Refactor tests to remove the falcontest decorator

docs/DEVELOPMENT_GUIDE.md

@@ -232,9 +232,6 @@ pytest -x
 # Run specific test file
 pytest tests/test_params.py
 
-# Run with physical device
-pytest --fc -s
-
 # Run specific test
 pytest -k "test_param_set"
 

radio/app/controllers/missionController.py

@@ -61,6 +61,27 @@ def _convertCoordinate(coordinate) -> Number:
     )
 
 
+def _wp_to_dict(
+    wp: mavutil.mavlink.MAVLink_mission_item_int_message,
+    altitude_decimal_places: int = 4,
+) -> dict:
+    """
+    Convert a MAVLink mission item to a dict, rounding the altitude (z) field
+    to a fixed number of decimal places to avoid floating-point noise.
+
+    Args:
+        wp: A MAVLink mission item object with a to_dict() method.
+        altitude_decimal_places (int): Number of decimal places to round z to.
+
+    Returns:
+        dict: The waypoint as a dictionary with z rounded.
+    """
+    d = wp.to_dict()
+    if "z" in d and isinstance(d["z"], float):
+        d["z"] = round(d["z"], altitude_decimal_places)
+    return d
+
+
 def _getMissionName(mission_type: int) -> str:
     """
     Get the name of the mission type.
@@ -285,7 +306,7 @@ def importMissionFromFile(
     return {
         "success": True,
         "message": f"Waypoint file loaded {loader.count()} points successfully",
-        "data": [wp.to_dict() for wp in loader.wpoints],
+        "data": [_wp_to_dict(wp) for wp in loader.wpoints],
     }
 
 
@@ -419,7 +440,7 @@ def getCurrentMission(
 
             return {
                 "success": True,
-                "data": [item.to_dict() for item in mission_items.get("data", [])],
+                "data": [_wp_to_dict(item) for item in mission_items.get("data", [])],
             }
         except serial.serialutil.SerialException:
             return {
@@ -456,9 +477,9 @@ def getCurrentMissionAll(self) -> Response:
         return {
             "success": True,
             "data": {
-                "mission_items": [item.to_dict() for item in mission_items],
-                "fence_items": [item.to_dict() for item in fence_items],
-                "rally_items": [item.to_dict() for item in rally_items],
+                "mission_items": [_wp_to_dict(item) for item in mission_items],
+                "fence_items": [_wp_to_dict(item) for item in fence_items],
+                "rally_items": [_wp_to_dict(item) for item in rally_items],
             },
         }
 

radio/tests/__init__.py

@@ -1,7 +1,3 @@
-from typing import Callable, Optional
-
-import app.droneStatus as droneStatus
-import pytest
 from app import create_app, socketio
 from flask.testing import FlaskClient
 from flask_socketio.test_client import SocketIOTestClient
@@ -27,42 +23,3 @@ def ignore_link_debug_stats(data):
 socketio_client: SocketIOTestClient = socketio.test_client(
     app, flask_test_client=flask_client
 )
-
-
-def falcon_test(pass_drone_status: bool = False, pass_flask: bool = False) -> Callable:
-    """
-    A wrapper to connect to backend and pass necessary details to test function
-
-    Args:
-        pass_drone_status (bool): True if you want to accept the droneStatus file to the test func
-        pass_flask (bool): True if you want to accept the flask_test_client file to the test func
-    """
-
-    def run_test(test_func: Optional[Callable] = None):
-        """Inner wrapper to run test"""
-
-        if test_func is None:
-            raise ValueError(
-                "You forgot to write parenthesis around falcon_test() so test_func was set to None"
-            )
-
-        def inner(*args, **kwargs):
-            # Make sure the server did not rejected the connection
-            assert socketio_client.is_connected()
-
-            # Get variables to pass into test_func
-            passing_variables = {}
-            if pass_drone_status:
-                passing_variables["droneStatus"] = droneStatus
-            if pass_flask:
-                passing_variables["flask_client"] = flask_client
-
-            # Run test
-            if droneStatus.drone is None and pass_drone_status:
-                pytest.skip("Passing as no flight controller was found.")
-            else:
-                test_func(socketio_client, *args, **passing_variables, **kwargs)
-
-        return inner
-
-    return run_test

radio/tests/conftest.py

@@ -1,7 +1,8 @@
-import app.droneStatus as droneStatus  # noqa: F401
+import app.droneStatus as _droneStatus_module
 import pytest
 from app.drone import Drone
-from app.utils import getComPort
+
+from tests import socketio_client as _socketio_client
 
 
 def pytest_configure(config):
@@ -19,57 +20,55 @@ def setupDrone(connectionString: str) -> bool:
     Setup the drone globally, this is done before running pytest
 
