def test_chooser_control(nt):
c = ChooserControl('Autonomous Mode')
assert c.getChoices() == ()
assert c.getSelected() is None
c.setSelected("foo")
assert c.getSelected() == 'foo'
t = nt.getTable('/SmartDashboard/Autonomous Mode')
assert t.getString('selected', None) == 'foo'
t.putStringArray('options', ('option1', 'option2'))
assert c.getChoices() == ('option1', 'option2')
def test_chooser_control(nt):
c = ChooserControl("Autonomous Mode", inst=nt)
assert c.getChoices() == ()
assert c.getSelected() is None
c.setSelected("foo")
assert c.getSelected() == "foo"
t = nt.getTable("/SmartDashboard/Autonomous Mode")
assert t.getString("selected", None) == "foo"
t.putStringArray("options", ("option1", "option2"))
assert c.getChoices() == ("option1", "option2")
def test_chooser_control(nt):
c = ChooserControl("Autonomous Mode")
assert c.getChoices() == ()
assert c.getSelected() is None
c.setSelected("foo")
assert c.getSelected() == "foo"
t = nt.getTable("/SmartDashboard/Autonomous Mode")
assert t.getString("selected", None) == "foo"
t.putStringArray("options", ("option1", "option2"))
assert c.getChoices() == ("option1", "option2")
def test_chooser_control(nt):
c = ChooserControl('Autonomous Mode')
assert c.getChoices() == ()
assert c.getSelected() is None
c.setSelected("foo")
assert c.getSelected() == 'foo'
t = nt.getTable('/SmartDashboard/Autonomous Mode')
assert t.getString('selected') == 'foo'
t.putStringArray('options', ('option1', 'option2'))
assert c.getChoices() == ('option1', 'option2')
class AutonomousTester:
def __init__(self):
self.initialized = False
self.init_time = None
self.chooser = None
self.state = "auto"
self.currentChoice = None
self.until = None
def initialize_chooser(self, tm):
if self.chooser is None:
self.chooser = ChooserControl("Autonomous Mode")
self.choices = self.chooser.getChoices()
if len(self.choices) == 0:
return False
self.state = "disabled"
self.currentChoice = -1
self.until = tm
self.init_time = tm
self.initialized = True
return True
def on_step(self, tm):
if not self.initialized:
if not self.initialize_chooser(tm):
assert (
tm < 10
), "Robot didn't create a chooser within 10 seconds, probably an error"
return True
if self.state == "auto":
if tm >= self.until:
self.until = tm + 1
self.state = "disabled"
control.set_operator_control(enabled=False)
elif self.state == "disabled":
if tm >= self.until:
control.set_autonomous()
self.state = "auto"
self.until = tm + autonomous_seconds
self.currentChoice += 1
if self.currentChoice >= len(self.choices):
return False
self.chooser.setSelected(self.choices[self.currentChoice])
return True
class AutonomousTester:
def __init__(self):
self.initialized = False
self.init_time = None
self.chooser = None
self.state = "auto"
self.currentChoice = None
self.until = None
def initialize_chooser(self, tm):
if self.chooser is None:
self.chooser = ChooserControl("Autonomous Mode")
self.choices = self.chooser.getChoices()
if len(self.choices) == 0:
return False
self.state = "disabled"
self.currentChoice = -1
self.until = tm
self.init_time = tm
self.initialized = True
return True
def on_step(self, tm):
if not self.initialized:
if not self.initialize_chooser(tm):
assert (
tm < 10
), "Robot didn't create a chooser within 10 seconds, probably an error"
return True
if self.state == "auto":
if tm >= self.until:
self.until = tm + 1
self.state = "disabled"
control.set_operator_control(enabled=False)
elif self.state == "disabled":
if tm >= self.until:
control.set_autonomous()
self.state = "auto"
self.until = tm + autonomous_seconds
self.currentChoice += 1
if self.currentChoice >= len(self.choices):
return False
self.chooser.setSelected(self.choices[self.currentChoice])
return True
