def test_modify_config_with_mqtt(
self, throttle_config_controller_mqtt: ThrottleConfigController,
mqtt_config: Client):
use_steering, min_speed, max_speed, safe_angle, dangerous_angle = throttle_config_controller_mqtt.run(
)
assert use_steering == False
assert min_speed == 0.1
assert max_speed == 1.0
assert safe_angle == 0.2
assert dangerous_angle == 0.8
mqtt_config.publish(topic='test/car/config/throttle/min', payload="0.4", qos=1) \
.wait_for_publish()
mqtt_config.publish(topic='test/car/config/throttle/max', payload="0.5", qos=1) \
.wait_for_publish()
mqtt_config.publish(topic='test/car/config/throttle/angle/safe', payload="0.3", qos=1) \
.wait_for_publish()
mqtt_config.publish(topic='test/car/config/throttle/angle/dangerous', payload="0.7", qos=1) \
.wait_for_publish()
mqtt_config.publish(topic='test/car/config/throttle/compute_from_steering', payload="true", qos=1) \
.wait_for_publish()
wait_all_mqtt_messages_consumed(
f'mqtt-subscription-{throttle_config_controller_mqtt._mqtt_client_id}'
f'qos{throttle_config_controller_mqtt.qos}')
use_steering, min_speed, max_speed, safe_angle, dangerous_angle = throttle_config_controller_mqtt.run(
)
assert use_steering == True
assert min_speed == 0.4
assert max_speed == 0.5
assert safe_angle == 0.3
assert dangerous_angle == 0.7
def test_modify_config_min_max_with_mqtt(
self, threshold_config_controller_mqtt: ThresholdConfigController,
mqtt_config: Client):
threshold_config_controller_mqtt.dynamic_enabled = False
t_min, t_max, t_dynamic_enabled, t_default, t_delta, horizon = threshold_config_controller_mqtt.run(
100)
assert t_min == 150
assert t_max == 200
wait_all_mqtt_messages_consumed(
f'mqtt-subscription-{threshold_config_controller_mqtt._mqtt_client_id}'
f'qos{threshold_config_controller_mqtt.qos}')
msg = mqtt_config.publish(topic='test/car/config/threshold/min',
payload="200",
qos=1)
msg.wait_for_publish()
msg = mqtt_config.publish(topic='test/car/config/threshold/max',
payload="220",
qos=1)
msg.wait_for_publish()
wait_all_mqtt_messages_consumed(
f'mqtt-subscription-{threshold_config_controller_mqtt._mqtt_client_id}'
f'qos{threshold_config_controller_mqtt.qos}')
t_min, t_max, t_dynamic_enabled, t_default, t_delta, horizon = threshold_config_controller_mqtt.run(
100)
assert t_min == 200
assert t_max == 220
def road_config_controller(
self, mqtt_address: Tuple[str,
int]) -> Iterator[RoadConfigController]:
host = mqtt_address[0]
port = mqtt_address[1]
wait_port_open(host=host, port=port)
road_config = RoadConfigController(
mqtt_enable=True,
enable=True,
horizon_hough_max_line_gap=10,
horizon_hough_min_line_length=1,
horizon_hough_threshold=100,
kernel_size=4,
morpho_iterations=3,
canny_threshold1=120,
canny_threshold2=250,
approx_poly_epsilon_factor=0.01,
mqtt_topic='test/car/config/road/#',
mqtt_hostname=host,
mqtt_port=port,
mqtt_client_id='donkey-config-road-',
mqtt_qos=1)
wait_all_mqtt_messages_consumed(
f'mqtt-subscription-{road_config._mqtt_client_id}'
f'qos{road_config.qos}')
yield road_config
road_config.shutdown()
def fixture_angle_config_controller_mqtt(
self, mqtt_address: (str, int)) -> AngleConfigController:
angle_config = AngleConfigController(
out_zone_percent=10,
central_zone_percent=20,
mqtt_enable=True,
mqtt_topic='test/car/config/angle/#',
mqtt_hostname=mqtt_address[0],
mqtt_port=mqtt_address[1],
mqtt_client_id='donkey-config-angle-',
mqtt_qos=1)
wait_all_mqtt_messages_consumed(
f'mqtt-subscription-{angle_config._mqtt_client_id}'
f'qos{angle_config.qos}')
yield angle_config
angle_config.shutdown()
