def setup_method(self, method):
configuration = Config("settings.cfg")
initPositions = configuration.initPositions
constrainments = configuration.constrainments
maxSpeed = configuration.maxSpeed
accuracy = configuration.accuracy
robotArm = RobotArm(initPositions, constrainments, maxSpeed, accuracy)
#init model bounder
robotModelBounder = RobotModelBounder(robotArm, [], 0, 0)
#setup robotController
self.robotController = RobotController(robotArm, robotModelBounder,
lambda: True)
def setup_method(self, method):
configuration = Config( "settings.cfg" )
initPositions = configuration.initPositions
constrainments = configuration.constrainments
maxSpeed = configuration.maxSpeed
accuracy = configuration.accuracy
robotArm = RobotArm( initPositions, constrainments, maxSpeed, accuracy )
#init model bounder
robotModelBounder = RobotModelBounder( robotArm, [], 0, 0 )
#setup robotController
self.robotController = RobotController(robotArm, robotModelBounder, lambda: True )
class TestRobotController:
def setup_method(self, method):
configuration = Config("settings.cfg")
initPositions = configuration.initPositions
constrainments = configuration.constrainments
maxSpeed = configuration.maxSpeed
accuracy = configuration.accuracy
robotArm = RobotArm(initPositions, constrainments, maxSpeed, accuracy)
#init model bounder
robotModelBounder = RobotModelBounder(robotArm, [], 0, 0)
#setup robotController
self.robotController = RobotController(robotArm, robotModelBounder,
lambda: True)
def test_startRecording_simple(self):
self.robotController.startRecording()
assert self.robotController.isRecording
def test_stopRecording_simple(self):
self.robotController.startRecording()
self.robotController.stopRecording()
assert not self.robotController.isRecording
def test_addDelegate_simple(self):
delegate = RobotControllerRecordingDelegate()
self.robotController.addDelegate(delegate)
assert self.robotController.hasDelegate(delegate)
def test_removeDelegate_simple(self):
delegate = RobotControllerRecordingDelegate()
self.robotController.addDelegate(delegate)
self.robotController.removeDelegate(delegate)
assert not self.robotController.hasDelegate(delegate)
def test_invokeDelagate_1(self):
delegate = RobotControllerRecordingDelegate()
delegate.recording = True
self.robotController.addDelegate(delegate)
event = NewPositionEvent("data")
self.robotController.invokeEvent(event)
assert delegate.sequence.amount() == 1
def test_invokeDelegate_Many(self):
delegate = RobotControllerRecordingDelegate()
delegate.recording = True
delegate2 = RobotControllerRecordingDelegate()
delegate2.recording = True
self.robotController.addDelegate(delegate)
self.robotController.addDelegate(delegate2)
event = NewPositionEvent("data")
self.robotController.invokeEvent(event)
assert delegate.sequence.amount() == 1
assert delegate2.sequence.amount() == 1
def teardown_method(self, method):
del self.robotController
class TestRobotController:
def setup_method(self, method):
configuration = Config( "settings.cfg" )
initPositions = configuration.initPositions
constrainments = configuration.constrainments
maxSpeed = configuration.maxSpeed
accuracy = configuration.accuracy
robotArm = RobotArm( initPositions, constrainments, maxSpeed, accuracy )
#init model bounder
robotModelBounder = RobotModelBounder( robotArm, [], 0, 0 )
#setup robotController
self.robotController = RobotController(robotArm, robotModelBounder, lambda: True )
def test_startRecording_simple(self):
self.robotController.startRecording()
assert self.robotController.isRecording
def test_stopRecording_simple(self):
self.robotController.startRecording()
self.robotController.stopRecording()
assert not self.robotController.isRecording
def test_addDelegate_simple(self):
delegate = RobotControllerRecordingDelegate()
self.robotController.addDelegate(delegate)
assert self.robotController.hasDelegate(delegate)
def test_removeDelegate_simple(self):
delegate = RobotControllerRecordingDelegate()
self.robotController.addDelegate(delegate)
self.robotController.removeDelegate(delegate)
assert not self.robotController.hasDelegate(delegate)
def test_invokeDelagate_1(self):
delegate = RobotControllerRecordingDelegate()
delegate.recording = True
self.robotController.addDelegate(delegate)
event = NewPositionEvent("data")
self.robotController.invokeEvent(event)
assert delegate.sequence.amount() == 1
def test_invokeDelegate_Many(self):
delegate = RobotControllerRecordingDelegate()
delegate.recording = True
delegate2 = RobotControllerRecordingDelegate()
delegate2.recording = True
self.robotController.addDelegate(delegate)
self.robotController.addDelegate(delegate2)
event = NewPositionEvent("data")
self.robotController.invokeEvent(event)
assert delegate.sequence.amount() == 1
assert delegate2.sequence.amount() == 1
def teardown_method(self, method):
del self.robotController