def test_write_column_sets_all_servos_in_desired_columns_to_position(
mock_comm):
wall = Wall(comm=mock_comm)
wall.write_column('3', 0.314)
assert wall.servos['E']['3'].position == 0.314
assert wall.servos['C']['3'].position == 0.314
def test_write_wall_writes_all_servos_on_wall(mock_comm):
wall = Wall(comm=mock_comm)
wall.write([
[0.5, 0.5, 0.5, 0.5, 0.5, 0.5],
[0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5],
[0.5, 0.5, 0.5, 0.5, 0.5, 0.5],
[0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5],
])
for servo in wall.list_servos():
assert servo.position == 0.5
def __init__(self, com_port):
self.active = False
configure_logger()
self.connect_comm(com_port)
try:
from gpiozero import Button, LED
self.routine_indicator = LED(ROUTINE_LED_PIN)
self.routine_indicator.on()
time.sleep(3)
self.routine_indicator.off()
self.routine_button = Button(ROUTINE_BUTTON_PIN)
except Exception as e:
logging.error('Could not connect to GPIO')
raise (e)
self.routines = list_routines()
self.wall = Wall(self.comm)
super(Controller, self).__init__()
wall.write_column('7', -1)
time.sleep(2)
wall.write_column('10', 0.8)
wall.write_column('8', -1)
time.sleep(2)
wall.write_column('11', 0.8)
wall.write_column('9', -1)
time.sleep(2)
wall.write_column('12', 0.8)
wall.write_column('10', -1)
time.sleep(2)
wall.write_column('13', 0.8)
wall.write_column('11', -1)
time.sleep(2)
wall.write_column('14', 0.8)
wall.write_column('12', -1)
time.sleep(2)
wall.write_column('13', -1)
wall.write_column('14', -1)
if __name__ == '__main__':
wall = Wall()
run(wall)
class Controller(Thread):
def __init__(self, com_port):
self.active = False
configure_logger()
self.connect_comm(com_port)
try:
from gpiozero import Button, LED
self.routine_indicator = LED(ROUTINE_LED_PIN)
self.routine_indicator.on()
time.sleep(3)
self.routine_indicator.off()
self.routine_button = Button(ROUTINE_BUTTON_PIN)
except Exception as e:
logging.error('Could not connect to GPIO')
raise (e)
self.routines = list_routines()
self.wall = Wall(self.comm)
super(Controller, self).__init__()
# Run specific wall routine (pattern)
def run_routine(self, routine_name):
try:
self.routine_indicator.on()
self.routines[routine_name].run(self.wall)
self.wall.reset()
time.sleep(5)
self.routine_indicator.off()
except (WallInterrupt, Exception) as e:
logging.error('Routine "{}" failed'.format(routine_name))
logging.error(e)
# Activate the wall
def activate(self):
if not self.active:
super(Controller, self).__init__()
self.active = True
self.start()
if not self.is_alive():
logging.error('Failed to activate controller')
# Deactivate the wall
def deactivate(self):
if self.active:
self.active = False
self.join()
if self.is_alive():
raise Exception('Failed to deactivate controller')
def run(self):
while self.active:
self.routine_button.wait_for_press(timeout=None)
self.run_routine(random.choice(self.routines.keys()))
# Connect to COM port in order to run
def connect_comm(self, com_port, retry=5, timeout=DEFAULT_TIMEOUT):
for i in range(retry):
try:
self.comm = serial.serial_for_url(com_port,
baudrate=DEFAULT_COM_BAUD)
return self.comm
except Exception as e:
logging.error(e)
logging.warn('Retry count {}'.format(i))
time.sleep(timeout)
raise IOError('Failed to connect to wall on comm: {}'.format(com_port))
def test_write_column_raises_if_servo_location_invalid(mock_comm):
wall = Wall(comm=mock_comm)
with pytest.raises(KeyError):
wall.write_row('99', 0.69)
def test_write_row_sets_all_servos_in_desired_row_to_position(mock_comm):
wall = Wall(comm=mock_comm)
wall.write_row('C', 0.314)
for servo in wall.servos['C'].values():
assert servo.position == 0.314
def test_write_servo_sets_servo_to_desired_position(mock_comm):
wall = Wall(comm=mock_comm)
wall.write_servo('C', '7', 0.314)
assert wall.servos['C']['7'].position == 0.314
def test_init_wall_creates_correct_number_of_servos(mock_comm):
wall = Wall(comm=mock_comm)
assert len(wall.list_servos()) == 26
def test_init_wall_sets_list_servos_to_starting_position(mock_comm):
wall = Wall(comm=mock_comm)
for servo in wall.list_servos():
assert servo.position == -1.0
