def test_face_detection(robot_ip, dcm, mem, motion, session, motion_wake_up,
parameters):
"""
Docstring
"""
expected = {"FaceDetected": 1}
module_name = "EventChecker_{}_".format(uuid.uuid4())
face_detected = EventModule(mem)
module_id = session.registerService(module_name, face_detected)
face_detected.subscribe(module_name, expected)
flag_end_face = False
flag_face = False
log = multi_logger.Logger(robot_ip, "multi_logger.cfg", 0.1,
parameters["FileName"][0])
log.log()
while not flag_end_face:
try:
if face_detected.flag_event:
flag_face = True
if flag_face and not face_detected.flag_event:
flag_end_face = True
except KeyboardInterrupt:
break
log.stop()
session.unregisterService(module_id)
assert face_detected.flag
def test_sensors_env_004(robot_ip, dcm, mem, motion, session, motion_wake_up,
parameters, direction, speed):
"""
Docstring
"""
expected = {"ALMotion/MoveFailed": 1}
module_name = "EventChecker_{}_".format(uuid.uuid4())
movefailed = EventModule(mem)
module_id = session.registerService(module_name, movefailed)
movefailed.subscribe(module_name, expected)
flag_test = False
# Sensors
sensors_list = qha_tools.read_section("sensors.cfg", "Sensors")
ir_right = subdevice.InfraredSpot(dcm, mem, "Right")
ir_left = subdevice.InfraredSpot(dcm, mem, "Left")
log = multi_logger.Logger(
robot_ip, "multi_logger.cfg", 0.1,
"Direction" + str(direction) + " - " + str(speed) + ".csv")
log.log()
# Movement
move(motion, speed,
qha_tools.read_section("env_004.cfg", "Direction" + direction))
time.sleep(1)
while not movefailed.flag and not flag_test:
for sensor in sensors_list:
if mem.getData(sensor) < float(parameters["distance"][0]):
print(sensor)
motion.stopMove()
flag_test = True
# if ir_right.value == 1:
# print("IR_Right")
# motion.stopMove()
# flag_test = True
# if ir_left.value == 1:
# print("IR_Left")
# motion.stopMove()
# flag_test = True
log.stop()
session.unregisterService(module_id)
assert flag_test
def test_sensors_safety_001(robot_ip, dcm, mem, motion, session,
motion_wake_up, direction, speed):
"""
Docstring
"""
expected = {"ALMotion/MoveFailed": 1}
module_name = "EventChecker_{}_".format(uuid.uuid4())
obstacledetected = EventModule(mem)
module_id = session.registerService(module_name, obstacledetected)
obstacledetected.subscribe(module_name, expected)
# Objects creation
wheelb_speed_act = subdevice.WheelSpeedActuator(dcm, mem, "WheelB")
wheelfr_speed_act = subdevice.WheelSpeedActuator(dcm, mem, "WheelFR")
wheelfl_speed_act = subdevice.WheelSpeedActuator(dcm, mem, "WheelFL")
flag_test = True
log = multi_logger.Logger(
robot_ip,
"multi_logger.cfg",
0.1,
"Direction" + direction + " - " + str(speed) + ".csv")
log.log()
# Movement
move(motion, speed,
qha_tools.read_section("safety_001.cfg", "Direction" + direction)
)
time.sleep(1)
while not obstacledetected.flag:
if wheelb_speed_act.value == 0 and \
wheelfr_speed_act.value == 0 and \
wheelfl_speed_act.value == 0:
flag_test = False
log.stop()
session.unregisterService(module_id)
assert flag_test
def __init__(self, ip):
self.ip = ip
# proxy creation
self.motion = ALProxy("ALMotion", self.ip, 9559)
self.system = ALProxy("ALSystem", self.ip, 9559)
# test parameters
self.nbcyles = 10000
# logger parameters
self.testType = "brakes_cycling_wakeUp_rest"
self.extension = "csv"
self.date = datetime.datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
self.robotName = self.system.robotName()
self.filePath = "-".join([self.robotName, self.date, self.testType])
self.confFilePath = "multi_logger.cfg"
self.samplePeriod = 0.02
self.output = ".".join([self.filePath, self.extension])
self.decimal = 3
self.logger = multi_logger.Logger(self.ip, self.confFilePath,
self.samplePeriod, self.output,
self.decimal)
def main():
"""Call this function to try the multi_looger as an API."""
