def holding_cone():
"""
Return all holding cone parameters necessary for tests.
[Example of use]
hip_front_max_angle = holding_cone["HipPitch"]["Positive"]
"""
hip_positive_angle = qha_tools.read_parameter(CONFIG_FILE, "ConeCriterion",
"HipPositive")
hip_negative_angle = qha_tools.read_parameter(CONFIG_FILE, "ConeCriterion",
"HipNegative")
knee_positive_angle = qha_tools.read_parameter(CONFIG_FILE,
"ConeCriterion",
"KneePositive")
knee_negative_angle = qha_tools.read_parameter(CONFIG_FILE,
"ConeCriterion",
"KneeNegative")
hip_cone_dic = {
"Positive": float(hip_positive_angle),
"Negative": float(hip_negative_angle)
}
knee_cone_dic = {
"Positive": float(knee_positive_angle),
"Negative": float(knee_negative_angle)
}
return {"HipPitch": hip_cone_dic, "KneePitch": knee_cone_dic}
def step():
hip_step = qha_tools.read_parameter(CONFIG_FILE, "GeneralParameters",
"HipStep")
knee_step = qha_tools.read_parameter(CONFIG_FILE, "GeneralParameters",
"KneeStep")
step_dict = {"HipPitch": float(hip_step), "KneePitch": float(knee_step)}
return step_dict
def head_behavior_number():
"""Cycle number for head motion in head sensors false positive test"""
cycle_number = \
qha_tools.read_parameter(CONFIG_FILE_FALSE_POSITIVE,
"GeneralParameters",
"HeadCycleNumber")
return int(cycle_number)
def test_time_fp():
"""Defines time hand capacitive sensor false positives are tested."""
time = \
qha_tools.read_parameter(CONFIG_FILE_FALSE_POSITIVE,
"GeneralParameters",
"WristTestTime")
return float(time)
def time_to_touch():
"""Defines times user needs to touch capacitive sensor."""
time_touch = \
qha_tools.read_parameter(CONFIG_FILE_DETECTION,
"GeneralParameters",
"TimeToTouch")
return float(time_touch)
def test_objects_dico(request, result_base_folder, dcm, mem):
"""
Create the appropriate objects for each joint.
It logs the informations into a dictionnary and save the data into a file
after each joint test.
"""
joint_position_actuator = subdevice.JointPositionActuator(
dcm, mem, request.param)
joint_position_sensor = subdevice.JointPositionSensor(
dcm, mem, request.param)
joint_test_limit = qha_tools.read_parameter("joint_enslavement.cfg",
"JointsLimits", request.param)
logger = qha_tools.Logger()
def fin():
"""Method executed after a joint test."""
result_file_path = "/".join([
result_base_folder, joint_position_actuator.subdevice_type,
"_".join([joint_position_actuator.short_name,
str(logger.flag)])
]) + ".csv"
logger.log_file_write(result_file_path)
request.addfinalizer(fin)
# creating a dictionnary with all the objects
dico_object = {
"jointActuator": joint_position_actuator,
"jointSensor": joint_position_sensor,
"logger": logger,
"joint_test_limit": float(joint_test_limit)
}
return dico_object
def posture_speed_fraction():
"""
@returns : Speed fraction in order to go to postures.
@rtype : float
"""
return float(
qha_tools.read_parameter(CONFIG_FILE, "GeneralParameters",
"InitPostureSpeedFraction"))
def threshold():
"""
Return a dictionnary corresponding to the threshold speed corresponding
to half of fan nominal speed.
"""
left_fan_threshold = int(
qha_tools.read_parameter("fan.cfg", "Threshold", "LeftFanThreshold"))
right_fan_threshold = int(
qha_tools.read_parameter("fan.cfg", "Threshold", "RightFanThreshold"))
middle_fan_threshold = int(
qha_tools.read_parameter("fan.cfg", "Threshold", "MiddleFanThreshold"))
threshold_dict = {
"LeftFan": left_fan_threshold,
"RightFan": right_fan_threshold,
"MiddleFan": middle_fan_threshold
}
return threshold_dict
def limit_battery_charge():
"""
@returns : Battery minimum state of charde allowed to pass the test.
@rtype : float
"""
return float(
qha_tools.read_parameter(CONFIG_FILE, "GeneralParameters",
"LimitBatteryCharge"))
def ack_nack_ratio():
"""
@returns : Max nack/ack ratio accepted for the robot board.
@rtype : float
"""
return float(
qha_tools.read_parameter(CONFIG_FILE, "GeneralParameters",
"AckNackRatio"))
def obstacle_distance():
"""
@returns : Distance in meters.
@rtype : float
If the robot detects an obstacle closer than this distance, it does not
rotate around itself.
