def test_when_send_ir_signal_command_then_set_flag_done(self):
ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(),
MagicMock())
ctrl._send_command_to_stm({'command': Command.END_SIGNAL})
self.assertEqual(True, ctrl.flag_done)
def test_when_send_movement_command_then_send_via_channel(self):
network_ctrl = MagicMock()
channel = Mock()
channel.receive_message = Mock(
return_value=commands_from_stm.Message.SUCCESSFULL_TASK.value)
ctrl = RobotController(MagicMock(), MagicMock(), network_ctrl, channel)
ctrl._send_command_to_stm({
'command': Command.MOVE_BACKWARD,
'amplitude': 200
})
channel.send_command.assert_called_once_with(
bytearray(b'\x3b\x07\xd0'))