Instantiate MockPose member by function

equinor · Feb 28, 2024 · d0ffe21 · d0ffe21
1 parent 2c1903e
commit d0ffe21
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Showing 4 changed files with 14 additions and 12 deletions.
diff --git a/tests/isar/services/readers/test_base_reader.py b/tests/isar/services/readers/test_base_reader.py
@@ -19,7 +19,7 @@ class TestBaseReader:
             (asdict(MockMissionDefinition.default_mission), Mission),
             (asdict(MockStep.drive_to()), Step),
             (asdict(MockStep.take_image_in_coordinate_direction()), Step),
-            (asdict(MockPose.default_pose), Pose),
+            (asdict(MockPose.default_pose()), Pose),
         ],
     )
     def test_dict_to_dataclass(self, dataclass_dict: dict, expected_dataclass: Any):

diff --git a/tests/isar/state_machine/test_state_machine.py b/tests/isar/state_machine/test_state_machine.py
@@ -91,8 +91,8 @@ def test_reset_state_machine(state_machine) -> None:
 
 
 def test_state_machine_transitions(injector, state_machine_thread) -> None:
-    step_1: Step = DriveToPose(pose=MockPose.default_pose)
-    step_2: Step = TakeImage(target=MockPose.default_pose.position)
+    step_1: Step = DriveToPose(pose=MockPose.default_pose())
+    step_2: Step = TakeImage(target=MockPose.default_pose().position)
     mission: Mission = Mission(tasks=[Task(steps=[step_1, step_2])])  # type: ignore
 
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
@@ -121,8 +121,8 @@ def test_state_machine_transitions_when_running_full_mission(
 ) -> None:
     state_machine_thread.state_machine.stepwise_mission = False
 
-    step_1: Step = DriveToPose(pose=MockPose.default_pose)
-    step_2: Step = TakeImage(target=MockPose.default_pose.position)
+    step_1: Step = DriveToPose(pose=MockPose.default_pose())
+    step_2: Step = TakeImage(target=MockPose.default_pose().position)
     mission: Mission = Mission(tasks=[Task(steps=[step_1, step_2])])  # type: ignore
 
     scheduling_utilities: SchedulingUtilities = injector.get(SchedulingUtilities)
@@ -147,7 +147,7 @@ def test_state_machine_transitions_when_running_full_mission(
 def test_state_machine_failed_dependency(
     injector, state_machine_thread, mocker
 ) -> None:
-    drive_to_step: Step = DriveToPose(pose=MockPose.default_pose)
+    drive_to_step: Step = DriveToPose(pose=MockPose.default_pose())
     inspection_step: Step = MockStep.take_image_in_coordinate_direction()
     mission: Mission = Mission(tasks=[Task(steps=[drive_to_step, inspection_step])])  # type: ignore
 

diff --git a/tests/mocks/pose.py b/tests/mocks/pose.py
@@ -2,8 +2,10 @@
 
 
 class MockPose:
-    default_pose = Pose(
-        position=Position(x=0, y=0, z=0, frame=Frame("robot")),
-        orientation=Orientation(x=0, y=0, z=0, w=1, frame=Frame("robot")),
-        frame=Frame("robot"),
-    )
+    @staticmethod
+    def default_pose():
+        return Pose(
+            position=Position(x=0, y=0, z=0, frame=Frame("robot")),
+            orientation=Orientation(x=0, y=0, z=0, w=1, frame=Frame("robot")),
+            frame=Frame("robot"),
+        )
diff --git a/tests/mocks/step.py b/tests/mocks/step.py
@@ -7,7 +7,7 @@
 class MockStep:
     @staticmethod
     def drive_to() -> DriveToPose:
-        return DriveToPose(pose=MockPose.default_pose)
+        return DriveToPose(pose=MockPose.default_pose())
 
     @staticmethod
     def take_image_in_coordinate_direction() -> TakeImage: