def test_magnetometer_data_ready(self, mock_ag: AbstractTransport,
mock_mag: AbstractTransport):
mock_mag.data_ready = MagicMock(return_value=True)
d = Driver(mock_ag, mock_mag)
# Act
result = d.magnetometer_data_ready(123)
# Assert
mock_mag.data_ready.assert_called_once_with(123)
self.assertTrue(result)
def test_read_temperature(self, mock_ag: AbstractTransport,
mock_mag: AbstractTransport):
mock_ag.read_bytes = MagicMock(return_value=bytes([0x01, 0x80]))
d = Driver(mock_ag, mock_mag)
# Act
temp = d.read_temperature()
# Assert
mock_ag.read_bytes.assert_called_once_with(0x15, 2)
self.assertEqual(-32767, temp)
def test_read_ag_status(self, mock_ag: AbstractTransport,
mock_mag: AbstractTransport):
mock_ag.read_byte = MagicMock(return_value=0xA2)
d = Driver(mock_ag, mock_mag)
# Act
status = d.read_ag_status()
# Assert
mock_ag.read_byte.assert_called_once_with(0x17)
self.assertEqual(0xA2, status.status)
def test_read_magnetometer(self, mock_ag: AbstractTransport,
mock_mag: AbstractTransport):
mock_mag.read_bytes = MagicMock(
return_value=bytes([0xFF, 0x7F, 0x01, 0x80, 0xFF, 0x00]))
d = Driver(mock_ag, mock_mag)
# Act
result = d.read_magnetometer()
# Assert
mock_mag.read_bytes.assert_called_once_with(0x28, 6)
self.assertEqual([32767, -32767, 255], result)
def test_read_read_gyroscope(self, mock_ag: AbstractTransport,
mock_mag: AbstractTransport):
mock_ag.read_bytes = MagicMock(
return_value=bytes([0xFF, 0x7F, 0x01, 0x80, 0xFF, 0x00]))
d = Driver(mock_ag, mock_mag)
# Act
result = d.read_gyroscope()
# Assert
mock_ag.read_bytes.assert_called_once_with(0x18, 6)
# Note that the driver negates the x-axis of the accelerometer and gyro
# so that all 3 sensors use the right-hand rule and the same signs.
self.assertEqual([-32767, -32767, 255], result)
def test_read_ag_data(self, mock_ag: AbstractTransport,
mock_mag: AbstractTransport):
mock_ag.read_bytes = MagicMock(return_value=bytes([
0xFF, 0x00, 0xFF, 0x7F, 0x01, 0x80, 0xFF, 0x00, 0xE8, 0x03, 0xC4,
0x09, 0x78, 0x69
]))
d = Driver(mock_ag, mock_mag)
# Act
temp, acc, gyro = d.read_ag_data()
# Assert
mock_ag.read_bytes.assert_called_once_with(0x15, 14)
self.assertEqual(255, temp)
# Note that the driver negates the x-axis of the accelerometer and gyro
# so that all 3 sensors use the right-hand rule and the same signs.
self.assertEqual([-1000, 2500, 27000], acc)
self.assertEqual([-32767, -32767, 255], gyro)