def test_create_command_with_several_different_signals():
"""Should create a command that instructs the EZRASSOR to do many things.
This test ensures that concurrently-active signals do not interfere with
each other.
"""
readings = DEFAULT_READINGS.copy()
readings[translator.Signal.STOP_ROUTINE] = True
readings[translator.Signal.LEFT_WHEEL] = -1.0
readings[translator.Signal.RIGHT_WHEEL] = 1.0
readings[translator.Signal.RAISE_FRONT_ARM] = True
readings[translator.Signal.LOWER_BACK_ARM] = True
readings[translator.Signal.DUMP_FRONT_DRUM] = True
readings[translator.Signal.DIG_BACK_DRUM] = True
command = translator.create_command(
lambda message, signal: readings[signal], None
)
assert command.routine_action is translator.RoutineAction.STOP
assert command.wheel_action.linear_x == 0.0
assert command.wheel_action.angular_z == 1.0
assert command.front_arm_action is translator.ArmAction.RAISE
assert command.back_arm_action is translator.ArmAction.LOWER
assert command.front_drum_action is translator.DrumAction.DUMP
assert command.back_drum_action is translator.DrumAction.DIG
def test_create_command_with_no_signals():
"""Should create a command that does nothing."""
readings = DEFAULT_READINGS.copy()
command = translator.create_command(
lambda message, signal: readings[signal], None
)
assert command.routine_action is None
assert command.wheel_action.linear_x == 0.0
assert command.wheel_action.angular_z == 0.0
assert command.front_arm_action is translator.ArmAction.STOP
assert command.back_arm_action is translator.ArmAction.STOP
assert command.front_drum_action is translator.DrumAction.STOP
assert command.back_drum_action is translator.DrumAction.STOP
def test_create_command_with_auto_dump_routine_signal():
"""Should create a command that starts the auto-dump routine."""
readings = DEFAULT_READINGS.copy()
readings[translator.Signal.AUTO_DUMP_ROUTINE] = True
command = translator.create_command(
lambda message, signal: readings[signal], None
)
assert command.routine_action is translator.RoutineAction.AUTO_DUMP
assert command.wheel_action.linear_x == 0.0
assert command.wheel_action.angular_z == 0.0
assert command.front_arm_action is translator.ArmAction.STOP
assert command.back_arm_action is translator.ArmAction.STOP
assert command.front_drum_action is translator.DrumAction.STOP
assert command.back_drum_action is translator.DrumAction.STOP
def test_create_command_with_dump_back_drum_signal():
"""Should create a command that dumps the back drum."""
readings = DEFAULT_READINGS.copy()
readings[translator.Signal.DUMP_BACK_DRUM] = True
command = translator.create_command(
lambda message, signal: readings[signal], None
)
assert command.routine_action is None
assert command.wheel_action.linear_x == 0.0
assert command.wheel_action.angular_z == 0.0
assert command.front_arm_action is translator.ArmAction.STOP
assert command.back_arm_action is translator.ArmAction.STOP
assert command.front_drum_action is translator.DrumAction.STOP
assert command.back_drum_action is translator.DrumAction.DUMP
def test_create_command_with_lower_front_arm_signal():
"""Should create a command that lowers the front arm."""
readings = DEFAULT_READINGS.copy()
readings[translator.Signal.LOWER_FRONT_ARM] = True
command = translator.create_command(
lambda message, signal: readings[signal], None
)
assert command.routine_action is None
assert command.wheel_action.linear_x == 0.0
assert command.wheel_action.angular_z == 0.0
assert command.front_arm_action is translator.ArmAction.LOWER
assert command.back_arm_action is translator.ArmAction.STOP
assert command.front_drum_action is translator.DrumAction.STOP
assert command.back_drum_action is translator.DrumAction.STOP
def test_create_command_with_full_autonomy_routine_signal():
"""Should create a command that enables full autonomy."""
readings = DEFAULT_READINGS.copy()
readings[translator.Signal.FULL_AUTONOMY_ROUTINE] = True
command = translator.create_command(
lambda message, signal: readings[signal], None
)
assert command.routine_action is translator.RoutineAction.FULL_AUTONOMY
assert command.wheel_action.linear_x == 0.0
assert command.wheel_action.angular_z == 0.0
assert command.front_arm_action is translator.ArmAction.STOP
assert command.back_arm_action is translator.ArmAction.STOP
assert command.front_drum_action is translator.DrumAction.STOP
assert command.back_drum_action is translator.DrumAction.STOP
def test_create_command_with_negative_left_wheel_and_positive_right_wheel_signals():
"""Should create a command that tank-turns the EZRASSOR to the left."""
readings = DEFAULT_READINGS.copy()
readings[translator.Signal.LEFT_WHEEL] = -1.0
readings[translator.Signal.RIGHT_WHEEL] = 1.0
command = translator.create_command(
lambda message, signal: readings[signal], None
)
assert command.routine_action is None
assert command.wheel_action.linear_x == 0.0
assert command.wheel_action.angular_z == 1.0
assert command.front_arm_action is translator.ArmAction.STOP
assert command.back_arm_action is translator.ArmAction.STOP
assert command.front_drum_action is translator.DrumAction.STOP
assert command.back_drum_action is translator.DrumAction.STOP
def test_create_command_with_dig_and_dump_front_drum_signals():
"""Should create a command that does nothing.
The competing dig and dump signals for the front drum cancel each other out.
"""
readings = DEFAULT_READINGS.copy()
readings[translator.Signal.DIG_FRONT_DRUM] = True
readings[translator.Signal.DUMP_FRONT_DRUM] = True
command = translator.create_command(
lambda message, signal: readings[signal], None
)
assert command.routine_action is None
assert command.wheel_action.linear_x == 0.0
assert command.wheel_action.angular_z == 0.0
assert command.front_arm_action is translator.ArmAction.STOP
assert command.back_arm_action is translator.ArmAction.STOP
assert command.front_drum_action is translator.DrumAction.STOP
assert command.back_drum_action is translator.DrumAction.STOP
def test_create_command_with_raise_and_lower_back_arm_signals():
"""Should create a command that does nothing.
The competing raise and lower signals for the back arm cancel each other
out.
"""
readings = DEFAULT_READINGS.copy()
readings[translator.Signal.RAISE_BACK_ARM] = True
readings[translator.Signal.LOWER_BACK_ARM] = True
command = translator.create_command(
lambda message, signal: readings[signal], None
)
assert command.routine_action is None
assert command.wheel_action.linear_x == 0.0
assert command.wheel_action.angular_z == 0.0
assert command.front_arm_action is translator.ArmAction.STOP
assert command.back_arm_action is translator.ArmAction.STOP
assert command.front_drum_action is translator.DrumAction.STOP
assert command.back_drum_action is translator.DrumAction.STOP