Fixed Pylint Errors, function docstrings

Author: Mmoyv27

tests/unit/test_lidar_parser.py

@@ -3,22 +3,30 @@
 """
 
 import pytest
+
 from modules import lidar_detection
-from modules import lidar_oscillation
 from modules.lidar_parser import lidar_parser
 
 ANGLE_UP = 15.0
 ANGLE_DOWN = -15.0
 
+# pylint: disable=redefined-outer-name, duplicate-code
+
 
 @pytest.fixture()
 def lidar_parser_instance() -> lidar_parser.LidarParser:  # type: ignore
+    """
+    Fixture to initialize a LidarParser instance for testing.
+    """
     parser = lidar_parser.LidarParser()
     yield parser
 
 
 @pytest.fixture()
 def lidar_detection_up() -> lidar_detection.LidarDetection:  # type: ignore
+    """
+    Fixture to create an upward LidarDetection object.
+    """
     result, detection = lidar_detection.LidarDetection.create(5.0, ANGLE_UP)
     assert result
     assert detection is not None
@@ -27,6 +35,9 @@ def lidar_detection_up() -> lidar_detection.LidarDetection:  # type: ignore
 
 @pytest.fixture()
 def higher_angle_detection_up(lidar_detection_up: lidar_detection.LidarDetection) -> lidar_detection.LidarDetection:  # type: ignore
+    """
+    Fixture to create a LidarDetection object with a higher upward angle than the previous detection.
+    """
     result, higher_detection = lidar_detection.LidarDetection.create(
         5.0, lidar_detection_up.angle + 5.0
     )
@@ -37,6 +48,9 @@ def higher_angle_detection_up(lidar_detection_up: lidar_detection.LidarDetection
 
 @pytest.fixture()
 def lidar_detection_down() -> lidar_detection.LidarDetection:  # type: ignore
+    """
+    Fixture to create a downward LidarDetection object.
+    """
     result, detection = lidar_detection.LidarDetection.create(5.0, ANGLE_DOWN)
     assert result
     assert detection is not None
@@ -45,6 +59,9 @@ def lidar_detection_down() -> lidar_detection.LidarDetection:  # type: ignore
 
 @pytest.fixture()
 def lower_angle_detection_down(lidar_detection_up: lidar_detection.LidarDetection) -> lidar_detection.LidarDetection:  # type: ignore
+    """
+    Fixture to create a LidarDetection object with a lower downward angle than the previous detection.
+    """
     result, lower_detection = lidar_detection.LidarDetection.create(
         5.0, lidar_detection_up.angle - 5.0
     )
@@ -63,6 +80,9 @@ def test_initial_run_no_oscillation(
         lidar_parser_instance: lidar_parser.LidarParser,
         lidar_detection_up: lidar_detection.LidarDetection,
     ) -> None:
+        """
+        Test that a single upward detection does not complete an oscillation.
+        """
         result, oscillation = lidar_parser_instance.run(lidar_detection_up)
         assert not result
         assert oscillation is None
@@ -74,7 +94,9 @@ def test_oscillation_detected_up_to_down(
         higher_angle_detection_up: lidar_detection.LidarDetection,
         lidar_detection_down: lidar_detection.LidarDetection,
     ) -> None:
-
+        """
+        Test detection of an oscillation with a change in direction from up to down after multiple detections.
+        """
         lidar_parser_instance.run(lidar_detection_up)
         lidar_parser_instance.run(higher_angle_detection_up)
         result, oscillation = lidar_parser_instance.run(lidar_detection_down)
@@ -86,7 +108,9 @@ def test_no_oscillation_on_same_direction(
         lidar_parser_instance: lidar_parser.LidarParser,
         lidar_detection_up: lidar_detection.LidarDetection,
     ) -> None:
-
+        """
+        Test that no oscillation is detected when multiple detections are in the same upward direction.
+        """
         for _ in range(5):
             result, oscillation = lidar_parser_instance.run(lidar_detection_up)
             assert not result
@@ -98,7 +122,9 @@ def test_direction_initialization_on_first_run(
         lidar_detection_up: lidar_detection.LidarDetection,
         lower_angle_detection_down: lidar_detection.LidarDetection,
     ) -> None:
-
+        """
+        Test that the initial detection sets the direction to DOWN based on a second downward detection.
+        """
         lidar_parser_instance.run(lidar_detection_up)
         lidar_parser_instance.run(lower_angle_detection_down)
         assert lidar_parser_instance.direction == lidar_parser.Direction.DOWN
@@ -110,7 +136,9 @@ def test_oscillation_reset_after_detection(
         higher_angle_detection_up: lidar_detection.LidarDetection,
         lidar_detection_down: lidar_detection.LidarDetection,
     ) -> None:
-
+        """
+        Test that the parser resets its readings after detecting an oscillation.
+        """
         lidar_parser_instance.run(lidar_detection_up)
         lidar_parser_instance.run(higher_angle_detection_up)
         result, oscillation = lidar_parser_instance.run(lidar_detection_down)
@@ -129,8 +157,6 @@ def test_alternating_up_down_oscillations(
         Test the parser with alternating up and down angles to simulate multiple oscillations.
         """
         oscillation_count = 0
-
-        # Detect the first oscillation with three readings: two up, one down
         lidar_parser_instance.run(lidar_detection_up)
         lidar_parser_instance.run(higher_angle_detection_up)
         result, oscillation = lidar_parser_instance.run(lidar_detection_down)
@@ -139,25 +165,26 @@ def test_alternating_up_down_oscillations(
             oscillation_count += 1
             assert oscillation is not None
 
-        # Subsequent oscillations should alternate and be detected on every change of angle
         for i in range(4):
-            if i % 2 == 0:  # Every even index provides an upward reading
+            if i % 2 == 0:
                 result, oscillation = lidar_parser_instance.run(higher_angle_detection_up)
-            else:  # Every odd index provides a downward reading
+            else:
                 result, oscillation = lidar_parser_instance.run(lidar_detection_down)
 
             if result:
                 oscillation_count += 1
                 assert oscillation is not None
 
-        # Verify that five oscillations were detected in total
         assert oscillation_count == 5
 
     def test_no_oscillation_with_single_reading(
         self,
         lidar_parser_instance: lidar_parser.LidarParser,
         lidar_detection_up: lidar_detection.LidarDetection,
     ) -> None:
+        """
+        Test that a single detection does not produce an oscillation.
+        """
         result, oscillation = lidar_parser_instance.run(lidar_detection_up)
         assert not result
         assert oscillation is None
@@ -169,6 +196,9 @@ def test_oscillation_on_direction_change_after_none(
         higher_angle_detection_up: lidar_detection.LidarDetection,
         lidar_detection_down: lidar_detection.LidarDetection,
     ) -> None:
+        """
+        Test that direction changes after Direction.NONE trigger the first oscillation properly.
+        """
         lidar_parser_instance.run(lidar_detection_up)
         lidar_parser_instance.run(higher_angle_detection_up)
         assert lidar_parser_instance.direction == lidar_parser.Direction.UP