def test_run(self, threshold_value_config: ThresholdValueEstimatorConfig,
mqtt_config: Client):
centroid_value = threshold_value_config.run()
assert centroid_value == 120
wait_all_mqtt_messages_consumed(
f'mqtt-subscription-{threshold_value_config._mqtt_client_id}'
f'qos{threshold_value_config.qos}')
mqtt_config.publish(
topic='test/car/config/threshold_value_estimator/centroid_value',
payload="220",
qos=1).wait_for_publish()
wait_all_mqtt_messages_consumed(
f'mqtt-subscription-{threshold_value_config._mqtt_client_id}'
f'qos{threshold_value_config.qos}')
centroid_value = threshold_value_config.run()
assert centroid_value == 220
def fixture_throttle_config_controller_mqtt(self, mqtt_address):
throttle_config = ThrottleConfigController(
min_speed=0.1,
max_speed=1,
safe_angle=0.2,
dangerous_angle=0.8,
use_steering=False,
mqtt_enable=True,
mqtt_hostname=mqtt_address[0],
mqtt_port=mqtt_address[1],
mqtt_qos=1,
mqtt_client_id='donkey-config-throttle-',
mqtt_topic='test/car/config/throttle/#')
wait_all_mqtt_messages_consumed(
f'mqtt-subscription-{throttle_config._mqtt_client_id}'
f'qos{throttle_config.qos}')
yield throttle_config
throttle_config.shutdown()
def test_modify_config_dynamic_with_mqtt(
self, threshold_config_controller_mqtt: ThresholdConfigController,
mqtt_config: Client):
threshold_config_controller_mqtt.dynamic_enabled = False
t_min, t_max, t_dynamic_enabled, t_default, t_delta, horizon = threshold_config_controller_mqtt.run(
100)
assert t_min == 150
assert t_max == 200
assert t_dynamic_enabled == False
assert t_default == 160
assert t_delta == 20
assert horizon == 0.0
wait_all_mqtt_messages_consumed(
f'mqtt-subscription-{threshold_config_controller_mqtt._mqtt_client_id}'
f'qos{threshold_config_controller_mqtt.qos}')
mqtt_config.publish(topic='test/car/config/threshold/default',
payload="200",
qos=1).wait_for_publish()
mqtt_config.publish(topic='test/car/config/threshold/delta',
payload="5",
qos=1).wait_for_publish()
mqtt_config.publish(topic='test/car/config/threshold/dynamic_enabled',
payload="true",
qos=1).wait_for_publish()
mqtt_config.publish(topic='test/car/config/threshold/horizon',
payload="0.5",
qos=1).wait_for_publish()
wait_all_mqtt_messages_consumed(
f'mqtt-subscription-{threshold_config_controller_mqtt._mqtt_client_id}'
f'qos{threshold_config_controller_mqtt.qos}')
t_min, t_max, t_dynamic_enabled, t_default, t_delta, horizon = threshold_config_controller_mqtt.run(
100)
assert t_min == 95
assert t_max == 105
assert t_dynamic_enabled == True
assert t_default == 100
assert t_delta == 5
assert horizon == 0.5
def test_config(self, config_contours: ContoursConfigController,
mqtt_config: Client):
poly_dp_min, poly_dp_max, arc_length_min, arc_length_max = config_contours.run(
)
assert arc_length_min == 10
assert arc_length_max == 100000
assert poly_dp_min == 4
assert poly_dp_max == 100
wait_all_mqtt_messages_consumed(
f'mqtt-subscription-{config_contours._mqtt_client_id}'
f'qos{config_contours.qos}')
mqtt_config.publish(topic='test/car/config/contours/arc_length_min',
payload="1",
qos=1).wait_for_publish()
mqtt_config.publish(topic='test/car/config/contours/arc_length_max',
payload="10",
qos=1).wait_for_publish()
mqtt_config.publish(topic='test/car/config/contours/poly_dp_min',
payload="5",
qos=1).wait_for_publish()
mqtt_config.publish(topic='test/car/config/contours/poly_dp_max',
payload="20",
qos=1).wait_for_publish()
wait_all_mqtt_messages_consumed(
f'mqtt-subscription-{config_contours._mqtt_client_id}'
f'qos{config_contours.qos}')
poly_dp_min, poly_dp_max, arc_length_min, arc_length_max = config_contours.run(
