def test_givenResistanceValueStartingWithFive_whenGettingColors_thenFirstColorIsGreen(
self, ):
resistance = Resistance(550)
first_color, *_ = resistance.get_colors()
self.assertEqual(first_color, Color.GREEN)
def test_givenResistanceValueOfOrderThree_whenGettingColors_thenThirdColorIsBrown(
self, ):
resistance = Resistance(840)
*_, third_color = resistance.get_colors()
self.assertEqual(third_color, Color.BROWN)
def test_givenResistanceValueWithSixAsSecondDigit_whenGettingColors_thenSecondColorIsBlue(
self, ):
resistance = Resistance(160)
_, second_color, *_ = resistance.get_colors()
self.assertEqual(second_color, Color.BLUE)
def test_givenResistanceValueOfOrderFive_whenGettingColors_thenThirdColorIsOrange(
self, ):
resistance = Resistance(25000)
*_, third_color = resistance.get_colors()
self.assertEqual(third_color, Color.ORANGE)
def test_givenResistanceValueWithTwoAsSecondDigit_whenGettingColors_thenSecondColorIsRed(
self, ):
resistance = Resistance(120)
_, second_color, *_ = resistance.get_colors()
self.assertEqual(second_color, Color.RED)
def test_givenResistanceValueStartingWithFour_whenGettingColors_thenFirstColorIsYellow(
self, ):
resistance = Resistance(450)
first_color, *_ = resistance.get_colors()
self.assertEqual(first_color, Color.YELLOW)
def test_givenResistanceValueOf4437_whenRoundToNearestE12Value_thenReturnClosestE12ValueOf4700(
self, ):
resistance_read = 4437
expected_resistance = Resistance(4700)
actual_resistance = Resistance.round_to_nearest_e12_value(
resistance_read)
self.assertEqual(expected_resistance, actual_resistance)
def test_givenResistanceOf270000_whenGettingColors_thenThirdColorIsYellow(
self):
resistance = Resistance.round_to_nearest_e12_value(261468.0)
*_, third_color = resistance.get_colors()
self.assertEqual(third_color, Color.YELLOW)
def run(self):
print("Sending start command")
self.send_command_to_robot(Topic.START_STAGE, Stage.READ_COMMAND_PANEL)
self.wait_for_robot_confirmation(Topic.START_STAGE)
print("Send movements to starting zone center")
self._rotation_service.rotate(CardinalOrientation.SOUTH.value)
robot_pose = self._find_robot_pose()
movements_to_starting_zone = self._find_movements_to_starting_zone(robot_pose)
self._move_robot(movements_to_starting_zone)
print("Send rotation to robot to face command panel")
self._rotation_service.rotate(CardinalOrientation.WEST.value)
print("Send read command panel")
self.send_command_to_robot(Topic.ANALYZE_COMMAND_PANEL, Resistance(260000))
first_starting_zone_corner: StartingZoneCorner = (
self._receive_first_starting_zone_corner()
)
print(
"The first corner received is: {}".format(first_starting_zone_corner.name)
)
print("Wrapping up stage")
self.send_command_to_robot(Topic.STAGE_COMPLETED, None)
self.wait_for_robot_confirmation(Topic.STAGE_COMPLETED)
print("Stage complete")
def take_resistance_measurement(self) -> Resistance:
resistance_read = self._ohmmeter.read_resistance()
print()
print()
print(resistance_read)
print()
print()
return Resistance.round_to_nearest_e12_value(resistance_read)
def test_givenAResistanceWithNotCorrectValue_whenCallGetTargetCellIndex_ReturnException(
self, ):
a_wrong_resistance = Resistance(0)
with self.assertRaises(CommandPanelTargetException):
self._command_panel_target_position.get_target_cell_indix(
a_wrong_resistance)
def test_givenAResistanceWithCorrectValue_whenCallGetTargetCellIndex_ReturnTheRithCommandPanel(
self, ):
a_valid_resistance = Resistance(730)
command_panel_position = (self._command_panel_target_position.
get_target_cell_indix(a_valid_resistance))
self.assertEqual(command_panel_position,
CommandPanelPosition.LOWER_LEFT)
def test_whenTakeResistanceMeasurement_thenReturnResistanceWithValueRead(
self):
self.ohmmeter.read_resistance.return_value = self.RESISTANCE_ABOVE_THRESHOLD
expected_resistance = Resistance(self.RESISTANCE_ABOVE_THRESHOLD)
actual_resistance = self.resistance_service.take_resistance_measurement(
)
self.assertEqual(expected_resistance, actual_resistance)
def test_givenResistanceValueOf50_whenRoundToNearestE12Value_thenThrowInvalidResistanceException(
self, ):
resistance_read = 50
rounding_to_nearest_e12_value = (
lambda resistance: Resistance.round_to_nearest_e12_value(resistance
))
with self.assertRaises(InvalidResistanceException):
rounding_to_nearest_e12_value(resistance_read)
def _read_command_panel(self, resistance: Resistance):
self._vision_service.make_camera_look_up()
self._align_horizontally_with_command_panel()
self._vision_service.take_image()
current_image = self._vision_service.take_image()
command_panel_letters = (self._command_panel_letters_extractor.
extract_letters_from_image(current_image))
letter_position = resistance.find_nth_digit(0) - 1
return command_panel_letters[letter_position]
def get_target_cell_indix(self, resistance: Resistance):
position = resistance.find_nth_digit(0)
try:
return CommandPanelPosition(position - 1)
except Exception:
raise CommandPanelTargetException()
def _get_resistance_value(self, resistance_value: Resistance) -> int:
return (
resistance_value.get_value()
if resistance_value is not None
else self.NO_RESISTANCE_VALUE
)