New test component added to coderbot triggerable via front-end

Author: sorre97

api.py

@@ -13,6 +13,7 @@
 from coderbot import CoderBot
 from program import ProgramEngine, Program
 from config import Config
+from coderbotTestUnit import run_test as runCoderbotTestUnit
 import pigpio
 
 BUTTON_PIN = 16
@@ -241,3 +242,7 @@ def reset():
         "status": "ok"
     }
 
+## Test
+def testCoderbot(data):
+    tests_state = runCoderbotTestUnit(data)
+    return tests_state

coderbot.py

@@ -159,6 +159,14 @@ def stop(self):
     def is_moving(self):
         return self._is_moving
 
+    # Distance travelled getter
+    def distance(self):
+        return self._twin_motors_enc.distance()
+
+    # CoderBot velocity getter
+    def speed(self):
+        return self._twin_motors_enc.speed()
+
     def set_callback(self, gpio, callback, elapse):
         self._cb_elapse[gpio] = elapse * 1000
         self._cb[gpio] = callback

coderbotTestUnit.py

@@ -0,0 +1,65 @@
+"""
+    This file defines base tests for CoderBot
+    in order to test its functionality
+
+    The function run_test(varargin) lanuches tests
+    according to required test from the front-end.
+    e.g. varagrin = ["motor_test", "sonar_test"]
+    __test_encoder() and __test_sonar() will be launched.
+
+    If something goes wrong a -1 is returned for the correspondent failed test.
+    If a test passes for correspondent component, a 1 is returned.
+    If no test was executed on that component, 0 is preserved.
+"""
+# Single components tests
+
+# encoder motors
+def __test_encoder():
+    return 1
+
+# sonar
+def __testSonar():
+    return 1
+
+# speaker
+def __test_speaker():
+    return 1
+
+# OCR
+def __test_OCR():
+    return 1
+
+# add more tests here
+
+""" Main test function
+    it launches tests to test single components individually.
+    A dictionary is returned monitoring the state of the
+    tests for each component. 
+    Varargin is a list of strings that indicates which test
+    to run. """
+def run_test(varargin):
+    # state for each executed test
+    #  0 = component not tested
+    #  1 = test passed
+    # -1 = test failed
+    tests_state = {
+        "motors":   0,
+        "sonar":    0,
+        "speaker":  0,
+        "OCR":      0
+        # add more tests state here
+    }
+
+    # running chosen tests
+    for test in varargin:
+        if(test == 'motors'):
+            tests_state[test] = __test_encoder()
+        elif(test == 'sonar'):
+            tests_state[test] = __testSonar()
+        elif (test == 'speaker'):
+            tests_state[test] = __test_speaker()
+        elif(test == 'OCR'):
+            tests_state[test] = __test_OCR()
+        #add more test cases here
+
+    return tests_state

rotary_encoder/motorencoder.py

@@ -34,6 +34,7 @@ def __init__(self, pi, enable_pin, forward_pin, backward_pin, feedback_pin_A, fe
 
         # other
         self._motor_lock = threading.RLock()
+        self._start_timer = 0
         self._rotary_decoder = RotaryDecoder(pi, feedback_pin_A, feedback_pin_B, self.rotary_callback)
 
     # GETTERS
@@ -103,17 +104,23 @@ def stop(self):
         self._pi.write(self._backward_pin, 0)
         self._pi.write(self._forward_pin, 0)
 
+        # resetting wheel state
+        self.reset_state()
+
+       # releasing lock
+        self._motor_lock.release()
+
+    # stop auxiliary function, resets wheel state
+    def reset_state(self):
         # returning state variables to consistent state
-        self._distance = 0       # resetting distance travelled
-        self._ticks = 0          # resetting ticks
-        self._power = 0          # resetting PWM power
+        self._distance = 0  # resetting distance travelled
+        self._ticks = 0  # resetting ticks
+        self._power = 0  # resetting PWM power
         self._encoder_speed = 0  # resetting encoder speed
-        self._direction = 0      # resetting direction
+        self._direction = 0  # resetting direction
+        self._start_timer = 0
         self._is_moving = False  # resetting moving flag
 
-        # releasing lock
-        self._motor_lock.release()
-
     # CALLBACK
     """ The callback function rotary_callback is called on FALLING_EDGE by the
         rotary_decoder with a parameter value of 1 (1 new tick)
@@ -132,7 +139,12 @@ def rotary_callback(self, tick):
         self._motor_lock.acquire()
         self._ticks += tick  # updating ticks
         self._distance = self._ticks * 0.0981  # (mm) travelled
-        #self._encoder_speed = (mm/s)
+
+        # velocity calculation
+        elapse = time() - self._start_timer
+        if(elapse != 0):
+            self._encoder_speed = (self._distance / 1000) / elapse #(mm/s)
+
         self._motor_lock.release()
 
     # callback cancelling

rotary_encoder/wheelsaxel.py

@@ -91,24 +91,36 @@ def control_distance(self, power_left=100, power_right=100, target_distance=0):
         self._right_motor.control(power_right)
 
         # moving for certaing amount of distance
+        # threshold value avoid to stop it after
         while(abs(self.distance()) < target_distance):
             pass # busy waiting
 
         # robot arrived
         self.stop()
 
     """ Motor speed control to travel given distance
-        in given time adjusting power on motors """
+        in given time adjusting power on motors 
+        NOT very intuitive, idea has been postponed"""
     def control_velocity(self, time_elapse=0, target_distance=0):
         pass
 
     """ The stop function calls the two stop functions of the two
         correspondent motors. 
         Locks are automatically obtained """
     def stop(self):
+        # stopping left and right motors
         self._left_motor.stop()
         self._right_motor.stop()
+
+        # trying to fix distance different than zero after
+        # wheels has stopped by re-resetting state after 0.5s
+        sleep(0.5)
+        self._left_motor.reset_state()
+        self._right_motor.reset_state()
+
+        # updating state
         self._is_moving = False
+        # restoring callback
         self._wheelsAxle_lock.release()
 
     # CALLBACK

v2.yml

@@ -179,6 +179,29 @@ paths:
       responses:
         200:
           description: "resets coderbot entirely"
+  /testCoderbot:
+    post:
+      summary: Tests CoderBot components.
+      operationId: "api.testCoderbot"
+      tags:
+        - CoderBot Test
+      parameters:
+        - in: body
+          name: data
+          description: Components names to be tested
+          schema:
+            type: object
+            default: {'varargin': ['motors', 'sonar', 'speaker']}
+            required:
+              - varargin
+            properties:
+              speed:
+                type: list
+                description: Components names to be tested
+
+      responses:
+        200:
+          description: Test ended.
   /info:
     get:
       operationId: "api.info"