def create_robot():
"""Robot factory."""
robot = Robot()
robot.set_led(Led(14, 15, 18))
robot.led.set_color((255, 0, 0))
robot.led.on()
robot.set_button(Button(23))
robot.set_motors(Motor(16, 20, 21, 1.0), Motor(25, 8, 7, 0.59))
return robot
class TestRobot(unittest.TestCase):
"""Tests for Robot class."""
def setUp(self):
self.robot = Robot()
def test_set_led(self):
led = Mock()
self.robot.set_led(led)
self.assertEqual(self.robot.led, led)
def test_set_motors(self):
motor1 = Mock()
motor2 = Mock()
self.robot.set_motors(motor1, motor2)
self.assertEqual(self.robot.motors[0], motor1)
self.assertEqual(self.robot.motors[1], motor2)
def test_set_motor(self):
motor = Mock()
index = 1
self.robot.set_motor(index, motor)
self.assertEqual(self.robot.motors[1], motor)
def test_set_motor_out_of_bounds(self):
with self.assertRaises(IndexError):
self.robot.set_motor(2, None)
def test_set_button(self):
button = Mock()
self.robot.set_button(button)
self.assertEqual(self.robot.button, button)
def test_forward(self):
self.robot.change_status = Mock()
self.robot._stop_motors = Mock()
self._set_motors()
self.robot.forward()
self.assertTrue(self.robot._stop_motors.called)
self.assertTrue(self.robot.motors[0].forward.called)
self.assertTrue(self.robot.motors[1].forward.called)
def test_forward_default_speed(self):
self.robot.change_status = Mock()
self._set_motors()
self.robot.forward()
self.robot.motors[0].forward.called_with(self.robot.default_speed)
self.robot.motors[1].forward.called_with(self.robot.default_speed)
def test_forward_with_speed(self):
self.robot.change_status = Mock()
self._set_motors()
self.robot.forward(speed=50)
self.robot.motors[0].forward.called_with(50)
self.robot.motors[1].forward.called_with(self.robot.default_speed)
def test_robot_has_status(self):
self.assertIsNotNone(self.robot.status)
def test_robot_starts_with_status(self):
self.assertEqual(self.robot.status, -1)
def test_robot_colud_change_status(self):
self._set_motors()
self.robot.set_led(Mock())
self.robot.change_status(1)
self.assertEqual(self.robot.status, 1)
def test_led_changes_color_after_status_change(self):
self.robot.set_led(Mock())
self._set_motors()
self.robot.change_status(1)
self.assertTrue(self.robot.led.set_color.called)
self.assertTrue(self.robot.led.on.called)
def test_should_stop_on_status_minus_1(self):
self.robot.set_led(Mock())
self.robot._stop_motors = Mock()
self._set_motors()
self.robot.change_status(-1)
self.assertTrue(self.robot._stop_motors.called)
def test_could_toggle_status(self):
self._set_motors()
self.robot.set_led(Mock())
self.robot.status = -1
self.robot.toggle_status()
self.assertEqual(self.robot.status, 1)
self.robot.toggle_status()
self.assertEqual(self.robot.status, -1)
def test_stop(self):
self._set_motors()
self.robot.set_led(Mock())
self.robot._stop_motors = Mock()
self.robot.stop()
self.assertTrue(self.robot._stop_motors.called)
def test_left(self):
self.robot.set_led(Mock())
self._set_motors()
self.robot._stop_motors = Mock()
self.robot.left()
self.assertTrue(self.robot._stop_motors.called)
self.assertEqual(self.robot.motors[0].forward.call_count, 1)
self.assertEqual(self.robot.motors[1].forward.call_count, 0)
def test_right(self):
self.robot.set_led(Mock())
self._set_motors()
self.robot._stop_motors = Mock()
self.robot.right()
self.assertTrue(self.robot._stop_motors.called)
self.assertEqual(self.robot.motors[1].forward.call_count, 1)
self.assertEqual(self.robot.motors[0].forward.call_count, 0)
def test_left_default_speed(self):
self._set_motors()
self.robot.left()
self.robot.motors[0].forward.assert_called_with(self.robot.default_speed)
def test_left_with_speed(self):
self._set_motors()
self.robot.left(speed=50)
self.robot.motors[0].forward.assert_called_with(50)
def test_left_with_angle(self):
self._set_motors()
self.robot.stop = Mock()
self.robot.width = 13
self.robot.cps = 10
tm = time.time()
self.robot.left(angle=90)
self.assertEqual(round(time.time() - tm), 2)
def test_left_first_param_angle(self):
self._set_motors()
self.robot._go_for_distance = Mock()
self.robot.width = 13
self.robot.cps = 10
self.robot.left(50)
self.assertEqual(round(self.robot._go_for_distance.call_args[0][0]), 11)
def test_right_with_angle(self):
self._set_motors()
self.robot.stop = Mock()
self.robot.width = 13
self.robot.cps = 10
tm = time.time()
self.robot.right(angle=90)
self.assertEqual(round(time.time() - tm), 2)
def test_right_default_speed(self):
self._set_motors()
