async def test_dispatch_debug_log(protobuf_router):
"""
Test low level log message.
"""
bus_message = BusMessage(debugLog=DebugLog(content='Hello, world!'))
msg_bytes = bus_message.SerializeToString()
await protobuf_router.decode_message(msg_bytes, 'motor_board')
async def movement_done(self) -> None:
"""
Send the "movement done" signal to the robot.
"""
bus_message = BusMessage(movementEnded=MovementEndedMsg(blocked=False))
msg_bytes = bus_message.SerializeToString()
await self.motor_board_adapter.send(msg_bytes)
async def test_move_rotation(simulation_handler, event_queue_mock):
"""
Happy path for rotation.
"""
bus_message = BusMessage(rotate=RotateMsg(ticks=3))
msg_bytes = bus_message.SerializeToString()
await simulation_handler.handle_movement_order(msg_bytes)
event_queue_mock.push.assert_any_call(
EventOrder(type=EventType.MOVE_WHEEL, payload={
'left': -1,
'right': 1
}), 62)
event_queue_mock.push.assert_any_call(
EventOrder(type=EventType.MOVE_WHEEL, payload={
'left': -1,
'right': 1
}), 188)
event_queue_mock.push.assert_any_call(
EventOrder(type=EventType.MOVE_WHEEL, payload={
'left': -1,
'right': 1
}), 313)
event_queue_mock.push.assert_any_call(
EventOrder(type=EventType.MOVEMENT_DONE, payload=None), 397)
assert event_queue_mock.push.call_count == 4
async def rotate(self, ticks: int) -> None:
"""
Rotate counter-clockwise if ticks > 0, clockwise if ticks < 0.
"""
LOGGER.get().debug('gateway_rotate', ticks=ticks)
message = BusMessage(rotate=RotateMsg(ticks=ticks))
payload = message.SerializeToString()
await self.motor_board_adapter.send(payload)
async def translate(self, ticks: int) -> None:
"""
Move forward if ticks > 0, backward if ticks < 0.
"""
LOGGER.get().debug('gateway_translate', ticks=ticks)
message = BusMessage(translate=TranslateMsg(ticks=ticks))
payload = message.SerializeToString()
await self.motor_board_adapter.send(payload)
async def test_movement_ended(protobuf_handler, localization_controller_mock,
blocked):
"""
Route movement ended messages to localization controller.
"""
bus_message = BusMessage(movementEnded=MovementEndedMsg(blocked=blocked))
msg_bytes = bus_message.SerializeToString()
await protobuf_handler.translate_message(msg_bytes)
localization_controller_mock.movement_done.assert_called_once_with(blocked)
async def encoder_position(self, left_tick: int, right_tick: int) -> None:
"""
Send encoder positions.
"""
bus_message = BusMessage(encoderPosition=EncoderPositionMsg(
left_tick=left_tick,
right_tick=right_tick,
))
msg_bytes = bus_message.SerializeToString()
await self.motor_board_adapter.send(msg_bytes)
async def test_move_wheels_zero_unit(simulation_handler, event_queue_mock):
"""
If we receive a packet to move wheels by 0 unit, do nothing.
"""
bus_message = BusMessage(translate=TranslateMsg(ticks=0))
msg_bytes = bus_message.SerializeToString()
await simulation_handler.handle_movement_order(msg_bytes)
event_queue_mock.push.assert_called_with(
EventOrder(type=EventType.MOVEMENT_DONE, payload=None), 0)
async def _send_message(self, adapter_index: int,
message: BusMessage) -> None:
"""
Serializes and sends sends a protobuf BusMessage through an adapter.
"""
if adapter_index >= len(self._servo_board_adapters):
raise RuntimeError(
f"Board ID out of bounds:"
f"{adapter_index}>={len(self._servo_board_adapters)}")
payload = message.SerializeToString()
await self._servo_board_adapters[adapter_index].send(payload)
async def test_speed_order(simulation_router, simulation_state_mock):
"""
Happy path for translation.
"""
bus_message = BusMessage(moveWheelAtSpeed=MoveWheelAtSpeedMsg(
left_tick_per_sec=100, right_tick_per_sec=200))
msg_bytes = bus_message.SerializeToString()
await simulation_router.handle_movement_order(msg_bytes, 'test')
assert simulation_state_mock.queue_speed_left[-1] == 100
assert simulation_state_mock.queue_speed_right[-1] == 200
async def test_dispatch_laser_sensor(protobuf_handler,
match_action_controller_mock):
"""
If LaserSensorMsg provided, should call match_action_controller.set_laser_distances once.
"""
bus_message = BusMessage(
laserSensor=LaserSensorMsg(distance_front_left=10,
distance_front_right=10,
distance_back_left=10,
distance_back_right=10))
msg_bytes = bus_message.SerializeToString()
await protobuf_handler.translate_message(msg_bytes)
match_action_controller_mock.set_laser_distances.assert_called_once_with()
async def test_dispatch_encoder_position(protobuf_router,
position_controller_mock):
"""
Dispatch encoder position to position controller.
"""
bus_message = BusMessage(encoderPosition=EncoderPositionMsg(
left_tick=1,
right_tick=-2,
))
msg_bytes = bus_message.SerializeToString()
await protobuf_router.decode_message(msg_bytes, 'test')
position_controller_mock.update_odometry.assert_called_once_with(1, -2)
async def test_dispatch_pressure_sensor(protobuf_handler,
match_action_controller_mock):
"""
If PressureSensorMsg provided, should call match_action_controller.set_pressures once.
"""
bus_message = BusMessage(
pressureSensor=PressureSensorMsg(on_left=10,
on_center_left=10,
on_center=10,
on_center_right=10,
on_right=10))
msg_bytes = bus_message.SerializeToString()
await protobuf_handler.translate_message(msg_bytes)
match_action_controller_mock.set_pressures.assert_called_once_with()
async def test_dispatch_encoder_position(protobuf_handler,
localization_controller_mock):
"""
Dispatch encoder position to localization controller.
"""
bus_message = BusMessage(encoderPosition=EncoderPositionMsg(
left_tick=1,
right_tick=-2,
))
msg_bytes = bus_message.SerializeToString()
await protobuf_handler.translate_message(msg_bytes)
localization_controller_mock.update_odometry_position.assert_called_once_with(
1, -2)
async def _send_message(self, message: BusMessage) -> None:
"""
Serializes and sends sends a protobuf BusMessage through an adapter.
"""
payload = message.SerializeToString()
await self.motor_board_adapter.send(payload)