def testItCanStop(self):
'''Spy
'''
class SpyingElectronics(Electronics):
def pushBrakes(self, brakingPower):
self.brakingPower = brakingPower
def getBrakingPower(self):
return self.brakingPower
class SpyingStatusPanel(StatusPanel):
def __init__(self):
self.speedWasRequested = False
self.currentSpeed = 1
def getSpeed(self):
if self.speedWasRequested:
self.currentSpeed = 0
self.speedWasRequested = True
return self.currentSpeed
def hasSpeedRequested(self):
return self.speedWasRequested
def spyOnSpeed(self):
return self.currentSpeed
halfBrakingPower = 50
spyingElectronics = SpyingElectronics()
spyingStatusPanel = SpyingStatusPanel()
carController = CarController()
carController.stop(halfBrakingPower, spyingElectronics, spyingStatusPanel)
self.assertEquals(halfBrakingPower, spyingElectronics.getBrakingPower())
self.assertTrue(spyingStatusPanel.hasSpeedRequested())
self.assertEquals(0, spyingStatusPanel.spyOnSpeed(),
'Expected speed to be zero after stopping but it actually was %d' % spyingStatusPanel.spyOnSpeed())
def testItCanGetReadyTheCar(self):
'''Dummy
'''
carController = CarController()
engine = Engine()
gearBox = GearBox()
electronics = Electronics()
dummyLights = MagicMock('Lights')
self.assertTrue(carController.getReadyToGo(engine, gearBox, electronics, dummyLights))
def testItCanAccelerate(self):
'''Stub with Mock
'''
carController = CarController()
mockElectronics = Mock('Electronics')
mockElectronics.accelerate = Mock()
stubStatusPanel = Mock('StatusPanel')
stubStatusPanel.thereIsEnoughFuel = Mock(return_value=True)
stubStatusPanel.engineIsRunning = Mock(return_value=True)
carController.goForward(mockElectronics, stubStatusPanel)
stubStatusPanel.thereIsEnoughFuel.assert_called_with()
stubStatusPanel.engineIsRunning.assert_called_with()
mockElectronics.accelerate.assert_called_once_with()
def testItCanStop_2(self):
'''Spy with Mock
'''
halfBrakingPower = 50
carController = CarController()
mockElectronics = Mock('Electronics')
mockElectronics.pushBrakes = Mock()
mockStatusPanel = Mock('StatusPanel')
returns = [1, 0, Exception()]
def side_effect(*args):
result = returns.pop(0)
if isinstance(result, Exception):
raise result
return result
mockStatusPanel.getSpeed = Mock(side_effect=side_effect)
carController.stop(halfBrakingPower, mockElectronics, mockStatusPanel)
mockElectronics.pushBrakes.assert_called_with(halfBrakingPower)
self.assertEquals(2, mockStatusPanel.getSpeed.call_count)
def POST(self):
logging.info('connect function : connecting...')
_status = False
_frequency = 0
data = web.input()
if data.get('frequency'):
_status = True
_frequency = int(data.get('frequency'))
CarController.BasicConfig(_frequency) # 设置命令发送频率
logging.info('connect & setting : set frequency is %s', _frequency)
web.header('Content-Type', 'text/json; charset=utf-8', unique=True)
return render.connect(_status, _frequency)
def handle_client (self, client, addr):
self.handshake(client)
try:
while 1:
delayTime = 1 #the delay between the packages for making the car move
data = self.recv_data(client)
print("received [%s]" % (data,))
self.broadcast_resp(data)
switch = data
print (switch)
if switch == "forward":
print("Forward command received")
#code here so motors go forward
carCon.runCar(delayTime,"forward")
elif switch == "back":
print("Backward command received")
#code here so motors go backward
carCon.runCar(delayTime,"back")
elif switch == "right":
print("Right command received")
#code here so motors go right
carCon.runCar(delayTime,"right")
elif switch == "left":
print("Left command received")
#code here so motors go left
carCon.runCar(delayTime,"left")
elif switch == "stop":
print("stop command received")
#code here so motors go stop
carCon.runCar(delayTime,"stop")
else:
client.send('Error') #returns "Error" if the command DON'T exists
except Exception as e:
print("Exception %s" % (str(e)))
print('Client closed: ' + str(addr))
self.LOCK.acquire()
self.clients.remove(client)
self.LOCK.release()
client.close()
s.bind((HOST, PORT))
s.listen(1)
c, addr = s.accept()
c.sendall('connected to server')
print "Connected by", addr
while True:
c, addr = s.accept() # Establish connection with client.
#print 'Got connection from', addr
inData = c.recv(1024)
if(len(inData) > 0):
switch = inData
inData = None
if switch == "forward":
c.sendall('ok') #returns "ok" if the command exists
carCon.runCar(delayTime,"forward")
elif switch == "back":
c.sendall('ok') #returns "ok" if the command exists
carCon.runCar(delayTime,"back")
elif switch == "right":
c.sendall('ok') #returns "ok" if the command exists
carCon.runCar(delayTime,"right")
elif switch == "left":
c.sendall('ok') #returns "ok" if the command exists
carCon.runCar(delayTime,"left")
elif switch == "reset":
c.sendall("ok")
carCon.reset();
elif switch == "exit":
c.sendall("exiting the server")
exit(0)
CAR_SPEED = 255
pi = pigpio.pi()
pi = pi
if not pi.connected:
print('Pi not connected. Exiting...')
exit()
pygame.init()
gameDisplay = pygame.display.set_mode((800, 600))
pygame.display.set_caption('Control the car')
car = CarController.CarModule(pi, ENABLE_SPEED_PIN, SPEED_PIN_1, SPEED_PIN_2,
ENABLE_DIRECTION_PIN, DIRECTION_PIN_1,
DIRECTION_PIN_2, CAR_SPEED)
while True:
try:
events = pygame.event.get()
for event in events:
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_UP:
car.forward()
elif event.key == pygame.K_DOWN:
car.backward()
elif event.key == pygame.K_RIGHT:
car.right_turn()
elif event.key == pygame.K_LEFT:
logging.config.fileConfig("logger.conf")
logger = logging.getLogger("example01")
#controller = GPIOControl.GPIOController()
urls = ("/", "hello", "/connect", "connect", "/action", "action", "/getstatus",
"getstatus", "/stop", "stop") # 指定任何url都指向hello类
web.config.debug = True
app_root = os.path.dirname(__file__)
templates_root = os.path.join(app_root, 'templates')
render = web.template.render(templates_root)
modeArray = [1, 2, 3] # 自由、预设、轨迹
at = CarController.ActionTranslate()
def notfound():
return web.notfound("Sorry, the page you were looking for was not found.")
# 定义相应类
class hello:
def GET(self):
logging.info('web service started.')
return "web service started"
class connect:
def POST(self):
