def handle(self, handled_data=None):
self.initialize()
while not self.is_finished:
handled_data["movement_vectors_string_pub"].publish(
json.dumps((0, 0, 6)))
self.rate.sleep()
handled_data['resistance'] = self.resistance
resistance_object = Resistance(self.resistance)
rounded_resistance, colors = resistance_object.get_resistance_and_colors(
)
colors = colors + [
ResistanceMapper().find_exponent_color(resistance_object)
]
rospy.logerr([rounded_resistance, colors])
handled_data["puck_colors"] = colors
handled_data["puck_colors_pub"].publish(json.dumps(colors))
self.rate.sleep()
handled_data["movement_vectors_string_pub"].publish(
json.dumps((handled_data["resistance_y_dist"], 0, 3)))
self.rate.sleep()
handled_data["movement_vectors_string_pub"].publish(
json.dumps((handled_data["resistance_x_dist"], 0, 0)))
self.rate.sleep()
return handled_data
def test_when_round_then_resistance_is_as_expected_7(self):
resistance = Resistance(self.A_RESISTANCE_7)
rounded_resistance, _ = resistance.get_resistance_and_colors()
assert rounded_resistance == self.EXPECTED_RESISTANCE_7