gesture_interpreter.py

# Copyright 2015 The Chromium OS Authors. All rights reserved.
# Use of this source code is governed by a BSD-style license that can be
# found in the LICENSE file.

""" This is a module containing functions that allow the test suite to
determine the specifics of the gesture and execute them on the touchbot.
In essence, you use this class to go from a Test object to the robot
actually performing the correct gesture on the pad.
"""

import math
from threading import Thread

import colorama as color

import tests
from touchbot import Touchbot


STANDARD_FINGERTIP = '1round_9mm'
STANDARD_SECONDARY_FINGERTIP = '2round_9mm'

BUFFER_SIZE = 0.1
OVERSHOOT_DISTANCE = 0.05
LEFT = BUFFER_SIZE
OVER_LEFT = -OVERSHOOT_DISTANCE
RIGHT = 1.0 - BUFFER_SIZE
OVER_RIGHT = 1.0 + OVERSHOOT_DISTANCE
TOP = BUFFER_SIZE
OVER_TOP = -OVERSHOOT_DISTANCE
BOTTOM = 1.0 - BUFFER_SIZE
OVER_BOTTOM = 1.0 + OVERSHOOT_DISTANCE
CENTER = 0.5

LOCATION_COORDINATES = {
    tests.GV.TL: (LEFT, TOP),
    tests.GV.TR: (RIGHT, TOP),
    tests.GV.BL: (LEFT, BOTTOM),
    tests.GV.BR: (RIGHT, BOTTOM),
    tests.GV.TS: (CENTER, TOP),
    tests.GV.BS: (CENTER, BOTTOM),
    tests.GV.LS: (LEFT, CENTER),
    tests.GV.RS: (RIGHT, CENTER),
    tests.GV.CENTER: (CENTER, CENTER),
}

LINE_DIRECTION_COORDINATES = {
    tests.GV.LR: ((LEFT, CENTER), (RIGHT, CENTER)),
    tests.GV.RL: ((RIGHT, CENTER), (LEFT, CENTER)),
    tests.GV.TB: ((CENTER, TOP), (CENTER, BOTTOM)),
    tests.GV.BT: ((CENTER, BOTTOM), (CENTER, TOP)),
    tests.GV.BLTR: ((LEFT, BOTTOM), (RIGHT, TOP)),
    tests.GV.BRTL: ((RIGHT, BOTTOM), (LEFT, TOP)),
    tests.GV.TRBL: ((RIGHT, TOP), (LEFT, BOTTOM)),
    tests.GV.TLBR: ((LEFT, TOP), (RIGHT, BOTTOM)),
    tests.GV.CL: ((CENTER, CENTER), (OVER_LEFT, CENTER)),
    tests.GV.CR: ((CENTER, CENTER), (OVER_RIGHT, CENTER)),
    tests.GV.CT: ((CENTER, CENTER), (CENTER, OVER_TOP)),
    tests.GV.CB: ((CENTER, CENTER), (CENTER, OVER_BOTTOM)),
    tests.GV.CUL: ((CENTER, CENTER), (OVER_LEFT, OVER_TOP)),
    tests.GV.CLL: ((CENTER, CENTER), (OVER_LEFT, OVER_BOTTOM)),
    tests.GV.CLR: ((CENTER, CENTER), (OVER_RIGHT, OVER_BOTTOM)),
}

SPEEDS = {
    tests.GV.NORMAL: Touchbot.SPEED_MEDIUM,
    tests.GV.SLOW: Touchbot.SPEED_SLOW,
}

SINGLE_FINGER_LINE_TESTS = [
    tests.ONE_FINGER_TO_EDGE,
    tests.ONE_FINGER_TRACKING,
    tests.ONE_FINGER_TRACKING_FROM_CENTER,
]


def PerformCorrespondingGesture(test, variation_number, robot, device_spec):
  variation = test.variations[variation_number]
  fn = None
  if test.name == tests.NOISE_STATIONARY:
    fn = lambda: _PerformStationaryNoiseTest(variation, robot, device_spec)
  elif test.name == tests.ONE_FINGER_TAP:
    fn = lambda: _PerformOneFingerTapTest(variation, robot, device_spec)
  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 == tests.TWO_FINGER_TRACKING:
    fn = lambda: _PerformTwoFingerLineTest(variation, robot, device_spec)
  elif test.name == tests.RESTING_FINGER_PLUS_2ND_FINGER_MOVE:
    fn = lambda: _PerformRestingFingerTest(variation, robot, device_spec)

  if fn is None:
    print color.Fore.RED + 'Error: Robot unable to perform gesture!'
    return None

  return Thread(target=fn)


def _PerformStationaryNoiseTest(variation, robot, device_spec):
  frequency, amplitude, waveform, location = variation
  tap_position = LOCATION_COORDINATES[location]
  fingertip = robot.fingertips[STANDARD_FINGERTIP]
  robot.SingleTipTap(device_spec, fingertip, tap_position, touch_time_s=4)


def _PerformOneFingerTapTest(variation, robot, device_spec):
  location, = variation
  tap_position = LOCATION_COORDINATES[location]
  fingertip = robot.fingertips[STANDARD_FINGERTIP]
  robot.SingleTipTap(device_spec, fingertip, tap_position)


def _PerformOneFingerLineTest(variation, robot, device_spec, pause_time_s):
  direction, speed = variation
  start, end = LINE_DIRECTION_COORDINATES[direction]
  fingertip = robot.fingertips[STANDARD_FINGERTIP]

  robot.PushSpeed(SPEEDS[speed])
  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()


def _PerformRestingFingerTest(variation, robot, device_spec):
  direction, speed = variation
  start, end = LINE_DIRECTION_COORDINATES[direction]
  stationary_location = LOCATION_COORDINATES[tests.GV.BL]

  stationary_fingertip = robot.fingertips[STANDARD_FINGERTIP]
  moving_fingertip = robot.fingertips[STANDARD_SECONDARY_FINGERTIP]

  robot.PushSpeed(SPEEDS[speed])
  robot.LineWithStationaryFinger(device_spec, stationary_fingertip,
                                 moving_fingertip, start, end,
                                 stationary_location)
  robot.PopSpeed()