def test_last_analog_channel_state_can_be_read(self):
rc = RemoteController()
for i in range(10):
analog = [0] * 10
# ith button is pressed
analog[i] = 255
rc.tick(
RemoteControllerCommand(buttons=[False] * 32, analog=analog))
for j in range(10):
self.assertEqual(analog[i], rc.analog_value(i))
def test_requested_channels_are_passed_to_analog_handlers(self):
rc = RemoteController()
mock24 = Mock()
mock3 = Mock()
mock_invalid = Mock()
rc.on_analog_values([2, 4], mock24)
rc.on_analog_values([3], mock3)
rc.on_analog_values([3, 11], mock_invalid)
rc.tick(RemoteControllerCommand(buttons=[False] * 32, analog=[255, 254, 253, 123, 43, 65, 45, 42]))
self.assertEqual(mock24.call_count, 1)
self.assertEqual(mock3.call_count, 1)
# invalid channels are silently ignored
self.assertEqual(mock_invalid.call_count, 0)
self.assertEqual(mock24.call_args[0][0], [253, 43])
self.assertEqual(mock3.call_args[0][0], [123])
def __init__(self,
interface: RevvyControl,
revvy,
sound_paths,
sw_version,
default_config=None):
print("RobotManager: __init__()")
self.needs_interrupting = True
self._configuring = False
self._robot = Robot(interface, sound_paths, sw_version)
self._interface = interface
self._ble = revvy
self._default_configuration = default_config or RobotConfig()
self._status_update_thread = periodic(self._update, 0.02,
"RobotStatusUpdaterThread")
self._background_fn_lock = Lock()
self._background_fns = []
rc = RemoteController()
rcs = RemoteControllerScheduler(rc)
rcs.on_controller_detected(self._on_controller_detected)
rcs.on_controller_lost(self._on_controller_lost)
self._remote_controller = rc
self._remote_controller_scheduler = rcs
self._remote_controller_thread = create_remote_controller_thread(rcs)
self._resources = {
'led_ring': Resource(),
'drivetrain': Resource(),
'sound': Resource(),
**{
'motor_{}'.format(port.id): Resource()
for port in self._robot.motors
},
**{
'sensor_{}'.format(port.id): Resource()
for port in self._robot.sensors
}
}
revvy['live_message_service'].register_message_handler(
self._remote_controller_scheduler.data_ready)
revvy.on_connection_changed(self._on_connection_changed)
self._scripts = ScriptManager(self)
self._config = self._default_configuration
self._status_code = RevvyStatusCode.OK
self.exited = False
def test_buttons_are_edge_triggered(self):
rc = RemoteController()
mocks = []
for i in range(32):
mock = Mock()
rc.on_button_pressed(i, mock)
mocks.append(mock)
for i in range(32):
buttons = [False] * 32
rc.tick(RemoteControllerCommand(buttons=buttons, analog=[0] * 10))
# ith button is pressed
buttons[i] = True
rc.tick(RemoteControllerCommand(buttons=buttons, analog=[0] * 10))
# button is kept pressed
rc.tick(RemoteControllerCommand(buttons=buttons, analog=[0] * 10))
for j in range(32):
self.assertEqual(mocks[j].call_count, 1 if i == j else 0)
mocks[j].reset_mock()
def test_last_button_pressed_state_can_be_read(self):
rc = RemoteController()
rc.tick(RemoteControllerCommand(buttons=[False] * 32, analog=[0] * 10))
for i in range(32):
buttons = [False] * 32
# ith button is pressed
buttons[i] = True
rc.tick(RemoteControllerCommand(buttons=buttons, analog=[0] * 10))
for j in range(32):
self.assertEqual(buttons[i], rc.is_button_pressed(i))
def __init__(self, robot: Robot, sw_version, revvy_ble):
self._log = get_logger('RobotManager')
self._log('init')
self.needs_interrupting = True
self._configuring = False
self._robot = robot
self._ble = revvy_ble
self._sw_version = sw_version
self._status_update_thread = periodic(self._update, 0.005,
"RobotStatusUpdaterThread")
self._background_fns = []
rc = RemoteController()
rcs = RemoteControllerScheduler(rc)
rcs.on_controller_detected(self._on_controller_detected)
rcs.on_controller_lost(self._on_controller_lost)
self._remote_controller = rc
self._remote_controller_thread = create_remote_controller_thread(rcs)
self._resources = {
'led_ring': Resource('RingLed'),
'drivetrain': Resource('DriveTrain'),
'sound': Resource('Sound'),
**{
f'motor_{port.id}': Resource(f'Motor {port.id}')
for port in self._robot.motors
},
**{
f'sensor_{port.id}': Resource(f'Sensor {port.id}')
for port in self._robot.sensors
}
}
revvy_ble['live_message_service'].register_message_handler(
rcs.data_ready)
revvy_ble.on_connection_changed(self._on_connection_changed)
self._scripts = ScriptManager(self)
self._config = empty_robot_config
self._status_code = RevvyStatusCode.OK
self.exited = Event()
self.start_remote_controller = self._remote_controller_thread.start
def test_reset_removed_button_and_analog_handlers_and_clears_stored_data(
self):
mock = Mock()
rc = RemoteController()
rc.tick(RemoteControllerCommand(buttons=[False] * 32, analog=[]))
rc.on_analog_values([2, 4], mock)
rc.on_analog_values([3], mock)
rc.on_button_pressed(5, mock)
rc.tick(
RemoteControllerCommand(
buttons=[True] * 32,
analog=[255, 254, 253, 123, 43, 65, 45, 42]))
self.assertEqual(3, mock.call_count)
self.assertEqual(254, rc.analog_value(1))
self.assertTrue(rc.is_button_pressed(1))
mock.reset_mock()
rc.reset()
self.assertEqual(0, rc.analog_value(1))
self.assertFalse(rc.is_button_pressed(1))
rc.tick(
RemoteControllerCommand(
buttons=[True] * 32,
analog=[255, 254, 253, 123, 43, 65, 45, 42]))
self.assertEqual(0, mock.call_count)
def test_error_raised_for_invalid_button(self):
rc = RemoteController()
self.assertRaises(IndexError,
lambda: rc.on_button_pressed(32, lambda: None))
def test_remote_controller_buttons_need_initial_zero_state(self):
mock = Mock()
rc = RemoteController()
rc.on_button_pressed(5, mock)
rc.tick(RemoteControllerCommand(buttons=[True] * 32, analog=[]))
self.assertEqual(0, mock.call_count)
self.assertFalse(rc.is_button_pressed(1))
rc.tick(RemoteControllerCommand(buttons=[False] * 32, analog=[]))
rc.tick(RemoteControllerCommand(buttons=[True] * 32, analog=[]))
self.assertEqual(1, mock.call_count)
self.assertTrue(rc.is_button_pressed(1))
rc.tick(RemoteControllerCommand(buttons=[False] * 32, analog=[]))
mock.reset_mock()
rc.reset()
rc.tick(RemoteControllerCommand(buttons=[True] * 32, analog=[]))
rc.tick(RemoteControllerCommand(buttons=[True] * 32, analog=[]))
self.assertEqual(0, mock.call_count)
self.assertFalse(rc.is_button_pressed(1))