TU avec le simulateur

nerell-parent/nerell-simulator/src/test/java/org/arig/robot/NerellSimulatorTest.java

@@ -0,0 +1,97 @@
+package org.arig.robot;
+
+import lombok.SneakyThrows;
+import org.arig.robot.AbstractOrdonanceur.OrdonanceurStep;
+import org.arig.robot.config.spring.NerellSimulator;
+import org.arig.robot.config.spring.NerellSimulatorTestContext;
+import org.arig.robot.constants.IConstantesConfig;
+import org.arig.robot.model.ETeam;
+import org.arig.robot.model.NerellRobotStatus;
+import org.arig.robot.services.NerellIOServiceBouchon;
+import org.arig.robot.system.capteurs.IEcran;
+import org.arig.robot.system.capteurs.NerellTestEcran;
+import org.arig.robot.utils.ThreadUtils;
+import org.junit.BeforeClass;
+import org.junit.Test;
+import org.junit.runner.RunWith;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.boot.test.context.SpringBootTest;
+import org.springframework.test.context.junit4.SpringRunner;
+
+import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+import java.util.concurrent.TimeUnit;
+
+@RunWith(SpringRunner.class)
+@SpringBootTest(classes = {NerellSimulator.class, NerellSimulatorTestContext.class})
+public class NerellSimulatorTest {
+
+    @Autowired
+    private NerellRobotStatus rs;
+
+    @Autowired
+    private NerellOrdonanceur ordonanceur;
+
+    @Autowired
+    private NerellIOServiceBouchon ioService;
+
+    @Autowired
+    private IEcran ecran;
+
+    @BeforeClass
+    public static void before() {
+        // Définition d'un ID unique pour le nommage des fichiers
+        final String execId = LocalDateTime.now().format(DateTimeFormatter.ofPattern("yyyyMMddHHmmss"));
+        System.setProperty(IConstantesConfig.keyExecutionId, execId);
+        System.setProperty(IConstantesConfig.disableEcran, "true");
+
+        // Surcharge de bean
+        System.setProperty("spring.main.allow-bean-definition-overriding", "true");
+    }
+
+    @SneakyThrows
+    @Test(timeout = 300000)
+    public void runSimulateurTest() {
+        rs.simulateur(true);
+
+        ExecutorService exec = Executors.newSingleThreadExecutor();
+        exec.submit(() -> ordonanceur.run());
+
+        waitStep(OrdonanceurStep.WAIT_AU);
+        ioService.au(true);
+
+        // Selection de la couleur de l'équipe
+        waitStep(OrdonanceurStep.AFTER_INIT);
+        while(rs.team() != ETeam.JAUNE) {
+            ((NerellTestEcran) ecran).getConfigInfos().setTeam(1); // 1 Jaune, 2 Bleu
+            ThreadUtils.sleep(2000);
+        }
+        ((NerellTestEcran) ecran).getConfigInfos().setStartCalibration(true);
+
+        // Mise tirette
+        waitStep(OrdonanceurStep.READY_TO_PLAY);
+        ioService.tirette(true);
+
+        // Start match
+        waitStep(OrdonanceurStep.WAIT_START_MATCH);
+        ioService.tirette(false);
+
+        // Remise tirette fin match
+        waitStep(OrdonanceurStep.EJECTION);
+        ioService.tirette(true);
+
+        waitStep(OrdonanceurStep.READY_TO_STORE);
+        ioService.tirette(false);
+
+        // Check all are terminated
+        waitStep(OrdonanceurStep.END);
+    }
+
+    private void waitStep(OrdonanceurStep step) {
+        while(ordonanceur.getStep() != step) {
+            ThreadUtils.sleep(2000);
+        }
+    };
+}

nerell-parent/nerell-simulator/src/test/java/org/arig/robot/config/spring/NerellSimulatorTestContext.java