# Init the logger
#
logger = multi_logger.Logger(IP_ROBOT, CONFIG_FILE_PATH, SAMPLE_PERIOD,
OUTPUT, DECIMAL)
# Start log
#
logger.log()
#
# DO YOUR STUFFS #
# BLAH BLAH BLAH #
#
time.sleep(10)
# Stop log
#
logger.stop()
def test_robollomes_with_dances(robot_ip, mem, session, packagemanager,
albehaviormanager, stop_bootconfig,
motion_wake_up, behavior):
"""
Launch requested dances (cf associated config file).
Assert True is no fall down detected.
@mem : proxy to ALMemory (object)
@session : Session in qi (object)
@albehaviormanager : proxy to ALBehavioManager (object)
@motion_wake_up : robot does is wakeUp
@behaviors : dictionnary {"name":value} (dictionnary)
"""
# Subcribe to module
expected = {"ALMotion/MoveFailed": 1}
module_name = "EventChecker_{}_".format(uuid.uuid4())
obstacledetected = EventModule(mem)
module_id = session.registerService(module_name, obstacledetected)
obstacledetected.subscribe(module_name, expected)
packagemanager.install("/home/nao/behaviors_pkg/" + behavior + ".pkg")
log = multi_logger.Logger(robot_ip, "multi_logger.cfg", 0.1,
behavior + ".csv")
log.log()
run_behavior(albehaviormanager, behavior)
log.stop()
packagemanager.removePkg(behavior)
session.unregisterService(module_id)
if obstacledetected.flag:
assert True
assert False
def main():
"""
Call this function to try the multi_looger as an API.
While the script is running, move the robot's HeadPitch if you want the
printed values to change.
"""
# Init the logger
#
logger = multi_logger.Logger(IP_ROBOT, CONFIG_FILE_PATH, SAMPLE_PERIOD,
OUTPUT, DECIMAL, RT_PLOT, CLASS_GETTER,
QUEUE_SIZE)
# Start log
logger.log()
initial_time = time.time()
while (time.time() - initial_time) < LOOP_TIME:
datas = logger.get_data()
print datas["HeadPitchPositionSensorValue"]
# Stop log
logger.stop()
def test_sensors_env_005(robot_ip, dcm, mem, motion, session, motion_wake_up,
parameters, speed):
"""
Docstring
"""
expected = {"ALMotion/MoveFailed": 1}
module_name = "EventChecker_{}_".format(uuid.uuid4())
movefailed = EventModule(mem)
module_id = session.registerService(module_name, movefailed)
movefailed.subscribe(module_name, expected)
flag_test = False
# Sensors
sensors_list = qha_tools.read_section("sensors.cfg", "Sensors")
# ir_right = subdevice.InfraredSpot(dcm, mem, "Right")
# ir_left = subdevice.InfraredSpot(dcm, mem, "Left")
log = multi_logger.Logger(robot_ip, "multi_logger.cfg", 0.1,
parameters["log_file_name"][0])
log.log()
log_file = open("ObstacleDetection.csv", 'w')
line_to_write = ",".join(["Time", "Sensor", "Distance"]) + "\n"
log_file.write(line_to_write)
log_file.flush()
# Movement
motion.move(0, 0, speed)
time.sleep(1)
time_init = time.time()
while True:
elapsed_time = time.time() - time_init
try:
for sensor in sensors_list:
if mem.getData(sensor) < float(parameters["distance2"][0]):
print(parameters["distance2"][0])
print(sensor)
line_to_write = ",".join(
[str(elapsed_time), sensor,
str(mem.getData(sensor))]) + "\n"
log_file.write(line_to_write)
log_file.flush()
flag_test = True
elif mem.getData(sensor) < float(parameters["distance1"][0]):
print(parameters["distance1"][0])
print(sensor)
line_to_write = ",".join(
[str(elapsed_time), sensor,
str(mem.getData(sensor))]) + "\n"
log_file.write(line_to_write)
log_file.flush()
flag_test = True
