From 528bf1b3707de5f279243f57feb893bb3c7f173f Mon Sep 17 00:00:00 2001
From: Marco Zeisler <marco.zeisler@kapsch.net>
Date: Thu, 17 Jun 2021 22:18:51 +0200
Subject: [PATCH] outsource _compute_velocity to make it more easily testable

---
 components/orchestration/orchestrator.py | 48 +++++++++++++-----------
 1 file changed, 27 insertions(+), 21 deletions(-)

diff --git a/components/orchestration/orchestrator.py b/components/orchestration/orchestrator.py
index e36b9a5..43fe5a9 100644
--- a/components/orchestration/orchestrator.py
+++ b/components/orchestration/orchestrator.py
@@ -88,7 +88,7 @@ class Orchestrator:
         """
         Gets the daf object's pickle binary dump.
         Unpickle, calculate new target velocity based on daf and current tl data and
-        respond new target velicity for this vehicle.
+        respond new target velocity for this vehicle.
 
         :param pickle_binary: daf object pickle binary dump
         """
@@ -100,6 +100,31 @@ class Orchestrator:
                                      params={'lat': loc.latitude, 'lon': loc.longitude})
         traffic_lights_geo = response.json()
         current_vel = received_daf_object.velocity
+
+        target_vel = self._compute_velocity(traffic_lights_geo, current_vel)
+
+        response_channel = self._velocity_mbs[received_daf_object.vehicle_identification_number]
+        print('Target velocity: {}'.format(target_vel))
+        response_channel.send(pickle.dumps(
+            TargetVelocity(vin=received_daf_object.vehicle_identification_number, target_velocity=target_vel,
+                           timestamp=datetime.now())))
+
+    def handle_tl_state_receive(self, msg):
+        """
+        Gets a dict full of traffic light state information:
+        {
+            'tlid': str,
+            'color': TrafficLightColor,
+            'last_switch': datetime
+        }
+        Updates internal information about available TLs
+        """
+        tl_state: TrafficLightState = pickle.loads(msg)
+        self.tls[tl_state.tlid]['color'] = tl_state.color
+        self.tls[tl_state.tlid]['last_switch'] = tl_state.last_switch
+        print(tl_state)
+
+    def _compute_velocity(self, traffic_lights_geo, current_vel):
         target_vel = 130 * SCALING
 
         print('Nearest traffic lights: {}'.format(traffic_lights_geo['cursor']))
@@ -148,23 +173,4 @@ class Orchestrator:
                         i = i + 2
                     target_vel = floor(speed_needed_max)
 
-        response_channel = self._velocity_mbs[received_daf_object.vehicle_identification_number]
-        print('Target velocity: {}'.format(target_vel))
-        response_channel.send(pickle.dumps(
-            TargetVelocity(vin=received_daf_object.vehicle_identification_number, target_velocity=target_vel,
-                           timestamp=datetime.now())))
-
-    def handle_tl_state_receive(self, msg):
-        """
-        Gets a dict full of traffic light state information:
-        {
-            'tlid': str,
-            'color': TrafficLightColor,
-            'last_switch': datetime
-        }
-        Updates internal information about available TLs
-        """
-        tl_state: TrafficLightState = pickle.loads(msg)
-        self.tls[tl_state.tlid]['color'] = tl_state.color
-        self.tls[tl_state.tlid]['last_switch'] = tl_state.last_switch
-        print(tl_state)
+        return target_vel