class ControllersTests(unittest.TestCase):
'''
This is the unittest for the uniscada.controllers module
'''
def setUp(self):
self.controllers = Controllers()
def test_add_controller(self):
''' Test controller add and lookup '''
id1 = self.controllers.find_controller('A')
id2 = self.controllers.find_controller('A')
id3 = self.controllers.find_controller('B')
self.assertTrue(isinstance(id1, Controller))
self.assertTrue(isinstance(id2, Controller))
self.assertTrue(isinstance(id3, Controller))
self.assertEqual(id1, id2)
self.assertNotEqual(id1, id3)
def test_controller_id_listing(self):
''' Test controller id listing '''
id1 = self.controllers.find_controller('A')
id2 = self.controllers.find_controller('B')
id3 = self.controllers.find_controller('C')
self.assertEqual(sorted(self.controllers.get_id_list()),
['A', 'B', 'C'])
def play():
(
controller_parameters,
visual,
parameters,
history,
) = process_game_parameters()
controllers = Controllers(
parameters,
history,
controller_parameters,
)
result = Result(parameters, history, controllers)
plotting = Plotting(
visual,
parameters,
history,
controllers,
result,
)
animation = Animation(
visual,
parameters,
history,
controllers,
plotting,
result,
)
animation.run()
def __init__(self, namespace, arm_name):
namespace = '/' + namespace
arm_name = '/' + arm_name + '/'
self.ctrl = Controllers(namespace, arm_name, rospy.Time.now().to_sec())
prefix = '/motion_ifc/'
self.comm_ifc_list = [
MotionCmdCommIfc(prefix + 'interpolate_cp', TransformStamped,
self.ctrl, True, 10),
MotionCmdCommIfc(prefix + 'interpolate_cr', TransformStamped,
self.ctrl, True, 10),
MotionCmdCommIfc(prefix + 'interpolate_cv', TransformStamped,
self.ctrl, True, 10),
MotionCmdCommIfc(prefix + 'interpolate_cf', TransformStamped,
self.ctrl, True, 10),
MotionCmdCommIfc(prefix + 'interpolate_jp', JointState, self.ctrl,
True, 10),
MotionCmdCommIfc(prefix + 'interpolate_jr', JointState, self.ctrl,
True, 10),
MotionCmdCommIfc(prefix + 'interpolate_jv', JointState, self.ctrl,
True, 10),
MotionCmdCommIfc(prefix + 'interpolate_jf', JointState, self.ctrl,
True, 10),
MotionCmdCommIfc(prefix + 'servo_cp', TransformStamped, self.ctrl,
True, 10),
MotionCmdCommIfc(prefix + 'servo_cr', TransformStamped, self.ctrl,
True, 10),
MotionCmdCommIfc(prefix + 'servo_cv', TransformStamped, self.ctrl,
True, 10),
MotionCmdCommIfc(prefix + 'servo_cf', TransformStamped, self.ctrl,
True, 10),
MotionCmdCommIfc(prefix + 'servo_jp', JointState, self.ctrl, True,
10),
MotionCmdCommIfc(prefix + 'servo_jr', JointState, self.ctrl, True,
10),
MotionCmdCommIfc(prefix + 'servo_jv', JointState, self.ctrl, True,
10),
MotionCmdCommIfc(prefix + 'servo_jf', JointState, self.ctrl, True,
10),
MotionCmdCommIfc(prefix + 'move_cp', TransformStamped, self.ctrl,
True, 10),
MotionCmdCommIfc(prefix + 'move_cr', TransformStamped, self.ctrl,
True, 10),
MotionCmdCommIfc(prefix + 'move_jp', JointState, self.ctrl, True,
10),
MotionCmdCommIfc(prefix + 'move_jr', JointState, self.ctrl, True,
10)
]
"""Flask REST API to allow Google Assistant to interface with my apt."""
from flask import Flask
from flask import request
from controllers import Controllers
POWER_ON = ['on', 'true', '1']
POWER_OFF = ['off', 'false', 'none', '0']
DEVICES = ['all', 'tv', 'lights', 'speaker']
app = Flask(__name__)
controller = Controllers()
# Main Power Endpoint
@app.route('/power')
def power():
return_msg = ""
return_err = ""
# Parse query params and call appropriate controller method
for device_name, state in request.args.iteritems():
if device_name in DEVICES:
device_pwr = getattr(controller, device_name + '_ctrl')
if state in POWER_ON:
device_pwr(True)
return_msg += "[{} power on]".format(device_name)
elif state in POWER_OFF:
device_pwr()
return_msg += "[{} power off]".format(device_name)
else:
return_err += "[Bad Request '{}={}'] ".format(
device_name, state)
def setUp(self):
self.controllers = Controllers()
def get(self, request, username, password, fromDate, toDate, node):
self.tableStart("GetControllerSummary", username, password)
data = Controllers().summary(node, username)
return self.tableEnd(request, data)