def test_should_not_fire_event_on_tick_if_its_not_yet_time(self):
self.listen(EventName.start)
mock_time = Mock(side_effect=[145.6, 146.4])
timeshift = TimeShift(self.exchange,mock_time)
self.exchange.publish(Event(EventName.after,seconds = 3,next_event=Event(EventName.start)))
self.exchange.publish(Event(EventName.tick))
self.assertEqual(self.event_count(EventName.start),0,"start should not have been called")
def setUp(self):
self.logger = Mock()
self.logger.error = Mock(side_effect=print_msg)
self.servo = Mock()
self.exchange = Exchange(self.logger)
self.timer = StubTimer()
TimeShift(self.exchange, self.timer.time)
def test_should_fire_event_on_tick_if_its_past_its_time(self):
self.listen(EventName.start)
mock_time = Mock(side_effect=[145.6, 155.4])
timeshift = TimeShift(self.exchange,mock_time)
self.exchange.publish(Event(EventName.after,seconds = 5,next_event=Event(EventName.start)))
self.exchange.publish(Event(EventName.tick))
self.assertEqual(self.event_count(EventName.start),1,"start should have been called")
self.assertEqual(self.last_event.name,EventName.start)
def test_should_only_fire_after_events_once(self):
self.listen(EventName.start)
mock_time = Mock(side_effect=[145.6, 155.4, 166.2])
timeshift = TimeShift(self.exchange,mock_time)
self.exchange.publish(Event(EventName.after,seconds = 5,next_event=Event(EventName.start)))
self.exchange.publish(Event(EventName.tick))
self.exchange.publish(Event(EventName.tick))
event_count = self.event_count(EventName.start)
self.assertEqual(event_count,1,"start should have been called once, but was called {0} times".format(event_count))
def test_should_fire_every_events_repeatedly(self):
self.listen(EventName.start)
# Note that time() is called on register, then on tick, awkwardness only during test
mock_time = Mock(side_effect=[145.6, 155.4, 155.7, 166.2, 166.3, 188.3, 188.4])
timeshift = TimeShift(self.exchange,mock_time)
self.exchange.publish(Event(EventName.every,seconds = 5,next_event=Event(EventName.start)))
self.exchange.publish(Event(EventName.tick))
self.exchange.publish(Event(EventName.tick))
self.exchange.publish(Event(EventName.tick))
event_count = self.event_count(EventName.start)
self.assertEqual(event_count,3,"turn should have been called three times, but was called {0} times".format(event_count))
def __init__(self, gps=False, servo_port=SERVO_PORT):
# devices
self._gps = gps
self.windsensor = WindSensor(I2C(WINDSENSOR_I2C_ADDRESS))
self.compass = Compass(I2C(COMPASS_I2C_ADDRESS),
I2C(ACCELEROMETER_I2C_ADDRESS))
self.red_led = GpioWriter(17, os)
self.green_led = GpioWriter(18, os)
# Navigation
self.globe = Globe()
self.timer = Timer()
self.application_logger = self._rotating_logger(APPLICATION_NAME)
self.position_logger = self._rotating_logger("position")
self.exchange = Exchange(self.application_logger)
self.timeshift = TimeShift(self.exchange, self.timer.time)
self.event_source = EventSource(self.exchange, self.timer,
self.application_logger,
CONFIG['event source'])
self.sensors = Sensors(self.gps, self.windsensor, self.compass,
self.timer.time, self.exchange,
self.position_logger, CONFIG['sensors'])
self.gps_console_writer = GpsConsoleWriter(self.gps)
self.rudder_servo = Servo(serial.Serial(servo_port),
RUDDER_SERVO_CHANNEL, RUDDER_MIN_PULSE,
RUDDER_MIN_ANGLE, RUDDER_MAX_PULSE,
RUDDER_MAX_ANGLE)
self.steerer = Steerer(self.rudder_servo, self.application_logger,
CONFIG['steerer'])
self.helm = Helm(self.exchange, self.sensors, self.steerer,
self.application_logger, CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors, self.helm,
self.timer,
CONFIG['course steerer'])
self.navigator = Navigator(self.sensors, self.globe, self.exchange,
self.application_logger,
CONFIG['navigator'])
self.self_test = SelfTest(self.red_led, self.green_led, self.timer,
self.rudder_servo, RUDDER_MIN_ANGLE,
RUDDER_MAX_ANGLE)
# Tracking
self.tracking_logger = self._rotating_logger("track")
self.tracking_sensors = Sensors(self.gps, self.windsensor,
self.compass, self.timer.time,
self.exchange, self.tracking_logger,
CONFIG['sensors'])
self.tracker = Tracker(self.tracking_logger, self.tracking_sensors,
self.timer)
def __init__(self):
self.globe = Globe()
self.console_logger = self._console_logger()
self.exchange = Exchange(self.console_logger)
self.gps = SimulatedGPS(CHORLTON.position,0,0.1)
self.vehicle = SimulatedVehicle(self.gps, self.globe,self.console_logger,single_step=False)
self.timeshift = TimeShift(self.exchange,self.vehicle.timer.time)
self.event_source = EventSource(self.exchange,self.vehicle.timer,self.console_logger,CONFIG['event source'])
self.sensors = Sensors(self.vehicle.gps, self.vehicle.windsensor,self.vehicle.compass,self.vehicle.timer.time,self.exchange,self.console_logger,CONFIG['sensors'])
self.steerer = Steerer(self.vehicle.rudder,self.console_logger,CONFIG['steerer'])
self.helm = Helm(self.exchange, self.sensors, self.steerer, self.console_logger, CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors,self.helm,self.vehicle.timer, CONFIG['course steerer'])
self.navigator_simulator = Navigator(self.sensors,self.globe,self.exchange,self.console_logger,CONFIG['navigator'])
self.tracking_timer = Timer()
self.tracker_simulator = Tracker(self.console_logger,self.sensors,self.tracking_timer)
def test_should_be_able_to_keep_and_fire_multiple_events(self):
self.listen(EventName.start)
self.listen(EventName.navigate)
# Note that time() is called on register, then on tick, awkwardness only during test
mock_time = Mock(side_effect=[145.6, 145.6, 155.4, 166.2])
timeshift = TimeShift(self.exchange,mock_time)
self.exchange.publish(Event(EventName.after,seconds = 5,next_event=Event(EventName.start)))
self.exchange.publish(Event(EventName.after,seconds = 10,next_event=Event(EventName.navigate)))
self.exchange.publish(Event(EventName.tick))
self.assertEqual(self.event_count(EventName.start),1)
self.assertEqual(self.event_count(EventName.navigate),0)
self.exchange.publish(Event(EventName.tick))
self.assertEqual(self.event_count(EventName.navigate),1)
def setUp(self):
self.mock_logger = Mock()
self.mock_logger.error = Mock(side_effect=print_msg)
self.exchange = Exchange(self.mock_logger)
self.timer = StubTimer()
self.timeshift = TimeShift(self.exchange, self.timer.time)
self.event_source = EventSource(self.exchange, self.timer,
self.mock_logger,
{'tick interval': 0.2})
gps = FakeMovingGPS([
Position(10, 10),
Position(11, 11),
Position(12, 12),
Position(13, 13)
])
self.navigator = Navigator(gps, Globe(), self.exchange,
self.mock_logger, {
'min time to steer': 5,
'max time to steer': 20
})