def test_camera_tilt_config(self, cfg, expected):
self.car = Car(self.pwm, self.GPIO, config={'camera': cfg})
self.assertEqual(
self.car.tilt_default,
expected,
f"Camera tilt {cfg}: {self.car.tilt_default} == {expected}",
)
def test_steering_config(self, cfg, expected):
self.car = Car(self.pwm, self.GPIO, config={'steering': cfg})
self.assertEqual(
self.car.rotation_default,
expected,
f"Steering {cfg}: {self.car.rotation_default} == {expected}",
)
def test_motor_config(self, cfg, forward, backwards):
self.car = Car(
self.pwm,
self.GPIO,
config={'motor': {'flip_direction': cfg}},
)
self.assertEqual(
self.car.forward,
forward,
f"Forward {cfg}: {self.car.forward} == {forward}",
)
self.assertEqual(
self.car.backwards,
backwards,
f"Forward {cfg}: {self.car.backwards} == {backwards}",
)
def test_init(self):
self.car = Car(self.pwm, self.GPIO)
self.assertEqual(self.pwm.log, [])
self.assertEqual(self.GPIO.log, [])
self.car.start()
# Pan/Tilt gets intitialized; speed and steering do not
pantilt_channels = self.car.pan_controller \
+ self.car.tilt_controller
for channel in pantilt_channels:
self.assertTrue(any(
log[0] == 'write' and log[1][0] == channel
for log in self.pwm.log
), f"Channel {channel} has not received it's initial command.")
log = [
line for line in self.GPIO.log
if line[0] == 'setup']
self.assertEqual(log, [
['setup', ([11, 13, 12, 15], 'OUT'), {}],
], "Wheel direction pins should be intialized.")
odometry = VisualOdometry(camera)
odometry.initFeatures(100, 150)
odometry.start()
config = {}
config_file = os.path.abspath(os.path.join(
os.path.dirname(__file__), 'config.json'))
if os.path.exists(config_file):
with open(config_file, 'r') as config_json:
config = json.load(config_json)
GPIO.setmode(GPIO.BOARD) # Number GPIOs by its physical location
pwm = PWM() # The servo controller.
pwm.frequency = 60
car = Car(pwm, GPIO, config=config)
car.start()
running = True
capture = False
last_snapshot = time.time()
class CarControl(SimpleHTTPRequestHandler):
def shutdown(self):
super(CarControl, self).shutdown()
def do_GET(self):
global running, capture, last_snapshot
if self.path == '/camera':
config = dict()
args, ap = parse_args(config, False)
if os.path.exists(args.config):
# reparse args with defaults from config
config = loadConfig(args.config)
args, ap = parse_args(config)
args.grid = tuple([int(g) for g in args.grid.split(",")])
args.size = tuple([float(s) for s in args.size.split(",")])
args.resolution = tuple([int(s) for s in args.resolution.split(",")])
GPIO.setmode(GPIO.BOARD) # Number GPIOs by its physical location
pwm = PWM() # The servo controller.
