def test_head_pan_tilt_limits(self):
# This assures that the motor limits for the head throwing exceptions
joints = Joints()
pan = joints.get_joint_by_name("HeadPan")
tilt = joints.get_joint_by_name("HeadTilt")
self.had_pan_tilt_limit_expect_exception(pan.limit_min - 1, 0)
self.had_pan_tilt_limit_expect_exception(pan.limit_max + 1, 0)
self.had_pan_tilt_limit_expect_exception(0, tilt.limit_min - 1)
self.had_pan_tilt_limit_expect_exception(0, tilt.limit_max + 1)
# This assures the motor limits that are inside the bounds do not raise
# an exception
self.had_pan_tilt_limit_expect_no_exception(pan.limit_min, 0)
self.had_pan_tilt_limit_expect_no_exception(pan.limit_max, 0)
self.had_pan_tilt_limit_expect_no_exception(0, tilt.limit_min)
self.had_pan_tilt_limit_expect_no_exception(0, tilt.limit_max)
def __init__(self):
self.joints = Joints().all()
class MotorInfoProvider():
def __init__(self):
self.joints = Joints().all()
def report_id(self, arg):
""" Print out all ID belonging to the given Tag
"""
matches = []
for joint in self.joints:
if joint.name.lower() == arg or arg in joint.tags:
matches.append(joint.cid)
if not matches:
ilog.info("No Motor found in this Group!")
return False
ilog.info("%s" % sorted(matches))
return True
def get_motor_info(self, arg=""):
matches = []
# No specific info request, we give info on all motors
if not arg:
ilog.debug("No MotorInfo specification given, returning all Infos i have...")
matches = self.joints
# If we got a Motor ID given, just search for it
elif arg.isdigit():
try:
arg = int(arg)
except ValueError:
# Can this even happen when arg.isdigit()?
ilog.error("Thought %s was a int, but i appear to be in error...")
return False
try:
match = self.joints.get_joint_by_cid(arg)
except KeyError:
# User might have given a random number get_joint_by_cid does
# not check on its own
ilog.warning("The given motor %i does not appear to exist!" % arg)
return False
# return Text Field list for use in the UI
return [Text(self.formatted_motor_info(match))]
# Otherwise search for a name match, or any tag matches
else:
for joint in self.joints:
if joint.name.lower() == arg:
ilog.debug("Found exact match for MotorInfoRequest on %s" % arg)
return([Text(self.formatted_motor_info(joint))])
elif arg in joint.tags:
matches.append(joint)
# No match, no Info
if not matches:
ilog.warning("I could find no motors you could have meant by '%s'" % arg)
return False
new_texts = []
for joint in matches:
new_texts.append(Text(self.formatted_motor_info(joint)))
#new_text.extend(self.formatted_motor_info(joint))
return new_texts
def formatted_motor_info(self, joint):
""" Returns a urwid-formatted Info of the given "joint"
"""
text = []
text.append(('default', "Name: "))
text.append(('mi_motor_name', str(joint.name) + "\n"))
text.append(('default', "ID: "))
text.append(('mi_motor_id', str(joint.cid) + "\n"))
text.append(('default', "Tags:\n"))
tags = ""
for tag in joint.tags:
tags += " " + str(tag) + "\n"
text.append(('mi_motor_tag', tags))
if not joint.opposing:
text.append(('default', "opposing motor: None\n\n"))
else:
text.append(('default', "opposing motor: %i\n" % joint.opposing))
if joint.inverted:
text.append(('default', "Motor IS inverted against the opposing motor\n\n"))
else:
text.append(('default', "Motor is NOT inverted against the opposing motor\n\n"))
return text
