def test_sample(self):
"""Test method for sensor sampling"""
print("Testing sensor sampling.")
r = driver.instantiateRover(
[
"system=rover",
"rotationSpeed=0",
"forwardSpeed=1",
"rotationSpeedError=2",
"forwardSpeedError=3",
"x=25",
"y=25",
"orientation=45",
"port=/dev/tty.usbserial-A702ZKVY",
]
)
s = driver.instantiateSensor(
[
"sampleRate=500",
"sampleRateError=0",
"rotationRate=500",
"rotationRateError=0",
"rangeOfMotion=90",
"buff=3",
"port=/dev/tty.usbserial-A702ZIQS",
]
)
foundRover = False
while foundRover != True:
foundRover = s.sample(r.getPosition())
# Check that the sensor is aimed within a 2 cm margin of the center of the rover.
self.assertLessEqual(abs(s.getOrientation() - 45), 1) # 45 degrees is the correct orientation.
r.setPosition(25, 50)
foundRover = False
while foundRover != True:
foundRover = s.sample(r.getPosition())
# Check that the sensor is aimed within a 2 cm margin of the center of the rover.
self.assertLessEqual(abs(s.getOrientation() - 63.5), 1) # 63.5 degrees is the correct orientation.
def test_instantiateSystems(self):
"""Test method for systems instantiation"""
print("Testing instantiation of the systems.")
r1 = driver.instantiateRover(
[
"system=rover",
"rotationSpeed=0",
"forwardSpeed=1",
"rotationSpeedError=2",
"forwardSpeedError=3",
"x=4",
"y=5",
"orientation=45",
"port=/dev/tty.usbserial-A702ZKVY",
]
)
s1 = driver.instantiateSensor(
[
"sampleRate=0",
"sampleRateError=1",
"rotationRate=2",
"rotationRateError=3",
"rangeOfMotion=4",
"buff=5",
"port=/dev/tty.usbserial-A702ZIQS",
]
)
r2, s2, c2 = driver.instantiateSystems("config1.txt")
self.assertEqual(r1.getRotationSpeed(), r2.getRotationSpeed())
self.assertEqual(r1.getForwardSpeed(), r2.getForwardSpeed())
self.assertEqual(r1.getRotationSpeedError(), r2.getRotationSpeedError())
self.assertEqual(r1.getForwardSpeedError(), r2.getForwardSpeedError())
self.assertEqual(r1.getPosition()[0], r2.getPosition()[0])
self.assertEqual(r1.getPosition()[1], r2.getPosition()[1])
self.assertEqual(s1.getSampleRate(), s2.getSampleRate())
self.assertEqual(s1.getSampleRateError(), s2.getSampleRateError())
self.assertEqual(s1.getRotationRate(), s2.getRotationRate())
self.assertEqual(s1.getRotationRateError(), s2.getRotationRateError())
self.assertEqual(s1.getRangeOfMotion(), s2.getRangeOfMotion())
self.assertEqual(s1.getBuff(), s2.getBuff())
def test_instantiateRover(self):
"""Test method for rover instantiation"""
print("Testing instantiation of the rover.")
r = driver.instantiateRover(
[
"system=rover",
"rotationSpeed=0",
"forwardSpeed=1",
"rotationSpeedError=2",
"forwardSpeedError=3",
"x=4",
"y=5",
"orientation=45",
"port=/dev/tty.usbserial-A702ZKVY",
]
)
self.assertEqual(r.getRotationSpeed(), 0)
self.assertEqual(r.getForwardSpeed(), 1)
self.assertEqual(r.getRotationSpeedError(), 2)
self.assertEqual(r.getForwardSpeedError(), 3)
self.assertEqual(r.getPosition()[0], 4)
self.assertEqual(r.getPosition()[1], 5)
def test_move(self):
print("Testing rover movement.")
r = driver.instantiateRover(
[
"system=rover",
"rotationSpeed=1",
"forwardSpeed=1",
"rotationSpeedError=2",
"forwardSpeedError=3",
"x=24",
"y=25",
"orientation=0",
"port=/dev/tty.usbserial-A702ZKVY",
]
)
self.assertEqual(r.move(0.5, 1), False) # Radius is too small.
stop = False
r.move(1000, 1) # Move straight.
# Rover is now at (25,25).
self.assertLessEqual(abs(r.getPosition()[0] - 25), 0.1)
# r.move(10, 5*pi) #circum: 20*pi cm -> one revolution in 20*pi seconds
# # Check position of the rover.
# self.assertLessEqual(abs(r.getPosition()[0] - 35), 1)
# self.assertLessEqual(abs(r.getPosition()[1] - 15), 1)
# # Check orientation of the rover.
# self.assertLessEqual(abs(r.getOrientation() - 90), 1)
# r.move(-10, 5*pi)
# # Check position of the rover.
# self.assertLessEqual(abs(r.getPosition()[0] - 45), 1)
# self.assertLessEqual(abs(r.getPosition()[1] - 45), 1)
# # Check orientation of the rover.
# self.assertLessEqual(abs(r.getOrientation() - 0), 1)
# plt.plot(r.getYHist(), r.getXHist())
# plt.ylabel('Rover Position')
# plt.show()
# print("Rover movement times", r.getMovementTimes())
# print("Init time", r.getInitTime())
r.setPosition(4, 5)
r.setOrientation(0)
# Execute same commands from different starting location.
r.move(1000, 1) # Move straight.
# Rover is now at (5,5).
self.assertLessEqual(abs(r.getPosition()[0] - 5), 0.1)
# r.move(10, 7*pi) #circum: 20*pi cm -> one revolution in 20*pi seconds
# # Check position of the rover.
# self.assertLessEqual(abs(r.getPosition()[0] - 15), 1)
# self.assertLessEqual(abs(r.getPosition()[1] - 15), 1)
# # Check orientation of the rover.
# self.assertLessEqual(abs(r.getOrientation() - 90), 1)
r.move(-10, 21 * pi)
# Check position of the rover.
self.assertLessEqual(abs(r.getPosition()[0] - 25), 1)
self.assertLessEqual(abs(r.getPosition()[1] - 25), 1)
# Check orientation of the rover.
self.assertLessEqual(abs(r.getOrientation() - 0), 1)
