def test_initialise_enabled(self, mock_cfg, mock_thread):
mock_cfg.overall_config.diagnostics_enabled.return_value = True
mock_cfg.overall_config.diagnostics_port.return_value = 5000
thread = Mock()
mock_thread.return_value = thread
Diagnostics.initialise()
mock_thread.assert_called_with(
target=Diagnostics._make_socket_connection, args=[5000])
thread.start.assert_called_with()
def test_initialise_not_enabled(self, mock_cfg, mock_thread):
mock_cfg.overall_config.diagnostics_enabled.return_value = False
Diagnostics.initialise()
mock_cfg.overall_config.diagnostics_enabled.assert_called_with()
mock_cfg.overall_config.diagnostics_port.assert_not_called()
mock_thread.assert_not_called()
def main(argv):
'''Rover operation starts here! Wait for a connection from a remote
computer, interpret commands received and take appropriate action.
'''
if len(argv) < 2 and len(argv) > 4:
dg.print(usage_str)
sys.exit(1)
if argv[1] == '--as-unit': # not the main unit
process_as_unit(argv)
return
# The rest of main() should only run on the main unit
try:
port = int(argv[1]) # port to receive commands on
except ValueError:
dg.print("Port number should be an integer")
sys.exit(1) # exit with error code
try:
if len(argv) == 3: # settings file specified
cfg.Configuration.settings_file(argv[2])
else: # use the default settings file (settings.xml)
cfg.Configuration.settings_file()
except cfg.ConfigurationError as e: # error related to settings file
dg.print(str(e) + "\nExiting...")
sys.exit(1) # exit with error code
try:
OpMode.opmodes_initialise() # check for available operational modes
except OpModeError as e:
dg.print(str(e) + "\nExiting...")
sys.exit(1) # exit with error code
if OpMode.get_all(): # list of registered modes is not empty
dg.print("Found operational modes: ")
for name in OpMode.get_all_names(): # print registered names of all modes
dg.print(' ' + name)
try:
mgr.global_resources.initialise() # get all resources ready
# (motors, camera, etc)
except mgr.ResourceError as e:
dg.print(str(e) + "\nExiting...")
sys.exit(1) # exit with error code
dg.initialise() # start diagnostics
unit.activate_main_unit_services(
) # service connections from attached units
# start operation
while (True):
dg.print("Waiting for connection...")
try:
main_sock = wait_for_remote(port)
host, _ = main_sock.get_ip_address()
cfg.overall_config.set_ip(host)
except TcpSocketError as e: # connection error
dg.print(str(e))
cleanup()
continue # wait for connection again
shutdown = run(main_sock)
if shutdown:
break
cleanup()
unit.deactivate_main_unit_services()
dg.close()
sys.exit(0) # shutdown
