class WheelManagerTest(TestCase):
AN_ANGLE = 5
ZERO_ANGLE = 0
A_POINT = (5,5)
ORIGIN_POINT = (0,0)
def setUp(self):
self.wheelMotorMock = MagicMock()
self.serialPortCommunicator = MagicMock()
self.wheelManager = WheelManager(self.serialPortCommunicator)
def test_whenMoveInfiniteIsCalledOnAPointThenVitesseIsSet(self):
self.wheelManager.moveForever(2,2)
self.assertTrue(self.serialPortCommunicator.driveMoteurLine.call_count != 0)
def test_whenMoveToIsCalledOnAPointThenVitesseIsSet(self):
self.wheelManager.moveTo(self.A_POINT)
self.assertTrue(self.serialPortCommunicator.driveMoteurLine.call_count != 0)
def test_whenRotationIsCalledThenSetVitesse(self):
self.wheelManager.rotate(self.AN_ANGLE)
self.assertTrue(self.serialPortCommunicator.driveMoteurRotation.call_count == 1)
def test_whenMoveToIsCalledOnTheCurrentPositionThenVitesseNotSet(self):
self.wheelManager.moveTo(self.ORIGIN_POINT)
self.assertTrue(self.serialPortCommunicator.driveMoteurLine.call_count == 0)
def test_setOrientationThenGoodRotation(self):
self.wheelManager.setOrientation(90,91)
self.assertTrue(self.serialPortCommunicator.driveMoteurRotation.call_count == 1)
self.goBackwardToGrabTreasure()
time.sleep(0.1)
self.ascendArm()
time.sleep(3)
self.deactivateMagnet()
time.sleep(0.1)
return True
if __name__ == "__main__":
# __init__(self, wheelManager, robotVision, maestro, spc):
# def __init__(self, wheelManager, cameraTower, videoCapture):
m = Controller()
spc = SerialPortCommunicator()
wm = WheelManager(spc)
rv = RobotVision(wm, CameraTower(m), cv2.VideoCapture(0))
pa = PositionAdjuster(wm, rv, m, spc)
while True:
print "Voltage : ", pa.readCondensatorVoltage()
time.sleep(5)
# a = raw_input("Press to mode recharge")
# pa.rechargeMagnet()
# a = raw_input("Press to mode stop magnet")
# pa.deactivateMagnet()
# a = raw_input("Press to start magnet")
# pa.activateMagnet()
# a = raw_input("Press to stop magnet")
# pa.deactivateMagnet()
def setUp(self):
self.wheelMotorMock = MagicMock()
self.serialPortCommunicator = MagicMock()
self.wheelManager = WheelManager(self.serialPortCommunicator)
import fcntl
from threading import Thread
from socketIO_client import SocketIO
import time
from Client.Robot.Movement.WheelManager import WheelManager
from Logic.BotDispatcher import BotDispatcher
import subprocess
c = os.path.dirname(__file__)
configPath = os.path.join(c, "..", "..", "Shared", "config.json")
subprocess.call(['./cameraSettings.sh'])
with open(configPath) as json_data_file:
config = json.load(json_data_file)
socketIO = SocketIO(config['url'], int(config['port']))
spc = SerialPortCommunicator()
botDispatcher = BotDispatcher(WheelManager(spc), Controller(), spc)
def goToNextPosition(data):
print("heading toward next coordinates")
botDispatcher.lastPositionGoneTo = (data['positionTOx'], data['positionTOy'])
botDispatcher.followPath(data)
def startRound(json):
print("start round")
botDispatcher.lastPositionGoneTo = (json['positionX'], json['positionY'])
socketIO.emit("needNewCoordinates")
def alignToTreasure(json):
