def test_central_offset(self, mock_consume):
"""The offset should default to Sparkfun, or be loaded from the KML
course.
"""
telemetry = Telemetry()
self.assertLess(
telemetry.distance_m(
# From Google Earth
40.090764,
-105.184879,
CENTRAL_LATITUDE,
CENTRAL_LONGITUDE),
100)
# Smoke test
course = {'course': ((1, 2), (3, 4)), 'inner': ()}
with mock.patch.object(Telemetry,
'load_kml_from_file_name',
return_value=course):
with mock.patch('builtins.open'):
Telemetry('file.kml')
def test_handle_telemetry_message(self, mpic):
"""Tests the handling of telemetry messages received from telemetry
sources, such as phones or SUP800F.
"""
telemetry = Telemetry()
self.assertEqual(len(telemetry._speed_history), 0)
telemetry._handle_message(
json.dumps({
'device_id': 'test',
'speed_m_s': 1.0
}))
self.assertEqual(len(telemetry._speed_history), 1)
mpic.return_value = True
self.assertEqual(mpic.call_count, 0)
telemetry._handle_message(
json.dumps({
'device_id': 'test',
'latitude_d': 1.0,
'longitude_d': 1.0,
'accuracy_m': 1.0,
'speed_m_s': 1.0,
'heading_d': 0.0
}))
self.assertEqual(mpic.call_count, 1)
mpic.return_value = False
self.assertEqual(mpic.call_count, 1)
telemetry._handle_message(
json.dumps({
'device_id': 'test',
'latitude_d': 1.0,
'longitude_d': 1.0,
'accuracy_m': 1.0,
'speed_m_s': 1.0,
'heading_d': 0.0
}))
self.assertEqual(mpic.call_count, 2)
self.assertEqual(len(telemetry._ignored_points), 1)
self.assertEqual(telemetry._ignored_points['test'], 1)
def benchmark_command_run_course_iterator():
"""Benchmark the logic for driving the car."""
logger = DummyLogger()
telemetry = Telemetry(logger)
waypoint_generator = SimpleWaypointGenerator(
SimpleWaypointGenerator.get_waypoints_from_file_name(
'paths/solid-state-depot.kmz'))
driver = DummyDriver(telemetry, logger)
command = Command(telemetry, driver, waypoint_generator, logger)
iterations = 250
start = time.time()
iterator = command._run_course_iterator()
step = None
for step in zip(range(iterations), iterator):
pass
assert step is not None
assert step[0] == iterations - 1
end = time.time()
print('{} iterations of Command._run_course_iterator, each took {:.5}'.
format(iterations, (end - start) / float(iterations)))
def start_threads(
waypoint_generator,
logger,
web_socket_handler,
max_throttle,
kml_file_name,
):
"""Runs everything."""
logger.info('Creating Telemetry')
telemetry = Telemetry(kml_file_name)
telemetry_dumper = TelemetryDumper(
telemetry,
waypoint_generator,
web_socket_handler
)
logger.info('Done creating Telemetry')
global DRIVER
DRIVER = Driver(telemetry)
DRIVER.set_max_throttle(max_throttle)
logger.info('Setting SUP800F to NMEA mode')
serial_ = serial.Serial('/dev/ttyAMA0', 115200)
serial_.setTimeout(1.0)
for _ in range(10):
serial_.readline()
try:
switch_to_nmea_mode(serial_)
except: # pylint: disable=W0702
logger.error('Unable to set mode')
for _ in range(10):
serial_.readline()
logger.info('Done')
# The following objects must be created in order, because of message
# exchange dependencies:
# sup800f_telemetry: reads from command forwarded
# command: reads from command, writes to command forwarded
# button: writes to command
# cherry_py_server: writes to command
# TODO(2016-08-21) Have something better than sleeps to work around race
# conditions
logger.info('Creating threads')
sup800f_telemetry = Sup800fTelemetry(serial_)
time.sleep(0.5)
command = Command(telemetry, DRIVER, waypoint_generator)
time.sleep(0.5)
button = Button()
port = int(get_configuration('PORT', 8080))
address = get_configuration('ADDRESS', '0.0.0.0')
cherry_py_server = CherryPyServer(
port,
address,
telemetry,
waypoint_generator
)
time.sleep(0.5)
global THREADS
THREADS += (
button,
cherry_py_server,
command,
sup800f_telemetry,
telemetry_dumper,
)
for thread in THREADS:
thread.start()
logger.info('Started all threads')
# Use a fake timeout so that the main thread can still receive signals
sup800f_telemetry.join(100000000000)
# Once we get here, sup800f_telemetry has died and there's no point in
# continuing because we're not receiving telemetry messages any more, so
# stop the command module
command.stop()
command.join(100000000000)
cherry_py_server.kill()
cherry_py_server.join(100000000000)
button.kill()
button.join(100000000000)
