def test_givenRobotNotCorrectlyOrientedAndRobotWithOrientationLargerThan180Degree_whenRotate_thenSendNegativeAdjustedOrientation(
self, ):
self._setup_communication_service(1)
self._setup_vision_service(self.ANOTHER_ORIENTATION)
expected_orientation = Orientation(-126)
self._rotation_service.rotate(self.AN_ORIENTATION)
self._communication_service.send_object.assert_called_with(
Message(Topic.ROTATION, expected_orientation))
def align_with_command_panel(self, letter_position: int):
if ALIGN_WITH_COMMAND_PANEL_FOR_REAL:
first_starting_zone_corner = (self._read_command_panel_handler.
_read_command_panel(letter_position))
print(first_starting_zone_corner)
# self._communication_service.send_object(
# Message(Topic.ANALYZE_COMMAND_PANEL, first_starting_zone_corner)
# )
else:
print("On aligne pas pour de vrai")
input("Appuyez sur Entrer pour envoyer D")
self._communication_service.send_object(
Message(Topic.ANALYZE_COMMAND_PANEL, "D"))
def rotate(self, desired_orientation: Orientation):
while True:
time.sleep(0.5)
robot_pose = None
try:
_, robot_pose = self._vision_service.get_vision_state()
except RobotNotFoundException:
continue
orientation_to_send = (robot_pose.get_orientation_in_degree() -
desired_orientation)
if abs(orientation_to_send.get_orientation_in_degree()) <= 1:
break
orientation_to_send = self._find_smallest_orientation_to_send(
orientation_to_send)
if abs(orientation_to_send.get_orientation_in_degree()) <= 5:
orientation_to_send = self._shrink_rotation(
orientation_to_send)
self._communication_service.send_object(
Message(Topic.ROTATION, orientation_to_send))
message: Message = self._communication_service.receive_object()
if (message.get_topic() == Topic.ROTATION_COMPLETED
and self._is_correctly_oriented(desired_orientation)):
break
def _send_confirmation_to_station(self, command: Topic, payload: Any):
message = Message(command, payload)
self._communication_service.send_object(message)
def send_command_to_robot(self, command: Topic, payload: object):
message = Message(command, payload)
self._communication_service.send_object(message)
def send_transport_puck_command(self):
message = Message(Topic.START_CYCLE, Stage.TRANSPORT_PUCK)
self._communication_service.send_object(message)
from domain.communication.Message import Message
from domain.game.Stage import Stage
from domain.game.Topic import Topic
from infra.communication.station.ZmqReqRepConnector import ZmqReqRepConnector
if __name__ == "__main__":
zmq_connector = ZmqReqRepConnector("tcp://10.248.74.150:5556")
message = zmq_connector.receive_object()
if message.get_topic() == Topic.START_CYCLE:
print(message.get_payload())
zmq_connector.send_object(Message(Topic.STAGE_COMPLETED, Stage.STAGE_COMPLETED))
class TestCommunicationService(TestCase):
A_MESSAGE = Message(Topic.READ_RESISTANCE, False)
def setUp(self):
self.pub_sub_connector = MagicMock()
self.game_cycle_connector = MagicMock()
self.robot_information = MagicMock()
self.communication_service = CommunicationService(
self.game_cycle_connector, self.pub_sub_connector, self.robot_information
)
def test_whenReceiveMessage_thenConnectorReceivesMessage(self):
self.communication_service.receive_game_cycle_message()
self.assertTrue(self.game_cycle_connector.receive_message.called)
def test_whenSendMessage_thenConnectorSendsMessage(self):
self.communication_service.send_game_cycle_message(self.A_MESSAGE)
self.assertTrue(
self.game_cycle_connector.send_message.called_with(self.A_MESSAGE)
)
def test_whenReceiveObject_thenConnectorIsUsedToReceiveObject(self):
an_object = MagicMock()
self.game_cycle_connector.receive_object.return_value = an_object
actual_object = self.communication_service.receive_object()
self.assertEqual(an_object, actual_object)
def test_givenStatusReturnByRobotInformation_whenSendGripperStatus_thenPublishStatus(
self,
):
self.robot_information.get_gripper_status.return_value = STATUS_HAS_PUCK
self.communication_service.send_gripper_status()
self.pub_sub_connector.publish_gripper_status.assert_called_with(
STATUS_HAS_PUCK
)
def test_givenCurrentConsumptionReturnedByRobotInformation_whenSendPowerConsumption_thenPublishCurrentConsumption(
self,
):
self.robot_information.get_current_consumption.return_value = A_CURRENT_VALUE
