def test_lift_call_is_valid_and_status_up(self):
# floor_max = 100, current_floor = 1
lift = Lift(current_floor=1,floor_max=100)
# call lift at floor 10
lift.callAt(10)
self.assertEqual('UP', lift.getStatus())
def test_lift_call_is_valid_and_status_down(self):
# floor_max = 100, current_floor = 10
lift = Lift(current_floor=10,floor_max=100)
# call lift at floor 1
lift.callAt(1)
self.assertEqual('DOWN', lift.getStatus())
def test_lift_call_isnot_valid_and_status_stop(self):
# floor_max = 100, current_floor = 10
lift = Lift(current_floor=10,floor_max=100)
# call lift at floor 101
lift.callAt(101)
self.assertEqual('STOP', lift.getStatus())
def test_sample_lift_system():
liftA = Lift("A", floor=3, requested_floors=[0])
liftB = Lift("B", floor=2)
liftC = Lift("C", floor=2, doors_open=True)
liftD = Lift("D", floor=0, requested_floors=[0])
lift_system = LiftSystem(floors=[0, 1, 2, 3],
lifts=[liftA, liftB, liftC, liftD],
calls=[Call(1, Direction.DOWN)])
verify(print_lifts(lift_system))
def __init__(self, onRobot):
IO = IOTools(onRobot)
print('Grabber initialised')
self.camera = IO.camera.initCamera('pi', 'low')
self.getInputs = IO.interface_kit.getInputs
self.getSensors = IO.interface_kit.getSensors
self.mc = IO.motor_control
self.mc.stopMotors()
self.sc = IO.servo_control
self.sc.engage()
self.grabber = Grabber(self.mc, self.MOTOR_PORT, self.sc)
#self.grabber.prepare_grabber()
self.lift = Lift(onRobot, self.mc)
self.lift_pos = 0
self.s = None
def reply_photo(update: Update, context: CallbackContext):
update.message.reply_text("New Lift Created!")
template_lift = Lift(0, 'https://telegram.org/img/t_logo.png',
LiftState.NONE, "S", "O", "None")
context.user_data[UD.NEW_LIFT] = template_lift
# NEW
id = context.bot_data[BD.LAST_ID] + 1
context.user_data[UD.NEW_LIFT].id = id
context.user_data[UD.NEW_LIFT].from_user = update.message.from_user.name
photo = update.message.photo[-1]
file_id = photo.file_id
context.user_data[UD.NEW_LIFT].photo = photo
new_file = context.bot.getFile(file_id)
file_path = "A:\photos/" + str(id) + ".jpg"
new_file.download(Path(file_path))
update.message.reply_text("Which site?")
context.user_data[UD.NEW_LIFT].site = None
context.user_data[UD.NEW_LIFT].opening = None
context.user_data[UD.NEW_LIFT].note = None
return ConversationState.SITE
def test_smart_travel():
lift = Lift(queues, capacity)
lift.direction_of_travel = 'up'
lift.smart_travel()
assert lift.current_floor == 4
lift.direction_of_travel = 'down'
lift.smart_travel()
assert lift.current_floor == 2
def test_lift_weight_isnot_valid_and_status_stop_and_beep(self):
# floor_max = 100, current_floor = 1
lift = Lift(current_floor=1,floor_max=100)
# call lift at floor 1
lift.callAt(1)
# select floor = 10,weight = 100
lift.start(10,weight=1001)
self.assertEqual('STOP', lift.getStatus())
self.assertEqual(True, lift.getBeep())
def test_lift_weight_is_valid_and_status_down_and_not_beep(self):
# floor_max = 100, current_floor = 1
lift = Lift(current_floor=1,floor_max=100)
# call lift at floor 10
lift.callAt(10)
# select floor = 1,weight = 100
lift.start(1,weight=100)
self.assertEqual('DOWN', lift.getStatus())
self.assertEqual(False, lift.getBeep())
def test_passengers_pickup_no_queue():
lift = Lift(queues, 2)
lift.direction_of_travel = 'down'
lift.current_floor = 1
floor_queue = lift.queues[1]
lift.passengers_pickup()
assert lift.occupants == []
def test_passengers_pickup_going_up():
lift = Lift(queues, 2)
lift.current_floor = 2
lift.passengers_pickup()
assert lift.number_of_occupants() == 2
assert lift.occupants == [5,5]
assert lift.queues == {0:(), 1:(), 2: (5,), 3:(), 4:(3,), 5:(), 6:()}
def test_lift_select_floor_is_valid_and_status_stop(self):
# floor_max = 100, current_floor = 1
lift = Lift(current_floor=1,floor_max=100)
