def start(self) -> None:
"""
Starts listening for serial data and updating observers
"""
with self.conn as serial:
line = serial.readline()
# Inform the observers that connection is open
self.__notify(Action('OPEN', None))
while True:
if not self.conn.isOpen():
return
line = serial.readline().decode('utf-8')
try:
action = Action.parse(line)
except:
continue
if action.directive == 'CLOSE':
self.__notify(action)
break
self.__notify(action)
def test_foot_w_vals(self):
line = '123 43 -123 -34 -250 -12'
should_be = {
'left': {
'pitch': 123,
'yaw': 43,
'roll': -123
},
'right': {
'pitch': -34,
'yaw': -250,
'roll': -12
}
}
a = Action.parse(line)
self.assertDictEqual(a.value, should_be, 'Parsed correct values')
def test_close_w_msg(self):
line = 'CLOSE|Hey there is a message in here'
a = Action.parse(line)
self.assertEqual(a.directive, 'CLOSE', 'Sets directive correctly')
self.assertEqual(a.value, None, 'Discards message correctly')
def test_debug_w_msg(self):
line = 'DEBUG|This is a message'
a = Action.parse(line)
self.assertEqual(a.directive, 'DEBUG', 'Directive was set')
self.assertEqual(a.value,
line.split('|')[1], 'Debug message is correct')
def test_foot_w_nonints(self):
line = '12 12 12 12 not12 12'
with self.assertRaises(RuntimeError):
a = Action.parse(line)
def test_foot_w_lessvals(self):
line = '12 12 12 12 12'
with self.assertRaises(RuntimeError):
a = Action.parse(line)
def test_w_nodir(self):
line = '|This is a message'
with self.assertRaises(KeyError):
a = Action.parse(line)
def test_debug_wo_msg(self):
line = 'DEBUG|'
a = Action.parse(line)
self.assertEqual(a.directive, 'DEBUG', 'Directive was set')
self.assertEqual(a.value, '', 'Debug message is correct')