self.communication_service.send_current_consumption()
self.pub_sub_connector.publish_battery_consumption.assert_called_with(
A_CURRENT_VALUE
)
def test_givenPowerConsumptionReturnedByRobotInformation_whenSendPowerConsumption_thenPublishPowerConsumption(
self,
):
self.robot_information.get_power_consumption.return_value = A_POWER_CONSUMPTION
self.communication_service.send_power_consumption()
self.pub_sub_connector.publish_power_consumption.assert_called_with(
A_POWER_CONSUMPTION
)
def test_givenPowerConsumptionFirstWheelReturnedByRobotInformation_whenSendPowerConsumptionFirstWheel_thenPublishPowerConsumptionFirstWheel(
self,
):
self.robot_information.get_power_consumption_first_wheel.return_value = (
A_POWER_CONSUMPTION_FIRST_WHEEL
)
self.communication_service.send_power_consumption_first_wheel()
self.pub_sub_connector.publish_power_consumption_first_wheel.assert_called_with(
A_POWER_CONSUMPTION_FIRST_WHEEL
)
def test_givenPowerConsumptionSecondWheelReturnedByRobotInformation_whenSendPowerConsumptionSecondWheel_thenPublishPowerConsumptionSecondWheel(
self,
):
self.robot_information.get_power_consumption_second_wheel.return_value = (
A_POWER_CONSUMPTION_SECOND_WHEEL
)
self.communication_service.send_power_consumption_second_wheel()
self.pub_sub_connector.publish_power_consumption_second_wheel.assert_called_with(
A_POWER_CONSUMPTION_SECOND_WHEEL
)
def test_givenPowerConsumptionThirdWheelReturnedByRobotInformation_whenSendPowerConsumptionThirdWheel_thenPublishPowerConsumptionThirdWheel(
self,
):
self.robot_information.get_power_consumption_third_wheel.return_value = (
A_POWER_CONSUMPTION_THIRD_WHEEL
)
self.communication_service.send_power_consumption_third_wheel()
self.pub_sub_connector.publish_power_consumption_third_wheel.assert_called_with(
A_POWER_CONSUMPTION_THIRD_WHEEL
)
def test_givenPowerConsumptionFourthWheelReturnedByRobotInformation_whenSendPowerConsumptionFourthWheel_thenPublishPowerConsumptionFourthWheel(
self,
):
self.robot_information.get_power_consumption_fourth_wheel.return_value = (
A_POWER_CONSUMPTION_FOURTH_WHEEL
)
self.communication_service.send_power_consumption_fourth_wheel()
self.pub_sub_connector.publish_power_consumption_fourth_wheel.assert_called_with(
A_POWER_CONSUMPTION_FOURTH_WHEEL
)
def test_givenBatteryTimeLeftReturnedByRobotInformation_whenSendBatteryTimeLeft_thenPublishBatteryTimeLeft(
self,
):
self.robot_information.get_battery_time_left.return_value = A_BATTERY_TIME_LEFT
self.communication_service.send_battery_time_left()
self.pub_sub_connector.publish_battery_time_left.assert_called_with(
A_BATTERY_TIME_LEFT
)
def test_givenBatteryPercentageReturnedByRobotInformation_whenSendBatteryPercentage_thenPublishBatteryBatteryPercentage(
self,
):
self.robot_information.get_battery_percentage.return_value = (
A_BATTERY_PERCENTAGE
)
self.communication_service.send_battery_percentage()
self.pub_sub_connector.publish_battery_percentage.assert_called_with(
A_BATTERY_PERCENTAGE
)
def _send_start_signal(self):
print("Sending start signal...")
self._communication_service.send_object(
Message(Topic.START_STAGE, Stage.START_CYCLE))
from domain.communication.Message import Message
from domain.game.Stage import Stage
from domain.game.Topic import Topic
from infra.communication.robot.ZmqReqRepConnector import ZmqReqRepConnector
if __name__ == "__main__":
req_connector = ZmqReqRepConnector("tcp://*:5556")
message = Message(Topic.START_CYCLE, Stage.START_CYCLE)
input("Press enter to send message")
req_connector.send_object(message)
message = req_connector.receive_object()
if message.get_payload() == Stage.STAGE_COMPLETED:
print(message.get_payload())
def _move_robot(self, movements: List[Movement]):
command = Message(Topic.MOVEMENTS, movements)
self._communication_service.send_object(command)
self._wait_for_robot_confirmation(Topic.MOVEMENTS)
def _send_confirmation_to_station(self, topic: Topic, payload: Any):
message = Message(topic, payload)
self._communication_service.send_object(message)
raise StageComplete
def _setup_communication_service(self,
number_of_rotation_message_send: int):
side_effect = []
for i in range(number_of_rotation_message_send):
side_effect.append(Message(Topic.ROTATION_COMPLETED, None))
self._communication_service.receive_object.side_effect = side_effect