emergency_stop.py

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
#
# Copyright 2020-2021 by Murray Altheim. All rights reserved. This file is part
# of the Robot Operating System project, released under the MIT License. Please
# see the LICENSE file included as part of this package.
#
# author:   Murray Altheim
# created:  2021-07-18
# modified: 2021-07-18
#
# Tests the port and starboard motors for encoder ticks. This includes a quick
# and dirty velocity to power converter to convert a rotary encoder output to
# motor power.
#

import pytest
import sys, numpy, time, traceback
from datetime import datetime as dt
from colorama import init, Fore, Style
init(autoreset=True)

from core.logger import Logger, Level
from core.config_loader import ConfigLoader
from core.orientation import Orientation
from core.message_bus import MessageBus
from core.message_factory import MessageFactory
from hardware.i2c_scanner import I2CScanner
from hardware.motor import Motor
from hardware.motor_configurer import MotorConfigurer

# ┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈
@pytest.mark.unit
def test_motors():

    _log = Logger('test', Level.INFO)
    _start_time = dt.now()

    try:

        # read YAML configuration
        _config = ConfigLoader(Level.INFO).configure()

#       _log.info('creating message factory...')
#       _message_factory = MessageFactory(Level.INFO)
        _log.info('creating message bus...')
        _message_bus = MessageBus(_config, Level.WARN)
        _i2c_scanner = I2CScanner(_config, Level.WARN)

        # add motor controller
        _motor_configurer = MotorConfigurer(_config, _message_bus, _i2c_scanner, level=Level.INFO)
        _port_motor = _motor_configurer.get_motor(Orientation.PORT)
        _stbd_motor = _motor_configurer.get_motor(Orientation.STBD)
        _motor_configurer.thunderborg.SetMotor1(0.0)
        _motor_configurer.thunderborg.SetMotor2(0.0)
        _port_motor.enable()
        _stbd_motor.enable()

    except KeyboardInterrupt:
        _log.info('Ctrl-C caught; exiting...')
    except Exception as e:
        _log.error('error: {}'.format(e))
    finally:
        pass

    _elapsed_ms = round(( dt.now() - _start_time ).total_seconds() * 1000.0)
    _log.info(Fore.YELLOW + 'complete: elapsed: {:d}ms'.format(_elapsed_ms))

# ┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈
def main():
    try:
        test_motors()
    except Exception as e:
        print(Fore.RED + 'error in motor test: {}'.format(e))
        traceback.print_exc(file=sys.stdout)
    finally:
        pass

# ┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈
if __name__== "__main__":
    main()

#EOF