def test_get_current_waypoint(self): """Tests the chase waypoint generation.""" points = ((20, 20),) generator = ChaseWaypointGenerator(points) self.assertEqual(points[0], generator.get_current_waypoint(19, 19)) points = ((20, 20), (21, 21)) generator = ChaseWaypointGenerator(points) self.assertEqual(points[0], generator.get_current_waypoint(19, 19)) points = ((0, 0), (0, 1), (0, 2), (0, 3)) generator = ChaseWaypointGenerator(points) generator._current_waypoint = len(points) // 2 waypoint = generator.get_current_waypoint(-1, 0.5) self.assertEqual(waypoint[0], 0) waypoint = generator.get_current_waypoint(0.00000001, 0.5) self.assertAlmostEqual(waypoint[0], 0) self.assertGreater(waypoint[1], 0.5)
def main(): """Sets up logging, signal handling, etc. and starts the threads.""" signal.signal(signal.SIGINT, terminate) parser = make_parser() args = parser.parse_args() #try: # global POPEN # POPEN = subprocess.Popen(( # 'raspivid', '-o', args.video, '-w', '1024', '-h', '576', '-b', '6000000', '-t', '300000' # )) #except Exception: # logging.warning('Unable to save video') concrete_logger = logging.Logger('sparkfun') concrete_logger.setLevel(logging.DEBUG) formatter = logging.Formatter( '%(asctime)s:%(levelname)s %(message)s' ) file_handler = None try: if os.path.exists(args.log): os.remove(args.log) file_handler = logging.FileHandler(args.log) file_handler.setFormatter(formatter) file_handler.setLevel(logging.DEBUG) concrete_logger.addHandler(file_handler) try: last_log = os.path.dirname(args.log) + os.sep + 'last-log.txt' with open(last_log, 'a') as last_log: last_log.write(args.log + '\n') except Exception as exc: print('Unable to save last log information: {}'.format(exc)) except Exception as exception: logging.warning('Could not create file log: ' + str(exception)) stdout_handler = logging.StreamHandler(sys.stdout) if args.verbose: stdout_handler.setLevel(logging.DEBUG) else: stdout_handler.setLevel(logging.INFO) stdout_handler.setFormatter(formatter) concrete_logger.addHandler(stdout_handler) async_logger = AsyncLoggerReceiver(concrete_logger) # We need to start async_logger now so that other people can log to it async_logger.start() time.sleep(0.1) THREADS.append(async_logger) web_socket_handler = WebSocketLoggingHandler() web_socket_handler.setLevel(logging.INFO) web_socket_handler.setFormatter(formatter) concrete_logger.addHandler(web_socket_handler) logger = AsyncLogger() if sys.version_info.major < 3: logger.warn( 'Python 2 is not officially supported, use at your own risk' ) kml_file = args.kml_file if kml_file is None: logger.info( 'Setting waypoints to Solid State Depot for testing' ) kml_file = 'solid-state-depot.kml' if args.chase: waypoint_generator = ChaseWaypointGenerator( SimpleWaypointGenerator.get_waypoints_from_file_name( kml_file ) ) else: waypoint_generator = ExtensionWaypointGenerator( SimpleWaypointGenerator.get_waypoints_from_file_name( kml_file ) ) logger.debug('Calling start_threads') start_threads( waypoint_generator, logger, web_socket_handler, args.max_throttle, kml_file, )