def create_robot_mock():
robot_mock = mockobj()
robot_mock.resources = {
'led_ring': Resource(),
'drivetrain': Resource(),
'sound': Resource()
}
robot_mock.robot = mockobj()
robot_mock.robot.time = lambda: 0
robot_mock.robot.motors = []
robot_mock.robot.sensors = []
robot_mock.config = mockobj()
robot_mock.config.motors = mockobj()
robot_mock.config.motors.__iter__ = lambda: []
robot_mock.config.motors.names = {}
robot_mock.config.sensors = mockobj()
robot_mock.config.sensors.__iter__ = lambda: []
robot_mock.config.sensors.names = {}
robot_mock.robot.drivetrain = mockobj()
robot_mock.robot.drivetrain.turn = lambda *args, **kwargs: None
robot_mock.robot.drivetrain.drive = lambda *args, **kwargs: None
robot_mock.robot.sound = MockSound()
robot_mock.robot.led = mockobj()
robot_mock.robot.led.count = 0
robot_mock.robot.imu = mockobj()
return robot_mock
def test_resource_can_be_retaken_by_same_priority(self):
r = Resource()
handle = r.request(priority_high)
handle2 = r.request(priority_high)
self.assertEqual(handle, handle2)
def create_robot_mock():
robot_mock = mockobj()
robot_mock.resources = {
'led_ring': Resource(),
'drivetrain': Resource(),
'sound': Resource()
}
robot_mock.robot = mockobj()
robot_mock.robot.start_time = 0
robot_mock.robot.motors = []
robot_mock.robot.sensors = []
robot_mock.config = mockobj()
robot_mock.config.motors = mockobj()
robot_mock.config.motors.__iter__ = lambda: []
robot_mock.config.motors.names = {}
robot_mock.config.sensors = mockobj()
robot_mock.config.sensors.__iter__ = lambda: []
robot_mock.config.sensors.names = {}
robot_mock.robot.drivetrain = mockobj()
robot_mock.robot.sound = mockobj()
robot_mock.robot.led_ring = mockobj()
robot_mock.robot.led_ring.count = 0
robot_mock.robot.imu = mockobj()
return robot_mock
def test_lower_priority_can_take_resource_after_higher_priority_releases(self):
r = Resource()
handle = r.request(priority_high)
handle.release()
handle2 = r.request(priority_low)
self.assertTrue(handle)
self.assertFalse(handle.is_interrupted)
self.assertTrue(handle2)
def test_higher_priority_handle_can_not_be_taken_taken_away(self):
r = Resource()
mock = Mock()
handle = r.request(priority_high, mock)
handle2 = r.request(priority_low)
self.assertIsNotNone(handle)
self.assertEqual(False, handle.is_interrupted)
self.assertIsNone(handle2)
self.assertEqual(0, mock.call_count)
def test_lower_priority_handle_can_be_taken_taken_away(self):
r = Resource()
mock = Mock()
handle = r.request(priority_low, mock)
handle2 = r.request(priority_high)
self.assertTrue(handle)
self.assertTrue(handle.is_interrupted)
self.assertTrue(handle2)
self.assertEqual(1, mock.call_count)
def test_run_should_only_run_on_active_handle(self):
r = Resource()
mock = Mock()
handle = r.request(priority_low)
handle2 = r.request(priority_high)
handle2.run_uninterruptable(mock)
handle.run_uninterruptable(lambda: self.fail('This should not run'))
self.assertEqual(1, mock.call_count)
def test_resource_can_be_retaken_by_same_priority(self):
r = Resource()
handle = r.request(priority_high)
handle2 = r.request(priority_high)
self.assertTrue(handle)
self.assertTrue(handle2)
self.assertTrue(handle.is_interrupted)
self.assertFalse(handle2.is_interrupted)
def __init__(self,
interface: RevvyControl,
revvy,
sound_paths,
sw_version,
default_config=None):
print("RobotManager: __init__()")
self.needs_interrupting = True
self._configuring = False
self._robot = Robot(interface, sound_paths, sw_version)
self._interface = interface
self._ble = revvy
self._default_configuration = default_config or RobotConfig()
self._status_update_thread = periodic(self._update, 0.02,
"RobotStatusUpdaterThread")
self._background_fn_lock = Lock()
self._background_fns = []
rc = RemoteController()
rcs = RemoteControllerScheduler(rc)
rcs.on_controller_detected(self._on_controller_detected)
rcs.on_controller_lost(self._on_controller_lost)
self._remote_controller = rc
self._remote_controller_scheduler = rcs
self._remote_controller_thread = create_remote_controller_thread(rcs)
