def setUp(self):
"""Set up test fixtures, if any."""
self.mock_kwargs = {"id_": -1, "uuid": -1, "msg_send_q": None}
self.motor = Motor(**self.mock_kwargs)
def eval_set_property(id, command_type, data):
return command_type
self.motor._set_property = mock.Mock(side_effect=eval_set_property)
self.motor._get_property = mock.Mock()
self.motor._msg_send_q = mock.Mock()
def test_get_torque(self):
"""Test set_torque method with none input."""
_ = self.motor.torque
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(-1, Motor.PropertyType.FIRST_TORQUE) in
sent_messages
)
self.assertTrue(
Motor.request_property(-1, Motor.PropertyType.SECOND_TORQUE) in
sent_messages
)
def test_get_speed(self):
"""Test get_speed method with none input."""
_ = self.motor.speed
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(-1, Motor.PropertyType.FIRST_SPEED) in
sent_messages
)
self.assertTrue(
Motor.request_property(-1, Motor.PropertyType.SECOND_SPEED) in
sent_messages
)
def setUp(self):
"""Set up test fixtures, if any."""
mock_input_values = (-1, -1, None)
mock_modules = [
SetupModule(*mock_input_values),
InputModule(*mock_input_values),
OutputModule(*mock_input_values),
Button(*mock_input_values),
Dial(*mock_input_values),
Env(*mock_input_values),
Gyro(*mock_input_values),
Ir(*mock_input_values),
Mic(*mock_input_values),
Ultrasonic(*mock_input_values),
Display(*mock_input_values),
Led(*mock_input_values),
Motor(*mock_input_values),
Speaker(*mock_input_values),
]
self.modi = MODI(nb_modules=len(mock_modules), test=True)
self.modi._ser_proc = mock.Mock()
self.modi._exe_thrd = mock.Mock()
self.modi._modules = mock_modules
def test_get_second_degree(self):
"""Test get_second_degree method"""
_ = self.motor.second_degree
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(-1, Motor.PropertyType.SECOND_DEGREE) in
sent_messages
)
def test_set_torque(self):
"""Test set_torque method."""
expected_values = first_torque_value, second_torque_value = 50, 50
self.motor.torque = expected_values
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(
-1, Motor.PropertyType.FIRST_TORQUE) in sent_messages)
self.assertTrue(
Motor.request_property(
-1, Motor.PropertyType.SECOND_TORQUE) in sent_messages)
self.assertTrue(
parse_message(0x04, 19, -1, parse_data(
(0, 0, first_torque_value), 'int'
)) in sent_messages)
self.assertTrue(
parse_message(0x04, 19, -1, parse_data(
(1, 0, second_torque_value), 'int'
)) in sent_messages)
def test_set_second_degree(self):
"""Test set_second_degree method."""
second_degree_value = 50
self.motor.second_degree = second_degree_value
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(
-1, Motor.PropertyType.SECOND_DEGREE) in sent_messages)
self.assertTrue(
parse_message(0x04, 19, -1, parse_data(
(1, 2, second_degree_value), 'int'
)) in sent_messages)
def test_set_first_speed(self):
"""Test set_first_speed method."""
first_speed_value = 50
self.motor.first_speed = first_speed_value
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(
-1, Motor.PropertyType.FIRST_SPEED) in sent_messages)
self.assertTrue(
parse_message(0x04, 19, -1, parse_data(
(0, 1, first_speed_value), 'int'
)) in sent_messages)
def setUp(self):
"""Set up test fixtures, if any."""
self.conn = MockConn()
self.mock_kwargs = [-1, -1, self.conn]
self.motor = Motor(*self.mock_kwargs)
class TestMotor(unittest.TestCase):
"""Tests for 'Motor' class."""
def setUp(self):
"""Set up test fixtures, if any."""
self.send_q = Queue()
self.mock_kwargs = {"id_": -1, "uuid": -1, "msg_send_q": self.send_q}
self.motor = Motor(**self.mock_kwargs)
def tearDown(self):
"""Tear down test fixtures, if any."""
del self.motor
def test_set_motor_channel(self):
"""Test set_motor_channel method"""
expected_values = motor_channel, control_mode, control_value = 0, 0, 50
self.motor.set_motor_channel(*expected_values)
self.assertEqual(
self.send_q.get_nowait(),
parse_message(0x04, 19, -1, parse_data(
(motor_channel, control_mode, control_value), 'int'))
)
def test_set_torque(self):
"""Test set_torque method."""
expected_values = first_torque_value, second_torque_value = 50, 50
self.motor.torque = expected_values
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(
-1, Motor.PropertyType.FIRST_TORQUE) in sent_messages)
self.assertTrue(
Motor.request_property(
-1, Motor.PropertyType.SECOND_TORQUE) in sent_messages)
self.assertTrue(
parse_message(0x04, 19, -1, parse_data(
(0, 0, first_torque_value), 'int'
)) in sent_messages)
self.assertTrue(
parse_message(0x04, 19, -1, parse_data(
(1, 0, second_torque_value), 'int'
)) in sent_messages)
def test_set_first_torque(self):
"""Test set_first_torque method."""
