Merge pull request #3345 from JdeRobot/harmonic-follow-line-tests

Harmonic follow line

Author: javizqh

RoboticsInfrastructure

@@ -199,6 +199,12 @@ COPY public.exercises_universes (id, exercise_id, universe_id, is_default) FROM
 49	5	45	False
 50	11	45	False
 51	9	46	False
+52	1	48	False
+53	1	49	False
+54	1	50	False
+55	1	51	False
+56	1	52	False
+57	1	53	False
 \.
 -- 30  16  3
 

database/exercises/db.sql

@@ -12,6 +12,7 @@ import defaultCircuit from "../resources/images/default_circuit.png";
 import montmeloCircuit from "../resources/images/montmelo_circuit.png";
 import montrealCircuit from "../resources/images/montreal_circuit.png";
 import ngbCircuit from "../resources/images/ngb_circuit.png";
+import monacoCircuit from "../resources/images/monaco_circuit.png"
 
 const WebGUI = () => {
   const exerciseContext = useExercise();
@@ -34,39 +35,25 @@ const WebGUI = () => {
   }, []);
 
   const updateCircuit = (universe) => {
-    switch (universe) {
-      case "Simple Circuit":
+    if (universe === undefined) {
+      return
+    }
+
+    if (universe.includes("Simple")) {
         circuitName = "default";
         setCircuitImg(defaultCircuit);
-        break;
-      case "Montmelo Circuit":
+    } else if (universe.includes("Montmelo")) {
         circuitName = "montmelo";
         setCircuitImg(montmeloCircuit);
-        break;
-      case "Montreal Circuit":
+    } else if (universe.includes("Montreal")) {
         circuitName = "montreal";
         setCircuitImg(montrealCircuit);
-        break;
-      case "Nurburgring Circuit":
+    } else if (universe.includes("Nurburgring")) {
         circuitName = "ngb";
         setCircuitImg(ngbCircuit);
-        break;
-      case "Simple Ackermann Circuit":
-        circuitName = "default ack";
-        setCircuitImg(defaultCircuit);
-        break;
-      case "Montmelo Ackermann Circuit":
-        circuitName = "montmelo ack";
-        setCircuitImg(montmeloCircuit);
-        break;
-      case "Montreal Ackermann Circuit":
-        circuitName = "montreal ack";
-        setCircuitImg(montrealCircuit);
-        break;
-      case "Nurburgring Ackermann Circuit":
-        circuitName = "ngb ack";
-        setCircuitImg(ngbCircuit);
-        break;
+    } else if (universe.includes("Monaco")) {
+        circuitName = "monaco";
+        setCircuitImg(monacoCircuit);
     }
   };
 

exercises/static/exercises/follow_line/react-components/WebGUI.js

@@ -1,16 +1,10 @@
 export const getCarPose = (circuit, position) => {
   var scaleX, scaleY, offsetX, offsetY;
-  let ackUniverse =  circuit.includes("ack")
   let ackMultiplier = 1;
   let pose = position.substring( 1, position.length - 1);
   let pos = pose.split(",").map(function (item) {
     return parseFloat(item);
   });
-  
-  if (ackUniverse) {
-    circuit = circuit.replace(" ack","")
-    ackMultiplier = 5
-  }
 
   switch (circuit) {
     case "default":
@@ -22,14 +16,17 @@ export const getCarPose = (circuit, position) => {
 			scaleX = -1.3; offsetX = 151
       break;
     case "montreal":
-			// scaleY = 0.6; offsetY = 76
       scaleY = 0.685; offsetY = 77
 			scaleX = -0.48; offsetX = 151
       break;
     case "ngb":
       scaleY = 1.5; offsetY = 77
 			scaleX = -1.495; offsetX = 151
       break;
+    case "monaco":
+      scaleY = 1.25; offsetY = 77
+			scaleX = -2.6; offsetX = 151
+      break;
     default:
       scaleY = 1.25; offsetY = 77
 			scaleX = -2.6; offsetX = 151