def test_go_at_speed():
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
speed = 23145
assert actuator_tester._go_at_speed(
speed) == 'Q{},1200,2000,40000,100000,490,490,490,490,50,8'.format(
speed)
def test_wait_for_movement_to_end():
"""
Tests that the _wait_for_movement_to_end method returns when the serial device
replies with an 'N'
"""
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
actuator_tester.serial.wait_output = 'N'
assert actuator_tester._wait_for_movement_to_end()
def test_stop():
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
actuator_tester._stop()
assert actuator_tester.serial.messages[
0] == 'H{},{},{},{},{},{},{}\r'.format(
actuator_tester.stopEndSpeed, actuator_tester.stopDecelRate,
actuator_tester.stopRunCurrent, actuator_tester.stopHoldCurrent,
actuator_tester.stopDecelCurrent, actuator_tester.stopDelay,
actuator_tester.incrementsPerStep)
def test_move_to():
# Tests whether the plunger_move_to function sends the correct instructions to the actuator
# Also tests that the plunger_move_to method calls _wait_for_movement_to_end() and _stop()
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
position = 12345
assert actuator_tester.plunger_move_to(position) == 'M{}, 36571, 36571, 36571, 16777215,' \
' 16777215, 245, 245, 245, 245,' \
' 300, 64'.format(position)
assert actuator_tester.serial.wait_for_movement_to_end_called
assert actuator_tester.serial._stop_called
def test_wait_for_movement_to_end_throws_motor_disconnected_error_exception(
self):
"""
Tests whether the wait_for_movement_to_end() method raises an error if the motor is not plugged in.
This test times out if the method fails to raise an error.
"""
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
actuator_tester.serial.mock_an_empty_buffer = True
with self.assertRaises(CheckMotorPluggedIn):
actuator_tester._wait_for_movement_to_end()
def test_move_by():
# Tests whether the plunger_move_by method sends the correct instructions to the actuator
# Also tests that the plunger_move_by method calls _wait_for_movement_to_end() and _stop()
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
increments = 10000
assert actuator_tester.plunger_move_by(increments) == 'I{}, 36571, 36571,' \
' 36571, 16777215, 16777215,' \
' 245, 245, 245, 245, 300,' \
' 64'.format(increments)
assert actuator_tester.serial.wait_for_movement_to_end_called
assert actuator_tester.serial._stop_called
def test_clear_buffer_gets_stuck_when_buffer_is_not_empty():
"""
Tests that the clear_buffer method does not return when the buffer is not empty
"""
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
timed_out = False
try:
clear_buffer_gets_stuck_when_buffer_is_not_empty_timeout(
actuator_tester)
except:
timed_out = True
assert timed_out == True
def test_wait_for_movement_to_end_does_not_end_without_an_end_signal():
"""
Tests that the _wait_for_movement_to_end method does not return when the serial device
does not reply with an 'N' (i.e. while the actuator is still moving)
"""
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
ascii_characters_without_N = string.ascii_letters.replace('N', '')
actuator_tester.serial.wait_output = str(
random.choice(ascii_characters_without_N))
timed_out = False
try:
wait_for_movement_to_end_does_not_end_without_an_end_signal_timeout(
actuator_tester)
except:
timed_out = True
assert timed_out == True
def test_readIO():
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
assert actuator_tester.read_IO() == "IO_read"
def test_send_to_idea():
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
test_message = "test_message"
assert actuator_tester._send_to_idea(test_message) == test_message + '\r'
def test_init_pump():
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
actuator_tester.init_pump()
assert actuator_tester.serial.read_firmware_version_called
def test_set_outputs():
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
assert actuator_tester.set_outputs() == 'O1'
def test_set_position_to_zero():
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
assert actuator_tester.set_position_to_zero() == 'Z0'
def test_read_current_position():
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
assert actuator_tester._read_current_position() == '12345'
def test_read_max_current():
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
assert actuator_tester.read_max_current() == 'max_current_read'
def test_read_drive_number():
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
assert actuator_tester.read_drive_number() == 'drive_number_read'
def test_abort():
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
assert actuator_tester._abort() == 'A'
assert actuator_tester.serial.messages[0] == 'A\r'
def test_read_message():
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
actuator_tester.serial.messages.append("test_message")
assert actuator_tester.read_message() == "test_message_read"
assert actuator_tester.serial._clear_buffer_called == True
def test_set_plunger_speed():
new_speed = 54321
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
actuator_tester.set_plunger_speed(new_speed)
assert actuator_tester.plunger_speed == new_speed
def test_clear_buffer_returns_true_when_buffer_is_empty():
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
assert actuator_tester._clear_buffer()
def test_read_firmware_version():
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
assert actuator_tester.read_firmware_version() == 'version 1.2.3'
def test_shutdown():
actuator_serial_device = MockActuatorSerialDevice()
actuator_tester = Pcm4826e(actuator_serial_device)
actuator_tester.shutdown()
assert actuator_tester.serial._stop_called
assert actuator_tester.serial._close_called