def handle(self, handled_data=None):
self.initialize()
while not self.is_finished:
handled_data["movement_vectors_string_pub"].publish(
json.dumps((0, 0, 6)))
self.rate.sleep()
handled_data['resistance'] = self.resistance
resistance_object = Resistance(self.resistance)
rounded_resistance, colors = resistance_object.get_resistance_and_colors(
)
colors = colors + [
ResistanceMapper().find_exponent_color(resistance_object)
]
rospy.logerr([rounded_resistance, colors])
handled_data["puck_colors"] = colors
handled_data["puck_colors_pub"].publish(json.dumps(colors))
self.rate.sleep()
handled_data["movement_vectors_string_pub"].publish(
json.dumps((handled_data["resistance_y_dist"], 0, 3)))
self.rate.sleep()
handled_data["movement_vectors_string_pub"].publish(
json.dumps((handled_data["resistance_x_dist"], 0, 0)))
self.rate.sleep()
return handled_data
class CommandPanel:
def __init__(self):
self.resistance = None
self.mapped_letters = None
def set_coordinates(self, coordinates):
self.coordinates = coordinates
def set_resistance(self, resistance):
self.resistance = Resistance(
resistance
) #TODO: s'assurer que Resistance(resistance) a le bon comportement (le truc de e12(?) de denis)
def set_mapped_letters(self, mapped_letters):
self.mapped_letters = mapped_letters
def find_first_corner_letter(self):
first_digit = self.resistance.get_first_digit()
index = first_digit - 1
return Letter[self.mapped_letters[index]]
def handle(self, handled_data=None):
self.initialize()
command_panel = CommandPanel()
command_panel.set_resistance(handled_data['resistance'])
# handled_data["calculate_pucks_pub"].publish(True)
self.handled_data = handled_data
handled_data["read_letters_pub"].publish(True)
while not self.is_finished:
pass
rounded_resistance, _ = Resistance(handled_data["resistance"]).get_resistance_and_colors()
handled_data["letters"] = self.letters
command_panel.set_mapped_letters(self.letters)
command_panel.set_resistance(rounded_resistance)
first_corner = command_panel.find_first_corner_letter()
second_corner = first_corner.get_next_letter()
third_corner = second_corner.get_next_letter()
handled_data["corners"] = [first_corner.value, second_corner.value, third_corner.value]
return handled_data
def test_when_round_then_resistance_is_as_expected_7(self):
resistance = Resistance(self.A_RESISTANCE_7)
rounded_resistance, _ = resistance.get_resistance_and_colors()
assert rounded_resistance == self.EXPECTED_RESISTANCE_7
def test_when_find_exponent_then_exponent_is_as_expected_5(self):
resistance = Resistance(1000000)
exponent = resistance.get_exponent()
assert exponent == self.EXPECTED_EXPONENT_5
def set_resistance(self, resistance):
self.resistance = Resistance(
resistance
) #TODO: s'assurer que Resistance(resistance) a le bon comportement (le truc de e12(?) de denis)
