def testCritical(self):
# Subscribe to the warning event
self._string = ""
def _critical_handler(event):
self._string = event.string
self._called = False
def _warning_handler(event):
self._called = True
self.qeventHub.subscribeToType(monitor.Monitor.WARNING,
_warning_handler)
self.qeventHub.subscribeToType(monitor.Monitor.CRITICAL,
_critical_handler)
# Publish an event that does not reach the warning value
event = math.NumericEvent()
event.number = 2
self.qeventHub.publish(TestMonitor.TESTEVENT, event)
self.qeventHub.publishEvents()
self.assertEqual("", self._string)
# Publish the event with the critical value
# Critical value should outprioritize the warning value
event = math.NumericEvent()
event.number = 10
self.qeventHub.publish(TestMonitor.TESTEVENT, event)
self.qeventHub.publishEvents()
self.assertEqual(
"ram.test.monitor.TestMonitor.TESTEVENT:"
"number:testing123:10.0", self._string)
def testWarning(self):
# Subscribe to the warning event
self._string = ""
def _handler(event):
self._string = event.string
self.qeventHub.subscribeToType(monitor.Monitor.WARNING, _handler)
# Publish an event that does not reach the warning value
event = math.NumericEvent()
event.number = 4
self.qeventHub.publish(TestMonitor.TESTEVENT, event)
self.qeventHub.publishEvents()
self.assertEqual("", self._string)
# Publish the event with the warning value
event = math.NumericEvent()
event.number = 5
self.qeventHub.publish(TestMonitor.TESTEVENT, event)
self.qeventHub.publishEvents()
self.assertEqual(
"ram.test.monitor.TestMonitor.TESTEVENT:"
"number:testing123:5.0", self._string)
def update(self, time):
"""
Sends out events using the current estimated values
"""
self.depthFilter.addValue(
-3.281 * self.robot._main_part._node.position.z)
self.posXFilter.addValue(
self.robot._main_part._node.position.x)
self.posYFilter.addValue(
-self.robot._main_part._node.position.y)
self.position = math.Vector2(
self.posXFilter.getValue(),
self.posYFilter.getValue())
self.velocity = math.Vector2(
self.posXFilter.getValue(1, time),
self.posYFilter.getValue(1, time))
self.depth = self.depthFilter.getValue()
self.depthRate = self.depthFilter.getValue(1, time)
# Package all events
devent = math.NumericEvent()
devent.number = self.getEstimatedDepth()
drevent = math.NumericEvent()
drevent.number = self.getEstimatedDepthRate()
pevent = math.Vector2Event()
pevent.vector2 = self.getEstimatedPosition()
vevent = math.Vector2Event()
vevent.vector2 = self.getEstimatedVelocity()
oevent = math.OrientationEvent()
oevent.orientation = self.getEstimatedOrientation()
# Send all events at the same time
self.publish(estimation.IStateEstimator.ESTIMATED_DEPTH_UPDATE, devent)
self.publish(estimation.IStateEstimator.ESTIMATED_DEPTHRATE_UPDATE,
drevent)
self.publish(estimation.IStateEstimator.ESTIMATED_POSITION_UPDATE,
pevent)
self.publish(estimation.IStateEstimator.ESTIMATED_VELOCITY_UPDATE,
vevent)
self.publish(estimation.IStateEstimator.ESTIMATED_ORIENTATION_UPDATE,
oevent)
def update(self, time):
event = math.NumericEvent()
event.number = self.getDepth()
self.publish(device.IDepthSensor.UPDATE, event)
rawEvent = vehicle.RawDepthSensorDataEvent()
rawEvent.rawDepth = self.getDepth()
rawEvent.sensorLocation = self.getLocation()
self.publish(device.IDepthSensor.RAW_UPDATE, rawEvent)
def testNumericEvent(self):
def handler(event):
self.number = event.number
self.epub.subscribe("TEST", handler)
newEvent = math.NumericEvent()
newEvent.number = 5
self.epub.publish("TEST", newEvent)
self.assertEquals(5, self.number)
# Try with the hub
self.qeventHub.subscribeToType("TEST", handler)
newEvent = math.NumericEvent()
newEvent.number = 8
self.epub.publish("TEST", newEvent)
self.qeventHub.publishEvents()
self.assertEquals(8, self.number)
def testNominal(self):
# Set the monitor to be at critical value
self.monitor._signals['Test']._lastValue = 10
self._string = ""
def _nominal_handler(event):
self._string = event.string
self.qeventHub.subscribeToType(monitor.Monitor.NOMINAL,
_nominal_handler)
# Set the system back to a non-warning value
event = math.NumericEvent()
event.number = 3
self.qeventHub.publish(TestMonitor.TESTEVENT, event)
self.qeventHub.publishEvents()
self.assertEqual(
"ram.test.monitor.TestMonitor.TESTEVENT:"
"number:testing123:3.0", self._string)
def setForce(self, force):
self._simThruster.force = force
event = math.NumericEvent()
event.number = self._simThruster.force
self.publish(device.IThruster.FORCE_UPDATE, event)
def publishDepthUpdate(self, vehicleDepth):
event = math.NumericEvent()
event.number = vehicleDepth
self.publish(estimation.IStateEstimator.ESTIMATED_DEPTH_UPDATE, event)
def _createEvent(self, perc):
event = math.NumericEvent()
event.number = perc
return event