Verwenden Sie eine Leuchte in einer einzigen Klasse viele Male wieder ⇐ Python

[Anonymous]

Betrachten Sie das folgende Code -Beispiel: < /p>

Code: Select all

import numpy as np
import pytest

from common.dataclasses.cage_state import CageState
from common.utils import generate_box_product
from stacking_algorithm.configuration import StackingAlgorithmConfigurations
from stacking_algorithm.robots.kuka_robot.configuration import RobotConfiguration
from stacking_algorithm.robots.kuka_robot.robot import KukaRobot

@pytest.fixture(scope="class")
def setup_product_left_front():
conf_robot = RobotConfiguration(wall_safety_margin=0.02, sideways_move=0.02)
robot = KukaRobot(conf_robot)
box_dimensions = np.array([0.3,0.3,0.3])
product = generate_box_product(box_dimensions)
bb = product.bounding_box()
product.transformation.pos[:] = - bb[0, :]

conf = StackingAlgorithmConfigurations()
cage_state = CageState(x=conf.CAGE_WIDTH, y=conf.CAGE_LENGTH, z=conf.CAGE_HEIGHT, products=[])
yield robot, product, cage_state, conf_robot, box_dimensions

@pytest.fixture(scope="class")
def setup_product_right_front(setup_product_left_front):
robot, product, cage_state, conf_robot, box_dimensions = setup_product_left_front
product.transformation.pos[0] += cage_state.x - box_dimensions[0]
yield robot, product, cage_state, conf_robot, box_dimensions

@pytest.fixture(scope="class")
def get_poses_left_front(setup_product_left_front):
robot, product, cage_state, conf_robot, box_dimensions = setup_product_left_front
robot_pickup_poses, robot_drop_poses, robot_strategy, product_drop_state = robot.compute_robot_poses_and_strategy(product, cage_state)
yield robot_pickup_poses, robot_drop_poses, robot_strategy, product_drop_state, robot, product, cage_state, conf_robot, box_dimensions

@pytest.fixture(scope="class")
def get_poses_right_front(setup_product_right_front):
robot, product, cage_state, conf_robot, box_dimensions = setup_product_right_front
robot_pickup_poses, robot_drop_poses, robot_strategy, product_drop_state = robot.compute_robot_poses_and_strategy(product, cage_state)
yield robot_pickup_poses, robot_drop_poses, robot_strategy, product_drop_state, robot, product, cage_state, conf_robot, box_dimensions

class TestRobotPosesLeftFront:
def test_sanity(self, get_poses_left_front):
robot_pickup_poses, robot_drop_poses, robot_strategy, product_drop_state, robot, product, cage_state, conf_robot, box_dimensions = get_poses_left_front
for pose in robot_drop_poses:
bb = robot.bounding_box(pose)
# Check that the drop poses are not entering the margin zones
assert bb[0, 0] >= conf_robot.wall_safety_margin
assert bb[1, 0] = conf_robot.wall_safety_margin
assert bb[1, 0] 
Wenn ich mich den obigen Code ansiehst, kann ich sehen, dass er nicht gut geschrieben ist. TestrobotPosesLeftfront 

, und ich schreibe das explizit und lade es für jeden dieser Tests explizit, was wie eine schlechte Übung erscheint. Ich sehe jedoch keinen guten Weg. Weg?