@@ -0,0 +1,20 @@
+package org.arig.robot.config.spring;
+
+import org.arig.robot.system.capteurs.IEcran;
+import org.arig.robot.system.capteurs.NerellTestEcran;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.context.annotation.DependsOn;
+
+@Configuration
+public class NerellSimulatorTestContext extends NerellSimulatorContext {
+
+    @Override
+    @Bean
+    @DependsOn("ecranProcess")
+    public IEcran ecran() throws Exception {
+        return new NerellTestEcran();
+    }
+
+
+}

nerell-parent/nerell-simulator/src/test/java/org/arig/robot/system/capteurs/NerellTestEcran.java

@@ -0,0 +1,39 @@
+package org.arig.robot.system.capteurs;
+
+import lombok.Getter;
+import org.arig.robot.model.ecran.GetConfigInfos;
+import org.arig.robot.model.ecran.UpdateMatchInfos;
+import org.arig.robot.model.ecran.UpdatePhotoInfos;
+import org.arig.robot.model.ecran.UpdateStateInfos;
+
+public class NerellTestEcran implements IEcran {
+
+    @Getter
+    private final GetConfigInfos configInfos;
+
+    public NerellTestEcran() {
+         configInfos = new GetConfigInfos();
+         configInfos.setTeam(-1);
+    }
+
+    @Override
+    public GetConfigInfos configInfos() {
+        return configInfos;
+    }
+
+    @Override
+    public void end() {
+    }
+
+    @Override
+    public void updateState(final UpdateStateInfos data) {
+    }
+
+    @Override
+    public void updateMatch(final UpdateMatchInfos data) {
+    }
+
+    @Override
+    public void updatePhoto(final UpdatePhotoInfos photo) {
+    }
+}

robot-system-lib-parent/robot-system-lib-core/src/main/java/org/arig/robot/AbstractOrdonanceur.java

@@ -1,5 +1,6 @@
 package org.arig.robot;
 
+import lombok.Getter;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.io.FileUtils;
@@ -44,6 +45,17 @@
 @Slf4j
 public abstract class AbstractOrdonanceur {
 
+    public enum OrdonanceurStep {
+        INIT,
+        WAIT_AU,
+        AFTER_INIT,
+        READY_TO_PLAY,
+        WAIT_START_MATCH,
+        EJECTION,
+        READY_TO_STORE,
+        END
+    }
+
     @Autowired
     protected RobotConfig robotConfig;
 
@@ -98,6 +110,9 @@ public abstract class AbstractOrdonanceur {
 
     protected String launchExecId;
 
+    @Getter
+    protected OrdonanceurStep step = OrdonanceurStep.INIT;
+
     /**
      * Construit le chemin de la map du pathfinder dans le classpath
      */
@@ -152,10 +167,12 @@ public final void run() {
 
             initLidar();
 
+            step = OrdonanceurStep.WAIT_AU;
             waitAu();
 
             waitPower();
 
+            step = OrdonanceurStep.AFTER_INIT;
             afterInit(); // impl
 
             initPathfinder();
@@ -167,10 +184,12 @@ public final void run() {
             startLidar();
 
             addDeadZones();
-
+
+            step = OrdonanceurStep.READY_TO_PLAY;
             beforeMatch(ecranService.config().isSkipCalageBordure()); // impl
-
+            
             ecranService.displayMessage("!!! ... ATTENTE DEPART TIRETTE ... !!!");
+            step = OrdonanceurStep.WAIT_START_MATCH;
             robotStatus.waitTirette(true);
             while (waitTirette()) {
                 ThreadUtils.sleep(1);
@@ -202,6 +221,7 @@ public final void run() {
             io.disableAlimServos();
             io.disableAlimMoteurs();
         }
+        step = OrdonanceurStep.END;
     }
 
     /**
@@ -437,10 +457,12 @@ private void cycleFin() {
                         robotStatus.calculerPoints())
         );
 
+        step = OrdonanceurStep.EJECTION;
         while (!io.tirette() || !io.auOk()) {
             ThreadUtils.sleep(1000);
         }
 
+        step = OrdonanceurStep.READY_TO_STORE;
         beforePowerOff(); // impl
     }