# call lift at floor 1
lift.callAt(1)
# select floor = 1
lift.start(1)
self.assertEqual('STOP', lift.getStatus())
def test_passengers_pickup_going_down():
lift = Lift(queues, 2)
lift.direction_of_travel = 'down'
lift.current_floor = 4
floor_queue = lift.queues[4]
lift.passengers_pickup()
assert lift.occupants == [3]
assert lift.queues == {0:(), 1:(), 2: (5,5,5), 3:(), 4:(), 5:(), 6:()}
def parse_fullpower_csv(url, csv_list, start_index, endIdx):
# column format: (Weight, <empty>, Lift, Kgs, Lbs, <empty>, Name, Date)
lift_col_index = 2
weight_col_index = 3
name_col_index = 6
date_col_index = 7
result = []
weight_class = None
for i in range(start_index, endIdx):
row = csv_list[i]
weight_class_text = str(row[0]).strip()
# if we have reached the next weight class
if (weight_class_text):
match = re.search(r"(\d*\.?\d+)kg", weight_class_text)
if (match):
weight_class = match.group(1)
elif ("SHW" in weight_class_text):
weight_class = "SHW"
else:
raise ValueError(
"Weight class not recognized from \"{}\"".format(
weight_class_text))
if (weight_class == None):
raise ValueError("Weight class could not be determined")
else:
name = row[name_col_index]
# if (string is null) or (string is empty)
if (name == None) or (not name.strip()):
# blank line or empty record, skip
continue
# Parse the lift
lift = Lift()
lift.weight_class = weight_class
lift.lift_type = row[lift_col_index]
lift.weight_lifted = row[weight_col_index]
lift.name = row[name_col_index]
lift.date = row[date_col_index]
lift.source = url
result.append(lift)
return result
def preview_button(update: Update, context: CallbackContext):
query = update.callback_query
query.answer()
new_lift = Lift(id=context.user_data[UD.NEW_LIFT].id,
from_user=context.user_data[UD.NEW_LIFT].from_user,
photo=context.user_data[UD.NEW_LIFT].photo,
state=LiftState.NONE,
site=context.user_data[UD.NEW_LIFT].site,
opening=context.user_data[UD.NEW_LIFT].opening,
note=context.user_data[UD.NEW_LIFT].note)
if (query.data == BCD.REPLY_SEND_LIFT.name):
add_lift(new_lift)
context.bot_data[BD.LIFT_LIST].append(new_lift)
keyboard = [[
InlineKeyboardButton("Follow " + u'\U0001F91D',
callback_data=BCD.FOLLOW_SITE_YES.name)
]]
reply_markup = InlineKeyboardMarkup(keyboard)
context.bot.send_photo(-1001123729341,
context.user_data[UD.NEW_LIFT].photo,
combine(context),
reply_markup=reply_markup)
context.bot_data[BD.LIFT_LIST].append(new_lift)
context.user_data[UD.NEW_LIFT].clear()
query.edit_message_text(text="Send to group " + u'\U0001F91D')
elif (query.data == BCD.REPLY_CANCEL_LIFT.name):
context.user_data[UD.NEW_LIFT].clear()
query.edit_message_text(text="Canceled")
return ConversationHandler.END
def GetNewEntity(self, entitytype, entitySubtype=""):
entity = None
if (entitytype == "Wall"):
entity = Wall()
elif (entitytype == "Door"):
entity = Door()
elif (entitytype == "Lift"):
entity = Lift()
elif (entitytype == "Generator"):
entity = Generator()
elif (entitytype == "Slab"):
if (entitySubtype == "MapSlab"):
entity = MapSlab()
elif (entitySubtype == "SaveSlab"):
entity = SaveSlab()
elif (entitySubtype == "PentagramSlab"):
entity = PentagramSlab()
elif (entitySubtype == "BombSlab"):
entity = BombSlab()
elif (entitytype == "Table"):
entity = Obstacle(obstacleType="Table", width=2, length=1)
elif (entitytype == "Computer"):
entity = Obstacle(obstacleType="Computer", width=3, length=1)
elif (entitytype == "Container"):
entity = Obstacle(obstacleType="Container", width=1, length=1)
elif (entitytype == "Start"):
entity = StartPosition()
elif (entitytype == "Barrel"):
entity = Obstacle(obstacleType="Barrel", width=1, length=1)
elif (entitytype == "Box"):
entity = Obstacle(obstacleType="Box", width=1, length=1)
elif (entitytype == "Closet"):
