From 553a8c7413f0f20111f43945796589ece3b5af63 Mon Sep 17 00:00:00 2001
From: Kenneth Yang <82800265+kjy5@users.noreply.github.com>
Date: Wed, 14 Feb 2024 11:34:16 -0800
Subject: [PATCH] Movement tester (#325)

---
 pyproject.toml         |  1 +
 scripts/__init__.py    |  0
 scripts/move_tester.py | 21 +++++++++++++++++++++
 3 files changed, 22 insertions(+)
 create mode 100644 scripts/__init__.py
 create mode 100644 scripts/move_tester.py

diff --git a/pyproject.toml b/pyproject.toml
index b0ab101..550d4a3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -60,6 +60,7 @@ python = "3.12"
 dependencies = [
     "coverage[toml]>=6.5",
     "pytest",
+    "python-socketio[client]==5.11.1",
 ]
 [tool.hatch.envs.default.scripts]
 test = "pytest {args:tests}"
diff --git a/scripts/__init__.py b/scripts/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/scripts/move_tester.py b/scripts/move_tester.py
new file mode 100644
index 0000000..4c546b5
--- /dev/null
+++ b/scripts/move_tester.py
@@ -0,0 +1,21 @@
+import json
+
+import socketio
+
+if __name__ == "__main__":
+    sio = socketio.Client()
+    sio.connect("http://localhost:8081")
+
+    sio.emit("register_manipulator", "6")
+    sio.emit("bypass_calibration", "6")
+    sio.emit("set_can_write", json.dumps({"manipulator_id": "6", "can_write": True, "hours": 0}))
+
+    end = ""
+    while end == "":
+        sio.emit("goto_pos", json.dumps({"manipulator_id": "6", "pos": [0, 10, 10, 10], "speed": 0.5}))
+
+        input("Press enter to continue...")
+
+        sio.emit("goto_pos", json.dumps({"manipulator_id": "6", "pos": [10, 10, 10, 10], "speed": 1}))
+
+        end = input("Press enter to continue (or type any key then enter to end)...")