first_torque_value = 50
self.motor.first_torque = first_torque_value
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(
-1, Motor.PropertyType.FIRST_TORQUE) in sent_messages)
self.assertTrue(
parse_message(0x04, 19, -1, parse_data(
(0, 0, first_torque_value), 'int'
)) in sent_messages)
def test_set_second_torque(self):
"""Test set_second_torque method."""
second_torque_value = 50
self.motor.second_torque = second_torque_value
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(
-1, Motor.PropertyType.SECOND_TORQUE) in sent_messages)
self.assertTrue(
parse_message(0x04, 19, -1, parse_data(
(1, 0, second_torque_value), 'int'
)) in sent_messages)
def test_get_torque(self):
"""Test set_torque method with none input."""
_ = self.motor.torque
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(-1, Motor.PropertyType.FIRST_TORQUE) in
sent_messages
)
self.assertTrue(
Motor.request_property(-1, Motor.PropertyType.SECOND_TORQUE) in
sent_messages
)
def test_get_first_torque(self):
"""Test get_first_torque method"""
_ = self.motor.first_torque
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(-1, Motor.PropertyType.FIRST_TORQUE) in
sent_messages
)
def test_get_second_torque(self):
"""Test get_second_torque method"""
_ = self.motor.second_torque
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(-1, Motor.PropertyType.SECOND_TORQUE) in
sent_messages
)
def test_set_speed(self):
"""Test set_speed method."""
expected_values = first_speed_value, second_speed_value = 50, 50
self.motor.speed = expected_values
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(
-1, Motor.PropertyType.FIRST_SPEED) in sent_messages)
self.assertTrue(
Motor.request_property(
-1, Motor.PropertyType.SECOND_SPEED) in sent_messages)
self.assertTrue(
parse_message(0x04, 19, -1, parse_data(
(0, 1, first_speed_value), 'int'
)) in sent_messages)
self.assertTrue(
parse_message(0x04, 19, -1, parse_data(
(1, 1, second_speed_value), 'int'
)) in sent_messages)
def test_set_first_speed(self):
"""Test set_first_speed method."""
first_speed_value = 50
self.motor.first_speed = first_speed_value
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(
-1, Motor.PropertyType.FIRST_SPEED) in sent_messages)
self.assertTrue(
parse_message(0x04, 19, -1, parse_data(
(0, 1, first_speed_value), 'int'
)) in sent_messages)
def test_set_second_speed(self):
"""Test set_second_speed method."""
second_speed_value = 50
self.motor.second_speed = second_speed_value
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(
-1, Motor.PropertyType.SECOND_SPEED) in sent_messages)
self.assertTrue(
parse_message(0x04, 19, -1, parse_data(
(1, 1, second_speed_value), 'int'
)) in sent_messages)
def test_get_speed(self):
"""Test get_speed method with none input."""
_ = self.motor.speed
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(-1, Motor.PropertyType.FIRST_SPEED) in
sent_messages
)
self.assertTrue(
Motor.request_property(-1, Motor.PropertyType.SECOND_SPEED) in
sent_messages
)
def test_get_first_speed(self):
"""Test get_first_speed method"""
_ = self.motor.first_speed
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(-1, Motor.PropertyType.FIRST_SPEED) in
sent_messages
)
def test_get_second_speed(self):
"""Test get_second_speed method"""
_ = self.motor.second_speed
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(-1, Motor.PropertyType.SECOND_SPEED) in
sent_messages
)
def test_set_degree(self):
"""Test set_degree method."""
expected_values = first_degree_value, second_degree_value = 50, 50
self.motor.degree = expected_values
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(
-1, Motor.PropertyType.FIRST_DEGREE) in sent_messages)
self.assertTrue(
Motor.request_property(
-1, Motor.PropertyType.SECOND_DEGREE) in sent_messages)
self.assertTrue(
parse_message(0x04, 19, -1, parse_data(
(0, 2, first_degree_value), 'int'
)) in sent_messages)
self.assertTrue(
parse_message(0x04, 19, -1, parse_data(
(1, 2, second_degree_value), 'int'
)) in sent_messages)
def test_set_first_degree(self):
"""Test set_first_degree method."""
first_degree_value = 50
self.motor.first_degree = first_degree_value
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(
-1, Motor.PropertyType.FIRST_DEGREE) in sent_messages)
self.assertTrue(
parse_message(0x04, 19, -1, parse_data(
(0, 2, first_degree_value), 'int'
)) in sent_messages)
def test_set_second_degree(self):
"""Test set_second_degree method."""
second_degree_value = 50
self.motor.second_degree = second_degree_value
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(
-1, Motor.PropertyType.SECOND_DEGREE) in sent_messages)
self.assertTrue(
parse_message(0x04, 19, -1, parse_data(
(1, 2, second_degree_value), 'int'
)) in sent_messages)
def test_get_degree(self):
"""Test get_degree method with none input."""
