def test_given_start_of_position_correction_for_translation_change_translation_status_and_send_translation_vector_towards_current_target_node(
):
position = (40, 50)
robot_status = RobotStatus((30, 30), 90)
robot_status.target_position = (60, 65)
wheels_controller = SimulatedWheelsController()
servo_wheels_manager = ServoWheelsManager(None, None, ExecutionLogger())
servo_wheels_manager.translating_start_position_correction(
position, robot_status, wheels_controller)
vector_x, vector_y = robot_status.get_translation_vector()
assert int(vector_x) == 20
assert int(vector_y) == 15
assert servo_wheels_manager.translation_status == TranslationStatus.CORRECTING_POSITION
position = (50.1, 54.9)
robot_status = RobotStatus((45, 50), 90)
robot_status.target_position = (50, 55)
pathfinder = Pathfinder(ExecutionLogger())
pathfinder.robot_status = robot_status
pathfinder.nodes_queue_to_checkpoint.append((100, 150))
servo_wheels_manager = ServoWheelsManager(None, None, ExecutionLogger())
def test_given_at_checkpoint_when_finishing_translation_then_translation_status_is_updated_and_no_new_vector_is_generated(
):
position = (50.1, 54.9)
robot_status = RobotStatus((45, 50), 90)
robot_status.target_position = (50, 55)
pathfinder = Pathfinder(ExecutionLogger())
pathfinder.robot_status = robot_status
servo_wheels_manager = ServoWheelsManager(None, None, ExecutionLogger())
path_status, new_vector = servo_wheels_manager.finish_translation_and_get_new_path_status_and_vector(
position, pathfinder)
assert servo_wheels_manager.translation_status == TranslationStatus.MOVING
assert new_vector is None
assert path_status == PathStatus.CHECKPOINT_REACHED
def test_given_at_intermediary_node_when_finishing_translation_then_translation_status_is_updated_and_new_vector_towards_next_node_is_generated(
):
position = (50.1, 54.9)
robot_status = RobotStatus((45, 50), 90)
robot_status.target_position = (50, 55)
pathfinder = Pathfinder(ExecutionLogger())
pathfinder.robot_status = robot_status
pathfinder.nodes_queue_to_checkpoint.append((100, 150))
servo_wheels_manager = ServoWheelsManager(None, None, ExecutionLogger())
path_status, new_vector = servo_wheels_manager.finish_translation_and_get_new_path_status_and_vector(
position, pathfinder)
new_vector_x, new_vector_y = new_vector
assert servo_wheels_manager.translation_status == TranslationStatus.MOVING
assert round(new_vector_x, 1) == 49.9
assert round(new_vector_y, 1) == 95.1
assert path_status == PathStatus.INTERMEDIATE_NODE_REACHED
def test_generate_new_vector_returns_correct_vector():
pathfinder = Pathfinder(ExecutionLogger())
pathfinder.robot_status = RobotStatus((20, 20), 90)
pathfinder.robot_status.target_position = (20, 20)
real_robot_position = (30, 30)
assert (pathfinder.robot_status.
