def test_when_treats_stm_response_country_code_then_notify_server(self):
network_ctrl = MagicMock()
ctrl = RobotController(MagicMock(), MagicMock(), network_ctrl,
MagicMock())
ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(bytearray(b'\xb0\x75\x00\x00')))
command = {'command': Command.GRAB}
ctrl._stm_received_queue.put(command)
ctrl.treat_stm_response()
network_ctrl.send_country_code.assert_called_once()
def test_when_treats_stm_response_task_failed_then_add_to_todos_to_top_priority(
self):
ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(),
MagicMock())
command = {'command': Command.MOVE_FORWARD, 'amplitude': 2222}
ctrl._stm_received_queue.put(command)
ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.UNSUCCESSFULL_TASK.value))
ctrl.treat_stm_response()
self.assertEqual(command, ctrl._stm_commands_todo.popleft())
def test_when_treats_stm_response_task_received_then_add_to_received_queue(
self):
ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(),
MagicMock())
command = {'command': Command.MOVE_FORWARD, 'amplitude': 2222}
ctrl._stm_sent_queue.put(command)
ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
ctrl.treat_stm_response()
self.assertEqual(command, ctrl._stm_received_queue.get())
def test_when_treats_stm_response_cube_task_failed_then_notify_server(
self):
network_ctrl = MagicMock()
ctrl = RobotController(MagicMock(), MagicMock(), network_ctrl,
MagicMock())
command = {'command': Command.GRAB}
ctrl._stm_received_queue.put(command)
ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_CUBE_FAILED.value))
ctrl.treat_stm_response()
network_ctrl.send_feedback.assert_called_once()