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autotest: add proximity sensor readinds as if from depth camera

This commit is contained in:
Peter Barker 2020-08-11 15:01:33 +10:00 committed by Peter Barker
parent 574f3a30f9
commit c69908e7ea
1 changed files with 23 additions and 4 deletions
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27
Tools/autotest/rover.py
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@ -5094,17 +5094,18 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
if expected_distance_sensor_message["orientation"] != orientation:
continue
found = True
self.progress("Marking message as found")
expected_distance_sensor_message["__found__"] = True
if not expected_distance_sensor_message.get("__found__", False):
self.progress("Marking message as found")
expected_distance_sensor_message["__found__"] = True
if (m.current_distance - expected_distance_sensor_message["distance"] > 1):
raise NotAchievedException("Bad distance want=%u got=%u" % (expected_distance_sensor_message["distance"], m.current_distance))
raise NotAchievedException("Bad distance for orient=%u want=%u got=%u" % (orientation, expected_distance_sensor_message["distance"], m.current_distance))
break
if not found:
raise NotAchievedException("Got unexpected DISTANCE_SENSOR message")
all_found = True
for expected_distance_sensor_message in expect_distance_sensor_messages_copy:
if not expected_distance_sensor_message.get("__found__", False):
self.progress("message still not found")
self.progress("message still not found (orient=%u" % expected_distance_sensor_message["orientation"])
all_found = False
break
if all_found:
@ -5145,6 +5146,24 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
{ "orientation": 0, "distance": 111 },
])
# lots of dense readings (e.g. vision camera:
distances = [0] * 72
for i in range(0, 72):
distances[i] = 1000 + 10*abs(36-i);
self.send_obstacle_distances_expect_distance_sensor_messages(
{
"distances": distances,
"increment_f": 90/72.0,
"angle_offset": -45.0,
"min_distance": 0,
"max_distance": 2000, # cm
}, [
{ "orientation": 0, "distance": 1000 },
{ "orientation": 1, "distance": 1190 },
{ "orientation": 7, "distance": 1190 },
])
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))