def _update_base(self) -> None:
self._vision_service.update()
update_message = Message("update", light_on=self._display_service.is_light_on(),
image_data=self._vision_service.get_image(),
capacitor_charge=self._chargeable.get_charge(),
objective=self._vision_service.get_objective())
self._communication_service.send_message(update_message)
def update(self) -> None:
position = self._vision_service.get_robot()
robot_position = Position(position.coordinate.to_centimeters(),
position.orientation)
data = robot_position.serialize()
self._communication_service.send_message(
Message("position", position=data))
def execute_directional_movement(self, direction: str, speed: str,
distance: float,
callback: CommandCallback) -> None:
command = "directional_movement"
self._callback_commands[command] = callback
self._communication_service.send_message(
Message(command,
direction=direction,
speed=speed,
distance=distance))
def execute_look_ahead(self, callback: CommandCallback) -> None:
command = "look_ahead"
self._callback_commands[command] = callback
self._communication_service.send_message(Message(command))
def execute_championship(self, callback: CommandCallback) -> None:
command = "championship"
self._callback_commands[command] = callback
self._communication_service.send_message(Message(command))
def execute_update_directions(self, callback: CommandCallback) -> None:
command = "update_directions"
self._callback_commands[command] = callback
self._communication_service.send_message(Message(command))
def execute_discharge_magnet(self, callback: CommandCallback) -> None:
command = "discharge_magnet"
self._callback_commands[command] = callback
self._communication_service.send_message(Message(command))
def _lost_connection(self) -> None:
self._communication_service.send_message(Message("lost_connection"))
def setUp(self) -> None:
self.message = Message("test_message", variable1="variable1")
def execute_drop_subroutine(self, target: str,
callback: CommandCallback) -> None:
command = "drop_subroutine"
self._callback_commands[command] = callback
self._communication_service.send_message(
Message(command, target=target))
def get_position(self) -> AbsoluteCoordinate:
self._communication_service.send_message(Message("get_position"))
self._position_received.clear()
self._position_received.wait()
return self._position
def _pathable_goal(self, message: Message) -> None:
path = self._pathfinding_service.get_goal()
data = path.serialize()
self._communication_service.send_message(
Message("goal_pathable", table=data))
def _pathable_charge_station(self, message: Message) -> None:
path = self._pathfinding_service.get_charge_station()
data = path.serialize()
self._communication_service.send_message(
Message("charge_station_pathable", table=data))
def send_full_path(self, path: AbsolutePath) -> None:
data = path.serialize()
self._communication_service.send_message(
Message("full_path", path=data))
def request_home_pathable(self) -> None:
self._communication_service.send_message(
Message("request_home_pathable"))
def setUp(self) -> None:
self.robot_connector = Mock()
self.connection = Mock()
self.robot_connector.connect_robot.return_value = self.connection
self.test_message = Message("test_message", variable1="variable1")
def execute_switch_light_subroutine(self,
callback: CommandCallback) -> None:
command = "switch_light_subroutine"
self._callback_commands[command] = callback
self._communication_service.send_message(Message(command))
def _start_charging(self) -> None:
self._communication_service.send_message(Message("start_charging"))
def execute_rotational_movement(self, angle: float,
callback: CommandCallback) -> None:
command = "rotational_movement"
self._callback_commands[command] = callback
self._communication_service.send_message(Message(command, angle=angle))
def _charge_done(self) -> None:
self._communication_service.send_message(Message("charge_done"))
def _complete_command(self, command: str) -> None:
returned_message = Message("command_completed", command=command)
self._communication_service.send_message(returned_message)