def test_encoders_overflow(self):
q = MagicMock()
logger = MagicMock()
logger.write = MagicMock(return_value=22)
bus = BusHandler(logger=logger,
out={
'can': [],
'encoders': [(q, 'encoders')],
'emergency_stop': [],
'pose2d': [],
'buttons': []
})
eduro = Eduro(config={}, bus=bus)
sync = CAN_packet(0x80, [])
enc_left = CAN_packet(0x181, [0xff, 0xff, 0xff, 0x7f])
bus.queue.put((42, 'can', enc_left))
bus.queue.put((123, 'can', sync))
enc_left = CAN_packet(0x181, [0x01, 0x00, 0x00, 0x80])
bus.queue.put((44, 'can', enc_left))
sync = CAN_packet(0x80, [])
bus.queue.put((123, 'can', sync))
bus.shutdown()
eduro.run()
self.assertEqual(
q.put.call_args_list,
[call((22, 'encoders', [0, 0])),
call((22, 'encoders', [2, 0]))])
def test_publish_status(self):
q = MagicMock()
logger=MagicMock()
logger.write = MagicMock(return_value=135)
bus = BusHandler(logger=logger, out={'status':[(q, 'status'),], 'can':[]})
spider = Spider(config={}, bus=bus)
spider.can_bridge_initialized = True # skip initialization
self.assertEqual(CAN_packet(0x200, [0, 0x80]), b'@\x02\x00\x80')
bus.queue.put((123, 'raw', b'@\x02\x00\x80'))
bus.shutdown()
spider.run()
q.put.assert_called_once_with((135, 'status', ([0x8000, None])))
def test_sync(self):
q = MagicMock()
logger = MagicMock()
logger.write = MagicMock(return_value=135)
bus = BusHandler(logger=logger,
out={'can': [], 'encoders': [], 'emergency_stop': [],
'pose2d': [(q, 'pose2d'),], 'buttons': []})
eduro = Eduro(config={}, bus=bus)
sync = CAN_packet(0x80, [])
bus.queue.put((123, 'can', sync))
bus.shutdown()
eduro.run()
q.put.assert_called_once_with((135, 'pose2d', [0, 0, 0]))
def test_buttons(self):
# is there a simpler way without starting the Thread??
q = MagicMock()
logger = MagicMock()
logger.write = MagicMock(return_value=42)
bus = BusHandler(logger=logger,
out={'can': [], 'encoders': [], 'emergency_stop': [],
'pose2d': [], 'buttons': [(q, 'buttons')]})
eduro = Eduro(config={}, bus=bus)
buttons_msg = CAN_packet(0x28A, [0, 0])
bus.queue.put((42, 'can', buttons_msg))
bus.shutdown()
eduro.run()
q.put.assert_called_once_with((42, 'buttons', {'blue_selected': True, 'cable_in': False}))
def test_publish_status(self):
q = MagicMock()
logger = MagicMock()
logger.write = MagicMock(return_value=135)
bus = BusHandler(logger=logger,
out={
'status': [
(q, 'status'),
],
'can': []
})
spider = Spider(config={}, bus=bus)
spider.can_bridge_initialized = True # skip initialization
self.assertEqual(CAN_packet(0x200, [0, 0x80]), b'@\x02\x00\x80')
bus.queue.put((123, 'raw', b'@\x02\x00\x80'))
bus.shutdown()
spider.run()
q.put.assert_called_once_with((135, 'status', ([0x8000, None])))
def test_sync(self):
q = MagicMock()
logger = MagicMock()
logger.write = MagicMock(return_value=135)
bus = BusHandler(logger=logger,
out={
'can': [],
'encoders': [],
'emergency_stop': [],
'pose2d': [
(q, 'pose2d'),
],
'buttons': []
})
eduro = Eduro(config={}, bus=bus)
sync = CAN_packet(0x80, [])
bus.queue.put((123, 'can', sync))
bus.shutdown()
eduro.run()
q.put.assert_called_once_with((135, 'pose2d', [0, 0, 0]))
def test_buttons(self):
# is there a simpler way without starting the Thread??
q = MagicMock()
logger = MagicMock()
logger.write = MagicMock(return_value=42)
bus = BusHandler(logger=logger,
out={
'can': [],
'encoders': [],
'emergency_stop': [],
'pose2d': [],
'buttons': [(q, 'buttons')]
})
eduro = Eduro(config={}, bus=bus)
buttons_msg = CAN_packet(0x28A, [0, 0])
bus.queue.put((42, 'can', buttons_msg))
bus.shutdown()
eduro.run()
q.put.assert_called_once_with((42, 'buttons', {
'blue_selected': True,
'cable_in': False
}))
def test_encoders_overflow(self):
q = MagicMock()
logger = MagicMock()
logger.write = MagicMock(return_value=22)
bus = BusHandler(logger=logger,
out={'can': [], 'encoders': [(q, 'encoders')], 'emergency_stop': [],
'pose2d': [], 'buttons': []})
eduro = Eduro(config={}, bus=bus)
sync = CAN_packet(0x80, [])
enc_left = CAN_packet(0x181, [0xff, 0xff, 0xff, 0x7f])
bus.queue.put((42, 'can', enc_left))
bus.queue.put((123, 'can', sync))
enc_left = CAN_packet(0x181, [0x01, 0x00, 0x00, 0x80])
bus.queue.put((44, 'can', enc_left))
sync = CAN_packet(0x80, [])
bus.queue.put((123, 'can', sync))
bus.shutdown()
eduro.run()
self.assertEqual(q.put.call_args_list, [call((22, 'encoders', [0, 0])),
call((22, 'encoders', [2, 0]))])
def test_alive(self):
logger = MagicMock()
bus = BusHandler(logger, out={})
self.assertTrue(bus.is_alive())
bus.shutdown()
self.assertFalse(bus.is_alive())
def test_shutdown(self):
logger = MagicMock()
handler = BusHandler(logger)
handler.shutdown()
with self.assertRaises(BusShutdownException):
handler.listen()
def test_alive(self):
logger = MagicMock()
bus = BusHandler(logger, out={})
self.assertTrue(bus.is_alive())
bus.shutdown()
self.assertFalse(bus.is_alive())
def test_shutdown(self):
logger = MagicMock()
handler = BusHandler(logger)
handler.shutdown()
with self.assertRaises(BusShutdownException):
handler.listen()
