def graphics_test() -> None:
from utility.constants import DATA_PATH, TEST_DATA_PATH
import pyautogui
# pick RRT Connect algorithm
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'algorithm_new.png'),
confidence=0.55)
pyautogui.click(x + 150, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'rrt_connect.png'),
confidence=0.8)
pyautogui.click(x, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'update.png'),
confidence=0.5)
pyautogui.click(x, y)
wait_for('initialised.png')
# make obstacles transparent for a better ss comparison
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'obstacles_new.png'),
confidence=0.75)
pyautogui.click(x - 115, y)
# run algo
pyautogui.press('t')
wait_for('done.png')
take_screenshot("RRT_Connect_test_3D.png", threshold=350)
def graphics_test() -> None:
from utility.constants import DATA_PATH, TEST_DATA_PATH
import pyautogui
# Select map Labyrinth, Potential Field algorithm
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'map.png'),
confidence=0.5)
pyautogui.click(x + 160, y + 5)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'labyrinth_new.png'),
confidence=0.5)
pyautogui.click(x, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'algorithm_new.png'),
confidence=0.5)
pyautogui.click(x + 150, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'potential_field.png'),
confidence=0.7)
pyautogui.click(x, y)
# start and end goals coordinate input
pyautogui.click(342, 545)
pyautogui.write('17')
pyautogui.doubleClick(422, 545)
pyautogui.write('15')
pyautogui.doubleClick(342, 617)
pyautogui.write('17')
pyautogui.doubleClick(422, 617)
pyautogui.write('4')
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'update.png'),
confidence=0.5)
pyautogui.click(x, y)
wait_for('initialised.png')
# pick colours and do other modifications on the map
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'traversables_new.png'),
confidence=0.5)
pyautogui.click(x - 85, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'lime.png'),
confidence=0.9)
pyautogui.click(x, y)
pyautogui.press('t')
wait_for('done.png')
take_screenshot("potential_field_2d.png")
def do_cert_test(mgr, temp_chains, client_ca_certs,
server_trusted_client_certs, cert_to_names):
install_keystore()
setup_tls_config(mgr, server_trusted_client_certs, cert_to_names)
def openssl_connect():
with open(os.devnull, "r") as n:
subprocess.check_call(
"openssl s_client -connect localhost:6513 -CAfile {ca_certs} -cert {certfile} -key {keyfile} "
"-state -debug -showcerts -verify_return_error -verify 1 2>&1".
format(
keyfile=CLIENT_LEAF_KEY,
certfile=CLIENT_LEAF,
ca_certs=temp_chains.create(client_ca_certs),
),
shell=True,
stdin=n,
)
wait_for(openssl_connect, timeout=30, period=0.5)
def graphics_test() -> None:
from utility.constants import DATA_PATH, TEST_DATA_PATH
import pyautogui
# pick RRT algorithm
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH, 'algorithm_new.png'), confidence=0.55)
pyautogui.click(x + 150, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH, 'rrt2.png'), confidence=0.9)
pyautogui.click(x, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH, 'update.png'), confidence=0.5)
pyautogui.click(x, y)
wait_for('initialised.png')
# run algo
pyautogui.press('t')
wait_for('done.png')
take_screenshot("RRT_test_2D.png", threshold=350)
def services():
"""Start the services"""
subprocess.check_call("echo root:password | chpasswd", shell=True)
subprocess.check_call("supervisord")
wait_for(connect_mgr, timeout=60, period=0.5).close_session()
wait_for(test_send_notification_service_ready, timeout=60, period=0.5)
wait_for(test_set_action_reply_service_ready, timeout=60, period=0.5)
def graphics_test() -> None:
from utility.constants import DATA_PATH, TEST_DATA_PATH
import pyautogui
# Select map Labyrinth, A* algorithm, update
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH, 'map.png'), confidence=0.6)
pyautogui.click(x + 160, y + 5)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH, 'labyrinth_new.png'), confidence=0.5)
pyautogui.click(x, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH, 'algorithm_new.png'), confidence=0.6)
pyautogui.click(x + 150, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH, 'a_star.png'), confidence=0.6)
pyautogui.click(x, y)
# start and end goals coordinate input
pyautogui.click(342, 545)
pyautogui.write('17')
pyautogui.doubleClick(422, 545)
pyautogui.write('9')
pyautogui.doubleClick(342, 617)
pyautogui.write('6')
pyautogui.doubleClick(422, 617)
pyautogui.write('4')
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH, 'update.png'), confidence=0.6)
pyautogui.click(x, y)
wait_for('initialised.png')
