def test_process_sound_command(self):
robot_sim = create_robot_sim()
frames_per_second = get_simulation_settings(
)['exec_settings']['frames_per_second']
frames = int(5 * frames_per_second)
message_processor = MessageProcessor(0, robot_sim)
message_processor.process_sound_command(
SoundCommand('A test is running at the moment!', 5, 'speak'))
for i in range(frames - 1):
soundJob = [
i[1] for i in robot_sim.next_actuator_jobs()
if i[0] == (0, 'speaker')
][0]
self.assertIsNotNone(soundJob)
message = [
i[1] for i in robot_sim.next_actuator_jobs()
if i[0] == (0, 'speaker')
][0]
self.assertEqual(message, 'A test is \nrunning at\n the momen\nt!')
jobs = robot_sim.next_actuator_jobs()
self.assertEqual((jobs[0][1], jobs[1][1], jobs[2][1], jobs[3][1]),
(None, None, None, None))
def test_create_jobs_coast_center(self):
coasting_sub = get_simulation_settings(
)['motor_settings']['degree_coasting_subtraction']
robot_sim = create_robot_sim()
message_processor = MessageProcessor(0, robot_sim)
message_processor.process_rotate_command(
RotateCommand('ev3-ports:outB', 80, 200, 'coast'))
for i in range(75):
jobs = robot_sim.next_actuator_jobs()
self.assertAlmostEqual(jobs[3][1], -2.667, 3)
self.assertIsNone(jobs[0][1])
self.assertIsNone(jobs[1][1])
self.assertIsNone(jobs[2][1])
ppf = 2.667 - coasting_sub
for i in range(2):
jobs = robot_sim.next_actuator_jobs()
self.assertAlmostEqual(jobs[3][1], -ppf, 3)
self.assertIsNone(jobs[0][1])
self.assertIsNone(jobs[1][1])
self.assertIsNone(jobs[2][1])
ppf = max(ppf - coasting_sub, 0)
jobs = robot_sim.next_actuator_jobs()
self.assertEqual((jobs[0][1], jobs[1][1], jobs[2][1], jobs[3][1]),
(None, None, None, None))
def test_create_jobs_coast_left(self):
coasting_sub = get_simulation_settings(
)['motor_settings']['distance_coasting_subtraction']
robot_sim = create_robot_sim()
message_processor = MessageProcessor(0, robot_sim)
message_processor.process_rotate_command(
RotateCommand('ev3-ports:outA', 80, 200, 'coast'))
frames_check = (200 / 80) * 30 # (1000/100) * 30 # distance * fps
distance_in_mm = 200 / 360 * wheel_circumference
dpf = distance_in_mm / frames_check
for i in range(75):
jobs = robot_sim.next_actuator_jobs()
self.assertAlmostEqual(jobs[1][1], dpf, 3)
self.assertIsNone(jobs[0][1])
self.assertIsNone(jobs[2][1])
self.assertIsNone(jobs[3][1])
ppf = dpf - coasting_sub
for i in range(2):
jobs = robot_sim.next_actuator_jobs()
self.assertAlmostEqual(jobs[1][1], ppf, 3)
self.assertIsNone(jobs[0][1])
self.assertIsNone(jobs[3][1])
self.assertIsNone(jobs[2][1])
ppf = max(ppf - coasting_sub, 0)
jobs = robot_sim.next_actuator_jobs()
self.assertEqual((jobs[0][1], jobs[1][1], jobs[2][1], jobs[3][1]),
(None, None, None, None))
def test_process_data_request(self):
robot_sim = create_robot_sim()
robot_sim.robot.values[(1, 'ev3-ports:in4')] = 10
robot_sim.locks[(1, 'ev3-ports:in4')] = threading.Lock()
message_processor = MessageProcessor(1, robot_sim)
value = message_processor.process_data_request(
DataRequest('ev3-ports:in4'))
self.assertEqual(value, 10)
def test_create_jobs_center(self):
robot_sim = create_robot_sim()
message_processor = MessageProcessor(0, robot_sim)
message_processor.process_rotate_command(
RotateCommand('ev3-ports:outB', 20, 100, 'hold'))
for i in range(150):
jobs = robot_sim.next_actuator_jobs()
self.assertAlmostEqual(jobs[3][1], -0.667, 3)
self.assertIsNone(jobs[0][1])
self.assertIsNone(jobs[1][1])
self.assertIsNone(jobs[2][1])
jobs = robot_sim.next_actuator_jobs()
self.assertEqual((jobs[0][1], jobs[1][1], jobs[2][1], jobs[3][1]),
(None, None, None, None))
def __init__(self, robot_sim: RobotSimulator, brick_id: int, brick_name: str):
threading.Thread.__init__(self)
self.message_handler = MessageHandler(MessageProcessor(brick_id, robot_sim))
self.client = None
self.brick_id = brick_id
self.is_running = True
self.is_connected = False
self.brick_name = brick_name
self.robot_sim = robot_sim
self.message_size = get_simulation_settings()['exec_settings']['message_size']
def test_create_jobs_right(self):
robot_sim = create_robot_sim()
message_processor = MessageProcessor(0, robot_sim)
message_processor.process_rotate_command(
RotateCommand('ev3-ports:outD', 10, 100, 'hold'))
frames_check = 10 * 30 # (1000/100) * 30 # distance * fps
distance_in_mm = 100 / 360 * wheel_circumference
dpf = distance_in_mm / frames_check
for i in range(frames_check):
jobs = robot_sim.next_actuator_jobs()
self.assertAlmostEqual(jobs[2][1], dpf, 3)
self.assertIsNone(jobs[0][1])
self.assertIsNone(jobs[1][1])
self.assertIsNone(jobs[3][1])
jobs = robot_sim.next_actuator_jobs()
self.assertEqual((jobs[0][1], jobs[1][1], jobs[2][1], jobs[3][1]),
(None, None, None, None))
def test_process_led_command(self):
robot_sim = create_robot_sim()
message_processor = MessageProcessor(0, robot_sim)
command1 = LedCommand('led0:red:brick-status', 1)
command2 = LedCommand('led0:green:brick-status', 1)
message_processor.process_led_command(command1)
message_processor.process_led_command(command2)
self.assertEqual(robot_sim.robot.led_colors[(0, 'led0')], 0)
self.assertEqual(robot_sim.robot.led_colors[(0, 'led1')], 1)
command3 = LedCommand('led1:red:brick-status', 1)
command4 = LedCommand('led1:green:brick-status', 0.5)
message_processor.process_led_command(command3)
message_processor.process_led_command(command4)
self.assertEqual(robot_sim.robot.led_colors[(0, 'led0')], 0)
self.assertEqual(robot_sim.robot.led_colors[(0, 'led1')], 4)