def test_msg_pack(self):
bus = MagicMock()
dev = Radio(bus=bus, config={})
bus.reset_mock()
dev.send_data('dummy_artf', [1, 2, 3])
bus.publish.assert_called()
self.assertEqual(bus.method_calls[-1],
call.publish('radio', serialize([0, 'dummy_artf', [1, 2, 3]])))
dev.send_data('dummy_artf', [1, 2, 3])
self.assertEqual(bus.method_calls[-1],
call.publish('radio', serialize([1, 'dummy_artf', [1, 2, 3]])))
def test_report_artifact(self):
bus = MagicMock()
c = LoRa(bus=bus, config={'device_id': 1})
with patch('osgar.node.Node.update') as p:
p.return_value = 'raw'
c.raw = b"3|['TYPE_BACKPACK', 3506, -18369, -752]\n"
c.update()
self.assertEqual(bus.method_calls, [
call.register('raw', 'cmd', 'robot_status', 'artf'),
call.publish('artf',
[3, ['TYPE_BACKPACK', 3506, -18369, -752]]),
call.publish('raw',
b"3|['TYPE_BACKPACK', 3506, -18369, -752]\n")
])
def test_on_robot_trace(self):
bus = MagicMock()
mtm = MultiTraceManager(bus=bus, config={})
mtm.on_robot_trace({
'A150L':
[[505, [6.127597694909277, 2.640278491024048, 1.9188244676330934]],
[506, [5.07939188538461, 2.0835104023227147, 1.9305388336683675]]]
})
self.assertIn('A150L', mtm.traces)
mtm.on_robot_trace({
'A150L': [[
500,
[10.098783014125825, 2.4058896366987415, 2.0341068401239615]
]]
})
self.assertEqual(len(mtm.traces['A150L']), 3)
mtm.on_robot_trace({
'A150L': [[
500,
[10.098783014125825, 2.4058896366987415, 2.0341068401239615]
]]
})
self.assertEqual(len(mtm.traces['A150L']), 3)
bus.reset_mock()
mtm.publish_trace_info()
bus.publish.assert_called()
self.assertEqual(
bus.method_calls[-1],
call.publish('trace_info', {'A150L': [[500, 500], [505, 506]]}))
def test_usage(self):
bus = MagicMock()
mtm = MultiTraceManager(bus=bus, config={})
mtm.on_robot_xyz([
'A150L',
[505, [6.127597694909277, 2.640278491024048, 1.9188244676330934]]
])
mtm.on_robot_xyz([
'A150L',
[506, [5.07939188538461, 2.0835104023227147, 1.9305388336683675]]
])
bus.publish.assert_called()
self.assertEqual(bus.method_calls[-1],
call.publish('trace_info', {'A150L': [[505, 506]]}))
bus.reset_mock()
mtm.on_trace_info({'B100R': [[1, 10]]})
bus.publish.assert_called()
self.assertEqual(
bus.method_calls[-1],
call.publish(
'robot_trace', {
'A150L': [[
505,
[
6.127597694909277, 2.640278491024048,
1.9188244676330934
]
],
[
506,
[
5.07939188538461, 2.0835104023227147,
1.9305388336683675
]
]]
}))
bus.reset_mock()
mtm.on_trace_info({'A150L': [[505, 506]]})
bus.publish.assert_not_called()
def test_pose3d(self):
bus = MagicMock()
dev = Radio(bus=bus, config={})
bus.reset_mock()
data = [[-5.999917943872727, 4.999913526023388, 0.12287766016353471], [6.229389211972107e-12, -7.943606405014296e-12, 1.5034993858140517e-12, 1.0]]
dev.on_pose3d(data)
bus.publish.assert_not_called() # not defined sim_time
dev.on_sim_time_sec(13)
dev.on_pose3d(data)
bus.publish.assert_called()
self.assertEqual(bus.method_calls[-1],
call.publish('radio', serialize([1, 'xyz', [13, [-5.999917943872727, 4.999913526023388, 0.12287766016353471]]])))
def test_partial_update(self):
bus = MagicMock()
mtm = MultiTraceManager(bus=bus, config={})
for i in range(10):
mtm.on_robot_xyz(['A10L', [i, [2 * i, 0, 0]]])
bus.reset_mock()
mtm.on_trace_info({'A10L': [[1, 8]]})
bus.publish.assert_called()
self.assertEqual(
bus.method_calls[-1],
call.publish('robot_trace',
{'A10L': [[0, [0, 0, 0]], [9, [18, 0, 0]]]}))
def test_on_breadcrumb(self):
data = [29.929257253892082, -1.5821685677914703, 1.575092509709292] # xyz location of newly deployed breadcrumb
bus = MagicMock()
dev = Radio(bus=bus, config={})
bus.reset_mock()
dev.on_breadcrumb(data)
bus.publish.assert_called()
self.assertEqual(bus.method_calls[0],
call.publish('radio', serialize([0, 'breadcrumb', [29.929257253892082, -1.5821685677914703, 1.575092509709292]])))
new_msg = serialize([0, 'breadcrumb', [29.929257253892082, -1.5821685677914703, 1.575092509709292]])
bus.reset_mock()
dev.on_radio([b'A1300L', new_msg])
bus.publish.assert_called()
def test_publishing(self):
event = self.load_event('AssignGlobalIndex')
events_topic = Mock()
changesets_topic = Mock()
p = Publisher(changesets_topic, events_topic)
changesets = parse_dynamodb_new_records(event, None)
p.publish(changesets)
changesets_topic.assert_has_calls([
call.publish('{"stream_id": "99038933-e620-444d-9033-4128254f0cbd", "changeset_id": 2, "events": [{"type": "init", "foo": "bar"}, {"type": "update", "foo": "baz"}], "metadata": {"timestamp": "123123", "command_id": "456346234", "issued_by": "*****@*****.**"}}', '8ebf57ca0228236805c448931bc9f2d8def48fff0380a57d13701091'),
call.publish('{"stream_id": "206bc1ed-8e67-4a64-a596-8b32c0c20a97", "changeset_id": 1, "events": [{"type": "init", "foo": "bar"}, {"type": "update", "foo": "baz"}], "metadata": {"timestamp": "123123", "command_id": "456346234", "issued_by": "*****@*****.**"}}', '4520eff932295c3ca621d2a8fb018a7a82ddfde0fc86ae8538ea8524')
])
events_topic.assert_has_calls([
call.publish('{"stream_id": "99038933-e620-444d-9033-4128254f0cbd", "changeset_id": 2, "event_id": 3, "data": {"type": "init", "foo": "bar"}}', '8ebf57ca0228236805c448931bc9f2d8def48fff0380a57d13701091'),
call.publish('{"stream_id": "99038933-e620-444d-9033-4128254f0cbd", "changeset_id": 2, "event_id": 4, "data": {"type": "update", "foo": "baz"}}', '8ebf57ca0228236805c448931bc9f2d8def48fff0380a57d13701091'),
call.publish('{"stream_id": "206bc1ed-8e67-4a64-a596-8b32c0c20a97", "changeset_id": 1, "event_id": 1, "data": {"type": "init", "foo": "bar"}}', '4520eff932295c3ca621d2a8fb018a7a82ddfde0fc86ae8538ea8524'),
call.publish('{"stream_id": "206bc1ed-8e67-4a64-a596-8b32c0c20a97", "changeset_id": 1, "event_id": 2, "data": {"type": "update", "foo": "baz"}}', '4520eff932295c3ca621d2a8fb018a7a82ddfde0fc86ae8538ea8524')
])