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How to use run_robot method in Robotframework

Best Python code snippet using robotframework

mongo_client.py

Source:mongo_client.py

1#!/usr/bin/python32import traceback3#check that the robot packages are present4print("Starting Client")5print("Using API level v3")6ev3_package_check = True7try:8    import ev3dev.ev3 as ev39    from robot_software.followLine import FollowLine10    print("ev3 modules imported")11except:12    traceback.print_exc()13    print("Unable to load robot control packages package!")14    ev3_package_check = False15import requests16print("request imported")17import socket18print("socket imported")19print("struct imported")20import time21print("time imported")22import sys23print("sys imported")24print("datetime imported")25import json26print("json imported")27from threading import Thread28print("threading imported")29from zeroconf import ServiceBrowser, Zeroconf30print("zeroconf imported")31from bobTranslation import extract32print("bobTranslation imported")33from followPath import FollowPath34print("followPath imported")35#remove me36last_json = {}37def polling(ip_addr, port, run_robot,username):38    running = True39    movement = False40    if run_robot:41        bob_bot = FollowLine()42    while running:43        try:44            headers = {'username':username}45            r = requests.get("http://{}:{}/api/robotjob".format(ip_addr,port),headers=headers)46            path = json.loads(r.text)47            if path["job"] == []:48                print("No order")49            else:50                print(path['job'])51                path_tuples = extract(path['job']['instruction_set'])52                print("Path tuples: ", path_tuples)53                robot_boy = FollowPath()54                robot_boy.start(path_tuples)55            56        except:57            58            traceback.print_exc()59        time.sleep(5)60class MyListener:61    def __init__(self,run_robot):62        self.run_robot = run_robot63    def remove_service(self, zeroconf, type, name):64        print("Service %s removed" % (name,))65    def add_service(self, zeroconf, type, name):66        info = zeroconf.get_service_info(type, name)67        ip_addr =(socket.inet_ntoa(info.address))68        port = info.port69        print(ip_addr,port,name)70        if (name == "assis10t._http._tcp.local."):71            #TODO: call get 3 times72            try:73                base_url = "http://{}:{}".format(ip_addr,port)74                75                r = requests.get("http://{}:{}/api/ping".format(ip_addr, port))76                # wait for response77                if (r.text == "pong"):78                    print("Server running on {}:{}".format(ip_addr,port))79                    username = "bob_test"80                    body = {'username':username,'type':'robot'}81                    r = requests.post('http://{}:{}/api/register'.format(ip_addr,port),json=body)82                    if (json.loads(r.text)["success"]):83                        print('Registered bob_test')84                    else:85                        print(r.text)86                    87                    r = requests.get('http://{}:{}/api/robot'.format(ip_addr,port),headers={'username':'bob_test'})88                    print(r.text)89                    if (self.run_robot):90                        ev3.Sound.tone([(1000, 250, 0),(1500, 250, 0),(2000, 250, 0)]).wait()91                        ev3.Sound.speak("i am bob. Beep. i collect your shopping").wait()92                        # TODO: add light to indicate status93                    poller = Thread(target=polling, name="poller",args=(ip_addr,port,self.run_robot,username))94                    poller.start()95                else:96                    print("Server did not respond!")97                    if (self.run_robot):98                        ev3.Sound.tone([(750, 250, 0),(750, 250, 0)]).wait()99                        # TODO: add light to indicate status100            except:101                print("Failed to connect to server!")102                traceback.print_exc()103                if (self.run_robot):104                    ev3.Sound.tone([(750, 250, 0),(750, 250, 0)]).wait()105                    # TODO: add light to indicate status106if __name__ == "__main__":107    run_robot = None108    if (len(sys.argv) > 1):109        mode_str = sys.argv[1]110        #TODO: clean this up111        if (mode_str == 'r' or mode_str == 'robot' and ev3_package_present == True):112            ev3.Sound().beep().wait()113            run_robot = True114        elif (mode_str == "t" or mode_str=="test"):115            print("Running client in test mode...")116            print(''.join(['-' for x in range(40)]) + '\n')117            run_robot = False118        else:119            print('Unable to determine mode! r/robot -> robot | t/test -> test')120            exit()121    else:122        if (ev3_package_check):123            #assume robot mode124            run_robot = True125        else:126            print("Unable to start client as ev3 package not present and test mode not indicated")127            exit()128    if (run_robot):129        ev3.Sound.beep().wait()130    zeroconf = Zeroconf()131    listener = MyListener(run_robot)132    browser = ServiceBrowser(zeroconf, "_http._tcp.local.", listener)133    try:134        input("Press enter to exit...\n\n")135    finally:...

