class SyncCrazyflieTest(unittest.TestCase):
def setUp(self):
self.uri = uri_helper.uri_from_env(default='radio://0/80/2M/E7E7E7E7E7')
self.cf_mock = MagicMock(spec=Crazyflie)
self.cf_mock.connected = Caller()
self.cf_mock.connection_failed = Caller()
self.cf_mock.disconnected = Caller()
self.cf_mock.open_link = AsyncCallbackCaller(
cb=self.cf_mock.connected,
args=[self.uri],
delay=0.2
).trigger
self.close_link_mock = AsyncCallbackCaller(
cb=self.cf_mock.disconnected,
args=[self.uri],
delay=0.2
)
self.cf_mock.close_link = self.close_link_mock.trigger
# Mock the behaviour that param values are updated(downloaded) after connection
self.param_mock = MagicMock(spec=Param)
self.param_mock.all_updated = Caller()
self.cf_mock.param = self.param_mock
# Register a callback to be called when connected. Use it to trigger a callback
# to trigger the call to the param.all_updated() callback
self.cf_mock.connected.add_callback(self._connected_callback)
self.sut = SyncCrazyflie(self.uri, cf=self.cf_mock)
def test_different_underlying_cf_instances(self):
# Fixture
# Test
scf1 = SyncCrazyflie('uri 1')
scf2 = SyncCrazyflie('uri 2')
# Assert
actual1 = scf1.cf
actual2 = scf2.cf
self.assertNotEqual(actual1, actual2)
def test_open_link(self):
# Fixture
# Test
self.sut.open_link()
# Assert
self.assertTrue(self.sut.is_link_open())
def test_failed_open_link_raises_exception(self):
# Fixture
expected = 'Some error message'
self.cf_mock.open_link = AsyncCallbackCaller(
cb=self.cf_mock.connection_failed,
args=[self.uri, expected]).trigger
# Test
try:
self.sut.open_link()
except Exception as e:
actual = e.args[0]
else:
self.fail('Expect exception')
# Assert
self.assertEqual(expected, actual)
self._assertAllCallbacksAreRemoved()
def test_open_link_of_already_open_link_raises_exception(self):
# Fixture
self.sut.open_link()
# Test
# Assert
with self.assertRaises(Exception):
self.sut.open_link()
def test_wait_for_params(self):
# Fixture
self.sut.open_link()
# Test
self.sut.wait_for_params()
# Assert
self.assertTrue(self.sut.is_params_updated())
def test_do_not_wait_for_params(self):
# Fixture
# Test
self.sut.open_link()
# Assert
self.assertFalse(self.sut.is_params_updated())
def test_close_link(self):
# Fixture
self.sut.open_link()
# Test
self.sut.close_link()
# Assert
self.assertEqual(1, self.close_link_mock.call_count)
self.assertFalse(self.sut.is_link_open())
self._assertAllCallbacksAreRemoved()
def test_close_link_that_is_not_open(self):
# Fixture
# Test
self.sut.close_link()
# Assert
self.assertFalse(self.sut.is_link_open())
def test_closed_if_connection_is_lost(self):
# Fixture
self.sut.open_link()
# Test
AsyncCallbackCaller(
cb=self.cf_mock.disconnected,
args=[self.uri]).call_and_wait()
# Assert
self.assertFalse(self.sut.is_link_open())
self._assertAllCallbacksAreRemoved()
def test_open_close_with_context_management(self):
# Fixture
# Test
with SyncCrazyflie(self.uri, self.cf_mock) as sut:
self.assertTrue(sut.is_link_open())
# Assert
self.assertEqual(1, self.close_link_mock.call_count)
self._assertAllCallbacksAreRemoved()
def test_wait_for_params_with_context_management(self):
# Fixture
# Test
with SyncCrazyflie(self.uri, cf=self.cf_mock) as sut:
sut.wait_for_params()
self.assertTrue(sut.is_params_updated())
# Assert
self._assertAllCallbacksAreRemoved()
def test_multiple_open_close_of_link(self):
# Fixture
# Test
self.sut.open_link()
self.sut.close_link()
self.sut.open_link()
self.sut.close_link()
# Assert
self.assertEqual(2, self.close_link_mock.call_count)
self.assertFalse(self.sut.is_link_open())
self._assertAllCallbacksAreRemoved()
def test_wait_for_params_with_multiple_open_close_of_link(self):
# Fixture
# Test
self.sut.open_link()
self.assertFalse(self.sut.is_params_updated())
self.sut.wait_for_params()
self.assertTrue(self.sut.is_params_updated())
self.sut.close_link()
self.assertFalse(self.sut.is_params_updated())
self.sut.open_link()
self.assertFalse(self.sut.is_params_updated())
self.sut.wait_for_params()
self.assertTrue(self.sut.is_params_updated())
self.sut.close_link()
# Assert
self.assertFalse(self.sut.is_params_updated())
self._assertAllCallbacksAreRemoved()
def _assertAllCallbacksAreRemoved(self):
# Remove our probe callback
self.cf_mock.connected.remove_callback(self._connected_callback)
self.assertEqual(0, len(self.cf_mock.connected.callbacks))
self.assertEqual(0, len(self.cf_mock.connection_failed.callbacks))
self.assertEqual(0, len(self.cf_mock.disconnected.callbacks))
self.assertEqual(0, len(self.param_mock.all_updated.callbacks))
def _connected_callback(self, uri):
AsyncCallbackCaller(
cb=self.param_mock.all_updated,
delay=0.2
).trigger()