"""
return (float(
qha_tools.read_parameter(CONFIG_FILE, "GeneralParameters",
"ObstacleDistance")))
def offset_protection():
"""
@returns : Offset to protect the robot from its mechanical stops if the
calibration is not perfect.
@rtype : float
"""
return radians(
float(
qha_tools.read_parameter(CONFIG_FILE, "GeneralParameters",
"Offset")))
def parameters():
"""It returns the test parameters"""
test_time = int(
qha_tools.read_parameter("temperature_protection.cfg", "Parameters",
"TestTime"))
test_time_limit = int(
qha_tools.read_parameter("temperature_protection.cfg", "Parameters",
"TestTimeLimit"))
limit_extension = int(
qha_tools.read_parameter("temperature_protection.cfg", "Parameters",
"LimitExtension"))
limit_factor_sup = float(
qha_tools.read_parameter("temperature_protection.cfg", "Parameters",
"LimitFactorSup"))
limit_factor_inf = float(
qha_tools.read_parameter("temperature_protection.cfg", "Parameters",
"LimitFactorInf"))
sa_nb_points = int(
qha_tools.read_parameter("temperature_protection.cfg", "Parameters",
"SlidingAverageNbPoints"))
# creating parameters dictionnary
dico_to_return = {
"test_time": test_time,
"test_time_limit": test_time_limit,
"limit_extension": limit_extension,
"limit_factor_sup": limit_factor_sup,
"limit_factor_inf": limit_factor_inf,
"sa_nb_points": sa_nb_points
}
return dico_to_return
def initial_angle():
"""Returns initial angles in degrees"""
hip_angle_degrees = qha_tools.read_parameter(CONFIG_FILE,
"GeneralParameters",
"HipInitialAngle")
knee_angle_degrees = qha_tools.read_parameter(CONFIG_FILE,
"GeneralParameters",
"KneeInitialAngle")
hip_init_angle_dic = {
"Positive": -float(hip_angle_degrees),
"Negative": float(hip_angle_degrees)
}
knee_init_angle_dic = {
"Positive": -float(knee_angle_degrees),
"Negative": float(knee_angle_degrees)
}
initial_angle_dict = {
"HipPitch": hip_init_angle_dic,
"KneePitch": knee_init_angle_dic
}
return initial_angle_dict
def wait_between_two_tests(request, dcm, mem, rest_pos, stiffness_on,
stiffness_off):
"""Wait between two tests."""
time_to_wait = qha_tools.read_parameter(CONFIG_FILE, "GeneralParameters",
"TimeBetweenTwoTests")
def fin():
"""Wait between two tests."""
subdevice.multiple_set(dcm, mem, stiffness_on, wait=True)
subdevice.multiple_set(dcm, mem, rest_pos, wait=True)
subdevice.multiple_set(dcm, mem, stiffness_off, wait=True)
logging.info("Waiting " + str(time_to_wait) + " s")
time.sleep(float(time_to_wait))
request.addfinalizer(fin)
def joint_limit_extension():
"""Give joint limit extension in degrees."""
return float(
qha_tools.read_parameter("multifuse_scenario4.cfg", "Parameters",
"jointLimitExtension"))
def allowed_slip_number():
"""Allowed slip number for each couple of joint-direction"""
slip_number = qha_tools.read_parameter(CONFIG_FILE, "GeneralParameters",
"AllowedSlipNumber")
return int(slip_number)
def test_wheels_limit():
"""It returns the limit error in radians per seconds."""
return float(
qha_tools.read_parameter("joint_enslavement.cfg", "Parameters",
"TestWheelsLimit"))
def allowed_slip_angle():
"""Allowed slip angle during wait time."""
slip_angle = qha_tools.read_parameter(CONFIG_FILE, "GeneralParameters",
"AllowedSlipAngle")
return float(slip_angle)
def cycle_number():
"""Cycling behavior iteration number."""
number = qha_tools.read_parameter(CONFIG_FILE, "CyclingParameters",
"NbCycles")
return int(number)
def cycle_number():
"""It returns the test time in milliseconds [ms]"""
return int(qha_tools.read_parameter("fan.cfg", "Parameters",
"CycleNumber"))
def test_limit():
"""It returns the limit error in degrees."""
return float(
qha_tools.read_parameter("joint_enslavement.cfg", "Parameters",
"TestLegLimit"))
def wait_time():
"""Wait time in seconds in a defined position."""
to_wait = qha_tools.read_parameter(CONFIG_FILE, "GeneralParameters",
"WaitTime")
return float(to_wait)
def test_time():
"""It returns the test time in milliseconds [ms]"""
return int(
qha_tools.read_parameter("joint_enslavement.cfg", "Parameters",
"TestTime"))
def test_time():
"""Give test time."""
return int(
qha_tools.read_parameter("multifuse_scenario4.cfg", "Parameters",
"TestTime"))
