, height=HEIGHT, velocity=VELOCITY):
+    def take_off(self, height=None, velocity=VELOCITY):
         """
         Takes off, that is starts the motors, goes straigt up and hovers.
         Do not call this function if you use the with keyword. Take off is
         done automatically when the context is created.
 
-        :param height: the height (meters) to hover
+        :param height: the height (meters) to hover at. None uses the default
+                       height set when constructed.
         :param velocity: the velocity (meters/second) when taking off
         :return:
         """
@@ -95,6 +98,9 @@ def take_off(self, height=HEIGHT, velocity=VELOCITY):
         self._thread = _SetPointThread(self._cf)
         self._thread.start()
 
+        if height is None:
+            height = self.default_height
+
         self.up(height, velocity)
 
     def land(self, velocity=VELOCITY):
@@ -116,8 +122,8 @@ def land(self, velocity=VELOCITY):
             self._cf.commander.send_stop_setpoint()
             self._is_flying = False
 
-    def __enter__(self, height=HEIGHT, velocity=VELOCITY):
-        self.take_off(height, velocity)
+    def __enter__(self):
+        self.take_off()
         return self
 
     def __exit__(self, exc_type, exc_val, exc_tb):

test/positioning/test_motion_commander.py

@@ -99,6 +99,22 @@ def test_that_it_goes_up_on_take_off(
         ])
         sleep_mock.assert_called_with(0.4 / 0.5)
 
+    def test_that_it_goes_up_to_default_height(
+            self, _SetPointThread_mock, sleep_mock):
+        # Fixture
+        thread_mock = _SetPointThread_mock()
+        sut = MotionCommander(self.cf_mock, default_height=0.4)
+
+        # Test
+        sut.take_off(velocity=0.6)
+
+        # Assert
+        thread_mock.set_vel_setpoint.assert_has_calls([
+            call(0.0, 0.0, 0.6, 0.0),
+            call(0.0, 0.0, 0.0, 0.0)
+        ])
+        sleep_mock.assert_called_with(0.4 / 0.6)
+
     def test_that_the_thread_is_started_on_takeoff(
             self, _SetPointThread_mock, sleep_mock):
         # Fixture
@@ -117,7 +133,6 @@ def test_that_it_goes_down_on_landing(
         thread_mock.get_height.return_value = 0.4
 
         self.sut.take_off()
-        thread_mock = _SetPointThread_mock()
         thread_mock.reset_mock()
 
         # Test
@@ -130,6 +145,28 @@ def test_that_it_goes_down_on_landing(
         ])
         sleep_mock.assert_called_with(0.4 / 0.5)
 
+    def test_that_it_takes_off_and_lands_as_context_manager(
+            self, _SetPointThread_mock, sleep_mock):
+        # Fixture
+        thread_mock = _SetPointThread_mock()
+        thread_mock.reset_mock()
+
+        thread_mock.get_height.return_value = 0.3
+
+        # Test
+        with self.sut:
+            pass
+
+        # Assert
+        thread_mock.set_vel_setpoint.assert_has_calls([
+            call(0.0, 0.0, 0.2, 0.0),
+            call(0.0, 0.0, 0.0, 0.0),
+            call(0.0, 0.0, -0.2, 0.0),
+            call(0.0, 0.0, 0.0, 0.0)
+        ])
+        sleep_mock.assert_called_with(0.3 / 0.2)
+        sleep_mock.assert_called_with(0.3 / 0.2)
+
     def test_that_it_starts_moving_multi_dimensional(
             self, _SetPointThread_mock, sleep_mock):
         # Fixture