class ControllerTests(unittest.TestCase):
"""Controller unit tests."""
def setUp(self):
"""Set up controller tests."""
model = MagicMock()
self.model = model
self.controller = Controller(model)
def test_makeStep(self):
"""Test make step."""
def makeStep():
self.model.isStepMade = True
self.model.isStepMade = False
self.model.makeStep = makeStep
self.controller.makeStep()
self.assertTrue(self.model.isStepMade)
def test_getLifeMap(self):
"""Test life map."""
checkValue = 132132
self.model.getLifeMap = MagicMock(return_value=checkValue)
lifeMap = self.controller.getMap()
self.assertEqual(lifeMap, checkValue)
def test_getLifeMapSize(self):
"""Test life map size."""
checkValue = 132132
lifeMap = MagicMock()
lifeMap.getSize = MagicMock(return_value=checkValue)
self.model.getLifeMap = MagicMock(return_value=lifeMap)
lifeMap = self.controller.getLifemapSize()
self.assertEqual(lifeMap, checkValue)
def request_img():
camera = Camera()
controller = Controller()
D1 = DD(27)
D2 = DD(4)
print("request_img")
while (1):
if (camera.test() > 0.2 and D2 == False and D1 == True):
controller.Forward()
def detect_distance():
controller = Controller()
D1 = DD(27)
D2 = DD(4)
print("detect_distance")
while (1):
if (D1.status() == False):
controller.Stop()
elif (D2.status() == True):
controller.Stop()
def start_planner():
rospy.init_node("planner", anonymous=True, disable_signals=True)
model_path = rospy.get_param("~mppic/model_path", None)
use_nn_model = rospy.get_param("~mppic/use_nn_model", True)
if (use_nn_model):
model = nnio.ONNXModel(model_path)
else:
model = RosbotKinematic()
control_generator = MPPICGenerator(model)
optimizer = MPPICOptimizer(control_generator, triangle_cost,
calc_softmax_seq)
odom = Odom()
controller = Controller()
goal_handler = GoalHandler()
path_handler = PathHandler()
metric_handler = MetricHandler(mean_dist_metric)
mppic = LocalPlanner(optimizer, odom, controller, goal_handler,
path_handler, metric_handler)
mppic.start()
rospy.spin()
def configure_controller(app):
controller = Controller()
controller.init_app(app)
scalectrl = ScaleFactory()
scalectrl.init_app(app)
# The core algorithm writing here
from modules.camera import Camera
from modules.controller import Controller
from modules.DD import DD
import time
if __name__ == '__main__':
controller = Controller()
D1 = DD(27) #Front DD , obstacle detection
D2 = DD(4) ##Back DD , person detection
while (True):
if (D1.status() == False):
# Obstacle has been detected
# stop
controller.Stop()
elif (D2.status() == True):
# did not detect person
# stop
controller.Stop()
else:
# Fron got no obstacle and do detect the face and the person is in the range
controller.Forward()
def on_start(self):
self.controller = Controller(self)
parser.add_argument('--onecmd', nargs=1, help="run a single command")
parser.add_argument('--file', nargs=1, help="name of encrypted input file")
# Initialize Model
model = Model()
model.program_name = "trove"
model.version = "0.1"
# Inititalize View
view = View()
# Parse command line arguments
args = parser.parse_args()
# Initialize Controller
controller = Controller(model, view)
# Say hello
controller.print_hello_message()
# Run startup checks
controller.run_startup_checks()
if args.file is not None:
controller.encrypted_file = args.file[0]
#if not controller.config_file_has_encrypted_file():
# controller.add_bcrypt_section()
# controller.init_passwd_file()
if controller.config_file_has_encrypted_file():
controller.read_encrypted_file()
import threading
from flask import Flask, render_template
from flask_socketio import SocketIO, emit
from modules.controller import Controller
from modules.rover_coms import Rover
"""
TODO:
- Add swal when connected to rover/etc
- Have a connected status icon in the corner of dash
"""
app = Flask(__name__,
template_folder='../templates',
static_folder='../static')
socketio = SocketIO(app)
controller = Controller()
rover = Rover(socketio, controller)
@app.route('/')
def entry():
"""
Default page to render
"""
return render_template('index.html')
@socketio.on('message')
def handle_message(payload):
"""
Log to terminal the message received from the dashboard
def initController(model):
"""Init controller instance."""
return Controller(model)
import sys import RPi.GPIO as gpio from modules.controller import Controller MOTOR_PINS = [13, 19, 26, 21, 20, 16] SERVO_PIN = 18 SONAR_PINS = [23, 24] controller = Controller(MOTOR_PINS, SERVO_PIN, SONAR_PINS) # motor pins (a list) #parameters CLOSE_DIST = 3 #distance of when to lock the door #def for slipper cars def slipper_1_out(): controller.slipper_move(0, "forward") controller.stop() def slipper_2_out(): controller.slipper_move(1, "forward") controller.stop() def slipper_3_out(): controller.slipper_move(2, "forward") controller.stop() def slipper_1_in(): controller.slipper_move(0, "backward") controller.stop() def slipper_2_in():
from PIL import Image, ImageDraw, ImageFont
import adafruit_ssd1306
import time
import RPi.GPIO as GPIO
from modules.controller import Controller
GPIO.setmode(GPIO.BCM)
font = ImageFont.truetype(
"/usr/share/fonts/truetype/quicksand/Quicksand-Bold.ttf", 10)
oled_reset = digitalio.DigitalInOut(board.D4)
WIDTH = 128
HEIGHT = 64
BORDER = 5
spi = board.SPI()
oled_cs = digitalio.DigitalInOut(board.D5)
oled_dc = digitalio.DigitalInOut(board.D6)
oled = adafruit_ssd1306.SSD1306_SPI(WIDTH, HEIGHT, spi, oled_dc, oled_reset,
oled_cs)
oled.fill(0)
oled.show()
controller = Controller(font, oled)
#oled.image(image)
#oled.show()
def setUp(self):
"""Set up controller tests."""