entity = Obstacle(obstacleType="Closet", width=1, length=1)
else:
raise Exception("Invalid type: " + entitytype)
return entity
from lift import Lift
from quick_sort import Quicksort
from selection_sort import selection_sort
if __name__ == "__main__":
lifts_list = []
lift1 = Lift(234, 124)
lift2 = Lift(124, 4224)
lift3 = Lift(7654, 14224)
lift4 = Lift(544, 3224)
lift5 = Lift(5434, 2324)
lifts_list.append(lift1)
lifts_list.append(lift2)
lifts_list.append(lift3)
lifts_list.append(lift4)
lifts_list.append(lift5)
for lift in lifts_list:
print(lift.power)
print "------------------------------------------------------------------------------------------------"
selection_sort(lifts_list)
for lift in lifts_list:
print(lift.power)
print "------------------------------------------------------------------------------------------------"
for lift in lifts_list:
print(lift.capacity)
def test_illegal_states():
liftA = Lift("A", floor=0, requested_floors=[0], doors_open=True)
lifts = LiftSystem(floors=[0, 1], lifts=[liftA])
verify(print_lifts(lifts))
def test_large_lift_system():
liftA = Lift("A", floor=0, requested_floors=[3, 5, 7])
liftB = Lift("B", floor=2, doors_open=True)
liftC = Lift("C", floor=-2)
liftC.requested_floors = [-2, 0]
liftD = Lift("D", floor=8, doors_open=True)
liftD.requested_floors = [0, -1, -2]
liftSVC = Lift("SVC", floor=10)
liftSVC.requested_floors = [0, -1]
liftF = Lift("F", floor=8)
lift_system = LiftSystem(
floors=[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10],
lifts=[liftA, liftB, liftC, liftD, liftSVC, liftF],
calls=[
Call(1, Direction.DOWN),
Call(6, Direction.DOWN),
Call(5, Direction.UP),
Call(5, Direction.DOWN),
Call(-1, Direction.UP)
])
verify(print_lifts(lift_system))
def test_no_doors():
liftA = Lift("A", floor=3, requested_floors=[0])
lift_system = LiftSystem(floors=[0, 1, 2, 3],
lifts=[liftA],
calls=[Call(1, Direction.DOWN)])
verify(print_lifts(lift_system, lift_printer=SimpleLiftPrinter()))
def create_lift(self):
self.lift = Lift(-c.lift_width, 0)
self.entities.add(self.lift)
class Toddler:
MOTOR_PORT = 1
BUMP_SENSOR_SHELF_1 = 0
BUMP_SENSOR_SHELF_2 = 1
BUMP_SENSOR_GRABBER_FRONT = 2
BUMP_SENSOR_GRABBER_BACK = 3
def __init__(self, onRobot):
IO = IOTools(onRobot)
print('Grabber initialised')
self.camera = IO.camera.initCamera('pi', 'low')
self.getInputs = IO.interface_kit.getInputs
self.getSensors = IO.interface_kit.getSensors
self.mc = IO.motor_control
self.mc.stopMotors()
self.sc = IO.servo_control
self.sc.engage()
self.grabber = Grabber(self.mc, self.MOTOR_PORT, self.sc)
#self.grabber.prepare_grabber()
self.lift = Lift(onRobot, self.mc)
self.lift_pos = 0
self.s = None
# self.mc.setMotor(self.MOTOR_PORT, 100)
# time.sleep(3)
# self.mc.stopMotors()
def kill_socket(self):
s.close()
def listen(self):
global halt
try:
PORT = 65432 # Port to listen on (non-privileged ports are > 1023)
self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# HOST = socket.gethostbyname(socket.gethostname())
HOST = '192.168.105.139'
self.s.bind(('192.168.105.139', PORT))
print("Listening on {}:{}".format(HOST, PORT))
self.s.listen(1)
conn, addr = self.s.accept()
while not (halt['stop']):
data = conn.recv(1024)
data = data.decode('utf-8')
data = data.split(' ')
print("Listen: " + data[0])
if data[0] == 'grab':
self.grabber.grab(self)
elif data[0] == 'upper_grab':
self.grabber.upper_grab(self)
elif data[0] == 'prepare':
self.grabber.prepare_grabber()
elif data[0] == 'retract':
self.grabber.retract_grabber()
elif data[0] == 'wait_for_bump':
inp = self.getInputs()
while inp[self.BUMP_SENSOR_SHELF_1] == 0 or inp[
self.BUMP_SENSOR_SHELF_2] == 0:
print(inp)
print("bump")
elif data[0] == 'lift':
if int(data[1]) < self.lift_pos:
print('down')
self.lift.lift('down')
elif int(data[1]) > self.lift_pos:
print('up')
