Exemplo n.º 1
0
class JoystickTest(unittest.TestCase):
    
    def setUp(self):
        '''
        Verify environment is setup properly.
        '''
        self.joystick = Joystick()
        j_list = self.joystick.get_joystick_list()
        self.joystick.connect(j_list[0])
    
    def tearDown(self):
        '''
        Verify environment is tore down properly.
        '''
        self.joystick.disconnect()
        pass
        
    def test_up(self):
        '''
        Verify that the joystick up movement is working without
        problems.
        '''
        self.joystick.clear_commmands()
        value = False
        while not value:
            print "Move up using the joystick."
            j_command = self.joystick.get_commands()
            value = j_command["UP"]
        self.assertTrue(value)
        
    def test_down(self):
        '''
        Verify that the joystick down movement is working without
        problems.
        '''
        self.joystick.clear_commmands()
        value = False
        while not value:
            print "Move down using the joystick."
            j_command = self.joystick.get_commands()
            value = j_command["DOWN"]
        self.assertTrue(value)
        
    def test_left(self):
        '''
        Verify that the joystick left movement is working without
        problems.
        '''
        self.joystick.clear_commmands()
        value = False
        while not value:
            print "Move left using the joystick."
            j_command = self.joystick.get_commands()
            value = j_command["LEFT"]
        self.assertTrue(value)
        
    def test_right(self):
        '''
        Verify that the joystick right movement is working without
        problems.
        '''
        self.joystick.clear_commmands()
        value = False
        while not value:
            print "Move right using the joystick."
            j_command = self.joystick.get_commands()
            value = j_command["RIGHT"]
        self.assertTrue(value)
        
    def test_speed(self):
        '''
        Verify that the joystick speed command is working without
        problems.
        '''
        self.joystick.clear_commmands()
        value = False
        while not value:
            print "Speed up using the joystick."
            j_command = self.joystick.get_commands()
            value = j_command["SPEED"]
        self.assertTrue(value)
        
    def test_break(self):
        '''
        Verify that the joystick break command is working without
        problems.
        '''
        self.joystick.clear_commmands()
        value = False
        while not value:
            print "break using the joystick."
            j_command = self.joystick.get_commands()
            value = j_command["BREAK"]
        self.assertTrue(value)
Exemplo n.º 2
0
class Controller(object):

    __metaclass__ = SingletonController

    def __init__(self):
        '''
        Initialize class attributes.
        '''
        self.joystick = Joystick()
        self.communication = Communication()
        self.driving = Driving()
        self.gear = 0

    def get_joystick_list(self):
        '''
        Return the control joystick list.
        '''
        return self.joystick.get_joystick_list()
            
    def get_bluetooth_list(self):
        '''
        Return the bluetooth communication list.
        '''
        return self.communication.get_bluetooth_list()
    
    def connect(self, joystick_name, bluetooth_name):
        '''
        Initialize the joystick and bluetooth connection.
        '''
        if self.joystick.connect(joystick_name) and \
        self.communication.connect(bluetooth_name):
            return True
        return False

    def disconnect(self):
        '''
        Perform the joystick and bluetooth disconnection.
        '''
        if self.joystick.disconnect() and \
        self.communication.disconnect():
            return True
        return False
    
    def quit_commands(self):
        '''
        Send quit signal to the wait queue.
        '''
        self.joystick.quit_commands()
            
    def send_commands(self):
        '''
        Read the joystick commands and send it to the rover using a
        bluetooth device.
        '''
        try:
            command = ""
            j_command = self.joystick.get_commands()
            if j_command["UP"] == True and \
            j_command["DOWN"] == False and \
            j_command["LEFT"] == False and \
            j_command["RIGHT"] == False:
                command = "D1"
                self.communication.send(command)
                self.driving.set_angle(0.0)
            elif j_command["UP"] == False and \
            j_command["DOWN"] == False and \
            j_command["LEFT"] == False and \
            j_command["RIGHT"] == True:
                command = "D3"
                self.communication.send(command)
                self.driving.set_angle(90.0)
            elif j_command["UP"] == False and \
            j_command["DOWN"] == True and \
            j_command["LEFT"] == False and \
            j_command["RIGHT"] == False:
                command = "D5"
                self.communication.send(command)
                self.driving.set_angle(0.0)
            elif j_command["UP"] == False and \
            j_command["DOWN"] == False and \
            j_command["LEFT"] == True and \
            j_command["RIGHT"] == False:
                command = "D7"
                self.communication.send(command)
                self.driving.set_angle(-90.0)
                
            if j_command["SPEED"] == True and self.gear < 6:
                self.gear = self.gear + 1
                self.driving.set_power(self.gear)
                command = "V%d" % self.gear
                self.communication.send(command)
            elif j_command["BREAK"] == True and self.gear > 0:
                self.gear = self.gear - 1
                self.driving.set_power(self.gear)
                command = "V%d" % self.gear
                self.communication.send(command)
                
            if j_command["UP"] == False and \
            j_command["DOWN"] == False and \
            j_command["LEFT"] == False and \
            j_command["RIGHT"] == False and \
            j_command["SPEED"] == False and \
            j_command["BREAK"] == False:
                command = "B0"
                self.communication.send(command)
                self.driving.set_angle(0.0)
        except:
            print str(traceback.format_exc())