def get(self):
piarm = PiArm(None)
joint = request.query_string
print "Joint " + joint
input_primitive_joints = joint + " r 20"
piarm.parse_joints(input_primitive_joints)
return {}
def should_be_call_parser_with_joint(self):
Configuration().configure()
self._executor = RPiExecutor()
waist = Motor(13, 19)
shoulder = Motor(23, 24)
elbow = Motor(17, 27)
wrist = Motor(16, 20)
gripper = Motor(5, 6)
led = Pin(21)
arm = Arm_partial(waist, shoulder, elbow, wrist, gripper, led)
self._arm = arm
self._led = led
control = Control(None, self._executor, self._led)
pi_arm = PiArm(control)
input_primitive_joints = "g c 10"
pi_arm.execute_joint = MagicMock()
expected_joint = Joint_partial("g", "c", 10)
pi_arm.parse_joints(input_primitive_joints)
pi_arm.execute_joint.assert_called_with(expected_joint)
def pi_arm_configuration(self):
Configuration().configure()
self._executor = RPiExecutor()
waist = Motor(13, 19)
shoulder = Motor(23, 24)
elbow = Motor(17, 27)
wrist = Motor(16, 20)
gripper = Motor(5, 6)
led = Pin(21)
arm = Arm_partial(waist, shoulder, elbow, wrist, gripper, led)
self._arm = arm
self._led = led
control = Control(None, self._executor, self._led)
pi_arm = PiArm(control)
return control, pi_arm
def test_should_configure_arm(self):
expected_waist = Motor(13, 19)
expected_shoulder = Motor(23, 24)
expected_elbow = Motor(17, 27)
expected_wrist = Motor(16, 20)
expected_gripper = Motor(5, 6)
expected_led = Pin(21)
expected_arm = Arm_partial(expected_waist, expected_shoulder, expected_elbow, expected_wrist, expected_gripper, expected_led)
pi_arm = PiArm(None)
current_arm = pi_arm._arm
self.assertEquals(current_arm.waist.pin_a.number, expected_arm.waist.pin_a.number)
self.assertEquals(current_arm.waist.pin_b.number, expected_arm.waist.pin_b.number)
self.assertEquals(current_arm.shoulder.pin_a.number, expected_arm.shoulder.pin_a.number)
self.assertEquals(current_arm.shoulder.pin_b.number, expected_arm.shoulder.pin_b.number)
self.assertEquals(current_arm.elbow.pin_a.number, expected_arm.elbow.pin_a.number)
self.assertEquals(current_arm.elbow.pin_b.number, expected_arm.elbow.pin_b.number)
self.assertEquals(current_arm.wrist.pin_a.number, expected_arm.wrist.pin_a.number)
self.assertEquals(current_arm.wrist.pin_b.number, expected_arm.wrist.pin_b.number)
self.assertEquals(current_arm.gripper.pin_a.number, expected_arm.gripper.pin_a.number)
self.assertEquals(current_arm.gripper.pin_b.number, expected_arm.gripper.pin_b.number)
self.assertEquals(current_arm.led.number, expected_arm.led.number)
def get(self):
piarm = PiArm(None)
input_primitive_joints = "g c 20"
piarm.parse_joints(input_primitive_joints)
return {}