class QDataStreamWrite(unittest.TestCase):
'''Test case for QDatastream write* functions'''
def setUp(self):
self.ba = QByteArray()
self.read = QDataStream(self.ba, QIODevice.ReadOnly)
self.write = QDataStream(self.ba, QIODevice.WriteOnly)
def testWriteUInt8(self):
'''QDataStream.writeUInt8 (accepting str of size 1)'''
x = 0xFF
self.write.writeUInt8(x)
y = self.read.readUInt8()
self.assertEqual(x, y)
self.assertRaises(TypeError, self.write.writeUInt8, 'aaaaa')
def testWriteInt8(self):
'''QDataStream.writeInt8 (accepting str of size 1)'''
x = 65
self.write.writeInt8(chr(x))
y = self.read.readInt8()
self.assertEqual(x, y)
self.assertRaises(TypeError, self.write.writeInt8, 'aaaaa')
def testWriteUInt8Int(self):
'''QDataStream.writeUInt8 (accepting integer)'''
x = 0xFF
self.write.writeUInt8(x)
y = self.read.readUInt8()
self.assertEqual(x, y)
def testWriteInt8Int(self):
'''QDataStream.writeInt8 (accepting integer)'''
x = 65
self.write.writeInt8(x)
y = self.read.readInt8()
self.assertEqual(x, y)
def testWriteUInt16(self):
'''QDataStream.writeUInt16'''
x = 0x4423
self.write.writeUInt16(x)
y = int(self.read.readUInt16())
self.assertEqual(x, y)
def testWriteUInt32(self):
'''QDataStream.writeUInt32'''
x = 0xdeadbeef
self.write.writeUInt32(x)
y = int(self.read.readUInt32())
self.assertEqual(x, y)
class QDataStreamWrite(unittest.TestCase):
'''Test case for QDatastream write* functions'''
def setUp(self):
self.ba = QByteArray()
self.read = QDataStream(self.ba, QIODevice.ReadOnly)
self.write = QDataStream(self.ba, QIODevice.WriteOnly)
def testWriteUInt8(self):
'''QDataStream.writeUInt8 (accepting str of size 1)'''
x = 0xFF
self.write.writeUInt8(x)
y = self.read.readUInt8()
self.assertEqual(x, y)
self.assertRaises(TypeError, self.write.writeUInt8, 'aaaaa')
def testWriteInt8(self):
'''QDataStream.writeInt8 (accepting str of size 1)'''
x = 65
self.write.writeInt8(chr(x))
y = self.read.readInt8()
self.assertEqual(x, y)
self.assertRaises(TypeError, self.write.writeInt8, 'aaaaa')
def testWriteUInt8Int(self):
'''QDataStream.writeUInt8 (accepting integer)'''
x = 0xFF
self.write.writeUInt8(x)
y = self.read.readUInt8()
self.assertEqual(x, y)
def testWriteInt8Int(self):
'''QDataStream.writeInt8 (accepting integer)'''
x = 65
self.write.writeInt8(x)
y = self.read.readInt8()
self.assertEqual(x, y)
def testWriteUInt16(self):
'''QDataStream.writeUInt16'''
x = 0x4423
self.write.writeUInt16(x)
y = int(self.read.readUInt16())
self.assertEqual(x, y)
def testWriteUInt32(self):
'''QDataStream.writeUInt32'''
x = 0xdeadbeef
self.write.writeUInt32(x)
y = int(self.read.readUInt32())
self.assertEqual(x, y)
def MoveDCMotors(self, MotorsSpeed: DC_Motor_Control_Data):
self.STEP_MOTOR_COMMAND = QByteArray()
stream = QDataStream(self.STEP_MOTOR_COMMAND,
QtCore.QIODevice.ReadWrite)
stream.writeInt8(self.MotorsState.HEADER_B1)
stream.writeInt8(self.MotorsState.HEADER_B2)
stream.writeInt8(self.MotorsState.UNIT_SIZE)
stream.writeInt16(self.MotorsState.Speed1)
stream.writeInt16(self.MotorsState.Speed2)
stream.writeInt16(self.MotorsState.Speed3)
stream.writeInt16(self.MotorsState.Speed4)
def send_data_old_main_board(self):
datagram = QByteArray()
stream = QDataStream(datagram, QIODevice.WriteOnly)
# print(self.angularspeed.joint1)
low_byte1, high_byte1 = two_byte_int_to_byte(self.angularspeed.joint1)
low_byte2, high_byte2 = two_byte_int_to_byte(self.angularspeed.joint2)
low_byte3, high_byte3 = two_byte_int_to_byte(self.angularspeed.joint3)
low_byte4, high_byte4 = two_byte_int_to_byte(
self.angularspeed.prismatic)
low_byte5, high_byte5 = two_byte_int_to_byte(self.angularspeed.joint4)
low_byte6, high_byte6 = two_byte_int_to_byte(self.angularspeed.joint5)
low_byte7, high_byte7 = two_byte_int_to_byte(
self.angularspeed.sensor_box)
stream.writeInt8(self.direction.joint1)
stream.writeInt8(self.direction.joint2)
stream.writeInt8(self.direction.joint3)
stream.writeInt8(self.direction.prismatic)
stream.writeInt8(self.direction.joint4)
stream.writeInt8(self.direction.joint5)
stream.writeInt8(self.direction.sensor_box)
stream.writeUInt8(low_byte1)
stream.writeUInt8(high_byte1)
stream.writeUInt8(low_byte2)
stream.writeUInt8(high_byte2)
stream.writeUInt8(low_byte3)
stream.writeUInt8(high_byte3)
stream.writeUInt8(low_byte4)
stream.writeUInt8(high_byte4)
stream.writeUInt8(low_byte5)
stream.writeUInt8(high_byte5)
stream.writeUInt8(low_byte6)
stream.writeUInt8(high_byte6)
stream.writeUInt8(low_byte7)
stream.writeUInt8(high_byte7)
stream.writeUInt8(self.reset_motor.reset_main_board_motor)
stream.writeUInt8(self.home_position.home_position)
stream.writeUInt8(self.emergency_stop.emergency_stop)
self.socket_old_main_board.writeDatagram(
datagram, self.main_board_ip, self.mainboard_port)
def MoveStepMotor(self, MotorCommand: Step_Motor_Control_Data):
stream = QDataStream(self.STEP_MOTOR_COMMAND,
QtCore.QIODevice.ReadWrite)
stream.writeInt8(MotorCommand.HEADER_B1)
stream.writeInt8(MotorCommand.HEADER_B2)
stream.writeInt8(MotorCommand.UNIT_SIZE)
stream.writeInt16(MotorCommand.SpeedMotor1)
stream.writeInt16(MotorCommand.SpeedMotor2)
stream.writeInt16(MotorCommand.SpeedMotor3)
stream.writeInt16(MotorCommand.AngleMotor1)
stream.writeInt16(MotorCommand.AngleMotor2)
stream.writeInt16(MotorCommand.AngleMotor3)
def __rshift__(self, Sender: QDataStream):
Sender.writeInt16(self.HEADER_B1)
Sender.writeInt16(self.HEADER_B2)
Sender.writeInt16(self.UNIT_SIZE)
Sender.writeInt8(self.Connect)
