def log_bumper_pressions(request, dcm, mem, system, wait_time_bumpers):
"""
If one or more bumpers are pressed,
it saves wheels' speeds [rad/s]
"""
wheel_fr_speed_sensor = subdevice.WheelSpeedSensor(dcm, mem, "WheelFR")
wheel_fl_speed_sensor = subdevice.WheelSpeedSensor(dcm, mem, "WheelFL")
wheel_b_speed_sensor = subdevice.WheelSpeedSensor(dcm, mem, "WheelB")
bumper_right = subdevice.Bumper(dcm, mem, "FrontRight")
bumper_left = subdevice.Bumper(dcm, mem, "FrontLeft")
bumper_back = subdevice.Bumper(dcm, mem, "Back")
list_bumpers = [bumper_right, bumper_left, bumper_back]
file_extension = "csv"
robot_name = system.robotName()
date = datetime.datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
log_type = "wheels_speeds_when_bumper_pressions"
file_name = "-".join([robot_name, date, log_type])
output = ".".join([file_name, file_extension])
data = open(output, 'w')
data.write("Bumper FR" + "," + "Bumper FL" + "," + "Bumper B" + "," +
"wheel FR speed [rad/s]" + "," + "wheel FL speed [rad/s]" +
"," + "Wheel B speed [rad/s]" + "\n")
data.flush()
threading_flag = threading.Event()
def log(threading_flag):
while not threading_flag.is_set():
line = ""
flag = 0
speed_fr = wheel_fr_speed_sensor.value
speed_fl = wheel_fl_speed_sensor.value
speed_b = wheel_b_speed_sensor.value
for bumper in list_bumpers:
if bumper.value == 1:
flag += 1
line += str(1) + ","
else:
line += str(0) + ","
if flag > 0:
line += str(speed_fr) + "," + \
str(speed_fl) + "," + \
str(speed_b) + "\n"
data.write(line)
data.flush()
tools.wait(dcm, wait_time_bumpers)
log_thread = threading.Thread(target=log, args=(threading_flag, ))
log_thread.start()
def fin():
threading_flag.set()
request.addfinalizer(fin)
def test_reliability_003(dcm, mem, motion, motion_wake_up, parameters,
direction):
"""
Test : bumper detects step.
Return True if bumper detects obstacles and robot stops
Return False if bumper detects obstacle but robot moves again
@dcm : proxy to DCM (object)
@mem : proxy to ALMemory (object)
@motion : proxy to ALMotion (object)
@motion_wake_up : robot does it wakeUp
@parameters : dictionnary {"parameter":value} from config file
(dictionnary)
@directions : dictionnary {"direction":value} (dictionnary)
"""
# Objects creation
right_bumper = subdevice.Bumper(dcm, mem, "FrontRight")
left_bumper = subdevice.Bumper(dcm, mem, "FrontLeft")
back_bumper = subdevice.Bumper(dcm, mem, "Back")
wheelfr_speed_act = subdevice.WheelSpeedActuator(dcm, mem, "WheelFR")
wheelfl_speed_act = subdevice.WheelSpeedActuator(dcm, mem, "WheelFL")
log = Log(dcm, mem, direction + "-" + parameters["Speed"][0])
log.start()
print "Go move"
move(
motion, float(parameters["Speed"][0]),
qha_tools.read_section("reliability_003.cfg", "Direction" + direction))
print "Move finish"
flag = 0
while flag < int(parameters["Nbcycles"][0]):
if right_bumper.value or left_bumper.value or back_bumper.value:
print "Bumper"
time.sleep(3) # Time to wait wheel actuators reaction...
if wheelfr_speed_act.value == 0 and wheelfl_speed_act.value == 0:
print "Stop OK"
flag += 1
time.sleep(5) # Robot forget mapping
moveto(
motion, float(parameters["MoveBackDistance"][0]),
qha_tools.read_section("reliability_003.cfg",
"Direction" + direction))
print "Move back OK"
time.sleep(2)
move(
motion, float(parameters["Speed"][0]),
qha_tools.read_section("reliability_003.cfg",
"Direction" + direction))
print "Move"
else:
print flag
break
log.stop()
assert flag == int(parameters["Nbcycles"][0])
def run(self):
bumper_right = subdevice.Bumper(self.dcm, self.mem, "FrontRight")
bumper_left = subdevice.Bumper(self.dcm, self.mem, "FrontLeft")
bumper_back = subdevice.Bumper(self.dcm, self.mem, "Back")
list_bumpers = [bumper_right, bumper_left, bumper_back]
parameters = tools.read_section("config.cfg",
"BumpersActivationsParameters")
# If file already exists, reading to know the previous state
if os.path.exists(parameters["Log_file_name"][0]):
data = open(parameters["Log_file_name"][0], 'r')
csv_reader = csv.reader(data)
variables_list = []
row_num = 0
for row in csv_reader:
data_num = 0
if row_num == 0:
for value in row:
variables_list.append([value])
else:
for value in row:
variables_list[data_num].append(value)
data_num += 1
row_num += 1
self._bumpers_activations = int(variables_list[0][row_num - 1])
previous_time = float(variables_list[1][row_num - 1])
data.close()
data = open(parameters["Log_file_name"][0], 'a')
# Else initialize to 0
else:
self._bumpers_activations = 0
previous_time = 0.
data = open(parameters["Log_file_name"][0], 'w')
data.write("Bumpers activations,Time\n0,0\n")
data.flush()
time_init = time.time()
# Loop
while not self._stop.is_set():
for bumper in list_bumpers:
if bumper.value == 1:
self._bumpers_activations += 1
data.write(str(self._bumpers_activations) + "," + \
str(time.time() - time_init + previous_time) + "\n")
print("nb of bumpers activations: " +
str(self._bumpers_activations) + "\n")
data.flush()
tools.wait(self.dcm, 2 * self.wait_time_bumpers)
def __init__(self, dcm, mem, file_name):
"""
@dcm : proxy to DCM (object)
@mem : proxy to ALMemory (object)
@file_name : name of log file (string)
"""
threading.Thread.__init__(self)
self._mem = mem
self._file_name = file_name
self._wheelb_speed_act = subdevice.WheelSpeedActuator(
dcm, mem, "WheelB")
self._wheelfr_speed_act = subdevice.WheelSpeedActuator(
dcm, mem, "WheelFR")
self._wheelfl_speed_act = subdevice.WheelSpeedActuator(
dcm, mem, "WheelFL")
self._rightbumper = subdevice.Bumper(dcm, mem, "FrontRight")
self._leftbumper = subdevice.Bumper(dcm, mem, "FrontLeft")
self._end = False
def __init__(self, dcm, mem):
"""
Initialisation de la class
"""
self.dcm = dcm
self.mem = mem
self.parameters = qha_tools.read_section("test_config.cfg",
"DockCyclingParameters")
self.wheel_motion = subdevice.WheelsMotion(
self.dcm, self.mem, float(self.parameters["speed"][0]))
self.robot_on_charging_station = subdevice.ChargingStationSensor(
self.dcm, self.mem)
self.back_bumper_sensor = subdevice.Bumper(dcm, mem, "Back")
self.nb_cycles = self.parameters["nb_cycles"][0]
self.log_file = open(self.parameters["cycling_cvs_name"][0], 'w')
self.check_temperature_thread = threading.Thread(
target=self._check_temperature_thread, args=())
self.check_bumper_thread = threading.Thread(
target=self._check_bumper_thread, args=())
self.check_bumper = True
self.check_bumper_pause = True
self.check_temperature = None
self.wheel_hot = None
self.bumper_state = None
def test_move_random(dcm, mem, leds, expressiveness, wait_time,
wait_time_bumpers, min_fraction, max_fraction, max_random,
stop_robot, wake_up_pos_brakes_closed, stiff_robot_wheels,
unstiff_joints, log_wheels_speed, log_bumper_pressions):
#---------------------------------------------------------#
#-------------------- Object creations -------------------#
#---------------------------------------------------------#
#------------------------- Wheels ------------------------#
list_wheel_speed_actuator = [
subdevice.WheelSpeedActuator(dcm, mem, "WheelFR"),
subdevice.WheelSpeedActuator(dcm, mem, "WheelFL"),
subdevice.WheelSpeedActuator(dcm, mem, "WheelB")
]
list_wheel_speed_sensor = [
subdevice.WheelSpeedSensor(dcm, mem, "WheelFR"),
subdevice.WheelSpeedSensor(dcm, mem, "WheelFL"),
subdevice.WheelSpeedSensor(dcm, mem, "WheelB")
]
list_wheel_stiffness_actuator = [
subdevice.WheelStiffnessActuator(dcm, mem, "WheelFR"),
subdevice.WheelStiffnessActuator(dcm, mem, "WheelFL"),
subdevice.WheelStiffnessActuator(dcm, mem, "WheelB")
]
list_wheel_temperature = [
subdevice.WheelTemperatureSensor(dcm, mem, "WheelFR"),
subdevice.WheelTemperatureSensor(dcm, mem, "WheelFL"),
subdevice.WheelTemperatureSensor(dcm, mem, "WheelB")
]
#------------------------- Bumpers -----------------------#
list_bumper = [
subdevice.Bumper(dcm, mem, "FrontRight"),
subdevice.Bumper(dcm, mem, "FrontLeft"),
subdevice.Bumper(dcm, mem, "Back")
]
#-------------------------- Leds --------------------------#
# Disable notifications (from disconnected tablet)
expressiveness._setNotificationEnabled(False)
# Switch off eyes and ears leds
leds.off('FaceLeds')
leds.off('EarLeds')
# Switch on shoulder leds
leds.createGroup("shoulder_group", SHOULDER_LEDS)
leds.on("shoulder_group")
# Bumpers activation detection
parameters_bumpers = tools.read_section("config.cfg",
"BumpersActivationsParameters")
# Launch bumper counter (thread)
bumper_detection = mobile_base_utils.BumpersCounting(
dcm, mem, leds, wait_time_bumpers)
bumper_detection.start()
#---------------------------------------------------------#
#--------------------- Initialization --------------------#
#---------------------------------------------------------#
flag_bumpers = False
list_commands = move_robot_random(dcm, mem, wait_time, min_fraction,
max_fraction, max_random)
tools.wait(dcm, 2000)
#---------------------------------------------------------#
#----------------------- Main Loop -----------------------#
#---------------------------------------------------------#
while flag_bumpers == False:
try:
#-------------------- Wall event -------------------#
if (list_bumper[0].value == 1) or \
(list_bumper[1].value == 1) or \
(list_bumper[2].value == 1):
# Robot hit wall --> Stop it
list_wheel_speed_actuator[0].qvalue = (0.0, 0)
list_wheel_speed_actuator[1].qvalue = (0.0, 0)
list_wheel_speed_actuator[2].qvalue = (0.0, 0)
# Going back
list_wheel_speed_actuator[0].qvalue = [
(-1) * list_commands[0][0][0], wait_time
]
list_wheel_speed_actuator[1].qvalue = [
(-1) * list_commands[1][0][0], wait_time
]
list_wheel_speed_actuator[2].qvalue = [
(-1) * list_commands[2][0][0], wait_time
]
tools.wait(dcm, 4000)
# random again
list_commands = move_robot_random(dcm, mem, wait_time,
min_fraction, max_fraction,
max_random)
#tools.wait(dcm, 2000)
#--------------------- Check temperatures --------------------#
check_wheel_temperatures(dcm, leds, list_wheel_temperature,
list_wheel_speed_actuator,
list_wheel_stiffness_actuator)
#-------------------- Check test variables -------------------#
if bumper_detection.bumpers_activations == \
int(parameters_bumpers["nb_bumper_activations"][0]):
bumper_detection.stop()
flag_bumpers = True
# Exit test if user interrupt
except KeyboardInterrupt:
print "\n******* User interrupt - ending test *******"
bumper_detection.stop()
break
def test_damage(dcm, mem, kill_motion):
"""
Test robot docking/undocking to check damages
"""
time.sleep(10)
# Test parameters
parameters = qha_tools.read_section("test_pod.cfg",
"DockCyclingParameters")
# Objects creation
motion = subdevice.WheelsMotion(dcm, mem, float(parameters["speed"][0]))
robot_on_charging_station = subdevice.ChargingStationSensor(dcm, mem)
wheelfr_temperature_sensor = subdevice.WheelTemperatureSensor(
dcm, mem, "WheelFR")
wheelfl_temperature_sensor = subdevice.WheelTemperatureSensor(
dcm, mem, "WheelFL")
back_bumper_sensor = subdevice.Bumper(dcm, mem, "Back")
# Internal flags
cycles_done = 0
cycles_with_bumper_ok = 0
list_bumper_nok = []
unlock_bumper_status = 0
bumper_blocked_flag = False
detection = 1
loose_connexion_flag = 0
stop_cycling_flag = False
# Flag initialization
flag_detection = True
flag_bumper = True
flag_keep_connexion = True
timer = qha_tools.Timer(dcm, 10)
log_file = open(parameters["cycling_cvs_name"][0], 'w')
log_file.write(
"CyclesDone,CyclesDoneWithBumperOk," +
"Detection,LooseConnection,UnlockBumperStatus,LockBumperStatus\n")
plot_log = Plot(dcm, mem, parameters["easy_plot_csv_name"][0])
plot_log.start()
# Cyclage
# If the robot is not on the pod or bumper not activated, test don't start
if robot_on_charging_station.value == 0:
print "Put the robot on the pod\n"
stop_cycling_flag = True
flag_detection = False
flag_bumper = False
flag_keep_connexion = False
while stop_cycling_flag == False:
# Robot moves front
cycles_done += 1
motion.move_x(float(parameters["distance_front"][0]))
qha_tools.wait(dcm, int(parameters["time_wait_out_the_pod"][0]) * 1000)
unlock_bumper_status = back_bumper_sensor.value
# Verification of bumper
if back_bumper_sensor.value == 1:
bumper_blocked_flag = True
else:
bumper_blocked_flag = False
# Robot moves back
motion.move_x(float(parameters["distance_back"][0]))
motion.stiff_wheels(["WheelFR", "WheelFL", "WheelB"],
float(parameters["stiffness_wheels_value"][0]))
qha_tools.wait(
dcm,
float(parameters["time_wait_before_verify_detection"][0]) * 1000)
# Verification of connexion
t_init = timer.dcm_time()
test_time = 0
while robot_on_charging_station.value == 1 and\
test_time < int(parameters["time_wait_on_the_pod"][0]) * 1000:
detection = 1
loose_connexion_flag = 0
test_time = timer.dcm_time() - t_init
# If no detection
if test_time == 0:
detection = 0
# If connexion is lost
elif test_time < int(parameters["time_wait_on_the_pod"][0]) * 1000:
loose_connexion_flag = 1
flag_keep_connexion = False
# Verification of bumper
if back_bumper_sensor.value == 1 and bumper_blocked_flag == False:
cycles_with_bumper_ok += 1
else:
list_bumper_nok.append(cycles_done)
# Log data
line_to_write = ",".join([
str(cycles_done),
str(cycles_with_bumper_ok),
str(detection),
str(loose_connexion_flag),
str(unlock_bumper_status),
str(back_bumper_sensor.value)
])
line_to_write += "\n"
log_file.write(line_to_write)
log_file.flush()
# Wait if temperature of wheels too hot
while wheelfr_temperature_sensor.value > \
int(parameters["wheels_temperature_limit"][0]) or\
wheelfl_temperature_sensor.value > \
int(parameters["wheels_temperature_limit"][0]):
qha_tools.wait(dcm, int(parameters["time_wait_wheels cooled"][0]))
# End if nb_cycles is reached
if cycles_done == int(parameters["nb_cycles"][0]):
stop_cycling_flag = True
if len(list_bumper_nok) > cycles_done / 100:
flag_bumper = False
log_file.close()
plot_log.stop()
print("Cycles done = " + str(cycles_done))
print("Cycles done with bumper ok = " + str(cycles_with_bumper_ok))
assert flag_detection
assert flag_bumper
assert flag_keep_connexion
def run(self):
""" Log """
robot_on_charging_station = subdevice.ChargingStationSensor(
self.dcm, self.mem)
battery_current = subdevice.BatteryCurrentSensor(self.dcm, self.mem)
back_bumper_sensor = subdevice.Bumper(self.dcm, self.mem, "Back")
wheelfr_speed_actuator = subdevice.WheelSpeedActuator(
self.dcm, self.mem, "WheelFR")
wheelfl_speed_actuator = subdevice.WheelSpeedActuator(
self.dcm, self.mem, "WheelFL")
wheelfr_speed_sensor = subdevice.WheelSpeedSensor(
self.dcm, self.mem, "WheelFR")
wheelfl_speed_sensor = subdevice.WheelSpeedSensor(
self.dcm, self.mem, "WheelFL")
wheelfr_current_sensor = subdevice.WheelCurrentSensor(
self.dcm, self.mem, "WheelFR")
wheelfl_current_sensor = subdevice.WheelCurrentSensor(
self.dcm, self.mem, "WheelFL")
log_file = open(self.file_name, 'w')
log_file.write(
"Time,Detection,Current,BackBumper,WheelFRSpeedActuator," +
"WheelFRSpeedSensor,WheelFRCurrent,WheelFLSpeedActuator," +
"WheelFLSpeedSensor,WheelFLCurrent\n")
plot_server = easy_plot_connection.Server()
time_init = time.time()
while not self._end_plot:
elapsed_time = time.time() - time_init
plot_server.add_point("Detection", elapsed_time,
robot_on_charging_station.value)
plot_server.add_point("Current", elapsed_time,
battery_current.value)
plot_server.add_point("BackBumper", elapsed_time,
back_bumper_sensor.value)
plot_server.add_point("WheelFRSpeedActuator", elapsed_time,
wheelfr_speed_actuator.value)
plot_server.add_point("WheelFRSpeedSensor", elapsed_time,
wheelfr_speed_sensor.value)
line_to_write = ",".join([
str(elapsed_time),
str(robot_on_charging_station.value),
str(battery_current.value),
str(back_bumper_sensor.value),
str(wheelfr_speed_actuator.value),
str(wheelfr_speed_sensor.value),
str(wheelfr_current_sensor.value),
str(wheelfl_speed_actuator.value),
str(wheelfl_speed_sensor.value),
str(wheelfl_current_sensor.value)
])
line_to_write += "\n"
log_file.write(line_to_write)
log_file.flush()
time.sleep(0.1)
def test_move_random(motion, dcm, mem, leds, expressiveness, wait_time,
wait_time_bumpers, min_fraction, max_fraction, max_random,
stop_robot, wakeup_no_rotation, stiff_robot_wheels,
unstiff_joints, log_wheels_speed, log_bumper_pressions):
#---------------------------------------------------------#
#-------------------- Object creations -------------------#
#---------------------------------------------------------#
#------------------------- Wheels ------------------------#
list_wheel_speed_actuator = [
subdevice.WheelSpeedActuator(dcm, mem, "WheelFR"),
subdevice.WheelSpeedActuator(dcm, mem, "WheelFL"),
subdevice.WheelSpeedActuator(dcm, mem, "WheelB")
]
list_wheel_speed_sensor = [
subdevice.WheelSpeedSensor(dcm, mem, "WheelFR"),
subdevice.WheelSpeedSensor(dcm, mem, "WheelFL"),
subdevice.WheelSpeedSensor(dcm, mem, "WheelB")
]
list_wheel_stiffness_actuator = [
subdevice.WheelStiffnessActuator(dcm, mem, "WheelFR"),
subdevice.WheelStiffnessActuator(dcm, mem, "WheelFL"),
subdevice.WheelStiffnessActuator(dcm, mem, "WheelB")
]
list_wheel_temperature = [
subdevice.WheelTemperatureSensor(dcm, mem, "WheelFR"),
subdevice.WheelTemperatureSensor(dcm, mem, "WheelFL"),
subdevice.WheelTemperatureSensor(dcm, mem, "WheelB")
]
#------------------------- Bumpers -----------------------#
list_bumper = [
subdevice.Bumper(dcm, mem, "FrontRight"),
subdevice.Bumper(dcm, mem, "FrontLeft"),
subdevice.Bumper(dcm, mem, "Back")
]
#-------------------------- Leds --------------------------#
# Disable notifications (from disconnected tablet)
expressiveness._setNotificationEnabled(False)
motion.setExternalCollisionProtectionEnabled('All', False)
# Switch off eyes and ears leds
leds.off('FaceLeds')
leds.off('EarLeds')
# Switch on shoulder leds
leds.createGroup("shoulder_group", SHOULDER_LEDS)
leds.on("shoulder_group")
#----------------------------------------------------------#
#--------------------- Test selection ---------------------#
#----------------------------------------------------------#
# Cables crossing detection
parameters_cables = tools.read_section("config.cfg",
"CablesRoutingParameters")
# Bumpers activation detection
parameters_bumpers = tools.read_section("config.cfg",
"BumpersActivationsParameters")