else:
line_to_write = ",".join(
[str(elapsed_time), "None", "None"]) + "\n"
log_file.write(line_to_write)
log_file.flush()
# if ir_right.value == 1:
# print("IR_Right")
# flag_test = True
# if ir_left.value == 1:
# print("IR_Left")
# flag_test = True
time.sleep(0.1)
motion.move(0, 0, 0.3)
except KeyboardInterrupt:
break
log.stop()
session.unregisterService(module_id)
assert flag_test
def __init__(self, ip, jointName, direction, cyclingBrakingAngle,
cycleNumber):
"""Test parameters"""
# attributes to be parsed in the main
self.ip = ip
self.jointName = jointName
self.direction = direction
self.cyclingBrakingAngleDegrees = cyclingBrakingAngle
self.nbCyclingDynamicTest = cycleNumber
# proxy creation
self.motion = ALProxy("ALMotion", self.ip, 9559)
self.mem = ALProxy("ALMemory", self.ip, 9559)
self.system = ALProxy("ALSystem", self.ip, 9559)
# logger parameters
self.testType = "brakes_dynamic_test_ALMotion"
self.extension = "csv"
self.date = datetime.datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
self.robotName = self.system.robotName()
self.filePath = "-".join(
[self.robotName, self.date, self.testType, self.direction])
self.confFilePath = "multi_logger.cfg"
self.samplePeriod = 0.02
self.output = ".".join([self.filePath, self.extension])
self.decimal = 3
self.logger = multi_logger.Logger(self.ip, self.confFilePath,
self.samplePeriod, self.output,
self.decimal)
# ---------------------------------------------------------------------
# TEST PARAMETERS - values which can be modified
# ---------------------------------------------------------------------
# speed
self.slowSpeed = 0.2
self.maxSpeed = 1.0
# mechanical stop protection angles
self.maxAngleHipDegrees = 55.0
self.maxAngleKneeDegrees = 30.0
# hip test start and stop angles
self.angleMinHip = 30.0
self.angleMaxHip = 50.0
# knee test start and stop angles
self.angleMinKnee = -1.0
self.angleMaxKnee = 9.0
# step
self.step = 2.0
# max temperature
self.jointMaxTemperature = 70.0
# ---------------------------------------------------------------------
self.nbDynaTest = (self.angleMaxHip -
self.angleMinHip) / (self.step) + 1
self.nbDynaTestKnee = (self.angleMaxKnee -
self.angleMinKnee) / (self.step) + 1
# joints object creation
self.principalJoint = Joint(self.motion, self.mem, self.jointName)
if (self.jointName == "HipPitch"):
self.secondJoint = Joint(self.motion, self.mem, "KneePitch")
else:
self.secondJoint = Joint(self.motion, self.mem, "HipPitch")
# test parameters adaptation
# max angle
if self.jointName == "HipPitch":
if self.direction == "Positive":
self.angleMax = -self.angleMaxHip
else:
self.angleMax = self.angleMaxHip
else:
if direction == "Positive":
self.angleMax = -self.angleMaxKnee
else:
self.angleMax = self.angleMaxKnee
# min angle
if self.jointName == "HipPitch":
if self.direction == "Positive":
self.angleMin = -self.angleMinHip
else:
self.angleMin = self.angleMinHip
else:
if self.direction == "Positive":
self.angleMin = -self.angleMinKnee
else:
self.angleMin = self.angleMinKnee
# step
if self.direction == "Positive":
self.step = -self.step
# nbDynaTest
if self.jointName == "KneePitch":
self.nbDynaTest = self.nbDynaTestKnee
# dynamicCyclingTest parameters adaptation
if self.direction == "Positive":
self.cyclingBrakingAngleDegrees *= -1