self._resources = {
'led_ring': Resource(),
'drivetrain': Resource(),
'sound': Resource(),
**{
'motor_{}'.format(port.id): Resource()
for port in self._robot.motors
},
**{
'sensor_{}'.format(port.id): Resource()
for port in self._robot.sensors
}
}
revvy['live_message_service'].register_message_handler(
self._remote_controller_scheduler.data_ready)
revvy.on_connection_changed(self._on_connection_changed)
self._scripts = ScriptManager(self)
self._config = self._default_configuration
self._status_code = RevvyStatusCode.OK
self.exited = False
def __init__(self, robot: Robot, sw_version, revvy_ble):
self._log = get_logger('RobotManager')
self._log('init')
self.needs_interrupting = True
self._configuring = False
self._robot = robot
self._ble = revvy_ble
self._sw_version = sw_version
self._status_update_thread = periodic(self._update, 0.005,
"RobotStatusUpdaterThread")
self._background_fns = []
rc = RemoteController()
rcs = RemoteControllerScheduler(rc)
rcs.on_controller_detected(self._on_controller_detected)
rcs.on_controller_lost(self._on_controller_lost)
self._remote_controller = rc
self._remote_controller_thread = create_remote_controller_thread(rcs)
self._resources = {
'led_ring': Resource('RingLed'),
'drivetrain': Resource('DriveTrain'),
'sound': Resource('Sound'),
**{
f'motor_{port.id}': Resource(f'Motor {port.id}')
for port in self._robot.motors
},
**{
f'sensor_{port.id}': Resource(f'Sensor {port.id}')
for port in self._robot.sensors
}
}
revvy_ble['live_message_service'].register_message_handler(
rcs.data_ready)
revvy_ble.on_connection_changed(self._on_connection_changed)
self._scripts = ScriptManager(self)
self._config = empty_robot_config
self._status_code = RevvyStatusCode.OK
self.exited = Event()
self.start_remote_controller = self._remote_controller_thread.start
def test_resource_handle_needed_to_release(self):
r = Resource()
handle = r.request(priority_low)
handle2 = r.request(priority_high)
r.release(handle)
handle3 = r.request(priority_low)
self.assertIsNone(handle3)
self.assertEqual(False, handle2.is_interrupted)
def test_ring_leds_are_indexed_from_one(self):
led_mock = Mock()
led_mock.display_user_frame = Mock()
led_mock.count = 6
led_resource = ResourceWrapper(Resource(), 0)
script = Mock()
script.is_stop_requested = False
rw = RingLedWrapper(script, led_mock, led_resource)
self.assertRaises(IndexError, lambda: rw.set(0, '#112233'))
rw.set(1, '#112233')
rw.set(2, '#112233')
rw.set(3, '#112233')
rw.set(4, '#112233')
rw.set(5, '#112233')
rw.set(6, '#112233')
self.assertRaises(IndexError, lambda: rw.set(7, '#112233'))
def test_ring_leds_are_indexed_from_one(self):
led_mock = Mock()
led_mock.display_user_frame = Mock()
led_mock.count = 6
led_resource = ResourceWrapper(Resource(), 0)
script = Mock()
script.is_stop_requested = False
rw = RingLedWrapper(script, led_mock, led_resource)
self.assertRaises(IndexError,
lambda: rw.set(leds=[0], color='#112233'))
rw.set(leds=[1], color='#112233')
rw.set(leds=[2], color='#112233')
rw.set(leds=[3], color='#112233')
rw.set(leds=[4], color='#112233')
rw.set(leds=[5], color='#112233')
rw.set(leds=[6], color='#112233')
self.assertRaises(IndexError,
lambda: rw.set(leds=[7], color='#112233'))
def test_ring_led_set_remembers_previous_state(self):
led_mock = Mock()
led_mock.display_user_frame = Mock()
led_mock.count = 6
led_resource = ResourceWrapper(Resource(), 0)
script = Mock()
script.is_stop_requested = False
rw = RingLedWrapper(script, led_mock, led_resource)
rw.set(1, '#112233')
self.assertEqual([hex2rgb("#112233"), 0, 0, 0, 0, 0], led_mock.display_user_frame.call_args[0][0])
self.assertEqual(1, led_mock.display_user_frame.call_count)
rw.set([3, 4], '#223344')
self.assertEqual(
[hex2rgb("#112233"), 0, hex2rgb("#223344"), hex2rgb("#223344"), 0, 0],
led_mock.display_user_frame.call_args[0][0]
)
self.assertEqual(2, led_mock.display_user_frame.call_count)
def test_empty_resource_can_be_taken(self):
r = Resource()
handle = r.request()
self.assertIsNotNone(handle)
