def test_execute_movement(self):
state = RobotState(self.default_config())
state.setup_pymunk_shapes(1)
for arm in state.side_bar_sprites:
arm.rotate_x = 0 # this is set in setup visuals
arm.rotate_y = 0 # this is set in setup visuals
state.execute_movement(5, 5)
self.assertAlmostEqual(tuple(state.body.velocity)[0], 0.0,
3) # no x movement
self.assertAlmostEqual(tuple(state.body.velocity)[1], -5.0 * 30,
3) # -150 y distance per second
self.assertEqual(state.body.angle, pi)
def test_setters_getters(self):
state = RobotState(self.default_config())
state.setup_pymunk_shapes(1)
self.assertEqual(len(state.get_shapes()), 4 + 1 + 2 + 1)
self.assertEqual(
state.get_sensor((0, 'ev3-ports:in4')).get_ev3type(),
'ultrasonic_sensor')
self.assertEqual(state.get_bricks()[0].name, 'brick-left')
self.assertEqual(len(state.get_sensors()), 1)
self.assertEqual(state.get_anchor().name, 'brick-left')
del state.bricks[0]
self.assertEqual(state.get_anchor(), None)
def test_get_value_and_locks(self):
conf = TestRobotState.default_config()
state = RobotState(conf)
state.setup_pymunk_shapes(1)
for arm in state.side_bar_sprites:
arm.rotate_x = 0 # this is set in setup visuals
arm.rotate_y = 0 # this is set in setup visuals
sim = RobotSimulator(state)
sim._sync_physics_sprites = MagicMock()
val = sim.get_value((0, 'ev3-ports:in4'))
self.assertEqual(val, 2550)
self.assertEqual(sim.locks[(0, 'ev3-ports:in4')].locked(), True)
sim.update()
self.assertEqual(sim.locks[(0, 'ev3-ports:in4')].locked(), False)
def test_reset(self):
state = RobotState(self.default_config())
state.setup_pymunk_shapes(1)
for arm in state.side_bar_sprites:
arm.rotate_x = 0 # this is set in setup visuals
arm.rotate_y = 0 # this is set in setup visuals
x = state.x * state.scale
y = state.y * state.scale
state.body.position = Vec2d(5, 5) # 5 per sec
state._move_position(Vec2d(5, 5))
self.assertEqual(state.body.position, Vec2d(5, 5))
self.assertEqual(state.body.velocity, Vec2d(5 * 30, 5 * 30))
state.reset()
self.assertEqual(state.body.position, Vec2d(x, y))
self.assertEqual(state.body.velocity, Vec2d(0, 0))
def test_constructor_and_reset(self):
conf = TestRobotState.default_config()
state = RobotState(conf)
state.setup_pymunk_shapes(1)
for arm in state.side_bar_sprites:
arm.rotate_x = 0 # this is set in setup visuals
arm.rotate_y = 0 # this is set in setup visuals
sim = RobotSimulator(state)
sim._sync_physics_sprites = MagicMock()
sim.update()
sim._sync_physics_sprites.assert_called_once()
sim.should_reset = True
self.assertEqual(sim.should_reset, True)
sim.reset()
self.assertEqual(sim.should_reset, False)
sim.release_locks()
def test_set_obstacles(self):
config = self.default_config().copy()
config['parts'].append({
'name': 'color_test_sensor',
'type': 'color_sensor',
'x_offset': 0,
'y_offset': 81,
'brick': 0,
'port': 'ev3-ports:in2'
})
config['parts'].append({
'name': 'touch_test_sensor',
'type': 'touch_sensor',
'side': 'left',
'x_offset': 0,
'y_offset': -81,
'brick': 0,
'port': 'ev3-ports:in3'
})
state = RobotState(config)
state.setup_pymunk_shapes(1)
for arm in state.side_bar_sprites:
arm.rotate_x = 0 # this is set in setup visuals
color_obstacle_mock = MagicMock()
rock_mock = MagicMock()
lake_mock = MagicMock()
state.set_color_obstacles([color_obstacle_mock])
state.set_touch_obstacles([rock_mock])
state.set_falling_obstacles([lake_mock])
self.assertEqual(
state.sensors[(0, 'ev3-ports:in3')].sensible_obstacles,
[rock_mock])
self.assertEqual(
state.sensors[(0, 'ev3-ports:in2')].sensible_obstacles,
[color_obstacle_mock])
self.assertEqual(
state.sensors[(0, 'ev3-ports:in4')].sensible_obstacles,
[lake_mock])
self.assertEqual(
state.actuators[(0, 'ev3-ports:outA')].sensible_obstacles,
[lake_mock])
def test_setup_pymunk_shapes(self):
state = RobotState(self.default_config())
state.setup_pymunk_shapes(1)
self.assertEqual(state.wheel_distance, 120)
self.assertEqual(
len(state.shapes), 4 + 1 + 2 +
1) # 4 sensors/actuators + 1 brick + 2 leds + 1 speaker
self.assertEqual(state.body.angle, pi)
config_with_one_wheel = self.default_config().copy()
del config_with_one_wheel['parts'][1]
config_with_one_wheel['parts'].append({
'name':
'invalid_sensor',
'type':
'type_that_does_not_exist',
})
state = RobotState(config_with_one_wheel)
self.assertRaises(RuntimeError, state.setup_pymunk_shapes, 1)
def test_arm_movement(self):
config = self.default_config().copy()
config['parts'].append({
'name': 'measurement-probe',
'type': 'arm',
'x_offset': 15,
'y_offset': 102,
'brick': 0,
'port': 'ev3-ports:outB'
})
with patch('ev3dev2simulator.robotpart.Arm.ArmLarge') as ArmLargeMock:
arm_instance = ArmLargeMock.return_value
state = RobotState(self.default_config())
state.setup_pymunk_shapes(1)
state.execute_arm_movement((0, 'ev3-ports:outB'), 15)
state.actuators[(0, 'ev3-ports:outB')].side_bar_arm.degrees = 15
self.assertEqual(len(arm_instance.mock_calls),
3) # first two have to do with a sprite list
fn_name, args, kwargs = arm_instance.mock_calls[2]
self.assertEqual(fn_name, 'rotate')
self.assertEqual(args, (15, ))
