def testExploringWithMoving(get_plateau, x, y, direction, expected_x,
instructions, expected_y, expected_direction):
rover = Rover(RoverPosition(RoverCoordinates(x, y), direction))
rover.explorePlateau(instructions)
assert (rover.position.coordinates.x
== expected_x) and (rover.position.coordinates.y
== expected_y) and (rover.position.direction
== expected_direction)
#Read Inputs and check its syntax
reader = InputReader()
reader.readInputs("InputController/roverInputs.txt")
#Initialize Plateau
plateauDimensions = reader.getPlateauDimensions()
Plateau.initializePlateau(plateauDimensions)
print(
f"Plateau dimensions {plateauDimensions.upper_right_x}, {plateauDimensions.upper_right_y}"
)
print("------------------------------------------------------------------")
#Iterate on the rovers and their instructions and start explorations in sequential order
for p, i in reader.getRoversandInstructions():
marsRover = Rover(p)
Plateau.getInstance().addRover(marsRover)
print(
f"Input: {marsRover.position.coordinates.x} {marsRover.position.coordinates.y} {marsRover.position.direction}"
)
marsRover.explorePlateau(i)
print(
f"Output: {marsRover.position.coordinates.x} {marsRover.position.coordinates.y} {marsRover.position.direction}"
)
print(
"------------------------------------------------------------------\n"
)
def testRoversCollision(get_plateau, x, y, direction, instructions):
Plateau.getInstance().addRover(
Rover(RoverPosition(RoverCoordinates(1, 1), "N")))
with pytest.raises(NextSpotNotEmptyException):
rover = Rover(RoverPosition(RoverCoordinates(x, y), direction))
rover.explorePlateau(instructions)
def testMoveOutsidePlateau(get_plateau, x, y, direction, expected_x,
instructions, expected_y, expected_direction):
with pytest.raises(RoverOutsidePlateauException):
rover = Rover(RoverPosition(RoverCoordinates(x, y), direction))
rover.explorePlateau(instructions)
def make_rover():
rover = Rover()
buzzer = Buzzer(RoverPins.BUZZER_PIN)
rover.buzzer = buzzer
camera = Camera()
rover.camera = camera
g_h_servo = Servo(RoverPins.SERVO_HEADER_2)
g_v_servo = Servo(RoverPins.SERVO_HEADER_3)
gimbal = Gimbal(g_h_servo, g_v_servo)
rover.gimbal = gimbal
#TODO do rgb_led on your own
r_led = LED(RoverPins.LED_RED_PIN)
g_led = LED(RoverPins.LED_GREEN_PIN)
b_led = LED(RoverPins.LED_BLUE_PIN)
rgb_led = RGBLed(r_led, g_led, b_led)
rover.rgb_led = rgb_led
lf = LineFollower(RoverPins.LINE_FOLLOWER_L2_PIN,
RoverPins.LINE_FOLLOWER_L1_PIN,
RoverPins.LINE_FOLLOWER_R1_PIN,
RoverPins.LINE_FOLLOWER_R2_PIN)
rover.line_follower = lf
rd = RoverDrive(RoverPins.DRIVE_LEFT_IN1_PIN, RoverPins.DRIVE_LEFT_IN2_PIN,
RoverPins.DRIVE_LEFT_EN_PIN, RoverPins.DRIVE_RIGHT_IN1_PIN,
RoverPins.DRIVE_RIGHT_IN2_PIN,
RoverPins.DRIVE_RIGHT_EN_PIN)
rover.rover_drive = rd
s = Servo(RoverPins.SERVO_HEADER_1)
rover.servo = s
ping = SonarPing(RoverPins.PING_TRIGGER_PIN, RoverPins.PING_PULSE_PIN)
rover.sonar_ping = ping
led = LED(RoverPins.SERVO_HEADER_4)
w = Warner(led, buzzer)
rover.warner = w
return rover