self.robot.right()
self.robot.motors[1].forward.assert_called_with(self.robot.default_speed)
def test_right_with_speed(self):
self._set_motors()
self.robot.right(speed=50)
self.robot.motors[1].forward.assert_called_with(50)
def test_right_first_param_angle(self):
self._set_motors()
self.robot._go_for_distance = Mock()
self.robot.width = 13
self.robot.cps = 10
self.robot.right(50)
self.assertEqual(round(self.robot._go_for_distance.call_args[0][0]), 11)
def test_forward_with_distance(self):
self.robot.change_status = Mock()
self._set_motors()
self.robot.cps = 10
tm = time.time()
self.robot.forward(distance=10)
self.assertEqual(round(time.time() - tm), 1)
def test_forward_with_small_distance(self):
self.robot.change_status = Mock()
self._set_motors()
self.robot.cps = 10
tm = time.time()
self.robot.forward(distance=5)
self.assertEqual(round(time.time() - tm, 1), 0.5)
def test_forward_first_param_distance(self):
self.robot.change_status = Mock()
self._set_motors()
self.robot._go_for_distance = Mock()
self.robot.forward(50)
self.robot._go_for_distance.assert_called_with(50)
def test_back(self):
self._set_motors()
self.robot._stop_motors = Mock()
self.robot.back()
self.assertTrue(self.robot._stop_motors.called)
self.assertTrue(self.robot.motors[0].backward.called)
self.assertTrue(self.robot.motors[1].backward.called)
def test_back_default_speed(self):
self.robot.change_status = Mock()
self._set_motors()
self.robot.back()
self.robot.motors[0].backward.assert_called_with(self.robot.default_speed)
self.robot.motors[1].backward.assert_called_with(self.robot.default_speed)
def test_back_with_speed(self):
self.robot.change_status = Mock()
self._set_motors()
self.robot.back(speed=50)
self.robot.motors[0].backward.assert_called_with(50)
self.robot.motors[1].backward.assert_called_with(50)
def test_back_with_distance(self):
self.robot.change_status = Mock()
self._set_motors()
self.robot.cps = 10
tm = time.time()
self.robot.back(distance=10)
self.assertEqual(round(time.time() - tm), 1)
def test_back_first_param_distance(self):
self.robot.change_status = Mock()
self._set_motors()
self.robot._go_for_distance = Mock()
self.robot.back(50)
self.robot._go_for_distance.assert_called_with(50)
def test_back_with_small_distance(self):
self.robot.change_status = Mock()
self._set_motors()
self.robot.cps = 10
tm = time.time()
self.robot.back(distance=5)
self.assertEqual(round(time.time() - tm, 1), 0.5)
def test_get_speed(self):
self.robot.default_speed = 10
self.assertEqual(self.robot._get_speed(20), 20)
def test_get_speed_none(self):
self.robot.default_speed = 10
self.assertEqual(self.robot._get_speed(None), 10)
@patch("rpirobot.robot.time")
def test_go_for_distance(self, time):
self.robot.set_led(Mock())
self._set_motors()
distance = 10
self.robot.cps = 10
self.robot._go_for_distance(10)
time.sleep.assert_called_with(1)
@patch("rpirobot.robot.time")
def test_dont_go_if_distance_none(self, time):
self.robot._go_for_distance(None)
self.assertFalse(time.sleep.called)
def test_angle_to_distance(self):
self.robot.width = 10
self.assertEqual(round(self.robot._angle_to_distance(90)), 16)
def test_angle_to_distance_none(self):
self.assertIsNone(self.robot._angle_to_distance(None))
def test_stop_changes_status(self):
self.robot.set_led(Mock())
self._set_motors()
self.robot.status = None
self.robot.stop()
self.assertEqual(self.robot.status, 0)
def test_forward_changes_status(self):
self.robot.set_led(Mock())
self._set_motors()
self.robot.status = None
self.robot.forward()
self.assertEqual(self.robot.status, 1)
def test_stop_motors(self):
self._set_motors()
self.robot._stop_motors()
self.assertTrue(self.robot.motors[0].stop.called)
self.assertTrue(self.robot.motors[1].stop.called)
def test_on_status_change_1(self):
self.robot.set_led(Mock())
self.robot._on_status_change(1)
self.assertTrue(self.robot.led.set_color.called)
self.assertTrue(self.robot.led.on.called)
def test_on_status_change_minus_1(self):
self.robot.set_led(Mock())
self.robot._stop_motors = Mock()
self.robot._on_status_change(-1)
self.assertTrue(self.robot.led.set_color.called)
self.assertTrue(self.robot.led.on.called)
self.assertTrue(self.robot._stop_motors.called)
def test_change_status_triggers_on_status_change(self):
self.robot.set_led(Mock())
self.robot._on_status_change = Mock()
self.robot.change_status(1)
self.robot._on_status_change.assert_called_with(1)
def _set_motors(self):
self.robot.set_motors(Mock(), Mock())