class RobotControllerRecordingDelegate(Delegate):
def __init__(self):
Delegate.__init__(self)
self.allowedEventTypes = ["NewPosition", "EndRecordSession", "NewRecordSession", "StartRecord", "StopRecord"]
self.sequence = PositionSequence()
self.manager = SequenceFileManager()
self.recording = False
def notify(self, event):
if not self.doesHandleEvent(event):
return
if( event.type == "NewRecordSession" ):
print "RobotControllerRecordingDelegate: new session named: " + event.data
self.sessionName = event.data
elif( event.type == "EndRecordSession" ):
#saving data
print "RobotControllerRecordingDelegate: saving file" + self.sessionName
self.manager.save( self.sequence, self.sessionName )
self.sessionName = 0
elif( event.type == "StartRecord"):
print "RobotControllerRecordingDelegate: start recording"
self.recording = True
elif( event.type == "StopRecord" ):
self.recording = False
elif( event.type == "NewPosition" and self.recording ):
print "RobotControllerRecordingDelegate: add position"
self.sequence.appendPosition(event.data)
def test_save_simpleJointFile_simple(self):
preparedSequence = self.preparePositionSequence()
targetFilepath = "data/temp.txt"
self.manager.save(preparedSequence, targetFilepath)
#load and test
loadedSequence = PositionSequence([])
self.manager.load(loadedSequence, targetFilepath)
assert loadedSequence.amount() == 100, "Sequence should consist of 100 positions"
os.remove(targetFilepath)
class TestPositionLineIntepreter: def setup_method(self, method): self.interpreter = PositionLineInterpreter() self.sequence = PositionSequence([]) def test_simpleJoint(self): self.interpreter.interpret(self.sequence, "move(60.0,-30.0,30.0,-20.0,10.0,-40.0)") assert self.sequence.amount() == 1 assert self.sequence.getCurrentPosition().getValue()[1] == -30 def test_comments(self): self.interpreter.interpret(self.sequence, "#testing line") assert self.sequence.amount() == 0 def test_newline(self): self.interpreter.interpret(self.sequence, " \n") assert self.sequence.amount() == 0 def test_cartesianLine(self): self.interpreter.interpret(self.sequence, "moveCartesian(60.0,-30.0,30.0)") assert self.sequence.amount() == 1 assert self.sequence.getCurrentPosition().type == "Cartesian" def test_deltaJointLine(self): self.interpreter.interpret(self.sequence, "moveBy(60.0,-30.0,30.0,3,3,3)") assert self.sequence.amount() == 1 assert self.sequence.getCurrentPosition().type == "DeltaJoint" def test_deltaCartesianLine(self): self.interpreter.interpret(self.sequence, "moveCartesianBy(60.0,-30.0,30.0)") assert self.sequence.amount() == 1 assert self.sequence.getCurrentPosition().type == "DeltaCartesian" def teardown_method(self, method): self.interpreter = 0 self.sequence = 0
class TestSequenceFileManager:
def setup_method(self, method):
self.manager = SequenceFileManager()
self.sequence = PositionSequence([])
def test_load_simpleJointFile(self):
self.manager.load(self.sequence, "data/simple.txt")
assert self.sequence.amount() == 3
def test_save_simpleJointFile_fileCreation(self):
preparedSequence = self.preparePositionSequence()
targetFilepath = "data/temp.txt"
self.manager.save(preparedSequence, targetFilepath)
assert os.path.exists(targetFilepath)
os.remove(targetFilepath)
def test_save_simpleJointFile_simple(self):
preparedSequence = self.preparePositionSequence()
targetFilepath = "data/temp.txt"
self.manager.save(preparedSequence, targetFilepath)
#load and test
loadedSequence = PositionSequence([])
self.manager.load(loadedSequence, targetFilepath)
assert loadedSequence.amount() == 100, "Sequence should consist of 100 positions"
os.remove(targetFilepath)
def test_load_fileNotFound(self):
try:
self.manager.load(self.sequence, "dummyFileDoesnExists.txt")
except:
assert py.test.raises(Exception, "Filename not found")
return
assert False, "Exception not thrown"
#helpers
def preparePositionSequence(self):
sequence = PositionSequence([])
for i in range(0,100):
sequence.appendPosition(JointPosition([0*i,1*i,2*i,3*i,4*i,5*i]))
return sequence
def teardown_method(self, method):
self.manager = 0
self.sequence = 0
def preparePositionSequence(self):
sequence = PositionSequence([])
for i in range(0,100):
sequence.appendPosition(JointPosition([0*i,1*i,2*i,3*i,4*i,5*i]))
return sequence
def setup_method(self, method):
self.manager = SequenceFileManager()
self.sequence = PositionSequence([])
def setup_method(self, method): self.interpreter = PositionLineInterpreter() self.sequence = PositionSequence([])
def __init__(self):
Delegate.__init__(self)
self.allowedEventTypes = ["NewPosition", "EndRecordSession", "NewRecordSession", "StartRecord", "StopRecord"]
self.sequence = PositionSequence()
self.manager = SequenceFileManager()
self.recording = False