model = MagicMock()
self.model = model
self.controller = Controller(model)
def __init__(self, verbose=False):
self._objectName = "INTERFACE"
self._objectLevel = 0
self._verbose = verbose
self.controller = Controller()
class Interface:
def __init__(self, verbose=False):
self._objectName = "INTERFACE"
self._objectLevel = 0
self._verbose = verbose
self.controller = Controller()
# WELCOME! ###############################################################################
def welcomeMessage(self):
print("## WELCOME TO GUTENBERG")
print("## A batch watermark applicator tool")
print(
"## ----------------------------------------------------------------"
)
print("## Made with love by Alessio Vaccaro")
print("## www.alessiovaccaro.com")
print(
"## ----------------------------------------------------------------"
)
print(
"## Gutenberg is part of the Blue Journey Astrophotography project\n"
)
def endingMessage(self):
input("\n## Please press ENTER to exit...")
print("## Bye!")
time.sleep(1)
# QUESTIONS ##############################################################################
def askForSomething(self, message):
log = self._loggerReturn(message)
userInput = input(log)
return (userInput)
def askForWatermarkBrightness(self):
watermarkBrightness = int(
self.askForSomething(
"Please insert watermark brightness [0-100%]: ")) * 0.01
self.controller.setWatermarkDestinationBrightness(watermarkBrightness)
def askForWatermarkOffsetPercentage(self):
watermarkOffsetPercentage = int(
self.askForSomething(
"Please insert watermark offset [0-100%]: ")) * 0.01
self.controller.setWatermarkDestinationOffsetPercentage(
watermarkOffsetPercentage)
def askForWatermarkSizePercentage(self):
watermarkSizePercentage = int(
self.askForSomething(
"Please insert watermark size [0-100%]: ")) * 0.01
self.controller.setWatermarkDestinationSizePercentage(
watermarkSizePercentage)
def askForOutputFolder(self):
self._logger("Selecting output folder...")
self.controller.setOutputFolder()
self._logger("Output folder selected")
def askForOutputPrefix(self):
outputPrefix = self.askForSomething(
"Please output prefix [ex. 'prefix' for 'prefix-myimage.jpg']: ")
self.controller.setOutputPrefix(outputPrefix)
def askForOutputSuffix(self):
outputSuffix = self.askForSomething(
"Please output suffix [ex. 'suffix' for 'myimage-suffix.jpg']: ")
self.controller.setOutputSuffix(outputSuffix)
def askForImages(self):
selected = False
tries = 1
self._logger("Please select images...")
while (not selected) and (tries < 3):
if self.controller.fillBucket():
self._logger("Images selected...")
selected = True
else:
self._logger("Please select images...")
tries += 1
def askForWatermark(self):
selected = False
tries = 1
self._logger("Please select watermark...")
while (not selected) and (tries < 3):
if self.controller.loadWatermark():
self._logger("Watermark selected")
selected = True
else:
self._logger("Please select watermark...")
tries += 1
def startTheProcess(self):
self._logger("Starting...")
self.controller.process()
self._logger("Done!")
# LOOP ##################################################################################
def loop(self):
# WELCOME
self.welcomeMessage()
# Prepare Bucket and Loading Watermark
self.askForImages()
if self.controller.bucketIsReady():
self.askForWatermark()
if self.controller.watermarkIsReady():
# Option setting
self.askForWatermarkBrightness()
self.askForWatermarkOffsetPercentage()
self.askForWatermarkSizePercentage()
self.askForOutputPrefix()
self.askForOutputSuffix()
self.askForOutputFolder()
# START
self.startTheProcess()
# END
self.endingMessage()
# LOGGER ################################################################################
def _logger(self, message):
if self._verbose == True:
now = time.strftime("%H:%M:%S", time.localtime())
message = "%s [%s]: %s" % (now, self._objectName, message)
print(message)
def _loggerReturn(self, message):
now = time.strftime("%H:%M:%S", time.localtime())
message = "%s [%s]: %s" % (now, self._objectName, message)
return (message)
exit(-1)
import RPi.GPIO as gpio
from flask import Flask
from flask import jsonify
from modules.camera import Camera
from modules.controller import Controller
from rfid_thread import rfid_thread
mode = sys.argv[1]
SUBSCRIPTION_KEY = 'PUT SUBSCRIPTION KEY HERE'
if mode == 'text':
camera = Camera(SUBSCRIPTION_KEY)
app = Flask(__name__)
controller = Controller(23, 18) # motor_pin, servo_pin
@app.route('/')
def root():
return 'woooow'
@app.route('/forward')
def forward():
controller.forward()
return jsonify(success=True)
"""
TODO:
from modules.controller import Controller
if __name__ == "__main__":
controller = Controller()
controller.run()
from modules.controller import Controller control = Controller(23, 18) control.stop() control.cleanup()
