def testFullUpdate(self):
ad = ActuatorData()
ad2 = self._createTestActuatorData()
ad.updateData(ad2)
self.assertEquals(ad.getCommand(), ActuatorData.COMMAND_ON)
self.assertEquals(ad.getStateData(), self.DEFAULT_STATE_DATA)
self.assertEquals(ad.getValue(), self.DEFAULT_VALUE)
class BaseActuatorSimTask():
"""
Base class for ActuatorSimTask
"""
def __init__(self,
actuatorType: int = ActuatorData.DEFAULT_ACTUATOR_TYPE,
simpleName: str = ConfigConst.NOT_SET):
"""
Init BaseActuatorSimTask with default values
:param actuatorType: Type of actuator
:param simpleName: Name of actuator
"""
self.actuatorType = actuatorType
self.simpleName = simpleName
self.latestActuatorData = ActuatorData(self.actuatorType,
self.simpleName)
pass
def activateActuator(self, val: float) -> bool:
"""
Turn actuator on with given target value
As a sim actuator, there is no real action
:param val: Given target actuator value
:return: If succeed to activate Actuator, always True as a sim actuator
"""
logging.info("\n======\nSim %s actuator ON, with value = %d.\n======" %
(self.getSimpleName(), val))
self.latestActuatorData.setCommand(ActuatorData.COMMAND_ON)
self.latestActuatorData.setValue(val)
return True
pass
def deactivateActuator(self) -> bool:
"""
Turn actuator off with given target value
As a sim actuator, there is no real action
:return: If succeed to deactivate Actuator, always True as a sim actuator
"""
logging.info("\n======\nSim %s actuator OFF.\n======" %
self.getSimpleName())
self.latestActuatorData.setCommand(ActuatorData.COMMAND_OFF)
return True
pass
def getLatestActuatorResponse(self) -> ActuatorData:
"""
Get latest actuator data
:return: Latest ActuatorData
"""
return self.latestActuatorData
pass
def getSimpleName(self) -> str:
"""
Get name of the sim actuator
:return: Name string
"""
return self.simpleName
pass
def updateActuator(self, data: ActuatorData) -> bool:
"""
Use ActuatorData as command:
Update current maintained latest ActuatorData
Use given ActuatorData to execute command
:param data: Given ActuatorData
:return: If succeed to update and execute
"""
if data is None:
logging.error("Got an invalid ActuatorData, which is None!")
return False
if not isinstance(data, ActuatorData):
logging.error(
"Got an invalid ActuatorData, which type is not ActuatorData!")
return False
if data.getCommand(
) is not ActuatorData.COMMAND_ON and data.getCommand(
) is not ActuatorData.COMMAND_OFF:
logging.error(
"Got an invalid ActuatorData, whose command is invalid!")
return False
ret = False
if data.getCommand() is ActuatorData.COMMAND_ON:
ret = self.activateActuator(data.getValue())
else:
ret = self.deactivateActuator()
self.latestActuatorData.updateData(data)
self.latestActuatorData.setName(self.simpleName)
self.latestActuatorData.setStatusCode(int(ret))
self.latestActuatorData.setAsResponse()
return ret
pass