def test_update_v2_1(self):
# Instantiate swarm controller
thisSwarmC = sc.SwarmController()
# Set curr_state
thisSwarmC.qr_data = {"hasQR": True, "centroid": (0, 0), "value": 2}
thisSwarmC.edge_data = [{
"color": G.ORANGE,
"angle": 90,
"centroid": (0, 0)
}]
thisSwarmC.graph_edges = [{"color": G.ORANGE, "v1": 1, "v2": None}]
thisSwarmC.current_edge_color = G.ORANGE
thisSwarmC.current_state = G.MOVE_ONTO_LINE
# Determine next line
thisSwarmC.update_v2(
thisSwarmC.current_edge_color, thisSwarmC.graph_edges,
thisSwarmC.get_edge_by_color(thisSwarmC.current_edge_color)["v1"],
thisSwarmC.qr_data["value"])
# Check resulting state and values
self.assertEqual(thisSwarmC.graph_edges, [{
"color": G.ORANGE,
"v1": 1,
"v2": 2
}])
def test_determine_line_no_qr_code(self):
# Instantiate swarm controller
thisSwarmC = sc.SwarmController()
# Set curr_state
thisSwarmC.qr_data = {"hasQR": False, "centroid": (0, 0), "value": 0}
thisSwarmC.edge_data = [{
"color": G.ORANGE,
"angle": 90,
"centroid": (0, 0)
}, {
"color": G.BLUE,
"angle": 90,
"centroid": (0, 0)
}]
thisSwarmC.graph_edges = [{"color": G.ORANGE, "v1": 1, "v2": 2}]
thisSwarmC.current_qr_code = 2
thisSwarmC.current_edge_color = None
thisSwarmC.current_state = G.DETERMINE_NEXT_LINE
# Determine next line
thisSwarmC.determine_next_line()
# Check resulting state and values
self.assertEqual(thisSwarmC.graph_edges, [{
"color": G.ORANGE,
"v1": 1,
"v2": 2
}, {
"color": G.BLUE,
"v1": 2,
"v2": None
}])
self.assertEqual(thisSwarmC.current_edge_color, G.BLUE)
self.assertEqual(thisSwarmC.current_state, G.MOVE_ONTO_LINE)
def test_get_line_pose(self):
thisSwarmC = sc.SwarmController()
# Set curr_state
thisSwarmC.qr_data = {"hasQR": False, "centroid": (0, 0), "value": 2}
#thisSwarmC.edge_data = [{'color': 'orange', 'pos_avgs': {'outer right': (None, None), 'outer top': (None, None), 'outer left': (None, None), 'inner left': (None, None), 'inner right': (None, None), 'inner top': (None, None), 'outer bottom': (1594, 4029), 'inner bottom': (1607, 3575)}}, {'color': 'blue', 'pos_avgs': {'outer right': (None, None), 'outer top': (None, None), 'outer left': (1, 2116), 'inner left': (343, 2111), 'inner right': (None, None), 'inner top': (None, None), 'outer bottom': (None, None), 'inner bottom': (None, None)}}]
thisSwarmC.edge_data = [{
'color': 'orange',
'pos_avgs': {
'outer right': (None, None),
'outer top': (1336, 1),
'outer left': (None, None),
'inner left': (None, None),
'inner right': (None, None),
'inner top': (1323, 455),
'outer bottom': (None, None),
'inner bottom': (None, None)
}
}, {
'color': 'blue',
'pos_avgs': {
'outer right': (3020, 3183),
'outer top': (None, None),
'outer left': (None, None),
'inner left': (None, None),
'inner right': (2680, 3190),
'inner top': (None, None),
'outer bottom': (None, None),
'inner bottom': (None, None)
}
}]
#thisSwarmC.edge_data = [{'color': 'blue', 'pos_avgs': {'outer right': (3020, 775), 'outer top': (None, None), 'outer left': (2, 3359), 'inner left': (342, 3077), 'inner right': (2680, 1075), 'inner top': (None, None), 'outer bottom': (None, None), 'inner bottom': (None, None)}}]
# thisSwarmC.edge_data = [{'color': 'blue', 'pos_avgs': {'outer right': (None, None), 'outer top': (671, 1), 'outer left': (None, None), 'inner left': (None, None), 'inner right': (None, None), 'inner top': (954, 342), 'outer bottom': (3255, 3020), 'inner bottom': (2955, 2680)}}]
thisSwarmC.graph_edges = [{
"color": G.ORANGE,
"v1": 1,
"v2": None
}, {
"color": G.PURPLE,
"v1": 1,
"v2": None
}]
thisSwarmC.current_edge_color = G.BLUE
thisSwarmC.current_state = G.FOLLOW_LINE
print("Blue Pose:", thisSwarmC.get_line_pose('blue'))
print("Orange Pose:", thisSwarmC.get_line_pose('orange'))
pass
def test_follow_line_qr_detected_1(self):
# Instantiate swarm controller
thisSwarmC = sc.SwarmController()
# Set curr_state
thisSwarmC.qr_data = {"hasQR": True, "centroid": (0, 0), "value": 2}
thisSwarmC.edge_data = [{
"color": G.ORANGE,
"angle": 90,
"centroid": (0, 0)
}]
thisSwarmC.graph_edges = [{"color": G.ORANGE, "v1": 1, "v2": None}]
thisSwarmC.current_edge_color = G.ORANGE
thisSwarmC.current_state = G.FOLLOW_LINE
# Determine next line
thisSwarmC.follow_line()
# Check resulting state and values
self.assertEqual(thisSwarmC.current_state, G.CENTER_QR)
def test_center_qr_centered_1(self):
# Instantiate swarm controller
thisSwarmC = sc.SwarmController()
# Set curr_state
thisSwarmC.qr_data = {
"hasQR": True,
"centroid": (320, 184),
"value": 1
}
thisSwarmC.edge_data = []
thisSwarmC.graph_edges = []
thisSwarmC.current_edge_color = None
thisSwarmC.current_state = G.CENTER_QR
# Determine next line
thisSwarmC.center_qr()
# Check resulting state and values
self.assertEqual(thisSwarmC.current_state, G.DETERMINE_NEXT_LINE)
def test_center_qr_uncentered_2(self):
# Instantiate swarm controller
thisSwarmC = sc.SwarmController()
# Set curr_state
thisSwarmC.qr_data = {
"hasQR": True,
"centroid": (100, 224),
"value": 1
}
thisSwarmC.edge_data = [{
"color": G.ORANGE,
"angle": 90,
"centroid": (0, 0)
}]
thisSwarmC.graph_edges = [{"color": G.ORANGE, "v1": 1, "v2": None}]
thisSwarmC.current_edge_color = None
thisSwarmC.current_state = G.CENTER_QR
# Determine next line
thisSwarmC.center_qr()
# Check resulting state and values
self.assertEqual(thisSwarmC.current_state, G.CENTER_QR)
def setUp(self):
self.swarm_controller = sc.SwarmController()