commit a337d585ff8381c6bc5d16a531f7388e35e33555
author Charlie Mooney <charliemooney@chromium.org> Wed Apr 29 10:37:45 2015 -0700
committer ChromeOS Commit Bot <chromeos-commit-bot@chromium.org> Mon May 04 15:56:39 2015 +0000
tree 235bfecbd0f229b500223f52faf99719686f81a6
parent 7a71f33c7f7d60c24429c8dca659abd262682682

Add robot support for two-finger line tests

This adds robot support for the two-finger line tests by
generalizing the touchbot "line" function to accept two
fingertips in addition to one as an argument.  The gesture
recognizer computes the angle the fingers should be in
(perpendicular to the angle of motion) and then draws the
two finger lines.

BUG=chromium:474709
TEST=manually tested, all of the line tests still work

Change-Id: I0d828a58b04fbe30721f9898138f95948d723612
Signed-off-by: Charlie Mooney <charliemooney@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/267815
Reviewed-by: Shyh-In Hwang <josephsih@chromium.org>

gesture_interpreter.py

diff --git a/gesture_interpreter.py b/gesture_interpreter.py
index 92a25f4..6896771 100644
--- a/gesture_interpreter.py
+++ b/gesture_interpreter.py
@@ -8,6 +8,7 @@
 actually performing the correct gesture on the pad.
 """
 
+import math
 from threading import Thread
 
 import colorama as color
@@ -17,6 +18,7 @@
 
 
 STANDARD_FINGERTIP = '1round_9mm'
+STANDARD_SECONDARY_FINGERTIP = '2round_9mm'
 
 BUFFER_SIZE = 0.1
 OVERSHOOT_DISTANCE = 0.05
@@ -82,6 +84,8 @@
   elif test.name in SINGLE_FINGER_LINE_TESTS:
     pause = 1 if test.name == tests.ONE_FINGER_TRACKING_FROM_CENTER else 0
     fn = lambda: _PerformOneFingerLineTest(variation, robot, device_spec, pause)
+  elif test.name in tests.TWO_FINGER_TRACKING:
+    fn = lambda: _PerformTwoFingerLineTest(variation, robot, device_spec)
 
   if fn is None:
     print color.Fore.RED + 'Error: Robot unable to perform gesture!'
@@ -110,5 +114,25 @@
   fingertip = robot.fingertips[STANDARD_FINGERTIP]
 
   robot.PushSpeed(SPEEDS[speed])
-  robot.SingleTipLine(device_spec, fingertip, start, end, pause_time_s)
+  robot.Line(device_spec, [fingertip], start, end, pause_time_s)
+  robot.PopSpeed()
+
+
+def _PerformTwoFingerLineTest(variation, robot, device_spec):
+  direction, speed = variation
+  start, end = LINE_DIRECTION_COORDINATES[direction]
+
+  # Compute the fingertip angle to be perpendicular to the
+  # movement direction
+  x1, y1 = start
+  x2, y2 = end
+  dy = y2 - y1
+  dx = x2 - x1
+  angle = -1 * (math.degrees(math.atan2(y2 - y1, x2 - x1)) + 90)
+
+  fingertips = [robot.fingertips[STANDARD_FINGERTIP],
+                robot.fingertips[STANDARD_SECONDARY_FINGERTIP]]
+  robot.PushSpeed(SPEEDS[speed])
+  robot.Line(device_spec, fingertips, start, end,
+             fingertip_spacing=5, fingertip_angle=angle)
   robot.PopSpeed()