def test_context_manager(self):
with LogWriter(prefix='tmpp', note='1st test') as log:
self.assertTrue(log.filename.startswith('tmpp'))
filename = log.filename
start_time = log.start_time
t1 = log.write(10, b'\x01\x02\x02\x04')
time.sleep(0.01)
t2 = log.write(10, b'\x05\x06\x07\x08')
self.assertLess(t1, t2)
with LogReader(filename) as log:
self.assertEqual(start_time, log.start_time)
__, stream_id, data = next(log.read_gen())
self.assertEqual(INFO_STREAM_ID, stream_id)
t, stream_id, data = next(log.read_gen())
self.assertEqual(stream_id, 10)
self.assertEqual(data, b'\x01\x02\x02\x04')
t, stream_id, data = next(log.read_gen())
self.assertTrue(t.microseconds > 100)
with self.assertRaises(StopIteration):
__ = next(log.read_gen())
with LogReader(filename) as log:
for t, stream_id, data in log.read_gen(only_stream_id=10):
self.assertEqual(stream_id, 10)
self.assertEqual(data, b'\x01\x02\x02\x04')
break
os.remove(log.filename)
def test_read_two_streams(self):
with LogWriter(prefix='tmp2', note='test_read_two_streams') as log:
filename = log.filename
t1 = log.write(1, b'\x01\x02\x02\x04')
time.sleep(0.001)
t2 = log.write(3, b'\x05\x06')
time.sleep(0.001)
t3 = log.write(2, b'\x07\x08')
with LogReader(filename) as log:
arr = []
for t, stream_id, data in log.read_gen([1, 2]):
self.assertIn(stream_id, [1, 2])
arr.append((t, stream_id))
self.assertEqual(arr, [(t1, 1), (t3, 2)])
os.remove(log.filename)
def test_log_asserter(self):
with LogWriter(prefix='tmp3', note='test_log_asserter') as log:
filename = log.filename
t1 = log.write(1, b'\x01\x02')
time.sleep(0.001)
t2 = log.write(2, b'\x05')
time.sleep(0.001)
t3 = log.write(1, b'\x07\x08')
with LogAsserter(filename) as log:
log.assert_stream_id = 2
arr = []
for t, stream_id, data in log.read_gen([1, 2]):
self.assertIn(stream_id, [1, 2])
if stream_id == 2:
log.write(2, b'\x05')
arr.append((t, stream_id))
self.assertEqual(arr, [(t1, 1), (t2, 2), (t3, 1)])
os.remove(log.filename)
def test_register(self):
with LogWriter(prefix='tmp2', note='test_register') as log:
filename = log.filename
self.assertEqual(log.register('raw'), 1)
with self.assertRaises(AssertionError):
log.register('raw') # duplicity name
self.assertEqual(log.register('gps.position'), 2)
with LogReader(filename) as log:
arr = []
for __, __, data in log.read_gen(INFO_STREAM_ID):
if b'names' in data:
arr.append(data)
self.assertEqual(len(arr), 2, arr)
self.assertEqual(arr[0], b"{'names': ['raw']}")
self.assertEqual(arr[1], b"{'names': ['raw', 'gps.position']}")
os.remove(filename)
if len(data) > 0:
self.bus.publish('raw', data)
except socket.timeout:
pass
def run_output(self):
try:
while True:
__, __, data = self.bus.listen()
self.socket.send(data)
except BusShutdownException:
pass
def request_stop(self):
self.bus.shutdown()
if __name__ == "__main__":
import time
from osgar.drivers.bus import BusHandler
config = {'host':'localhost', 'port': 8001, 'timeout': 1.0}
log = LogWriter(prefix='test-tcp-')
device = LogTCP(config, bus=BusHandler(log, out={'raw':[]}))
device.start()
time.sleep(2)
device.request_stop()
device.join()
# vim: expandtab sw=4 ts=4
if __name__ == "__main__":
import time
parser = argparse.ArgumentParser(description='Test robot configuration')
subparsers = parser.add_subparsers(help='sub-command help', dest='command')
subparsers.required = True
parser_run = subparsers.add_parser('run', help='run on real HW')
parser_run.add_argument('config', help='configuration file')
parser_run.add_argument('--note', help='add description')
parser_replay = subparsers.add_parser('replay', help='replay from logfile')
parser_replay.add_argument('logfile', help='recorded log file')
args = parser.parse_args()
if args.command == 'replay':
pass # TODO
elif args.command == 'run':
log = LogWriter(prefix='robot-test-', note=str(sys.argv))
config = load(args.config)
log.write(0, bytes(str(config), 'ascii')) # write configuration
robot = Robot(config=config['robot'], logger=log)
robot.start()
time.sleep(3.0)
robot.finish()
else:
assert False, args.command # unsupported command
# vim: expandtab sw=4 ts=4
def test_writer_prefix(self):
log = LogWriter(prefix='tmp')
self.assertTrue(log.filename.startswith('tmp'))
log.close()
os.remove(log.filename)
def print_output(packet):
print(packet)
if __name__ == "__main__":
import sys
if len(sys.argv) == 1:
import time
from osgar.drivers.logserial import LogSerial
from osgar.drivers.bus import BusHandler
config_serial = {'port': 'COM5', 'speed': 4800}
config_gps = {}
log = LogWriter(prefix='gps-test')
gps = GPS(config_gps,
bus=BusHandler(log, name='gps', out={'position': []}))
serial = LogSerial(config_serial,
bus=BusHandler(
log,
name='serial_gps',
out={'raw': [(gps.bus.queue, 'raw')]}))
gps.start()
serial.start()
time.sleep(2)
gps.request_stop()
serial.request_stop()
gps.join()
serial.join()
else: