def test_creer_chassis():
result = True
try:
nom = "monChassis"
poids = 10
aire_frontale = 2.4
coefficient_trainee = 0.6
chassis = Chassis(nom=nom,
poids=poids,
aire_frontale=aire_frontale,
coefficient_trainee=coefficient_trainee)
except:
return False
result &= chassis.nom == nom
result &= chassis.poids == poids
result &= chassis.aire_frontale == aire_frontale
result &= chassis.coefficient_trainee == coefficient_trainee
expected_dict = {
'_Chassis__aire_frontale': 2.4,
'_Chassis__coefficient_trainee': 0.6,
'_Composante__nom': 'monChassis',
'_Composante__poids': 10
}
result &= chassis.__dict__ == expected_dict
return result
def __init__(self, rospy):
print 'Differential drive node initialization...'
self.left_speed = 0
self.right_speed = 0
self.left_length = 0
self.right_length = 0
print 'Initialize Components...'
self.chassis = Chassis()
self.speed_measures = SpeedSensors(rospy)
print 'Register control topic...'
rospy.Subscriber("robot_mg", DiffSpeed, self.move)
print 'Done !'
def __init__(self):
rospy.init_node('wheel_odom_publisher')
self.chassis = Chassis()
self.wheel_shifts_sub = rospy.Subscriber('/wheel_shifts', WheelShifts,
self.publishOdom)
self.odometry_pub = rospy.Publisher('/wheel_odom',
Odometry,
queue_size=1)
self.odometry_calc = OdometryCalculator(self.chassis)
self.rate = rospy.Rate(15)
self.reset_odom_service = rospy.Service(
'reset_wheel_odom', SetBool,
self.resetWheelOdom) #resets odometry to 0,0,0
def __init__(self, host_and_port, adapter, log, device_id):
self.log = log
self.headers = {'Accept-Encoding': None}
self.device_id = device_id
"""self.adapter_agent = adapter.adapter_agent
self.adapter_name = adapter.name
"""
self.host_and_port = host_and_port.split(
':')[0] + Defaults.redfish_port
requests.packages.urllib3.disable_warnings(InsecureRequestWarning)
self.chassis_obj = Chassis(self)
self.systems_obj = Systems(self)
self.ethernet_obj = Ethernet(self)
self.sys_info = {}
def main():
parser = argparse.ArgumentParser(description='Starts NetBot client.')
parser.add_argument('host', action="store")
parser.add_argument('--port',
action="store",
dest="port",
default=2345,
type=int,
required=False)
args = parser.parse_args()
host = args.host
port = args.port
if (host == None) | (port == None):
print(parser.usage)
exit(0)
else:
chassis = Chassis()
chassis.activate()
client = Client(lambda msg: process_message(msg, chassis), get_msg_obj)
client.init(host, port)
capture_thread = threading.Thread(target=image_capture_thread_func,
args=(client, ))
capture_thread.start()
done = False
while not done:
done = not client.process_recv_message()
chassis.dectivate()
stop_event.set()
capture_thread.join()
for _, cam in cameras.items():
cam.release()
client.close()
def get_chassis(self):
from chassis import Chassis
chassis = Chassis()
return chassis
#from chassis import Chassis
from telemetry import Telemetry
from chassis import Chassis
#192.168.1.107
IP_ADDRESS = '10.0.0.22'
PORT = 65432
SSID = 'utmresak'
telemetry = Telemetry(IP_ADDRESS, PORT, 'wlan0', SSID)
chassis = Chassis()
while True:
connected = telemetry.ping()
if not connected: #failsafe condition
chassis.stop_all(
) #for extra safety but technically redundant as telemetry.speed is set to 0 failsafe condition
telemetry.get_connection(IP_ADDRESS, PORT)
chassis.drive(int(telemetry.speed * 100))
def test_creer_vehicule():
result = True
try:
nom_vehicule = "monVehicule"
position_dep = [45, -2, 57]
nom_roue = "maRoue"
poids_roue = 10
coefficient_friction = 0.4
poids_supporte = 10
roues = [
Roue(nom=nom_roue,
poids=poids_roue,
coefficient_friction=coefficient_friction,
poids_supporte=poids_supporte),
Roue(nom=nom_roue,
poids=2 * poids_roue,
coefficient_friction=2 * coefficient_friction,
poids_supporte=2 * poids_supporte)
]
nom_moteur = "monMoteur"
poids_moteur = 10
acceleration = 2.5
moteur = Moteur(nom=nom_moteur,
poids=poids_moteur,
acceleration=acceleration)
nom_chassis = "monChassis"
poids_chassis = 10
aire_frontale = 2.4
coefficient_trainee = 0.6
chassis = Chassis(nom=nom_chassis,
poids=poids_chassis,
aire_frontale=aire_frontale,
coefficient_trainee=coefficient_trainee)
vehicule = Vehicule(nom=nom_vehicule,
position_dep=position_dep,
roues=roues,
moteur=moteur,
chassis=chassis)
result &= vehicule.celebrer() == None
result &= vehicule.position == position_dep
result &= compare_arrays(vehicule.vitesse, [0, 0, 0])
print(result)
result &= vehicule.trainee == 0.0
result &= vehicule.friction == 0.0
dt = 1
vehicule.accelerer(temps_ecoule=dt)
result &= compare_arrays(vehicule.vitesse, [0, 0, 2.5])
result &= compare_arrays(vehicule.position, [45, -2, 59.5])
result &= vehicule.trainee == 5.4
result &= vehicule.friction == 3.0
except:
return False
result &= vehicule.nom == nom_vehicule
result &= vehicule.poids == 50
result &= vehicule.traction == 125.0
result &= vehicule.roues == roues
result &= vehicule.moteur == moteur
result &= vehicule.chassis == chassis
result &= vehicule.acceleration == 2.332
expected_dict_keys = [
'_Vehicule__nom', '_Vehicule__vitesse', '_Vehicule__position',
'_Vehicule__roues', '_Vehicule__moteur', '_Vehicule__chassis'
]
result &= list(vehicule.__dict__.keys()) == expected_dict_keys
return result
def __init__(self):
self.chassis = Chassis()