wait_for('traversables_new.png')
# pick colours and other modifications of the map
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH, 'traversables_new.png'), confidence=0.5)
pyautogui.click(x - 85, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH, 'lightblue.png'), confidence=0.8)
pyautogui.click(x, y)
pyautogui.press('t')
wait_for('done.png')
take_screenshot("labyrinth_A_1.png", threshold=350)
wait_for('traversables_new.png')
# make traversables transparent
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH, 'traversables_new.png'), confidence=0.5)
pyautogui.click(x - 125, y)
take_screenshot("labyrinth_A_2.png", threshold=350)
def services(nacm_off):
"""Start the services"""
if not os.path.isfile("/var/run/supervisord.pid"):
subprocess.check_call("echo root:password | chpasswd", shell=True)
subprocess.check_call("supervisord")
wait_for(connect_mgr, timeout=20, period=0.5).close_session()
wait_for(test_send_notification_service_ready, timeout=60, period=0.5)
wait_for(test_set_action_reply_service_ready, timeout=60, period=0.5)
def graphics_test() -> None:
from utility.constants import DATA_PATH, TEST_DATA_PATH
import pyautogui
# Pick Uniform Random Fill 3D with Potential Field
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'map.png'),
confidence=0.5)
pyautogui.click(x + 160, y + 5)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'uniform.png'),
confidence=0.9)
pyautogui.click(x, y)
time.sleep(0.5)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'algorithm_new.png'),
confidence=0.55)
pyautogui.click(x + 150, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'potential_field.png'),
confidence=0.7)
pyautogui.click(x, y)
# start and end goals coordinate input
pyautogui.click(342, 545)
pyautogui.write('6')
pyautogui.doubleClick(422, 545)
pyautogui.write('1')
pyautogui.doubleClick(502, 545)
pyautogui.write('2')
time.sleep(0.5)
pyautogui.doubleClick(342, 617)
pyautogui.write('6')
time.sleep(0.5)
pyautogui.doubleClick(422, 617)
pyautogui.write('5')
pyautogui.doubleClick(502, 617)
pyautogui.write('5')
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'update.png'),
confidence=0.5)
pyautogui.click(x, y)
wait_for('initialised.png')
wait_for('traversables_new.png')
# make traversables transparent for the RRT
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'traversables_new.png'),
confidence=0.5)
pyautogui.click(x - 120, y)
# run algo
pyautogui.press('t')
wait_for('done.png', confidence=0.8)
take_screenshot("potential_field_3d.png")
def test_record_cancel(tmp_path):
bag_path = str(tmp_path / 'test_record_cancel')
storage_options, converter_options = get_rosbag_options(bag_path)
recorder = rosbag2_py.Recorder()
record_options = rosbag2_py.RecordOptions()
record_options.all = True
record_options.is_discovery_disabled = False
record_options.topic_polling_interval = datetime.timedelta(
milliseconds=100)
rclpy.init()
record_thread = threading.Thread(target=recorder.record,
args=(storage_options, record_options),
daemon=True)
record_thread.start()
node = rclpy.create_node('test_record_cancel')
executor = rclpy.executors.SingleThreadedExecutor()
executor.add_node(node)
pub = node.create_publisher(String, 'chatter', 10)
i = 0
msg = String()
while rclpy.ok() and i < 10:
msg.data = 'Hello World: {0}'.format(i)
i += 1
pub.publish(msg)
recorder.cancel()
metadata_path = Path(bag_path) / 'metadata.yaml'
db3_path = Path(bag_path) / 'test_record_cancel_0.db3'
assert wait_for(lambda: metadata_path.is_file() and db3_path.is_file(),
timeout=rclpy.duration.Duration(seconds=3))
def graphics_test() -> None:
from utility.constants import DATA_PATH, TEST_DATA_PATH
import pyautogui
# Pick 3d cube with A*
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'map.png'),
confidence=0.5)
pyautogui.click(x + 160, y + 5)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'3d_cube.png'),
confidence=0.9)
pyautogui.click(x, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'algorithm_new.png'),
confidence=0.5)
pyautogui.click(x + 150, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'a_star.png'),
confidence=0.5)
pyautogui.click(x, y)
# start and end goals coordinate input
pyautogui.click(342, 545)
pyautogui.write('1')
pyautogui.doubleClick(422, 545)
pyautogui.write('1')
pyautogui.doubleClick(502, 545)
pyautogui.write('1')
time.sleep(0.5)
pyautogui.doubleClick(342, 617)
pyautogui.write('13')
time.sleep(0.5)
pyautogui.doubleClick(422, 617)
pyautogui.write('1')
pyautogui.doubleClick(502, 617)
pyautogui.write('13')
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'update.png'),
confidence=0.5)
pyautogui.click(x, y)
