def test_backend_discover_usb_error() -> None:
"""
Test that a USBCommunication Error is thrown in discover.
Any USBError should be handled and wrapped.
"""
with pytest.raises(USBCommunicationError):
SRV4ServoBoardHardwareBackend.discover(find=usb_error_find)
def test_backend_initialisation() -> None:
"""Test that we can initialise a backend."""
device = MockUSBServoBoardDevice("SERIAL0")
backend = SRV4ServoBoardHardwareBackend(device)
assert isinstance(backend, SRV4ServoBoardHardwareBackend)
assert backend._usb_device is device
assert len(backend._positions) == 12
assert all(pos == 0.0 for pos in backend._positions)
def test_backend_get_servo_position() -> None:
"""Test that we can get the position of a servo."""
device = MockUSBServoBoardDevice("SERIAL0")
backend = SRV4ServoBoardHardwareBackend(device)
assert all(backend.get_servo_position(i) == 0.0 for i in range(12))
for i in range(12):
backend.set_servo_position(i, 0.5)
assert all(backend.get_servo_position(i) == 0.5 for i in range(12))
def test_backend_set_servo_position() -> None:
"""Test that we can set the position of a servo."""
device = MockUSBServoBoardDevice("SERIAL0")
backend = SRV4ServoBoardHardwareBackend(device)
for i in range(12):
backend.set_servo_position(i, 0)
backend.set_servo_position(i, 0.0)
backend.set_servo_position(i, 0.5)
backend.set_servo_position(i, 1)
backend.set_servo_position(i, 1.0)
backend.set_servo_position(i, -1)
backend.set_servo_position(i, -1.0)
def test_backend_get_servo_pos_identifier_range() -> None:
"""Test the bounds of the indentifier on get servo pos."""
device = MockUSBServoBoardDevice("SERIAL0")
backend = SRV4ServoBoardHardwareBackend(device)
for i in range(12):
backend.get_servo_position(i)
with pytest.raises(ValueError):
backend.get_servo_position(12)
with pytest.raises(ValueError):
backend.get_servo_position(-1)
with pytest.raises(ValueError):
backend.get_servo_position(1.0) # type: ignore
def test_backend_servo_position_out_of_bounds() -> None:
"""Test that a ValueError is thrown when position is wrong."""
device = MockUSBServoBoardDevice("SERIAL0")
backend = SRV4ServoBoardHardwareBackend(device)
with pytest.raises(ValueError):
backend.set_servo_position(0, 100)
with pytest.raises(ValueError):
backend.set_servo_position(0, -100)
with pytest.raises(ValueError):
backend.set_servo_position(0, -1.1)
with pytest.raises(ValueError):
backend.set_servo_position(0, 1.1)
with pytest.raises(NotSupportedByHardwareError):
backend.set_servo_position(0, None)
def test_backend_serial_number() -> None:
"""Test that we can get the serial number."""
device = MockUSBServoBoardDevice("SERIAL0")
backend = SRV4ServoBoardHardwareBackend(device)
assert backend.serial == "SERIAL0"
def test_backend_catch_usb_error_other() -> None:
"""Test that we catch and throw usb errors properly."""
device = MockUSBServoBoardDeviceUSBTimerExpired("SERIAL0")
with pytest.raises(USBCommunicationError):
SRV4ServoBoardHardwareBackend(device)
def test_backend_catch_usb_error_input_output() -> None:
"""Test that we catch and throw usb input/output errors properly."""
device = MockUSBServoBoardDeviceUSBInputOutput("SERIAL0")
with pytest.raises(CommunicationError):
SRV4ServoBoardHardwareBackend(device)
def test_backend_bad_firmware_version() -> None:
"""Test that we can get the firmware version."""
device = MockUSBServoBoardDevice("SERIAL0", fw_version=1)
with pytest.raises(NotImplementedError):
SRV4ServoBoardHardwareBackend(device)
def test_backend_firmware_version() -> None:
"""Test that we can get the firmware version."""
device = MockUSBServoBoardDevice("SERIAL0")
backend = SRV4ServoBoardHardwareBackend(device)
assert backend.firmware_version == "2"
def test_backend_cleanup() -> None:
"""Test that the backend cleans things up properly."""
device = MockUSBServoBoardDevice("SERIAL0")
backend = SRV4ServoBoardHardwareBackend(device)
del backend
def test_backend_discover() -> None:
"""Test that the backend can discover boards."""
found_boards = SRV4ServoBoardHardwareBackend.discover(find=mock_find)
assert len(found_boards) == 4
assert all(type(board) is ServoBoard for board in found_boards)