def setUp(self):
"""Get config, set simulation pins to known state, set test flag."""
# Load config and logger
self.config = lib.get_config("bot/config.yaml")
self.logger = lib.get_logger()
# Set testing flag in config
self.orig_test_state = self.config["testing"]
lib.set_testing(True)
def setUp(self):
"""Get config, set simulation pins to known state, set test flag."""
# Load config and logger
self.config = lib.get_config("bot/config.yaml")
self.logger = lib.get_logger()
# Set testing flag in config
self.orig_test_state = self.config["testing"]
lib.set_testing(True)
def setUp(self):
"""Get config, set simulation pins to known state, set test flag."""
# Load config and logger
self.config = lib.get_config("bot/config.yaml")
self.logger = lib.get_logger()
# Set testing flag in config
self.orig_test_state = self.config["testing"]
lib.set_testing(True)
# Write known values to all simulated hardware files
self.setup_turret_servos()
self.setup_laser()
self.setup_gun_trigger()
self.setup_ir_select_gpios()
self.setup_ir_analog_input_gpios()
def __init__(self, testing=None, config_file="bot/config.yaml"):
"""Build ZMQ REP socket and instantiate bot systems.
:param testing: True if running on simulated HW, False if on bot.
:type testing: boolean
:param config_file: Name of file to read configuration from.
:type config_file: string
"""
# Register signal handler, shut down cleanly (think motors)
signal.signal(signal.SIGINT, self.signal_handler)
# Load configuration and logger
self.config = lib.get_config(config_file)
self.logger = lib.get_logger()
# Testing flag will cause objects to run on simulated hardware
if testing is True or testing == "True":
self.logger.info("CtrlServer running in test mode")
lib.set_testing(True)
elif testing is None:
self.logger.info(
"Defaulting to config testing flag: {}".format(
self.config["testing"]))
lib.set_testing(self.config["testing"])
else:
self.logger.info("CtrlServer running in non-test mode")
lib.set_testing(False)
# Build socket to listen for requests
self.context = zmq.Context()
self.ctrl_sock = self.context.socket(zmq.REP)
self.server_bind_addr = "{protocol}://{host}:{port}".format(
protocol=self.config["server_protocol"],
host=self.config["server_bind_host"],
port=self.config["ctrl_server_port"])
try:
self.ctrl_sock.bind(self.server_bind_addr)
except zmq.ZMQError:
self.logger.error("ZMQ error. Is a server already running?")
self.logger.warning("May be connected to an old server instance.")
sys.exit(1)
self.systems = self.assign_subsystems()
self.logger.info("Control server initialized")
# Don't spawn pub_server until told to
self.pub_server = None
def __init__(self, testing=None, config_file="bot/config.yaml"):
"""Build ZMQ REP socket and instantiate bot systems.
:param testing: True if running on simulated HW, False if on bot.
:type testing: boolean
:param config_file: Name of file to read configuration from.
:type config_file: string
"""
# Register signal handler, shut down cleanly (think motors)
signal.signal(signal.SIGINT, self.signal_handler)
# Load configuration and logger
self.config = lib.get_config(config_file)
self.logger = lib.get_logger()
# Testing flag will cause objects to run on simulated hardware
if testing is True or testing == "True":
self.logger.info("CtrlServer running in test mode")
lib.set_testing(True)
elif testing is None:
self.logger.info("Defaulting to config testing flag: {}".format(
self.config["testing"]))
lib.set_testing(self.config["testing"])
else:
self.logger.info("CtrlServer running in non-test mode")
lib.set_testing(False)
# Build socket to listen for requests
self.context = zmq.Context()
self.ctrl_sock = self.context.socket(zmq.REP)
self.server_bind_addr = "{protocol}://{host}:{port}".format(
protocol=self.config["server_protocol"],
host=self.config["server_bind_host"],
port=self.config["ctrl_server_port"])
try:
self.ctrl_sock.bind(self.server_bind_addr)
except zmq.ZMQError:
self.logger.error("ZMQ error. Is a server already running?")
self.logger.warning("May be connected to an old server instance.")
sys.exit(1)
self.systems = self.assign_subsystems()
self.logger.info("Control server initialized")
# Don't spawn pub_server until told to
self.pub_server = None
def tearDown(self):
"""Restore testing flag state in config file."""
lib.set_testing(self.orig_test_state)
def test_invalid_config(self):
"""Test passing an invalid path to the config file."""
with self.assertRaises(IOError):
lib.set_testing(False, config_file="fake.yaml")
def test_invalid_state(self):
"""Test passing a non-boolean value for state param."""
with self.assertRaises(TypeError):
lib.set_testing("not_bool")
new_config = lib.get_config()
assert self.orig_config == new_config
def test_same(self):
"""Test writing the current value of testing flag."""
lib.set_testing(self.orig_config["testing"])
new_config = lib.get_config()
assert new_config == self.orig_config
def tearDown(self):
"""Restore original testing flag."""
lib.set_testing(self.orig_config["testing"])
def tearDown(self):
"""Restore testing flag state in config file."""
lib.set_testing(self.orig_test_state)
def test_invalid_config(self):
"""Test passing an invalid path to the config file."""
with self.assertRaises(IOError):
lib.set_testing(False, config_file="fake.yaml")
def test_invalid_state(self):
"""Test passing a non-boolean value for state param."""
with self.assertRaises(TypeError):
lib.set_testing("not_bool")
new_config = lib.get_config()
assert self.orig_config == new_config
def test_same(self):
"""Test writing the current value of testing flag."""
lib.set_testing(self.orig_config["testing"])
new_config = lib.get_config()
assert new_config == self.orig_config
def tearDown(self):
"""Restore original testing flag."""
lib.set_testing(self.orig_config["testing"])
