import unittest
from unittest.mock import patch, MagicMock
from ev3dev2 import auto as ev3, DeviceNotFound
from ev3dev2.sensor.lego import UltrasonicSensor
from ev3dev2simulator.config.config import load_config
load_config(None)
class TestDeviceConnector(unittest.TestCase):
def test_give_existing_port(self):
with patch(
'ev3dev2simulator.connector.DeviceConnector.get_client_socket'
) as Device_get_client_socketMock:
with patch(
'ev3dev2simulator.connector.SensorConnector.get_client_socket'
) as get_client_socketMock:
mock_instance = MagicMock()
Device_get_client_socketMock.return_value = mock_instance
mock_instance.send_command.return_value = 'ev3-ports:in3'
us = UltrasonicSensor(ev3.INPUT_1)
self.assertEqual(us.address, 'ev3-ports:in3')
def test_give_non_existing_port(self):
with patch(
'ev3dev2simulator.connector.DeviceConnector.get_client_socket'
) as Device_get_client_socketMock:
with patch(
'ev3dev2simulator.connector.SensorConnector.get_client_socket'
def setUp(self) -> None:
load_config(None)
import os
import unittest
from unittest.mock import MagicMock
from pathlib import Path
import ev3dev2simulator.config.config as conf
from ev3dev2simulator.visualisation.Visualiser import Visualiser
conf.load_config(None)
class TestVisualiser(unittest.TestCase):
@classmethod
def setUpClass(cls) -> None:
path = Path(os.path.realpath(
__file__)).parent.parent.parent.parent.parent / 'ev3dev2simulator'
os.chdir(path)
def test_constructor(self):
if conf.production:
return
world_state_mock = MagicMock()
world_state_mock.board_height = 500
world_state_mock.board_width = 500
vis = Visualiser(lambda: None, world_state_mock, False, False, False)
def test_update_current_screen(self):
if conf.production:
return
def main(orig_path):
"""
Spawns the user thread and creates and starts the simulation.
"""
args = vars(parse_args(sys.argv[1:]))
if args['version']:
print("version ev3dev2 : " + api_version.__version__)
print("version ev3dev2simulator : " + sim_version.__version__)
sys.exit(0)
use_second_screen_to_show_simulator = args['show_on_second_monitor']
show_fullscreen = args['fullscreen']
show_maximized = args['maximized']
load_config(args['simulation_file'], orig_path)
config = get_world_config()
cosc343tiles = False
for i in range(len(config['obstacles'])):
if 'type' in config['obstacles'][i] and config['obstacles'][i][
'type'] == 'tiles':
del config['obstacles'][i]
cosc343tiles = True
break
if cosc343tiles:
grout_size = 3
small_tile_size = 33
large_tile_size = 3 * small_tile_size
n_large_tiles_horiz = 12
n_large_tiles_ver = 9
tot_width = n_large_tiles_ver * large_tile_size + (n_large_tiles_ver +
1) * grout_size
tot_height = n_large_tiles_ver * (2 * grout_size + large_tile_size) + (
n_large_tiles_ver - 1) * small_tile_size
hscale = config['board_width'] / tot_width
vscale = config['board_height'] / tot_height
scale = min(hscale, vscale)
if scale < 1:
scale = 1
grout_colour = (100, 100, 100)
large_tile_colour = (240, 240, 240)
black_tile_colour = (1, 1, 1)
white_tile_colour = (254, 254, 254)
grout_size = int(grout_size * scale)
small_tile_size = int(small_tile_size * scale)
large_tile_size = 3 * small_tile_size
x = 1
x = x * (large_tile_size + grout_size) + large_tile_size / 2
start_tile_x = int(x)
y = 7
y = y * (large_tile_size + 2 * grout_size) + (
y - 1) * small_tile_size + large_tile_size / 1.2
start_tile_y = int(y)
start_tile = {
'name': 'stile1',
