class TestVisionService(TestCase):
A_TARGET = 1200
ANOTHER_TARGET = 1300
def setUp(self) -> None:
self.embedded_camera = MagicMock()
self.letter_position_extractor = MagicMock()
self.vision_service = VisionService(
self.embedded_camera,
self.letter_position_extractor,
self.A_TARGET,
self.ANOTHER_TARGET,
)
def test_givenTarget_whenRotateCameraHorizontally_thenCameraIsRotated(
self):
self.vision_service.rotate_camera_horizontally(self.A_TARGET)
self.embedded_camera.rotate_horizontally.assert_called_with(
self.A_TARGET)
def test_givenTarget_whenRotateCameraVertically_thenCameraIsRotated(self):
self.vision_service.rotate_camera_vertically(self.A_TARGET)
self.embedded_camera.rotate_vertically.assert_called_with(
self.A_TARGET)
def test_whenMakeCameraLookDown_thenCameraRotatesVerticallyWithLookDownTarget(
self, ):
self.vision_service.make_camera_look_down()
self.embedded_camera.rotate_vertically.assert_called_with(
self.A_TARGET)
def test_whenMakeCameraLookUp_thenCameraRotatesVerticallyWithLookUpTarget(
self, ):
self.vision_service.make_camera_look_up()
self.embedded_camera.rotate_vertically.assert_called_with(
self.ANOTHER_TARGET)
def test_givenIndex_whenTakeImage_thenImageTaken(self):
self.vision_service.take_image()
self.embedded_camera.take_image.assert_called()
OHMMETER_ALIGNMENT_THRESHOLD = 10
movement_service = MovementService(movement_command_factory, motor_controller)
starting_zone_line_detector = OpenCvStartingZoneLineDetector()
ohmmeter_alignment_corrector = OhmmeterAlignmentCorrector(
Position(ALIGNED_OHMMETER_HORIZONTAL_POSITION, 0),
OHMMETER_ALIGNMENT_THRESHOLD,
starting_zone_line_detector,
)
while True:
instruction = input("ready? (y/n)")
if instruction == "y":
break
current_image = vision_service.take_image()
adjustment_movement_command = (
ohmmeter_alignment_corrector.calculate_horizontal_correction(current_image)
)
if adjustment_movement_command.get_direction() == Direction.STOP:
print("align")
else:
movement_service.execute_movement_command(adjustment_movement_command)
while adjustment_movement_command.get_direction() != Direction.STOP:
time.sleep(0.5)
current_image = vision_service.take_image()
horizontal_movement_command = (
ohmmeter_alignment_corrector.calculate_horizontal_correction(
current_image
)