# Get the desired type of test
flag_test = tools.read_section("config.cfg", "TestChoice")
# Launch bumper counter (thread)
if int(flag_test["test_bumpers"][0]) == 1:
bumper_detection = mobile_base_utils.BumpersCounting(
dcm, mem, leds, wait_time_bumpers)
bumper_detection.start()
# Launch cable counter (thread)
if int(flag_test["test_cables_crossing"][0]) == 1:
cable_detection = mobile_base_utils.CablesCrossing(dcm, mem)
cable_detection.start()
#---------------------------------------------------------#
#--------------------- Initialization --------------------#
#---------------------------------------------------------#
flag_bumpers = False
flag_cables = False
list_wheels_to_use = [1, 1, 0]
#tools.wait(dcm, 30000)
used_wheels = move_robot(dcm, mem, wait_time, list_wheels_to_use)
tools.wait(dcm, 2000)
acc_z = subdevice.InertialSensorBase(dcm, mem, "AccelerometerZ")
#---------------------------------------------------------#
#----------------------- Main Loop -----------------------#
#---------------------------------------------------------#
while flag_bumpers == False and flag_cables == False:
try:
#-------------------- Wall event -------------------#
if (math.fabs(list_wheel_speed_sensor[0].value) < 0.10) and \
(math.fabs(list_wheel_speed_sensor[1].value) < 0.10) and \
(math.fabs(list_wheel_speed_sensor[2].value) < 0.10):
# Robot hit wall --> Stop it
list_wheel_speed_actuator[0].qvalue = (0.0, 0)
list_wheel_speed_actuator[1].qvalue = (0.0, 0)
list_wheel_speed_actuator[2].qvalue = (0.0, 0)
# stop_robot(list_wheel_speed_actuator)
# check temperatures
check_wheel_temperatures(dcm, leds, list_wheel_temperature,
list_wheel_speed_actuator,
list_wheel_stiffness_actuator)
alea = int(random.uniform(0, 10))
if used_wheels[0] == 'fr' and used_wheels[1] == 'fl':
wheel_stiffed_1 = list_wheel_stiffness_actuator[0]
wheel_stiffed_2 = list_wheel_stiffness_actuator[1]
list_wheel_stiffness_actuator[2].qvalue = (1.0, 0)
if alea <= 5:
wheel_stiffed_1.qvalue = (0.0, 0)
list_wheels_to_use = [0, 1, 1]
else:
wheel_stiffed_2.qvalue = (0.0, 0)
list_wheels_to_use = [1, 0, 1]
if used_wheels[0] == 'fl' and used_wheels[1] == 'b':
wheel_stiffed_1 = list_wheel_stiffness_actuator[1]
wheel_stiffed_2 = list_wheel_stiffness_actuator[2]
list_wheel_stiffness_actuator[0].qvalue = (1.0, 0)
if alea <= 5:
wheel_stiffed_1.qvalue = (0.0, 0)
list_wheels_to_use = [1, 0, 1]
else:
wheel_stiffed_2.qvalue = (0.0, 0)
list_wheels_to_use = [1, 1, 0]
if used_wheels[0] == 'b' and used_wheels[1] == 'fr':
wheel_stiffed_1 = list_wheel_stiffness_actuator[2]
wheel_stiffed_2 = list_wheel_stiffness_actuator[0]
list_wheel_stiffness_actuator[1].qvalue = (1.0, 0)
if alea <= 5:
wheel_stiffed_1.qvalue = (0.0, 0)
list_wheels_to_use = [1, 1, 0]
else:
wheel_stiffed_2.qvalue = (0.0, 0)
list_wheels_to_use = [0, 1, 1]
used_wheels = move_robot(dcm, mem, wait_time,
list_wheels_to_use)
tools.wait(dcm, 2000)
#-------------------- Check test variables -------------------#
if int(flag_test["test_bumpers"][0]) == 1 and \
bumper_detection.bumpers_activations == \
int(parameters_bumpers["nb_bumper_activations"][0]):
bumper_detection.stop()
flag_bumpers = True
if int(flag_test["test_cables_crossing"][0]) == 1 and \
cable_detection.cables_crossing == \
int(parameters_cables["Nb_cables_crossing"][0]):
cable_detection.stop()
flag_cables = True
#-------- Robot has fallen ----------#
if (math.fabs(acc_z.value)) < 2.0:
if int(flag_test["test_bumpers"][0]) == 1:
bumper_detection.stop()
if int(flag_test["test_cables_crossing"][0]) == 1:
cable_detection.stop()
break
# Exit test if user interrupt
except KeyboardInterrupt:
print "\n******* User interrupt - ending test *******"
if int(flag_test["test_bumpers"][0]) == 1:
bumper_detection.stop()
if int(flag_test["test_cables_crossing"][0]) == 1:
cable_detection.stop()
break