pwm.frequency = 60
car = Car(pwm, GPIO, config=config)
car.start()
camera = VideoCamera(
src=args.index,
patterns=args.patterns,
resolution=args.resolution,
framerate=args.framerate,
usePiCamera=usePiCamera,
)
if args.npz is not None and os.path.exists(args.npz):
camera.loadCalibration(args.npz)
camera.start()
calib = Calibration(args.pattern, args.grid, args.size)
class TestCar(unittest.TestCase):
def setUp(self):
self.pwm = PWM()
self.GPIO = GPIO()
def tearDown(self):
self.car.stop()
@parameterized.expand([
[[], [11, 13], [12, 15]],
[[0], [12, 13], [11, 15]],
[[1], [11, 15], [12, 13]],
[[0, 1], [12, 15], [11, 13]],
])
def test_motor_config(self, cfg, forward, backwards):
self.car = Car(
self.pwm,
self.GPIO,
config={'motor': {'flip_direction': cfg}},
)
self.assertEqual(
self.car.forward,
forward,
f"Forward {cfg}: {self.car.forward} == {forward}",
)
self.assertEqual(
self.car.backwards,
backwards,
f"Forward {cfg}: {self.car.backwards} == {backwards}",
)
@parameterized.expand([
[{'rotation_offset': 100.0, 'bias': -10.0}, 90.0],
[{'rotation_offset': 100.0}, 100.0],
[{'rotation_offset': 100.0, 'bias': 0.0}, 100.0],
[{'rotation_offset': 100.0, 'bias': 10.0}, 110.],
])
def test_steering_config(self, cfg, expected):
self.car = Car(self.pwm, self.GPIO, config={'steering': cfg})
self.assertEqual(
self.car.rotation_default,
expected,
f"Steering {cfg}: {self.car.rotation_default} == {expected}",
)
@parameterized.expand([
[{'pan_default': 100.0, 'pan_bias': -10.0}, 90.0],
[{'pan_default': 100.0}, 100.0],
[{'pan_default': 100.0, 'pan_bias': 0.0}, 100.0],
[{'pan_default': 100.0, 'pan_bias': 10.0}, 110.0],
])
def test_camera_pan_config(self, cfg, expected):
self.car = Car(self.pwm, self.GPIO, config={'camera': cfg})
self.assertEqual(
self.car.pan_default,
expected,
f"Camera pan {cfg}: {self.car.pan_default} == {expected}",
)
@parameterized.expand([
[{'tilt_default': 100.0, 'tilt_bias': -10.0}, 90.0],
[{'tilt_default': 100.0}, 100.0],
[{'tilt_default': 100.0, 'tilt_bias': 0.0}, 100.0],
[{'tilt_default': 100.0, 'tilt_bias': 10.0}, 110.0],
])
def test_camera_tilt_config(self, cfg, expected):
self.car = Car(self.pwm, self.GPIO, config={'camera': cfg})
self.assertEqual(
self.car.tilt_default,
expected,
f"Camera tilt {cfg}: {self.car.tilt_default} == {expected}",
)
def test_init(self):
self.car = Car(self.pwm, self.GPIO)
self.assertEqual(self.pwm.log, [])
self.assertEqual(self.GPIO.log, [])
self.car.start()
# Pan/Tilt gets intitialized; speed and steering do not
pantilt_channels = self.car.pan_controller \
+ self.car.tilt_controller
for channel in pantilt_channels:
self.assertTrue(any(
log[0] == 'write' and log[1][0] == channel
for log in self.pwm.log
), f"Channel {channel} has not received it's initial command.")
log = [
line for line in self.GPIO.log
if line[0] == 'setup']
self.assertEqual(log, [
['setup', ([11, 13, 12, 15], 'OUT'), {}],
], "Wheel direction pins should be intialized.")
def test_speed(self):
self.car = Car(self.pwm, self.GPIO)
self.car.start()
# Kill the thread; put the car in manual
self.car.running = False
self.GPIO.mock_reset_log()
self.pwm.mock_reset_log()
self.car.setSpeed(-1)
self.car._update(self.car.getPosition(), 0.1)
pwm_log = [
line for line in self.pwm.log
if line[1][0] in self.car.motor_speed_controller
]
self.assertEqual(
pwm_log,
[
['write', (4, 0, 400), {}],
['write', (5, 0, 400), {}],
],
f"Motor on {self.car.motor_speed_controller} are running now")
gpio_log = [
line for line in self.GPIO.log
if line[0] in ['setup', 'output']]
self.assertEqual(
gpio_log,
[['output', ([12, 15], 'HIGH'), {}]],
"Backwards drive should be enabled")
self.GPIO.mock_reset_log()
self.pwm.mock_reset_log()
self.car.setSpeed(.5)
self.car._update(self.car.getPosition(), 0.1)
pwm_log = [
