class JoystickTest(unittest.TestCase):
def setUp(self):
'''
Verify environment is setup properly.
'''
self.joystick = Joystick()
j_list = self.joystick.get_joystick_list()
self.joystick.connect(j_list[0])
def tearDown(self):
'''
Verify environment is tore down properly.
'''
self.joystick.disconnect()
pass
def test_up(self):
'''
Verify that the joystick up movement is working without
problems.
'''
self.joystick.clear_commmands()
value = False
while not value:
print "Move up using the joystick."
j_command = self.joystick.get_commands()
value = j_command["UP"]
self.assertTrue(value)
def test_down(self):
'''
Verify that the joystick down movement is working without
problems.
'''
self.joystick.clear_commmands()
value = False
while not value:
print "Move down using the joystick."
j_command = self.joystick.get_commands()
value = j_command["DOWN"]
self.assertTrue(value)
def test_left(self):
'''
Verify that the joystick left movement is working without
problems.
'''
self.joystick.clear_commmands()
value = False
while not value:
print "Move left using the joystick."
j_command = self.joystick.get_commands()
value = j_command["LEFT"]
self.assertTrue(value)
def test_right(self):
'''
Verify that the joystick right movement is working without
problems.
'''
self.joystick.clear_commmands()
value = False
while not value:
print "Move right using the joystick."
j_command = self.joystick.get_commands()
value = j_command["RIGHT"]
self.assertTrue(value)
def test_speed(self):
'''
Verify that the joystick speed command is working without
problems.
'''
self.joystick.clear_commmands()
value = False
while not value:
print "Speed up using the joystick."
j_command = self.joystick.get_commands()
value = j_command["SPEED"]
self.assertTrue(value)
def test_break(self):
'''
Verify that the joystick break command is working without
problems.
'''
self.joystick.clear_commmands()
value = False
while not value:
print "break using the joystick."
j_command = self.joystick.get_commands()
value = j_command["BREAK"]
self.assertTrue(value)
class Controller(object):
__metaclass__ = SingletonController
def __init__(self):
'''
Initialize class attributes.
'''
self.joystick = Joystick()
self.communication = Communication()
self.driving = Driving()
self.gear = 0
def get_joystick_list(self):
'''
Return the control joystick list.
'''
return self.joystick.get_joystick_list()
def get_bluetooth_list(self):
'''
Return the bluetooth communication list.
'''
return self.communication.get_bluetooth_list()
def connect(self, joystick_name, bluetooth_name):
'''
Initialize the joystick and bluetooth connection.
'''
if self.joystick.connect(joystick_name) and \
self.communication.connect(bluetooth_name):
return True
return False
def disconnect(self):
'''
Perform the joystick and bluetooth disconnection.
'''
if self.joystick.disconnect() and \
self.communication.disconnect():
return True
return False
def quit_commands(self):
'''
Send quit signal to the wait queue.
'''
self.joystick.quit_commands()
def send_commands(self):
'''
Read the joystick commands and send it to the rover using a
bluetooth device.
'''
try:
command = ""
j_command = self.joystick.get_commands()
if j_command["UP"] == True and \
j_command["DOWN"] == False and \
j_command["LEFT"] == False and \
j_command["RIGHT"] == False:
command = "D1"
self.communication.send(command)
self.driving.set_angle(0.0)
elif j_command["UP"] == False and \
j_command["DOWN"] == False and \
j_command["LEFT"] == False and \
j_command["RIGHT"] == True:
command = "D3"
self.communication.send(command)
self.driving.set_angle(90.0)
elif j_command["UP"] == False and \
j_command["DOWN"] == True and \
j_command["LEFT"] == False and \
j_command["RIGHT"] == False:
command = "D5"
self.communication.send(command)
self.driving.set_angle(0.0)
elif j_command["UP"] == False and \
j_command["DOWN"] == False and \
j_command["LEFT"] == True and \
j_command["RIGHT"] == False:
command = "D7"
self.communication.send(command)
self.driving.set_angle(-90.0)
if j_command["SPEED"] == True and self.gear < 6:
self.gear = self.gear + 1
self.driving.set_power(self.gear)
command = "V%d" % self.gear
self.communication.send(command)
elif j_command["BREAK"] == True and self.gear > 0:
self.gear = self.gear - 1
self.driving.set_power(self.gear)
command = "V%d" % self.gear
self.communication.send(command)
if j_command["UP"] == False and \
j_command["DOWN"] == False and \
j_command["LEFT"] == False and \
j_command["RIGHT"] == False and \
j_command["SPEED"] == False and \
j_command["BREAK"] == False:
command = "B0"
self.communication.send(command)
self.driving.set_angle(0.0)
except:
print str(traceback.format_exc())