)
assert arc_length_min == 1
assert arc_length_max == 10
assert poly_dp_min == 5
assert poly_dp_max == 20
def test_values(self, angle_config_controller: AngleConfigController,
mqtt_config: Client):
number_centroids_to_use, out_zone_percent, central_zone_percent = angle_config_controller.run(
)
assert number_centroids_to_use == 1
assert out_zone_percent == 10
assert central_zone_percent == 20
mqtt_config.publish(topic='test/car/config/angle/number_centroids_to_use', payload="5", qos=1) \
.wait_for_publish()
mqtt_config.publish(topic='test/car/config/angle/out_zone_percent', payload="50", qos=1) \
.wait_for_publish()
mqtt_config.publish(topic='test/car/config/angle/central_zone_percent', payload="60", qos=1) \
.wait_for_publish()
wait_all_mqtt_messages_consumed(
f'mqtt-subscription-{angle_config_controller._mqtt_client_id}'
f'qos{angle_config_controller.qos}')
number_centroids_to_use, out_zone_percent, central_zone_percent = angle_config_controller.run(
)
assert number_centroids_to_use == 5
assert out_zone_percent == 50
assert central_zone_percent == 60
def test_values(self, config: RoadConfigController, mqtt_config: Client):
enable, horizon_hough_min_line_length, horizon_hough_max_line_gap, horizon_hough_threshold, kernel_size, \
morpho_iterations, canny_threshold1, canny_threshold2, approx_poly_epsilon_factor = config.run()
assert enable == True
assert horizon_hough_min_line_length == 1
assert horizon_hough_max_line_gap == 10
assert horizon_hough_threshold == 100
assert kernel_size == 4
assert morpho_iterations == 3
assert canny_threshold1 == 120
assert canny_threshold2 == 250
assert approx_poly_epsilon_factor == 0.01
mqtt_config.publish(
topic=f'test/car/config/{CFG_ROAD_ENABLE.replace("cfg/", "")}',
payload="false",
qos=1).wait_for_publish()
mqtt_config.publish(
topic=
f'test/car/config/{CFG_ROAD_HORIZON_HOUGH_MIN_LINE_LENGTH.replace("cfg/", "")}',
payload="10",
qos=1).wait_for_publish()
mqtt_config.publish(
topic=
f'test/car/config/{CFG_ROAD_HORIZON_HOUGH_MAX_LINE_GAP.replace("cfg/", "")}',
payload="5",
qos=1).wait_for_publish()
mqtt_config.publish(
topic=
f'test/car/config/{CFG_ROAD_HORIZON_HOUGH_THRESHOLD.replace("cfg/", "")}',
payload="20",
qos=1).wait_for_publish()
mqtt_config.publish(
topic=
f'test/car/config/{CFG_ROAD_CONTOUR_KERNEL_SIZE.replace("cfg/", "")}',
payload="30",
qos=1).wait_for_publish()
mqtt_config.publish(
topic=
f'test/car/config/{CFG_ROAD_CONTOUR_MORPHO_ITERATIONS.replace("cfg/", "")}',
payload="40",
qos=1).wait_for_publish()
mqtt_config.publish(
topic=
f'test/car/config/{CFG_ROAD_CONTOUR_CANNY_THRESHOLD1.replace("cfg/", "")}',
payload="50",
qos=1).wait_for_publish()
mqtt_config.publish(
topic=
f'test/car/config/{CFG_ROAD_CONTOUR_CANNY_THRESHOLD2.replace("cfg/", "")}',
payload="60",
qos=1).wait_for_publish()
mqtt_config.publish(
topic=
f'test/car/config/{CFG_ROAD_CONTOUR_APPROX_POLY_EPSILON_FACTOR.replace("cfg/", "")}',
payload="70.5",
qos=1).wait_for_publish()
wait_all_mqtt_messages_consumed(
f'mqtt-subscription-{config._mqtt_client_id}'
f'qos{config.qos}')
enable, horizon_hough_min_line_length, horizon_hough_max_line_gap, horizon_hough_threshold, kernel_size, \
morpho_iterations, canny_threshold1, canny_threshold2, approx_poly_epsilon_factor = config.run()
assert enable == False
assert horizon_hough_min_line_length == 10
assert horizon_hough_max_line_gap == 5
assert horizon_hough_threshold == 20
assert kernel_size == 30
assert morpho_iterations == 40
assert canny_threshold1 == 50
assert canny_threshold2 == 60
assert approx_poly_epsilon_factor == 70.5