line for line in self.pwm.log
if line[1][0] in self.car.motor_speed_controller
]
self.assertEqual(
pwm_log,
[
['write', (4, 0, 0), {}],
['write', (5, 0, 0), {}],
],
f"Motor on {self.car.motor_speed_controller} should stop first")
gpio_log = [
line for line in self.GPIO.log
if line[0] in ['setup', 'output']]
self.assertEqual(
gpio_log,
[['output', ([11, 13, 12, 15], 'LOW'), {}]],
"Any direction drive should be disabled first")
self.GPIO.mock_reset_log()
self.pwm.mock_reset_log()
self.car._update(self.car.getPosition(), 0.1)
pwm_log = [
line for line in self.pwm.log
if line[1][0] in self.car.motor_speed_controller
]
self.assertEqual(
pwm_log,
[
['write', (4, 0, 400), {}],
['write', (5, 0, 400), {}],
],
f"Motor on {self.car.motor_speed_controller} are running again")
gpio_log = [
line for line in self.GPIO.log
if line[0] in ['setup', 'output']]
self.assertEqual(
gpio_log,
[['output', ([11, 13], 'HIGH'), {}]],
"Forward drive should be enabled")
self.GPIO.mock_reset_log()
self.pwm.mock_reset_log()
self.car.setSpeed(1)
self.car._update(self.car.getPosition(), 0.1)
pwm_log = [
line for line in self.pwm.log
if line[1][0] in self.car.motor_speed_controller
]
self.assertEqual(
pwm_log,
[
['write', (4, 0, 800), {}],
['write', (5, 0, 800), {}],
],
f"Motor on {self.car.motor_speed_controller} should go faster")
gpio_log = [
line for line in self.GPIO.log
if line[0] in ['setup', 'output']]
self.assertEqual(
gpio_log,
[],
"Direction should not have changed")
def test_speed(self):
self.car = Car(self.pwm, self.GPIO)
self.car.start()
# Kill the thread; put the car in manual
self.car.running = False
self.GPIO.mock_reset_log()
self.pwm.mock_reset_log()
self.car.setSpeed(-1)
self.car._update(self.car.getPosition(), 0.1)
pwm_log = [
line for line in self.pwm.log
if line[1][0] in self.car.motor_speed_controller
]
self.assertEqual(
pwm_log,
[
['write', (4, 0, 400), {}],
['write', (5, 0, 400), {}],
],
f"Motor on {self.car.motor_speed_controller} are running now")
gpio_log = [
line for line in self.GPIO.log
if line[0] in ['setup', 'output']]
self.assertEqual(
gpio_log,
[['output', ([12, 15], 'HIGH'), {}]],
"Backwards drive should be enabled")
self.GPIO.mock_reset_log()
self.pwm.mock_reset_log()
self.car.setSpeed(.5)
self.car._update(self.car.getPosition(), 0.1)
pwm_log = [
line for line in self.pwm.log
if line[1][0] in self.car.motor_speed_controller
]
self.assertEqual(
pwm_log,
[
['write', (4, 0, 0), {}],
['write', (5, 0, 0), {}],
],
f"Motor on {self.car.motor_speed_controller} should stop first")
gpio_log = [
line for line in self.GPIO.log
if line[0] in ['setup', 'output']]
self.assertEqual(
gpio_log,
[['output', ([11, 13, 12, 15], 'LOW'), {}]],
"Any direction drive should be disabled first")
self.GPIO.mock_reset_log()
self.pwm.mock_reset_log()
self.car._update(self.car.getPosition(), 0.1)
pwm_log = [
line for line in self.pwm.log
if line[1][0] in self.car.motor_speed_controller
]
self.assertEqual(
pwm_log,
[
['write', (4, 0, 400), {}],
['write', (5, 0, 400), {}],
],
f"Motor on {self.car.motor_speed_controller} are running again")
gpio_log = [
line for line in self.GPIO.log
if line[0] in ['setup', 'output']]
self.assertEqual(
gpio_log,
[['output', ([11, 13], 'HIGH'), {}]],
"Forward drive should be enabled")
self.GPIO.mock_reset_log()
self.pwm.mock_reset_log()
self.car.setSpeed(1)
self.car._update(self.car.getPosition(), 0.1)
pwm_log = [
line for line in self.pwm.log
if line[1][0] in self.car.motor_speed_controller
]
self.assertEqual(
pwm_log,
[
['write', (4, 0, 800), {}],
['write', (5, 0, 800), {}],
],
f"Motor on {self.car.motor_speed_controller} should go faster")
gpio_log = [
line for line in self.GPIO.log
if line[0] in ['setup', 'output']]
self.assertEqual(
gpio_log,
[],
"Direction should not have changed")