generate_new_translation_vector_towards_current_target(
real_robot_position) == (-10, -10))
def test_given_finishing_rotation_movement_then_rotation_status_is_reinitialized_and_new_robot_position_is_assigned(
):
position = (48, 37)
robot_status = RobotStatus((50, 50), 90)
servo_wheels_manager = ServoWheelsManager(None, None, ExecutionLogger())
servo_wheels_manager.finish_rotation_and_set_new_robot_position(
position, robot_status)
assert servo_wheels_manager.rotation_status == RotationStatus.ROTATING
assert robot_status.get_position() == position
def test_given_start_of_heading_correction_for_translation_change_translation_status_and_send_rotation_vector_towards_standard_heading(
):
heading = 80
robot_status = RobotStatus((20, 20), 80)
wheels_controller = SimulatedWheelsController()
servo_wheels_manager = ServoWheelsManager(None, None, ExecutionLogger())
servo_wheels_manager.translating_start_heading_correction(
heading, robot_status, wheels_controller)
assert int(wheels_controller.last_degrees_of_rotation_given) == 10
assert servo_wheels_manager.translation_status == TranslationStatus.CORRECTING_HEADING
def test_if_not_close_enough_to_next_node_carry_on_to_next_node_without_changing_anything(
):
pathfinder = Pathfinder(ExecutionLogger())
pathfinder.robot_status = RobotStatus((20, 20), 90)
pathfinder.robot_status.target_position = (30, 30)
pathfinder.nodes_queue_to_checkpoint.append((20, 40))
path_status, new_vector = pathfinder.get_vector_to_next_node((25, 25))
assert path_status == PathStatus.MOVING_TOWARDS_TARGET
assert new_vector is None
assert pathfinder.robot_status.target_position == (30, 30)
def test_given_start_heading_correction_for_rotation_then_rotation_status_is_updated_and_command_is_sent_to_wheels(
):
heading = 75
robot_status = RobotStatus((50, 50), 90)
robot_status.target_heading = 79
servo_wheels_manager = ServoWheelsManager(None, None, ExecutionLogger())
wheels_controller = SimulatedWheelsController()
servo_wheels_manager.rotating_start_heading_correction(
heading, robot_status, wheels_controller)
assert servo_wheels_manager.rotation_status == RotationStatus.CORRECTING_HEADING
assert int(wheels_controller.last_degrees_of_rotation_given) == 4
def test_if_close_enough_to_next_node_and_it_is_checkpoint_return_checkpoint_reached_status(
):
pathfinder = Pathfinder(ExecutionLogger())
pathfinder.robot_status = RobotStatus((20, 20), 90)
pathfinder.robot_status.target_position = (30, 30)
pathfinder.nodes_queue_to_checkpoint.clear()
path_status, new_vector = pathfinder.get_vector_to_next_node(
(29.91, 29.91))
assert path_status == PathStatus.CHECKPOINT_REACHED
assert new_vector is None
assert pathfinder.robot_status.target_position == (29.91, 29.91)
def test_if_close_enough_to_next_node_switch_to_new_vector_and_return_moving_to_checkpoint_status(
):
pathfinder = Pathfinder(ExecutionLogger())
pathfinder.robot_status = RobotStatus((20, 20), 90)
pathfinder.robot_status.target_position = (30, 30)
pathfinder.nodes_queue_to_checkpoint.append((20, 40))
path_status, new_vector = pathfinder.get_vector_to_next_node(
(29.91, 29.91))
assert path_status == PathStatus.INTERMEDIATE_NODE_REACHED
assert new_vector == (-9.91, 10.09)
assert pathfinder.robot_status.target_position == (20, 40)
def start_robot(arguments):
logger = ExecutionLogger()
command_handler = create_command_handler(
netifaces.ifaddresses('wlp4s0')[2][0]['addr'], arguments.ports,
ServerSelectorFactory)
onboard_vision = create_onboard_vision(arguments.camera_port,
arguments.approximation_ratio)
translation_lock = Lock()
rotation_lock = Lock()
interfacing_controller = create_interfacing_controller(
logger, translation_lock, rotation_lock)
movement_strategy = create_movement_strategy()
brain = Brain(command_handler, interfacing_controller, logger,
onboard_vision, movement_strategy, translation_lock,
rotation_lock)
brain.main()
""" Unit tests for servo wheel manager """
from design.interfacing.simulated_controllers import SimulatedWheelsController
from design.pathfinding.constants import TranslationStatus, RotationStatus
from design.pathfinding.pathfinder import Pathfinder, PathStatus
from design.pathfinding.robot_status import RobotStatus
from design.pathfinding.servo_wheels_manager import ServoWheelsManager
from design.utils.execution_logger import ExecutionLogger
heading = 80
robot_status = RobotStatus((20, 20), 80)
wheels_controller = SimulatedWheelsController()
servo_wheels_manager = ServoWheelsManager(None, None, ExecutionLogger())
def test_given_start_of_heading_correction_for_translation_change_translation_status_and_send_rotation_vector_towards_standard_heading(
):
heading = 80
robot_status = RobotStatus((20, 20), 80)
wheels_controller = SimulatedWheelsController()
servo_wheels_manager = ServoWheelsManager(None, None, ExecutionLogger())
servo_wheels_manager.translating_start_heading_correction(
heading, robot_status, wheels_controller)
assert int(wheels_controller.last_degrees_of_rotation_given) == 10
assert servo_wheels_manager.translation_status == TranslationStatus.CORRECTING_HEADING
def test_given_start_of_position_correction_for_translation_change_translation_status_and_send_translation_vector_towards_current_target_node(
):
position = (40, 50)