def handle(self, handled_data=None): self.initialize() while not self.is_finished: handled_data["movement_vectors_string_pub"].publish( json.dumps((0, 0, 6))) self.rate.sleep() handled_data['resistance'] = self.resistance resistance_object = Resistance(self.resistance) rounded_resistance, colors = resistance_object.get_resistance_and_colors( ) colors = colors + [ ResistanceMapper().find_exponent_color(resistance_object) ] rospy.logerr([rounded_resistance, colors]) handled_data["puck_colors"] = colors handled_data["puck_colors_pub"].publish(json.dumps(colors)) self.rate.sleep() handled_data["movement_vectors_string_pub"].publish( json.dumps((handled_data["resistance_y_dist"], 0, 3))) self.rate.sleep() handled_data["movement_vectors_string_pub"].publish( json.dumps((handled_data["resistance_x_dist"], 0, 0))) self.rate.sleep() return handled_data
def test_when_round_then_resistance_is_as_expected_7(self): resistance = Resistance(self.A_RESISTANCE_7) rounded_resistance, _ = resistance.get_resistance_and_colors() assert rounded_resistance == self.EXPECTED_RESISTANCE_7