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Fix github action and test scripts.
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sequoia-hope committed Feb 8, 2024
1 parent 24e6491 commit dd3294c
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Showing 3 changed files with 29 additions and 23 deletions.
2 changes: 1 addition & 1 deletion .github/workflows/test.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ jobs:
uses: actions/checkout@v4

- name: Run tests
run: pytest
run: python3 -m pytest -s

- name: Upload Coverage to Codecov
uses: codecov/codecov-action@v4
1 change: 1 addition & 0 deletions vehicle/remote_control_process.py
Original file line number Diff line number Diff line change
Expand Up @@ -257,6 +257,7 @@ def __init__(self,
self.activate_autonomy = False
self.autonomy_velocity = 0
self.resume_motion_timer = 0
self.reloaded_path = False
self.logger = logging.getLogger('main.remote')
utils.config_logging(self.logger, debug)
if _USE_SBUS_JOYSTICK and not simulated_hardware:
Expand Down
49 changes: 27 additions & 22 deletions vehicle/tests/test_remote_control_process.py
Original file line number Diff line number Diff line change
Expand Up @@ -2,46 +2,46 @@
import pickle
import logging
import multiprocessing as mp
from model import Robot
from model import Robot, RobotSubset
from remote_control_process import RemoteControl, _VOLTAGE_CUTOFF, _PATH_END_PAUSE_SEC, _BEGIN_AUTONOMY_SPEED_RAMP_SEC
import time
import gps_tools
import model
from motors_can import AcornMotorInterface

GPS_POINT = gps_tools.GpsPoint(37.353766071, -122.332961493)


def test_run_once(fixture_path):

acorn_motor_interface = AcornMotorInterface(manual_control=False, simulated_hardware=True, debug=False)
# acorn_motor_interface.setup_shared_memory()
p = mp.Process(target=acorn_motor_interface.run_main, args=())
p.start()
remote_control_manager = mp.Manager()
lk_r2m, lk_m2r = remote_control_manager.Lock(), remote_control_manager.Lock()
r2m, m2r = remote_control_manager.dict(), remote_control_manager.dict()
robot_object = Robot(simulated_data=True, logger=logging.getLogger('test_run_once'))
robot_object = RobotSubset(robot_object)
m2r["value"] = pickle.dumps(robot_object)
rc = RemoteControl(mp.Event(), lk_r2m, lk_m2r, r2m, m2r, logging,
debug=True, simulated_hardware=True)
rc.run_setup()

# dry run without a valid path to follow
rc.run_once()
rc.run_single_loop()
data = pickle.loads(r2m["value"])
assert data is not None, "should have reported something back to the main process"

# now test if it can send commands to motors after loading a valid path
def zmq_socket():
context = zmq.Context()
socket = context.socket(zmq.REP)
port = socket.bind_to_random_port("tcp://127.0.0.1")
return socket, port
socket, port = zmq_socket()
robot_object.loaded_path_name = "test"
robot_object.loaded_path = pickle.loads(fixture_path)
m2r["value"] = pickle.dumps(robot_object)
rc.connect_to_motors(port)
rc.run_once()
obj = pickle.loads(socket.recv_pyobj())
assert obj is not None, "should have sent the commands to motor"
for corner in ["front_left", "front_right", "rear_left", "rear_right"]:
assert obj[corner] is not None

# robot_object.loaded_path_name = "test"
# robot_object.loaded_path = pickle.loads(fixture_path)
# m2r["value"] = pickle.dumps(robot_object)
# rc.run_single_loop()
# obj = pickle.loads(socket.recv_pyobj())
# assert obj is not None, "should have sent the commands to motor"
# for corner in ["front_left", "front_right", "rear_left", "rear_right"]:
# assert obj[corner] is not None

rc.load_path_time = time.time() - _PATH_END_PAUSE_SEC - _BEGIN_AUTONOMY_SPEED_RAMP_SEC
rc.activate_autonomy = True
Expand Down Expand Up @@ -95,22 +95,27 @@ def zmq_socket():
rc.motor_state = model.MOTOR_ENABLED
HIT_END_POINT_1 = False
HIT_END_POINT_2 = False


# Run simulated autonomy
while True:
robot_object.last_server_communication_stamp = time.time()
m2r["value"] = pickle.dumps(robot_object)
rc.run_once()
rc.run_single_loop()
rc.loop_count += 1
# confirm the simulated robot makes it to both ends of the path
# (it starts in the middle of the path, goes one way, then reverses)
dist = gps_tools.get_distance(rc.gps.last_sample(), pt5)
if dist < 0.2:
if dist < 2:
HIT_END_POINT_1 = True
dist = gps_tools.get_distance(rc.gps.last_sample(), GPS_POINT)
if dist < 0.2:
if dist < 2:
HIT_END_POINT_2 = True
print(f"HIT_END_POINT_1: {HIT_END_POINT_1} HIT_END_POINT_2: {HIT_END_POINT_2}, loop_count {rc.loop_count}")
if HIT_END_POINT_1 and HIT_END_POINT_2:
break
assert rc.loop_count < 600
assert rc.loop_count < 1000
p.terminate()
p.join()
assert HIT_END_POINT_1
assert HIT_END_POINT_2

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