wait_for('initialised.png')
# run algo
pyautogui.press('t')
wait_for('traversables_new.png')
# pick colours and other modifications of the map
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'traversables_new.png'),
confidence=0.5)
pyautogui.click(x - 85, y)
time.sleep(0.5)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'colour_1.png'),
confidence=0.7)
pyautogui.click(x, y)
time.sleep(0.5)
wait_for('traversables_new.png')
wait_for('done.png')
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'traversables_new.png'),
confidence=0.5)
pyautogui.click(x - 125, y)
time.sleep(0.6)
take_screenshot("3d_A_1.png")
wait_for('traversables_new.png')
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'traversables_new.png'),
confidence=0.5)
pyautogui.click(x - 125, y)
take_screenshot("3d_A_2.png")
def graphics_test() -> None:
from utility.constants import DATA_PATH, TEST_DATA_PATH
import pyautogui
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'map.png'),
confidence=0.5)
pyautogui.click(x + 160, y + 5)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'labyrinth_new.png'),
confidence=0.5)
pyautogui.click(x, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'algorithm_new.png'),
confidence=0.5)
pyautogui.click(x + 150, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'a_star.png'),
confidence=0.5)
pyautogui.click(x, y)
# start and end goals coordinate input
pyautogui.click(342, 545)
pyautogui.write('17')
pyautogui.doubleClick(422, 545)
pyautogui.write('9')
pyautogui.doubleClick(342, 617)
pyautogui.write('4')
pyautogui.doubleClick(422, 617)
pyautogui.write('5')
# update
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'update.png'),
confidence=0.5)
pyautogui.click(x, y)
wait_for('initialised.png')
# go into state 1
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'one.png'),
confidence=0.7)
pyautogui.click(x, y)
# pick colors and other modifications of the map
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'traversables_new.png'),
confidence=0.5)
pyautogui.click(x - 83, y)
time.sleep(0.5)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'orange.png'),
confidence=0.9)
pyautogui.click(x, y)
time.sleep(0.5)
# run
pyautogui.press('t')
wait_for('done.png')
time.sleep(0.2)
# change trace color
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'trace.png'),
confidence=0.8)
pyautogui.click(x - 70, y)
time.sleep(0.5)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'colour_1.png'),
confidence=0.8)
pyautogui.click(x, y)
time.sleep(1.5)
transparent_1 = take_screenshot()
time.sleep(1)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'save.png'),
confidence=0.7)
pyautogui.click(x, y)
time.sleep(2)
# go to state 2
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'two.png'),
confidence=0.7)
pyautogui.click(x, y)
transparent_2 = take_screenshot()
# change colors
time.sleep(0.5)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'traversables_new.png'),
confidence=0.5)
pyautogui.click(x - 85, y)
time.sleep(0.5)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'lime.png'),
confidence=0.9)
pyautogui.click(x, y)
time.sleep(0.5)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'trace.png'),
confidence=0.8)
pyautogui.click(x - 70, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'lightblue.png'),
confidence=0.7)
pyautogui.click(x, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'visited.png'),
confidence=0.7)
pyautogui.click(x - 70, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'colour_2.png'),
confidence=0.7)
pyautogui.click(x, y)
# test restore changes
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'restore.png'),
confidence=0.7)
pyautogui.click(x, y)
time.sleep(1.5)
transparent_restored_2 = take_screenshot()
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'one.png'),
confidence=0.7)
pyautogui.click(x, y)
time.sleep(2.5)
transparent_restored_1 = take_screenshot()
# check if all states are working
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'three.png'),
confidence=0.9)
pyautogui.click(x, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'four.png'),
confidence=0.9)
pyautogui.click(x, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'five.png'),
confidence=0.9)
pyautogui.click(x, y)
x, y = pyautogui.locateCenterOnScreen(os.path.join(TEST_DATA_PATH,
'six.png'),
confidence=0.9)
pyautogui.click(x, y)
compare_images(transparent_restored_1, transparent_1, threshold=1)
compare_images(transparent_restored_2, transparent_2, threshold=1)
def setup():
download_terraform()
print(
"Attempting to setup rancher host... May take a while due to spot instance availability..."
)
wait_for(setup_host)