class Robot(Thread):
def __init__(self, uartDriver):
Thread.__init__(self)
self.uartDriver = uartDriver
self.service = RobotService()
self.instructions = []
self.alignementEnCours = False
self.commandeTerminee = False
self.pretEnvoyerLettre = False
self.tresorCapturer = False
self.tresorNonCapturer = False
self.lettreObtenue = None
self.indiceObtenu = None
self.adresseIP = '192.168.0.45'
self.tensionCondensateur = 0
self._demarrerFeedVideo()
self._demarrerConnectionTCP()
def run(self):
self._demarrerLectureUART()
time.sleep(2)
self.uartDriver.phaseInitialisation()
self.robotClient.demarrageTermine = True
def demarrerAlignementStation(self):
self.alignementEnCours = True
self.uartDriver.cameraPositionFace()
self._demarrerAnalyseVideo('station')
time.sleep(1)
self.uartDriver.preAlignementStation()
self._executerAlignement()
self._attendreChargeComplete()
self.uartDriver.stopCondensateur()
self.uartDriver.sendCommand('backward', 10)
self._decoderManchester()
self.uartDriver.postAlignementStation()
self.alignementEnCours = False
def demarrerAlignementTresor(self):
self.alignementEnCours = True
self.uartDriver.cameraPositionDepot()
self._demarrerAnalyseVideo('tresor')
if (self.tresorCapturer):
self.uartDriver.preAlignementTresor()
self.uartDriver.cameraPositionFace()
self._executerAlignement()
self.uartDriver.postAlignementTresor()
self.alignementEnCours = False
def demarrerAlignementIle(self, parametre):
self.alignementEnCours = True
self.uartDriver.cameraPositionDepot()
self._demarrerAnalyseVideo(parametre)
self._executerAlignement()
time.sleep(0.2)
self.uartDriver.postAlignementIle()
self.alignementEnCours = False
def ajouterDirectives(self, instructions):
self.instructions.append(instructions)
def traiterCommande(self, commande, parametre):
if commande == COMMANDE_ILE:
self.demarrerAlignementIle(parametre)
elif commande == COMMANDE_TRESOR:
self.demarrerAlignementTresor()
elif commande == COMMANDE_STATION:
self.demarrerAlignementStation()
elif commande == COMMANDE_MANCHESTER:
self._decoderManchester()
else:
self.commandeTerminee = False
self.uartDriver.sendCommand(commande, parametre)
self.attendreCommandeTerminee()
def _executerAlignement(self):
for inst in self.instructions:
commande, parametre = inst
parametre = int(parametre)
self.commandeTerminee = False
self.traiterCommande(commande, parametre)
time.sleep(1)
self.instructions = []
def attendreCommandeTerminee(self):
while not self.commandeTerminee:
print("Attente commande terminee")
time.sleep(0.5)
def _decoderManchester(self):
self.uartDriver.lireManchester()
self._attendreManchester()
self.indiceObtenu = self.service.obtenirCible(self.lettreObtenue)
self.pretEnvoyerLettre = True
def _attendreManchester(self):
while self.lettreObtenue is None:
print("Attente decodage lettre")
time.sleep(0.5)
def _demarrerAnalyseVideo(self, type):
self.analyseImageEmbarquee = AnalyseImageEmbarquee(self)
self.analyseImageEmbarquee.definirType(type)
self.analyseImageEmbarquee.start()
self.analyseImageEmbarquee.join()
def _attendreChargeComplete(self):
while (float(self.tensionCondensateur) < MAX_TENSION_CONDENSATEUR):
print(self.tensionCondensateur)
self.robotClient.envoyerTension()
time.sleep(0.5)
def _demarrerFeedVideo(self):
self.threadVideo = FeedVideoRobot()
self.threadVideo.initialiserVideo()
self.threadVideo.start()
def _demarrerConnectionTCP(self):
self.robotClient = RobotClient(self, self.adresseIP)
time.sleep(2)
self.robotClient.start()
def _demarrerLectureUART(self):
self.threadLecture = LectureUART(self)
self.flushUART()
self.threadLecture.start()
def flushUART(self):
self.uartDriver.UART.flushInput()
time.sleep(1)
def test_demarrerCapture_demarre_capture(self):
feedVideo = FeedVideoRobot()
feedVideo.demarrerCapture()
self.assertTrue(feedVideo.capturer)
def _demarrerFeedVideo(self):
self.threadVideo = FeedVideoRobot()
self.threadVideo.initialiserVideo()
self.threadVideo.start()
def test_suspendreCapture_suspend_capture(self):
feedVideo = FeedVideoRobot()
feedVideo.demarrerCapture()
self.assertTrue(feedVideo.capturer)
feedVideo.suspendreCapture()
self.assertFalse(feedVideo.capturer)