Encoder motor test, test route exposed, test state for each component is now returned

Author: sorre97

api.py

@@ -244,5 +244,5 @@ def reset():
 
 ## Test
 def testCoderbot(data):
-    tests_state = runCoderbotTestUnit(data)
+    tests_state = runCoderbotTestUnit(data["varargrin"])
     return tests_state

coderbot.py

@@ -167,6 +167,10 @@ def distance(self):
     def speed(self):
         return self._twin_motors_enc.speed()
 
+    # CoderBot direction getter
+    def direction(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

@@ -11,11 +11,87 @@
     If a test passes for correspondent component, a 1 is returned.
     If no test was executed on that component, 0 is preserved.
 """
+from coderbot import CoderBot
+c = CoderBot.get_instance()
+
 # Single components tests
 
 # encoder motors
 def __test_encoder():
-    return 1
+    try:
+        # moving both wheels at speed 100 clockwise
+        print("moving both wheels at speed 100 clockwise")
+        assert(c.speed() == 0)
+        c.move(speed=100, elapse=2)
+        assert(c.distance() != 0)
+        assert (c.speed() == 0)
+
+        # moving both wheels at speed 40 clockwise
+        print("moving both wheels at speed 40 clockwise")
+        assert(c.speed() == 0)
+        c.move(speed=40, elapse=2)
+        assert(c.distance() != 0)
+        assert (c.speed() == 0)
+
+        # moving both wheels at speed 100 counter-clockwise
+        print("moving both wheels at speed 100 counter-clockwise")
+        assert(c.speed() == 0)
+        c.move(speed=-100, elapse=2)
+        assert(c.distance() != 0)
+        assert (c.speed() == 0)
+
+        # moving both wheels at speed 40 counter-clockwise
+        print("moving both wheels at speed 40 counter-clockwise")
+        assert(c.speed() == 0)
+        c.move(speed=-40, elapse=2)
+        assert(c.distance() != 0)
+        assert (c.speed() == 0)
+
+        # moving forward
+        print("moving forward")
+        assert(c.speed() == 0)
+        c.forward(speed=100, elapse=2)
+        assert(c.distance() != 0)
+        assert (c.speed() == 0)
+
+        # moving backwards
+        print("moving backwards")
+        assert(c.speed() == 0)
+        c.backward(speed=100, elapse=2)
+        assert(c.distance() != 0)
+        assert (c.speed() == 0)
+
+        # moving forward for 1 meter
+        print("moving forward for 1 meter")
+        assert(c.speed() == 0)
+        c.forward(speed=100, distance=1000)
+        assert(c.distance() != 0)
+        assert (c.speed() == 0)
+
+        # moving backwards for 1 meter
+        print("moving backwards for 1 meter")
+        assert(c.speed() == 0)
+        c.backward(speed=100, distance=1000)
+        assert(c.distance() != 0)
+        assert (c.speed() == 0)
+
+        # turning left
+        print("turning left")
+        assert(c.speed() == 0)
+        c.left(speed=100, elapse=2)
+        assert(c.distance() != 0)
+        assert (c.speed() == 0)
+
+        # turning right
+        print("turning right")
+        assert(c.speed() == 0)
+        c.right(speed=100, elapse=2)
+        assert(c.distance() != 0)
+        assert (c.speed() == 0)
+
+        return 1
+    except:
+        return -1
 
 # sonar
 def __testSonar():
@@ -62,4 +138,4 @@ def run_test(varargin):
             tests_state[test] = __test_OCR()
         #add more test cases here
 
-    return tests_state
+    return tests_state

rotary_encoder/motorencoder.py

@@ -69,7 +69,9 @@ def is_moving(self):
     def control(self, power=100.0, time_elapse=0):
         self._motor_lock.acquire()  # acquiring lock
 
-        #self.stop()  # stopping motor to initialize new movement
+        # resetting distance and ticks before new movement
+        self._distance = 0  # resetting distance travelled
+        self._ticks = 0  # resetting ticks
 
         self._direction = 1 if power > 0 else -1  # setting direction according to speed
         self._power = power # setting current power
@@ -113,8 +115,10 @@ def stop(self):
     # 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
+        # after stopping, values of distance and ticks remains until
+        # next movement
+        #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

rotary_encoder/wheelsaxel.py

@@ -53,6 +53,15 @@ def speed(self):
         r_speed = self._right_motor.speed()
         return (l_speed + r_speed) * 0.5
 
+    #direction
+    def speed(self):
+        l_dir = self._left_motor.direction()
+        r_dir = self._right_motor.direction()
+        if(l_dir == r_dir):
+            return l_dir
+        else:
+            return 0
+
     # MOVEMENT
     """ Movement wrapper method 
         if time is specified and distance is not, control_time is called

v2.yml

@@ -195,8 +195,8 @@ paths:
             required:
               - varargin
             properties:
-              speed:
-                type: list
+              varargin:
+                type: object
                 description: Components names to be tested
 
       responses: