def setUp(self):
self.browser = webdriver.Chrome(ChromeDriverManager().install())
self.navigator = Navigator(self.browser)
self.browser.get(
"https://kkstream.testrail.net/index.php?/runs/overview/30")
self.navigator.loginPage().userName().input()
self.navigator.loginPage().passWord().input()
self.navigator.loginPage().submitButton().tap()
def main():
rospy.logerr("before before lineee")
rospy.init_node('accio_backend')
wait_for_time()
# TODO incorporate navigation
navigator = Navigator.Navigator()
station_handler = StationInformation.StationInformation(navigator)
print("Initializing the gripper, arm, torso, head...")
print("To quit before these are initialized, do ctrl-C and then ctrl-D.")
gripper = Gripper()
print("Gripper ready...")
arm = Arm()
print("Arm ready...")
torso = Torso()
print("Torso ready...")
head = Head()
print("Head ready...")
base = Base()
print("Base ready...")
program_handler = ProgramHandler(PROGRAM_FILE, gripper, arm, torso, head,
base)
#load_program(PROGRAM_FILE, gripper, arm, torso, head) # karan commented this out, refactoring
status_pub = rospy.Publisher('print_update',
std_msgs.msg.String,
queue_size=10)
order_handler = OrderHandler.OrderHandler(station_handler, program_handler,
status_pub)
robot_state = RobotState(order_handler, status_pub)
rospy.sleep(1)
#rospy.Subscriber('available_items', acciobot_main.msg.ItemStock, printHI)
rospy.Subscriber('dispatch_order', acciobot_main.msg.Order,
robot_state.order_callback)
# dispatch_sub = rospy.Subscriber('dispatch_order', acciobot_main.msg.Order, printHI)
def stop_things():
navigator.stop()
arm.cancel_all_goals()
base.stop()
rospy.on_shutdown(stop_things)
rospy.logerr("Waiting for orders")
while True:
if robot_state.get_current_order() is not None:
rospy.logerr("Robot state has a current order")
order = order_handler.remove_order(robot_state.get_current_order())
success = order.fulfill_order()
# TODO: Uncomment when navigation is ready
print("press enter to continue [removed]")
# raw_input()
navigator.move_to_posestamped(
station_handler.get_cashier().location)
robot_state.finished_order()
rospy.sleep(1)
def processUrl(data, readStandalone):
nav = Navigator.Navigator(data).getFinancialUrls()
basicSheet = BasicsScrapper.BasicsScrapper(nav['Basic']).readPage()
# print("Basic Sheet processed")
finData = readFinancialData(nav,basicSheet, readStandalone)
if(not finData is None):
basicSheet = updateBasicData(basicSheet, finData)
writeData(basicSheet, finData)
print("finished processing ", data)
time.sleep(5)
def __init__(self, maze_dim):
'''
Use the initialization function to set up attributes that your robot
will use to learn and navigate the maze. Some initial attributes are
provided based on common information, including the size of the maze
the robot is placed in.
'''
self.location = [0, 0]
self.heading = 'up'
self.maze_dim = maze_dim
self.maze = Mapper(maze_dim)
self.idx_dir_map = {0:"l", 1:"u",2:"r", 3:"d"}
self.dir_idx_map = {"left":0, "up":1,"right":2, "down":3,
"l":0, "u":1, "r":2, "d":3}
self.navigator = Navigator()
self.second = False
def __init__(self, serverQueue, serverLock, location, direction):
#These variables deal with orders being processed from server
self.serverQueue = serverQueue
self.serverLock = serverLock
self.currentOrder = None
threading.Thread.__init__(self)
#these variables handle the state of the machine
self.state = botstates.IDLE
self.prevState = botstates.IDLE
self.leds = LEDManager.BotLEDManager()
self.navigator = Navigator.Navigator(directions.getDir(direction),
location)
self.dispensor = Dispensor.Dispensor()
self.listener = Listener.Listener(listenerPort, self.serverQueue,
self.serverLock)
self.pusher = Pusher.Pusher(pusherPort, self.serverQueue,
self.serverLock)
self.listener.start()
self.pusher.start()
import Navigator
import time
import json
from threading import Thread
import random
nav = Navigator.Navigator()
nav.startSafe()
def getFakeSensorData():
sensorData = {}
sensorData['angle'] = random.randint(0, 360)
sensorData['distance'] = random.randint(0, 100)
return sensorData
def readSensors(param):
while True:
sensorData = nav.readSensorsData()
#sensorData = getFakeSensorData()
print json.dumps(sensorData, indent=4, sort_keys=False)
time.sleep(1)
thread = Thread(target=readSensors, args=('someParam', ))
thread.start()
thread.join()
print 'thread exiting'
def run(self):
#do initialization
while (True):
if (self.state == botstates.IDLE):
self.currentOrder = self.serverQueue.get(block=True)
if (self.currentOrder.location !=
self.navigator.getDestination()):
self.destination = self.currentOrder.location
self.prevState = self.state
self.state = botstates.MOTION
elif (self.currentOrder.location ==
self.navigator.getDestination()):
self.prevState = self.state
self.state = botstates.DISPENSING
elif (self.state == botstates.MOTION):
self.navigator = Navigator.Navigator(
directions.getDir(self.navigator.direction),
self.navigator.location)
self.navigator.start()
try:
self.navigator.join()
except Exception as e:
self.prevState = self.state
self.state = botstates.LINE_LOST
self.prevState = self.state
self.state = botstates.DISPENSING
elif (self.state == botstates.DISPENSING):
if (self.currentOrder['drink'] == '1'):
resp = self.dispensor.orangejuice()
if (resp):
self.leds.done()
self.prevState = self.state
self.state = botstates.IDLE
else:
self.prevState = self.state
self.state = botstates.ERROR
elif (self.currentOrder['drink'] == '2'):
self.leds.done()
resp = self.dispensor.gingerAle()
if (resp):
self.prevState = self.state
self.state = botstates.IDLE
else:
self.prevState = self.state
self.state = botstates.ERROR
elif (self.currentOrder['drink'] == '3'):
self.leds.done()
resp = self.dispensor.mimosa()
if (resp):
self.prevState = self.state
self.state = botstates.IDLE
else:
self.prevState = self.state
self.state = botstates.ERROR
elif (self.state == botstates.LINE_LOST):
#perform recovery
#utils.espeak('"line has been lost"')
self.leds.blinkAll()
elif (self.state == botstates.ERROR):
#utils.espeak('"error dispensing drink"')
self.leds.blinkAll()
