def test_addr(self):
self.clear_log()
dump_mem(b'0123456789ABCDEFG', addr=0x1234, log=self.log)
self.assertEqual(self.log_lines, [
'1234: 30 31 32 33 34 35 36 37 38 39 41 42 43 44 45 46 0123456789ABCDEF',
'1244: 47 G'
])
def test_no_prefix(self):
self.clear_log()
dump_mem(b'0123456789ABCDEFG', log=self.log)
self.assertEqual(self.log_lines, [
'0000: 30 31 32 33 34 35 36 37 38 39 41 42 43 44 45 46 0123456789ABCDEF',
'0010: 47 G'
])
def test_no_prefix_no_addr(self):
self.clear_log()
dump_mem(b'0123456789ABCDEFG', show_addr=False, log=self.log)
self.assertEqual(self.log_lines, [
'30 31 32 33 34 35 36 37 38 39 41 42 43 44 45 46 0123456789ABCDEF',
'47 G'
])
def test_a_bit_more_than_a_line(self):
self.clear_log()
dump_mem(b'0123456789ABCDEFG', prefix=PREFIX, log=self.log)
self.assertEqual(self.log_lines, [
' Prefix: 0000: 30 31 32 33 34 35 36 37 38 39 41 42 43 44 45 46 0123456789ABCDEF',
' Prefix: 0010: 47 G'
])
def test_exactly_one_line_no_ascii(self):
self.clear_log()
dump_mem(b'0123456789ABCDEF',
prefix=PREFIX,
show_ascii=False,
log=self.log)
self.assertEqual(self.log_lines, [
' Prefix: 0000: 30 31 32 33 34 35 36 37 38 39 41 42 43 44 45 46'
])
def fill_and_write_packet(self, dev_id, cmd, data=None):
"""Allocates and fills a packet. data should be a bytearray of data
to include in the packet, or None if no data should be included.
"""
packet_len = 6
if data is not None:
packet_len += len(data)
pkt_bytes = bytearray(packet_len)
pkt_bytes[0] = 0xff
pkt_bytes[1] = 0xff
pkt_bytes[2] = dev_id
pkt_bytes[3] = 2 # for len and cmd
pkt_bytes[4] = cmd
if data is not None:
pkt_bytes[3] += len(data)
pkt_bytes[5:packet_len - 1] = data
pkt_bytes[-1] = ~sum(pkt_bytes[2:-1]) & 0xff
if self.show & Bus.SHOW_PACKETS:
dump_mem(pkt_bytes, prefix=' W', show_ascii=True, log=log)
self.serial_port.write_packet(pkt_bytes)
def read_status_packet(self):
"""Reads a status packet and returns it.
Rasises a bioloid.bus.BusError if an error occurs.
"""
pkt = packet.Packet(status_packet=True)
while True:
# start = pyb.micros()
byte = self.serial_port.read_byte()
if byte is None:
if self.show & Bus.SHOW_COMMANDS:
log('TIMEOUT')
if self.show & Bus.SHOW_PACKETS:
dump_mem(pkt.pkt_bytes,
prefix=' R',
show_ascii=True,
log=log)
raise BusError(packet.ErrorCode.TIMEOUT)
err = pkt.process_byte(byte)
if err != packet.ErrorCode.NOT_DONE:
break
if err != packet.ErrorCode.NONE:
err_ex = BusError(err)
if self.show & Bus.SHOW_COMMANDS:
log(err_ex)
if self.show & Bus.SHOW_PACKETS:
dump_mem(pkt.pkt_bytes, prefix=' R', show_ascii=True, log=log)
raise err_ex
err = pkt.error_code()
if self.show & Bus.SHOW_COMMANDS:
log('Rcvd Status: {} from ID: {}'.format(packet.ErrorCode(err),
pkt.dev_id))
if self.show & Bus.SHOW_PACKETS:
dump_mem(pkt.pkt_bytes, prefix=' R', show_ascii=True, log=log)
if err != packet.ErrorCode.NONE:
raise BusError(err)
return pkt
def test_less_than_one_line_no_ascii(self):
self.clear_log()
dump_mem(b'0123', prefix=PREFIX, show_ascii=False, log=self.log)
self.assertEqual(self.log_lines, [' Prefix: 0000: 30 31 32 33'])
def test_empty_buffer(self):
self.clear_log()
dump_mem(b'', prefix=PREFIX, log=self.log)
self.assertEqual(self.log_lines, [' Prefix:No data'])
def test_non_printable(self):
self.clear_log()
dump_mem(b'012\x00\x01\x1e\x1f456', log=self.log)
self.assertEqual(self.log_lines, [
'0000: 30 31 32 00 01 1e 1f 34 35 36 012....456',
])