     Args:
-        connectionString (str): Either the port for a physical device or network connection string for a simulator
+        connectionString (str): Network connection string for a simulator
     """
-    global droneStatus
-
     drone = Drone(connectionString)
 
     if drone.master is None:
         return False
 
-    droneStatus.drone = drone
+    _droneStatus_module.drone = drone
     return True
 
 
-def pytest_addoption(parser):
-    parser.addoption("--fc", action="store_true")
-
-
 def pytest_sessionstart(session):
     """
     Called after the Session object has been created and
     before performing collection and entering the run test loop.
     """
-    global droneStatus
-
-    connection_string = "tcp:127.0.0.1:5760"
-
-    if session.config.getoption("--fc"):
-        print("\033[1;31;40mRUNNING TESTS WITH A PHYSICAL DEVICE \033[0m")
-        connection_string = getComPort()
+    print("\033[1;31;40mRUNNING TESTS WITH A SIMULATOR \033[0m")
 
-    else:
-        print("\033[1;31;40mRUNNING TESTS WITH A SIMULATOR \033[0m")
-
-    success = setupDrone(connection_string)
+    success = setupDrone("tcp:127.0.0.1:5760")
 
     if not success:
         print("\033[1;31;40mFAILED TO CONNECT TO DRONE, EXITING TESTS\033[0m")
         pytest.exit(1)
 
 
+@pytest.fixture
+def droneStatus():
+    """Fixture providing the droneStatus module"""
+    return _droneStatus_module
+
+
+@pytest.fixture
+def socketio_client():
+    """Fixture providing the socketio test client"""
+    assert _socketio_client.is_connected(), "SocketIO test client is not connected"
+    return _socketio_client
+
+
 @pytest.fixture(autouse=True)
 def check_aircraft_type(request):
     """Fixture to skip tests based on aircraft type markers"""
 
     markers = [marker.name for marker in request.node.iter_markers()]
 
-    if droneStatus.drone is None:
+    if _droneStatus_module.drone is None:
         pytest.skip("No drone connected")
         return
 
-    aircraft_type = droneStatus.drone.aircraft_type
+    aircraft_type = _droneStatus_module.drone.aircraft_type
 
     # Skip if marked as plane_only but not a plane
     if "plane_only" in markers and aircraft_type != 1:

radio/tests/mission_test_files/exported_mission_check.txt

@@ -1,5 +1,5 @@
 QGC WPL 110
-0	0	0	16	0.000000	0.000000	0.000000	0.000000	52.780569	-0.707924	0.100000	1
+0	0	0	16	0.000000	0.000000	0.000000	0.000000	52.780569	-0.707923	0.190000	1
 1	0	3	22	0.000000	0.000000	0.000000	0.000000	0.000000	0.000000	30.000000	1
 2	0	3	16	0.000000	0.000000	0.000000	0.000000	52.780320	-0.709793	30.000000	1
 3	0	3	16	0.000000	0.000000	0.000000	0.000000	52.781228	-0.709895	30.000000	1

radio/tests/mission_test_files/test_getCurrentMission_correctMission_result.json

@@ -16,9 +16,9 @@
       "seq": 0,
       "target_component": 190,
       "target_system": 255,
-      "x": 527805690,
-      "y": -7079236,
-      "z": 0.09999999403953552
+      "x": 527805691,
+      "y": -7079234,
+      "z": 0.19
     },
     {
       "mavpackettype": "MISSION_ITEM_INT",

radio/tests/mission_test_files/test_getCurrentMission_correctState_result.json

@@ -15,9 +15,9 @@
       "seq": 0,
       "target_component": 190,
       "target_system": 255,
-      "x": 527805690,
-      "y": -7079236,
-      "z": 0.09999999403953552
+      "x": 527805691,
+      "y": -7079234,
+      "z": 0.19
     },
     {
       "mavpackettype": "MISSION_ITEM_INT",

radio/tests/mission_test_files/test_writeCurrentMission_uploadMissionSuccess_data.json

@@ -15,9 +15,9 @@
       "seq": 0,
       "target_component": 190,
       "target_system": 255,
-      "x": 527805690,
-      "y": -7079236,
-      "z": 0.09999999403953552
+      "x": 527805691,
+      "y": -7079234,
+      "z": 0.19
     },
     {
       "mavpackettype": "MISSION_ITEM_INT",