_ = self.motor.degree
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(-1, Motor.PropertyType.FIRST_DEGREE) in
sent_messages
)
self.assertTrue(
Motor.request_property(-1, Motor.PropertyType.SECOND_DEGREE) in
sent_messages
)
def test_get_first_degree(self):
"""Test get_first_degree method"""
_ = self.motor.first_degree
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(-1, Motor.PropertyType.FIRST_DEGREE) in
sent_messages
)
def test_get_second_degree(self):
"""Test get_second_degree method"""
_ = self.motor.second_degree
sent_messages = []
while not self.send_q.empty():
sent_messages.append(self.send_q.get_nowait())
self.assertTrue(
Motor.request_property(-1, Motor.PropertyType.SECOND_DEGREE) in
sent_messages
)
def setUp(self):
"""Set up test fixtures, if any."""
self.send_q = Queue()
self.mock_kwargs = {"id_": -1, "uuid": -1, "msg_send_q": self.send_q}
self.motor = Motor(**self.mock_kwargs)
class TestMotor(unittest.TestCase):
"""Tests for 'Motor' class."""
def setUp(self):
"""Set up test fixtures, if any."""
self.mock_kwargs = {"id_": -1, "uuid": -1, "msg_send_q": None}
self.motor = Motor(**self.mock_kwargs)
def eval_set_property(id, command_type, data):
return command_type
self.motor._set_property = mock.Mock(side_effect=eval_set_property)
self.motor._get_property = mock.Mock()
self.motor._msg_send_q = mock.Mock()
def tearDown(self):
"""Tear down test fixtures, if any."""
del self.motor
def test_set_motor_channel(self):
"""Test set_motor_channel method"""
expected_values = motor_channel, control_mode, control_value = 0, 0, 50
self.motor.set_motor_channel(*expected_values)
expected_inv_params = (
self.mock_kwargs["id_"],
self.motor.ControlType.INV.value,
(*expected_values, 0),
)
self.motor._set_property.assert_called_once_with(*expected_inv_params)
def test_set_torque(self):
"""Test set_torque method."""
expected_values = first_torque_value, second_torque_value = 50, 50
self.motor.set_torque(*expected_values)
expected_torque_params = (
self.mock_kwargs["id_"],
self.motor.ControlType.TORQUE.value,
(*expected_values, 0),
)
self.motor._set_property.assert_called_once_with(*expected_torque_params)
self.assertEqual(
mock.call(self.motor.PropertyType.FIRST_TORQUE),
self.motor._get_property.call_args_list[0],
)
self.assertEqual(
mock.call(self.motor.PropertyType.SECOND_TORQUE),
self.motor._get_property.call_args_list[1],
)
def test_set_torque_with_none(self):
"""Test set_torque method with none input."""
self.motor.set_torque()
self.assertEqual(
mock.call(self.motor.PropertyType.FIRST_TORQUE),
self.motor._get_property.call_args_list[0],
)
self.assertEqual(
mock.call(self.motor.PropertyType.SECOND_TORQUE),
self.motor._get_property.call_args_list[1],
)
def test_set_speed(self):
"""Test set_speed method."""
expected_values = first_speed_value, second_speed_value = 50, 50
self.motor.set_speed(*expected_values)
expected_speed_params = (
self.mock_kwargs["id_"],
self.motor.ControlType.SPEED.value,
(first_speed_value, second_speed_value, 0),
)
self.motor._set_property.assert_called_once_with(
*expected_speed_params
)
self.assertEqual(
mock.call(self.motor.PropertyType.FIRST_SPEED),
self.motor._get_property.call_args_list[0],
)
self.assertEqual(
mock.call(self.motor.PropertyType.SECOND_SPEED),
self.motor._get_property.call_args_list[1],
)
def test_set_speed_with_none(self):
"""Test set_speed method with none input."""
self.motor.set_speed()
self.assertEqual(
mock.call(self.motor.PropertyType.FIRST_SPEED),
self.motor._get_property.call_args_list[0],
)
self.assertEqual(
mock.call(self.motor.PropertyType.SECOND_SPEED),
self.motor._get_property.call_args_list[1],
)
def test_set_degree(self):
"""Test set_degree method."""
expected_values = first_degree_value, second_degree_value = 50, 50
self.motor.set_degree(*expected_values)
expected_degree_params = (
self.mock_kwargs["id_"],
self.motor.ControlType.DEGREE.value,
(first_degree_value, second_degree_value, 0),
)
self.motor._set_property.assert_called_once_with(
*expected_degree_params)
self.assertEqual(
mock.call(self.motor.PropertyType.FIRST_DEGREE),
self.motor._get_property.call_args_list[0],
)
self.assertEqual(
mock.call(self.motor.PropertyType.SECOND_DEGREE),
self.motor._get_property.call_args_list[1],
)
def test_set_degree_with_none(self):
"""Test set_degree method with none input."""
self.motor.set_degree()
self.assertEqual(
mock.call(self.motor.PropertyType.FIRST_DEGREE),
self.motor._get_property.call_args_list[0],
)
self.assertEqual(
mock.call(self.motor.PropertyType.SECOND_DEGREE),
self.motor._get_property.call_args_list[1],
)