self.lift.lift('up')
self.lift_pos = int(data[1])
time.sleep(0.5)
elif data[0] == 'drop':
self.grabber.prepare_grabber()
while inp[self.BUMP_SENSOR_GRABBER_BACK] == 0:
print('Waiting for collection')
self.grabber.retract_grabber()
print("Listen done")
conn.sendall(b'done')
conn.close()
except KeyboardInterrupt:
conn.close()
return
def control(self):
global halt
try:
thread = Thread(target=self.listen)
thread.daemon = True
thread.start()
print("here")
rjr = RobotJobListener(('192.168.105.38', 9000),
('192.168.105.139', 65432),
('192.168.105.94', 65433))
rjr.start_reliable_listener('robot')
# start pinging the server
# server, rasppi, ev3
except KeyboardInterrupt:
halt['stop'] = True
self.sc.disengage()
return
def vision(self):
# image = self.camera.getFrame()
# self.camera.imshow('Camera', image)
time.sleep(0.05)
return
def todo_test_something():
liftA = Lift("A", 0)
lifts = LiftSystem(floors=[0, 1], lifts=[liftA])
lifts.tick()
verify(print_lifts(lifts))
def test_run():
lift = Lift(queues, capacity)
lift_controller = LiftController(lift)
lift_controller.run(lift)
assert lift.journey_history == [0, 4, 3, 2, 5, 0]
def todo_test_something():
liftA = Lift("A", 0)
lifts = LiftSystem(floors=[0, 1], lifts=[liftA])
lifts.tick()
import py, pytest
import sys, os
myPath = os.path.dirname(os.path.abspath(__file__))
sys.path.insert(0, myPath + '/../src')
from lift_controller import LiftController
from lift import Lift
queues = ((), (), (5, 5, 5), (), (3, ), (), ())
capacity = 5
lift = Lift(queues, capacity)
lift_controller = LiftController(lift)
def test_empty_travel():
lift_controller.empty_travel(lift)
assert lift.journey_history == [4]
assert lift.occupants == [3]
assert lift.direction_of_travel == 'down'
assert lift.destination_floor == 3
def test_run():
lift = Lift(queues, capacity)
lift_controller = LiftController(lift)
lift_controller.run(lift)
assert lift.journey_history == [0, 4, 3, 2, 5, 0]
queues2 = ((), (0, ), (), (), (2, ), (3, ), ())
lift2 = Lift(queues2, capacity)
def getLiftManager(liftsCount=StaticValues.lifts):
return LiftManager([Lift(i) for i in range(liftsCount)])
lunchOtherFloorSelector)
eveningOtherFloorSelector = BetaFloorSelector(0, 0)
eveningOtherFloorGenerator = BetaGenerator(HG, 16.5 * 3600, 18 * 3600,
eveningOtherFloorSelector)
#f=Floor(i,[dayOtherFloorGenerator,lunchOtherFloorGenerator,eveningOtherFloorGenerator],[vanisher])
#Test floor
testSelector = BetaFloorSelector(0, 10)
testGenerator = BetaGenerator(HG, 0, 3000, testSelector, 2, 2)
f = Floor(i, [testGenerator], [vanisher])
floors.append(f)
########## END FLOOR DEFINITIONS ####################
########## START LIFT DEFINITIONS ####################
l1 = Lift(0, 10, 0, 10, False, None) #this lift goes across all floors
l2 = Lift(0, 10, 0, 10, False, None) #this lift goes across all floors
l3 = Lift(0, 10, 0, 10, False, None) #this lift goes across all floors
#l2=Lift(0,20,0,5,False,None) #services the first 6 floors, more capacity
#l3=Lift(0,5,3,10,False,None) #services floor 4 - 10, less capacity
########## END LIFT DEFINITIONS ####################
########## REPLACE WITH OWN CONTROLLER####################
#controller=MyController()
controller = Controller()
########## BUILDING DEFINITION ####################
startTime = 0 #int(7.5*3600)
#building=Building(floors,[l1,l2,l3],controller,startTime)
building = Building(floors, [l1], controller, startTime)
########## RUN OVER A SINGLE 24 HOUR PERIOD####################
import sys from display import Display from lift import Lift display = Display(int(sys.argv[1]), 0) lift = Lift(display) lift.start()
def test_lift_current_floor(self):
# floor_max = 100, current_floor = 1
lift = Lift(current_floor=10,floor_max=100)
self.assertEqual(10, lift.getCurrentFloor())