'x': int(start_tile_x),
'y': int(start_tile_y),
'width': int(large_tile_size * 0.6),
'height': int(large_tile_size * 0.8),
'color': black_tile_colour,
'type': 'tile'
}
config['obstacles'].append(start_tile)
for i in range(len(config['obstacles'])):
if 'tile' in config['obstacles'][i]:
t = config['obstacles'][i]['tile']
x = 8 + (t - 1) % 3
y = 1 + int((12 - t) / 3)
config['obstacles'][i]['x'] = int(
x * (large_tile_size + grout_size) + grout_size +
large_tile_size / 2)
config['obstacles'][i]['y'] = int(
y * (large_tile_size + 2 * grout_size) +
(y) * small_tile_size + large_tile_size / 2)
if 'radius' in config['obstacles'][i]:
config['obstacles'][i]['radius'] *= scale
# Vertical grouts
grout_length = n_large_tiles_ver * (
large_tile_size +
2 * grout_size) + (n_large_tiles_ver) * small_tile_size
for i in range(n_large_tiles_horiz + 1):
x = i * (large_tile_size + grout_size)
y = 0
grout = {
'name': 'gv%d' % i,
'x': int(x + grout_size / 2),
'y': int(y + grout_length / 2),
'width': grout_size,
'height': grout_length,
'color': grout_colour,
'type': 'tile'
}
# x += grout_size/2
# y += grout_length/2
config['obstacles'].append(grout)
# Horizontal grouts
grout_length = n_large_tiles_horiz * large_tile_size + (
n_large_tiles_horiz + 1) * grout_size
y = 0
for i in range(2 * n_large_tiles_ver):
x = 0
# y = i*(large_tile_size+grout_size)
# y = 0
grout = {
'name': 'gh%d' % i,
'x': int(x + grout_length / 2),
'y': int(y + grout_size / 2),
'width': grout_length,
'height': grout_size,
'color': grout_colour,
'type': 'tile'
}
if i % 2 == 0:
y += large_tile_size + grout_size
else:
y += small_tile_size + grout_size
# x += grout_size/2
# y += grout_length/2
config['obstacles'].append(grout)
# Large tiles
k = 0
for i in range(n_large_tiles_horiz):
for j in range(n_large_tiles_ver):
x = i * large_tile_size + (i + 1) * grout_size
y = grout_size + j * large_tile_size + 2 * j * grout_size + j * small_tile_size
tile = {
'name': 'lt%d' % k,
'x': int(x + large_tile_size / 2),
'y': int(y + large_tile_size / 2),
'width': large_tile_size,
'height': large_tile_size,
'color': large_tile_colour,
'type': 'tile'
}
k += 1
config['obstacles'].append(tile)
# Small tiles
k = 0
for i in range(n_large_tiles_ver):
y = (i + 1) * large_tile_size + (
i + 1) * 2 * grout_size + i * small_tile_size
for j in range(n_large_tiles_horiz * 3):
x = j * small_tile_size + (int(j / 3) + 1) * grout_size
if j % 2 == 0:
colour = black_tile_colour
else:
colour = white_tile_colour
tile = {
'name': 'st%d' % k,
'x': int(x + small_tile_size / 2),
'y': int(y + small_tile_size / 2),
'width': small_tile_size,
'height': small_tile_size,
'color': colour,
'type': 'tile'
}
k += 1
config['obstacles'].append(tile)
start_tile['name'] = 'stile2'
config['obstacles'].append(start_tile)
x = config['robots'][0]['center_x']
x = x * (large_tile_size + grout_size) + large_tile_size / 2
config['robots'][0]['center_x'] = int(x)
y = config['robots'][0]['center_y']
y = y * (large_tile_size + 2 * grout_size) + (
y - 1) * small_tile_size + large_tile_size / 1.2
config['robots'][0]['center_y'] = int(y)
world_state = WorldState(config)
world_simulator = WorldSimulator(world_state)
visualiser = Visualiser(world_simulator.update, world_state,
show_fullscreen, show_maximized,
use_second_screen_to_show_simulator)
server_thread = ServerSockets(world_simulator)
server_thread.setDaemon(True)
server_thread.start()
visualiser.run()