
    &iV                         d dl Zd dlmc mZ d dlZd dlZd dlZd dl	Z	d dl
mZ ej                  j                  d        Zej                  j                  d        Zy)    N)EdgeProxyServerc           
        K   | dz  }|j                  dj                                t        dddddt        |            }|j                  j                          d {    t        j                  |j                  |j                  d|j                  	       d {   }	 |j                  d   j                         d
   }t        j                  d| d      4 d {   }t        j                  |j!                          d {         }t        j                  |j!                          d {         }|d   }d}	||	v }
|
slt#        j$                  d|
fd||	f      t#        j&                  |      t#        j&                  |	      dz  }dd|iz  }t)        t#        j*                  |            d x}x}
}	|d   }d}	||	v }
|
slt#        j$                  d|
fd||	f      t#        j&                  |      t#        j&                  |	      dz  }dd|iz  }t)        t#        j*                  |            d x}x}
}	|j-                  t        j.                  ddddddd             d {    g }t1        j2                         j5                         dz   }t1        j2                         j5                         |k  rt        j                  |j!                          d {         }|j7                  d      dk(  rI|j7                  d      dk(  r5|j9                  |j7                  d             |j7                  d      dk(  rn&t1        j2                         j5                         |k  rd}||v }
|
st#        j$                  d|
fd ||f      t#        j&                  |      d!t;        j<                         v st#        j>                  |      rt#        j&                  |      nd!d"z  }d#d$|iz  }t)        t#        j*                  |            d x}}
d}||v }
|
st#        j$                  d|
fd ||f      t#        j&                  |      d!t;        j<                         v st#        j>                  |      rt#        j&                  |      nd!d"z  }d#d$|iz  }t)        t#        j*                  |            d x}}
d d d       d {    |jA                          |jC                          d {    |j                  jE                          d {    y 7 7 r7 27 7 7 7 C7 d# 1 d {  7  sw Y   txY w7 S7 3# |jA                          |jC                          d {  7   |j                  jE                          d {  7   w xY ww)%Nwps.yaml;
waypoints:
  - name: lobby
    x: 0
    y: 0
    theta: 0
	127.0.0.1r   /edge/healthmockhostportws_pathhealth_pathbackendwaypoints_pathprocess_request   ws://127.0.0.1:typewaypoint_listrobot_stateinz%(py1)s in %(py4)spy1py4assert %(py6)spy6navigater1waypointlobby)r   namenormalr   
request_idgoalspeed      @
nav_statusr)   statusarrivedacceptedz%(py1)s in %(py3)sstatusesr   py3assert %(py5)spy5#
write_textlstripr   str_backendstart
websocketsserve_handlerr   _process_requestsocketsgetsocknameconnectjsonloadsrecv
@pytest_ar_call_reprcompare	_safereprAssertionError_format_explanationsenddumpsasyncioget_event_looptimegetappend@py_builtinslocals_should_repr_global_nameclosewait_closedstoptmp_path	waypointsserver	ws_serverr   wsinit1init2@py_assert0@py_assert3@py_assert2@py_format5@py_format7r2   deadlinemsg@py_format4@py_format6s                     >/home/nelsen/Projects/HRI/edge-proxy/tests/test_server_mock.pytest_server_mock_navigaterk   
   s    :%I	 FH 9~F //


!!! &&vQX^XoXoppI#%  #//1!4%%vU&CD 	) 	)JJRWWY/EJJRWWY/E=D$DD=$DDDDD=$DDDD=DDD$DDDDDDDD=D$DD=$DDDDD=$DDDD=DDD$DDDDDDDD''

 *&*)3W E!)		 	 	 H--/446<H((*//1H<jjrwwy1776?l2sww|7LPT7TOOCGGH$56wwx(I5 ((*//1H< ):)))):))):))))))))))))))))(9((((9(((9((((((((((((((((;	) 	)> 	##%%%oo""$$$K "p	)..	 "1-	) 	) 	) 	)@ 	&$ 	##%%%oo""$$$s  AVT>VTV#=T<  T!T< $#T#T
*T#2T
3D5T#(T)A2T#T
B
T#'E
T#1T< <T!=T< #V$T8%!VT:VVT< T#T#T#T#!T< #T5)T,*T51T< 8V:V<$V
 U#!"V
VV

Vc                    K   | dz  }|j                  dj                                t        dddddt        |            }|j                  j                          d {    t        j                  |j                  |j                  d|j                  	       d {   }	 |j                  d   j                         d
   }t        j                  d| d      4 d {   }t        j                  |j!                          d {         }t        j                  |j!                          d {         }|d   }d}	||	v }
|
slt#        j$                  d|
fd||	f      t#        j&                  |      t#        j&                  |	      dz  }dd|iz  }t)        t#        j*                  |            d x}x}
}	|d   }d}	||	v }
|
slt#        j$                  d|
fd||	f      t#        j&                  |      t#        j&                  |	      dz  }dd|iz  }t)        t#        j*                  |            d x}x}
}	|j-                  t        j.                  dddddddd             d {    g }t1        j2                         j5                         dz   }t1        j2                         j5                         |k  rt        j                  |j!                          d {         }|j7                  d      dk(  rI|j7                  d      dk(  r5|j9                  |j7                  d             |j7                  d      dk(  rn&t1        j2                         j5                         |k  rd }||v }
|
st#        j$                  d|
fd!||f      t#        j&                  |      d"t;        j<                         v st#        j>                  |      rt#        j&                  |      nd"d#z  }d$d%|iz  }t)        t#        j*                  |            d x}}
d}||v }
|
st#        j$                  d|
fd!||f      t#        j&                  |      d"t;        j<                         v st#        j>                  |      rt#        j&                  |      nd"d#z  }d$d%|iz  }t)        t#        j*                  |            d x}}
d d d       d {    |jA                          |jC                          d {    |j                  jE                          d {    y 7 7 s7 37 7 7 7 C7 d# 1 d {  7  sw Y   txY w7 S7 3# |jA                          |jC                          d {  7   |j                  jE                          d {  7   w xY ww)&Nr   r   r   r   r   r	   r
   r   r   r   r   r   r   r   r   r   r    r!   r"   r#   relativeforwardg      ?)r   	directiondistanceslowr(   r,   r-   r)   r.   r/   r0   r1   r2   r3   r5   r6   r7   rY   s                     rj   "test_server_mock_navigate_relativerr   I   s    :%I	 FH 9~F //


!!! &&vQX^XoXoppI#%  #//1!4%%vU&CD 	) 	)JJRWWY/EJJRWWY/E=D$DD=$DDDDD=$DDDD=DDD$DDDDDDDD=D$DD=$DDDDD=$DDDD=DDD$DDDDDDDD''

 *&*)3)Y\ ]!'		 	 	 H--/446<H((*//1H<jjrwwy1776?l2sww|7LPT7TOOCGGH$56wwx(I5 ((*//1H< ):)))):))):))))))))))))))))(9((((9(((9((((((((((((((((;	) 	)> 	##%%%oo""$$$K "p	)..	 "1-	) 	) 	) 	)@ 	&$ 	##%%%oo""$$$s  AVT>VTV#=T=  T!T= $#T$T
*T$2T
3D6T$)T*A2T$T
B
T$(E
T$2T= =T">T= #V%T9&!VT;VVT= T$T$T$T$"T= $T6*T-+T62T= 9V;V=$V!U$""VVVV)builtinsrS   _pytest.assertion.rewrite	assertionrewriterG   rN   rD   pytestr=   edge_proxy.serverr   markrk   rr        rj   <module>r|      sU          - ;% ;%| ;% ;%r{   