def test_interpretSignal_1(self):
signal = "011000"
interpreter = ManchesterSignalInterpreter()
parameters = interpreter.interpretSignal(signal)
self.assertEqual(3, len(parameters))
self.assertEqual(ManchesterSignalInterpreter.FIGURE_3, parameters[0])
self.assertEqual(ManchesterSignalInterpreter.NORTH, parameters[1])
self.assertEqual(ManchesterSignalInterpreter.FACTOR_2, parameters[2])
def test_interpretSignal_2(self):
signal = "110101"
interpreter = ManchesterSignalInterpreter()
parameters = interpreter.interpretSignal(signal)
self.assertEqual(3, len(parameters))
self.assertEqual(ManchesterSignalInterpreter.FIGURE_6, parameters[0])
self.assertEqual(ManchesterSignalInterpreter.SOUTH, parameters[1])
self.assertEqual(ManchesterSignalInterpreter.FACTOR_4, parameters[2])
def __init__(self):
self.arduinoInterface = ArduinoInterface.getInstance()
self.manchesterSignalInterpreter = ManchesterSignalInterpreter()
class ManchesterSignalSearcher:
def __init__(self):
self.arduinoInterface = ArduinoInterface.getInstance()
self.manchesterSignalInterpreter = ManchesterSignalInterpreter()
def searchSignal(self):
robotMover = RobotMover()
robotMover.doSnakeMovement(Terrain.DRAWING_ZONE_NORTH_EAST_CORNER_INNER, 180)
distance, signal = self.__doSignalSearch('SS.')
self.__adjustPosition(distance, 4)
signalPosition = Robot.getCurrentPosition()
self.__moveToSecondCorner()
distance, signal = self.__doSignalSearch('SB.')
self.__adjustPosition(distance, -4)
interpretedSignal = self.manchesterSignalInterpreter.interpretSignal(signal)
return interpretedSignal, signalPosition
def __doSignalSearch(self, method):
print "searching signal..."
self.arduinoInterface.write(method)
time.sleep(0.2)
self.arduinoInterface.checkIfOperationIsOver()
signalAndDistance = self.arduinoInterface.readLine()
print "signal and distance: " + str(signalAndDistance)
signal = signalAndDistance[0:7]
distance = signalAndDistance[8:]
print "distance traveled: " + str(distance)
print "signal: " + str(signal)
return distance, signal
def __moveToSecondCorner(self):
robotMover = RobotMover()
robotMover.doSnakeMovement(Terrain.DRAWING_ZONE_SOUTH_EAST_CORNER_INNER, 0)
def __adjustPosition(self, distance, verticalDrift):
ancientPose = Robot.getCurrentPose()
newPose = (ancientPose[0] - (int(distance)/10), ancientPose[1] + verticalDrift, ancientPose[2])
Robot.setCurrentPose(newPose)
def doSimpleSignalDecoding(self):
self.arduinoInterface.write('SD.')
self.arduinoInterface.checkIfOperationIsOver()
signal = self.arduinoInterface.readLine()
interpretedSignal = self.manchesterSignalInterpreter.interpretSignal(signal)
return interpretedSignal