test_run_robot.py

Source:test_run_robot.py

1import sys2import os3import unittest4import time5import signal6from mock import Mock, patch7sys.path.append(os.path.abspath("."))8sys.path.append(os.path.abspath("rpirobot"))9from rpirobot.run_robot import RobotRunner, TimeoutError, create_robot10class timeout(object):11    """Timeout util."""12    def __init__(self, seconds=1, error_message='Timeout'):13        self.seconds = seconds14        self.error_message = error_message15    def handle_timeout(self, signum, frame):16        raise TimeoutError(self.error_message)17    def __enter__(self):18        signal.signal(signal.SIGALRM, self.handle_timeout)19        signal.alarm(self.seconds)20    def __exit__(self, type, value, traceback):21        signal.alarm(0)22class TestiRunRobot(unittest.TestCase):23    """Tests for Robot class."""24    @patch('rpirobot.run_robot.Led')25    @patch('rpirobot.run_robot.Button')26    @patch('rpirobot.run_robot.Robot')27    @patch('rpirobot.run_robot.Motor')28    def setUp(self, Led, Button, Robot, Motor):29        self.robot_runner = RobotRunner()30    def test_robot_runner(self):31        self.assertIsNotNone(self.robot_runner.robot)32    def test_robot_sets_led(self):33        self.assertTrue(self.robot_runner.robot.set_led.called)34    def test_robot_sets_button(self):35        self.assertTrue(self.robot_runner.robot.set_button.called)36    def test_robot_sets_motors(self):37        self.assertTrue(self.robot_runner.robot.set_motors.called)38    def test_run_forever(self):39        self.robot_runner.robot.button.is_hold = Mock(return_value=0)40        tm = time.time()41        with timeout(seconds=1):42            try:43                self.robot_runner.run_forever()44            except TimeoutError:45                pass46        self.assertEqual(int(time.time() - tm), 1)47    def test_toggle_status_on_button_press(self):48        self.robot_runner.robot.button.is_pressed = Mock(return_value=1)49        self.robot_runner.robot.button.is_hold = Mock(return_value=0)50        with timeout(seconds=1):51            try:52                self.robot_runner.run_forever()53            except TimeoutError:54                pass55        self.assertTrue(self.robot_runner.robot.toggle_status.called)56    def test_check_if_button_pressed(self):57        self.robot_runner.robot.button.reset_mock()58        self.robot_runner.robot.button.is_hold = Mock(return_value=0)59        with timeout(seconds=1):60            try:61                self.robot_runner.run_forever()62            except TimeoutError:63                pass64        self.assertTrue(self.robot_runner.robot.button.is_pressed.called)65    @patch('rpirobot.run_robot.subprocess')66    def test_system_halt_on_button_hold(self, subprocess):67        self.robot_runner.robot.button.is_hold = Mock(return_value=1)68        with timeout(seconds=4):69            try:70                self.robot_runner.run_forever()71            except TimeoutError:72                pass73        self.assertTrue(subprocess.call.called)74    @patch('rpirobot.run_robot.Led')75    @patch('rpirobot.run_robot.Button')76    @patch('rpirobot.run_robot.Robot')77    @patch('rpirobot.run_robot.Motor')78    def test_create_robot(self, Led, Button, Robot, Motor):79        robot = create_robot()80        #self.assertTrue(Robot.__init__.called)81        self.assertTrue(robot.set_led.called)82        self.assertTrue(robot.led.set_color.called)83        self.assertTrue(robot.led.on.called)84        self.assertTrue(robot.set_button.called)85        self.assertTrue(robot.set_motors.called)86if __name__ == '__main__':...

