def test_load_conf_os_env(self, mock_args):
Config.clear()
Config.define_bool("VaR", False, "turn me true")
Config.define_int("v1", 0, "var")
Config.define_int("nm.v2", 0, "var")
Config.load_conf()
self.assertEqual(Config.get_var("v1"), 1)
self.assertEqual(Config.get_var("nm.v2"), 2)
self.assertEqual(Config.get_var("VAr"), True)
def test_load_conf_cmd(self, mock_args):
Config.clear()
Config.define_bool("VaR", False, "turn me true")
Config.define_int("v1", 1, "var")
Config.define_int("v2", 2, "var")
Config.define_float_list("list", [5., 6, "7."], "A test for list")
with Config.namespace("n1"):
Config.define_int("v1", 1, "var")
Config.define_int("v2", 2, "var")
Config.define_bool("V3", True, "turn me false")
Config.load_conf()
self.assertEqual(Config.get_var("v1"), 2)
self.assertEqual(Config.get_var("v2"), 3)
self.assertEqual(Config.get_var("n1.v1"), 2)
self.assertEqual(Config.get_var("n1.v2"), 3)
self.assertEqual(Config.get_var("n1.v3"), False)
self.assertEqual(Config.get_var("VAr"), True)
self.assertEqual(Config.get_var("list"), [1.0, 2.0, 3.0])
def test_define_bool(self):
Config.clear()
Config.define_bool("test", 0, "int")
Config.define_bool("test2", "false", "str")
Config.define_bool("test3", "truE", "str")
self.assertDictEqual(Config.get_dict(), {
'test': False,
'test2': False,
'test3': True
})
import json
import time
from distribute_config import Config
from reachy import Reachy
Config.define_str("file_path", "",
"path of the file to write the different positions")
Config.define_bool("record", True,
"if true then record and run. Else only run ")
def main():
Config.load_conf()
config = Config.get_dict()
reachy = Reachy()
for motor in reachy.motors:
motor.compliant = True
if config["record"]:
# First part of the script : the user can move the arm and hit return to save the arm position
all_positions = []
action = input("> ")
while action != "save":
# Save the position of the motors
position = {}
for motor in reachy.motors:
print(
f"The motor \"{motor.name}\" is currently in position: {motor.present_position}"
)
position[motor.name] = motor.present_position