def test_backend_discover() -> None:
"""
Test that the backend can not discover boards.
This backend does not support discovery.
"""
with pytest.raises(NotImplementedError):
SRV4MotorBoardConsoleBackend.discover()
def test_backend_initialisation() -> None:
"""Test that we can initialise a Backend."""
backend = SRV4MotorBoardConsoleBackend("Test")
assert type(backend) is SRV4MotorBoardConsoleBackend
assert len(backend._state) == 2
# Check initially all BRAKE.
assert all(state == MotorSpecialState.BRAKE for state in backend._state)
def test_backend_set_motor_state_out_of_range() -> None:
"""Test that we throw an error if the value is out of range."""
backend = SRV4MotorBoardConsoleBackend(
"TestBoard",
console_class=MockConsole,
)
with pytest.raises(ValueError):
backend._console.expects = "Setting motor 10 to -1.0." # type: ignore
backend.set_motor_state(10, -1.0)
def test_backend_discover() -> None:
"""
Test that the backend can not discover boards.
This backend does not support discovery.
"""
boards = SRV4MotorBoardConsoleBackend.discover()
assert len(boards) == 1
assert isinstance(list(boards)[0], MotorBoard)
def test_backend_get_motor_state() -> None:
"""Test that we can get the motor states."""
backend = SRV4MotorBoardConsoleBackend("TestBoard")
for i in range(0, 2):
assert backend.get_motor_state(i) == MotorSpecialState.BRAKE
backend._state[i] = 0.0
assert backend.get_motor_state(i) == 0.0
backend._state[i] = -1
assert backend.get_motor_state(i) == -1
def test_backend_set_motor_state() -> None:
"""Test that we can set the motor states."""
backend = SRV4MotorBoardConsoleBackend(
"TestBoard",
console_class=MockConsole,
)
backend._console.expects = "Setting motor 0 to 0.5." # type: ignore
backend.set_motor_state(0, 0.5)
backend._console.expects = "Setting motor 0 to 1.0." # type: ignore
backend.set_motor_state(0, 1.0)
backend._console.expects = "Setting motor 0 to -1.0." # type: ignore
backend.set_motor_state(0, -1.0)
backend._console.expects = "Setting motor 0 to BRAKE." # type: ignore
backend.set_motor_state(0, MotorSpecialState.BRAKE)
backend._console.expects = "Setting motor 0 to COAST." # type: ignore
backend.set_motor_state(0, MotorSpecialState.COAST)
def test_backend_serial_number() -> None:
"""Test that we can get the serial number."""
backend = SRV4MotorBoardConsoleBackend("TestBoard")
assert backend.serial == "TestBoard"
def test_backend_firmware_version() -> None:
"""Test that we can get the firmware version."""
backend = SRV4MotorBoardConsoleBackend("TestBoard")
assert backend.firmware_version is None