run.py

Source:run.py

1#!/usr/bin/python2"""3Example: python run.py COM14 70x70 test4arg1 --> Robot address COM145arg2 --> config file for the trial, 70x70.csv6arg3 --> output dir test7"""8run_robot = True9run_mocap = False10run_gyro_config = False11import sys, time12import dynaroach as dr13if run_mocap:14    import natnethelper as nt15    import NatNet16r = None17try:18    if len(sys.argv) != 4:19        print "Please input 3 arguments:"20        print "python run.py <robot_adress> <config file> <output_dir>"21        print "Example: python run.py COM14 70x70.csv test"22        sys.exit(1)23    #collect data and run the robot switch24    if run_mocap:25        nat_net_client = NatNet.NatNetClient(1);26        nat_net_client.Initialize("","");27    infile = sys.argv[2]28    29    if len(sys.argv) > 3:30        dir = sys.argv[3]31        save = True32    else:33        save = False34    ds = dr.datestring()35    if run_robot:36        r = dr.DynaRoach(sys.argv[1])37        38        if save:39            if run_gyro_config:40                r.run_gyro_calib()41                print("Running gyro calibration...")42                time.sleep(0.5)43                r.get_gyro_calib_param()44                time.sleep(0.5)45        while run_gyro_config and r.gyro_offsets == None:46            print "Waiting on gyro offset"47            time.sleep(2)48        if run_gyro_config:49            print ("got and waiting")50            raw_input()51            print "Received gyro offset"52        else:53            # fake some data54            r.gyro_offsets = [0, 0, 0]55        t = dr.Trial()56        if save:57            t.save_to_file('./' + dir + '/' + ds + '_cfg',58                gyro_offsets=r.gyro_offsets, rid=eval(open('rid.py').read()),59                cfg_file=infile, cfg_contents=open(infile, "r+").read())60        t.load_from_file(infile)61        r.configure_trial(t)62    print("Press any key to start the trial running.")63    raw_input()64    if run_mocap:65        print("Starting Motion Capture") 66        mocap_data = nt.start_collection(nat_net_client)67    if run_robot:68        r.run_trial()69    print("Press any key to request the mcu data from the robot.")70    raw_input()71    if run_mocap:72        print("Stopping mocap collection");73        nt.stop_collection(nat_net_client);74    75    if save:76        if run_robot:77            r.transmit_saved_data()78            print("Press any key when data is done transmitting.")79            input = raw_input()80            if input == 'q':81                r.__del__()82                pass83            r.save_trial_data('./' + dir + '/' + ds + '_mcu.csv')84            r.erase_mem_sector(0x100)85            time.sleep(1)86            r.erase_mem_sector(0x200)87            time.sleep(1)88            r.erase_mem_sector(0x300)89            time.sleep(1)90            r.reset(do_wait=False)91        if run_mocap:92            nt.csv_from_data(nat_net_client, mocap_data, './' + dir + '/' + ds + '_mocap.csv');93except Exception as e:94    print('Caught the following exception: ' + str(e))95finally:96    if r:97        r.__del__()...

test_robot.py

Source:test_robot.py

...4import random5from four_exercises import run_robot6class TestRobot(unittest.TestCase):7    @staticmethod8    def run_robot(user_input):9        with patch('builtins.input', side_effect=user_input):10            return run_robot()11    def test_one(self):12        user_input = [13            'UP 5',14            'DOWN 5',15            ''16        ]17        self.assertEqual(self.run_robot(user_input), 0)18    def test_two(self):19        user_input = [20            'UP 5',21            'DOWN 5',22            'LEFT 2',23            'RIGHT 3',24            'LEFT 1',25            ''26        ]27        self.assertEqual(self.run_robot(user_input), 0)28    def test_three(self):29        user_input = [30            'UP 5',31            'DOWN 5',32            'LEFT 2',33            'RIGHT 3',34            'LEFT 1',35            'RIGHT 2',36            'UP 1',37            ''38        ]39        self.assertEqual(self.run_robot(user_input), 2)40    def test_four(self):41        user_input = [42            'UP 22',43            'DOWN 5',44            'LEFT 8',45            'RIGHT 3',46            'LEFT 13',47            'RIGHT 2',48            'UP 1',49            ''50        ]51        self.assertEqual(self.run_robot(user_input), 24)52    def test_random(self):53        up = random.randint(0, 100)54        down = random.randint(0, 100)55        left = random.randint(0, 100)56        right = random.randint(0, 100)57        user_input = [58            f'UP {up}',59            f'DOWN {down}',60            f'LEFT {left}',61            f'RIGHT {right}',62        ]63        random.shuffle(user_input)64        user_input += ['']65        expected_result = int(66            round(math.sqrt((up - down) ** 2 + (left - right) ** 2))67        )68        self.assertEqual(69            self.run_robot(user_input), expected_result70        )71    def test_random_loop(self):72        for _ in range(100):73            self.test_random()74if __name__ == '__main__':75    random.seed(a=1)...

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