def test_send_packet_empty(self):
"""
Tests json conversion of no keys.
"""
send_packet = web.ServerSendPacket()
json_string = send_packet.get_json()
self.assertDictEqual({}, json.loads(json_string))
def test_send_packet_partial(self):
"""
Tests a json conversion with only a few keys.
"""
send_packet = web.ServerSendPacket(debug_string=DEBUG_STRING_PARTIAL)
json_string = send_packet.get_json()
self.assertDictEqual(EXPECTED_PARTIAL, json.loads(json_string))
def test_send_packet_normal_json(self):
"""
Tests a normal json conversion with all of the possible keys.
"""
sensor_data_packet = avr_communication.SensorDataPacket(*SENSOR_ARGS)
send_packet = web.ServerSendPacket(sensor_data_packet, AUTO_NORMAL,
DEBUG_STRING_NORMAL)
json_string = send_packet.get_json()
self.assertDictEqual(EXPECTED_NORMAL, json.loads(json_string))
def do_auto_mode_iteration(sensor_spi, motor_spi, send_queue, receive_queue,
decision_packet, prev_speed, prev_x, prev_y,
prev_rot):
"""
Does one iteration of the auto mode
"""
sensor_data = avr_communication.get_sensor_data(sensor_spi)
decision_making.get_decision(sensor_data, decision_packet, motor_spi)
print("Decision: ",
decision_making.int_to_string_command(decision_packet.decision))
pid_controller.regulate(sensor_data, decision_packet)
send_decision_avr(motor_spi, decision_packet, prev_speed, prev_x, prev_y,
prev_rot)
# Send decision to server
send_queue.put(web.ServerSendPacket(sensor_data_packet=sensor_data))
send_queue.put(
web.ServerSendPacket(debug_string=decision_making.
int_to_string_command(decision_packet.decision)))
auto = True
packet = receive_server_packet(receive_queue)
if packet is not None:
if packet.auto is not None:
auto = packet.auto
avr_communication.walk(motor_spi, 0, 0, 0, False, 100)
# Regulate algorithm parameters
if packet.angle_scaledown is not None:
decision_packet.regulate_angle_scaledown = packet.angle_scaledown
if packet.movement_scaledown is not None:
decision_packet.regulate_movement_scaledown = packet.movement_scaledown
if packet.angle_adjustment_border is not None:
decision_packet.regulate_angular_adjustment_border = packet.angle_adjustment_border
return auto, prev_speed, prev_x, prev_y, prev_rot
def check_auto_toggle_button(button_temp, auto, send_queue):
"""
Checks whether the user pressed the auto mode toggle button
and updates button_temp and auto accordingly.
"""
button_input = GPIO.input(AUTO_BUTTON_PIN)
if button_input == 1:
if (button_temp != button_input):
auto = not auto
button_temp = 1
send_queue.put(web.ServerSendPacket(auto_mode=auto))
else:
button_temp = 0
return button_temp, auto
def do_manual_mode_iteration(sensor_spi, motor_spi, send_queue, receive_queue,
prev_speed, prev_x, prev_y, prev_rot):
"""
Does one iteration of the manual mode
"""
try:
sensor_data = avr_communication.get_sensor_data(sensor_spi)
send_queue.put(web.ServerSendPacket(sensor_data))
except avr_communication.CommunicationError as e:
print("Could not read sensor data: " + str(e))
auto = False
packet = receive_server_packet(receive_queue)
if packet is not None:
if packet.auto is not None:
auto = packet.auto
avr_communication.walk(motor_spi, 0, 0, 0, False, 100)
elif packet.return_to_neutral is not None and packet.return_to_neutral:
avr_communication.back_to_neutral(motor_spi)
elif packet.has_motion_command():
servo_speed = (int)(packet.thrust * constants.MAX_16BIT_SIZE /
SERVO_SPEED_SCALER)
return_to_neutral = packet.return_to_neutral
if prev_speed != servo_speed:
# x_speed from server = -y_speed and y_speed from server = -x_speed
avr_communication.set_servo_speed(motor_spi, servo_speed, 100)
x_speed = convert_to_sendable_byte(-packet.y)
y_speed = convert_to_sendable_byte(-packet.x)
rotation = convert_to_sendable_byte(packet.rotation)
if x_speed != prev_x or y_speed != prev_y or rotation != prev_rot:
avr_communication.walk(motor_spi, x_speed, y_speed, rotation,
False, 100)
prev_x = x_speed
prev_y = y_speed
prev_rot = rotation
prev_speed = servo_speed
return auto, prev_speed, prev_x, prev_y, prev_rot