def test_switch_user_mode(self, serial_part: SerialPart, arduino: Queue) -> None:
_, _, user_mode, _ = serial_part.run_threaded()
assert DRIVE_MODE_USER == user_mode
# Switch off
channel_6 = 998
arduino.put(f'12345,123,123,123,123,123,{channel_6},50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
_, _, user_mode, record = serial_part.run_threaded()
assert DRIVE_MODE_USER == user_mode
# Switch on
channel_6 = 1987
arduino.put(f'12345,123,123,123,123,123,{channel_6},50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
_, _, user_mode, record = serial_part.run_threaded()
assert DRIVE_MODE_PILOT == user_mode
channel_6 = 1850
arduino.put(f'12345,123,123,123,123,123,{channel_6},50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
_, _, user_mode, record = serial_part.run_threaded()
assert DRIVE_MODE_PILOT == user_mode
# Switch off
channel_6 = 1003
arduino.put(f'12345,123,123,123,123,123,{channel_6},50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
_, _, user_mode, record = serial_part.run_threaded()
assert DRIVE_MODE_USER == user_mode
def test_switch_record(self, serial_part: SerialPart, arduino: Queue) -> None:
_, _, _, record = serial_part.run_threaded()
assert not record
# Switch off
channel_5 = 998
arduino.put(f'12345,123,123,123,123,{channel_5},123,50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
_, _, _, record = serial_part.run_threaded()
assert record
# Switch on
channel_5 = 1987
arduino.put(f'12345,123,123,123,123,{channel_5},123,50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
_, _, _, record = serial_part.run_threaded()
assert not record
channel_5 = 1850
arduino.put(f'12345,123,123,123,123,{channel_5},123,50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
_, _, _, record = serial_part.run_threaded()
assert not record
# Switch off
channel_5 = 1003
arduino.put(f'12345,123,123,123,123,{channel_5},123,50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
_, _, _, record = serial_part.run_threaded()
assert record
def serial_part_fixture(self, arduino: Queue, monkeypatch) -> Iterator[SerialPart]:
monkeypatch.setattr('serial.Serial.open', lambda x: x)
monkeypatch.setattr('serial.Serial.readline', lambda x: arduino.get(block=True))
serial_part = SerialPart()
thread = Thread(target=serial_part.update)
thread.start()
yield serial_part
serial_part.shutdown()
arduino.put(b'\n')
thread.join(0.01)
def test_read_serial(self, serial_part: SerialPart, arduino: Queue) -> None:
steering, throttle, user_mode, record = serial_part.run_threaded()
assert steering == 0.0
assert throttle == 0.0
assert 'user' == user_mode
channel_1 = 678
channel_2 = 910
channel_3 = 1112
channel_4 = 1678
channel_5 = 1910
channel_6 = 112
arduino.put(f'12345,{channel_1},{channel_2},{channel_3},{channel_4},{channel_5},{channel_6},50\n'
.encode(encoding='utf-8'))
time.sleep(0.01)
steering, throttle, user_mode, record = serial_part.run_threaded()
assert steering != 0.0
assert throttle != 0.0
assert 'user' == user_mode
def test_read_invalid_line(self, serial_part: SerialPart, arduino: Queue) -> None:
steering, throttle, user_mode, record = serial_part.run_threaded()
assert steering == 0.0
assert throttle == 0.0
assert DRIVE_MODE_USER == user_mode
arduino.put(b'\ninvalid\n')
time.sleep(0.001)
steering, throttle, user_mode, record = serial_part.run_threaded()
assert steering == 0.0
assert throttle == 0.0
assert DRIVE_MODE_USER == user_mode
assert not record
channel_1 = 678
channel_2 = 910
channel_3 = 1112
channel_4 = 1678
channel_5 = 1410
channel_6 = 112
arduino.put(f'12345,{channel_1},{channel_2},{channel_3},{channel_4},{channel_5},{channel_6},50\n'
.encode(encoding='utf-8'))
time.sleep(0.001)
steering, throttle, user_mode, record = serial_part.run_threaded()
assert steering != 0
assert steering != 0
assert DRIVE_MODE_USER == user_mode
assert record
arduino.put(b'\ninvalid\n')
time.sleep(0.001)
new_steering, new_throttle, new_user_mode, record = serial_part.run_threaded()
assert new_steering == steering
assert new_throttle == throttle
assert new_user_mode == user_mode
def test_radio_throttle(self, serial_part: SerialPart, arduino: Queue) -> None:
throttle, _, _, _ = serial_part.run_threaded()
assert 0.0 == throttle
# Over down
channel_2 = 99
arduino.put(f'123,123,{channel_2},123,123,123,123,50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
throttle, _, _, _ = serial_part.run_threaded()
assert throttle == -1.0
# Left
channel_2 = 998
arduino.put(f'123,123,{channel_2},123,123,123,123,50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
_, throttle, _, _ = serial_part.run_threaded()
assert -1.0 < throttle < -0.9
# Stop
channel_2 = 1450
arduino.put(f'123,123,{channel_2},123,123,123,123,50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
_, throttle, _, _ = serial_part.run_threaded()
assert -0.1 < throttle < 0.1
# Up
channel_2 = 1948
arduino.put(f'123,123,{channel_2},123,123,123,123,50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
_, throttle, _, _ = serial_part.run_threaded()
assert 1.0 > throttle > 0.9
# Over up
channel_2 = 2998
arduino.put(f'123,123,{channel_2},123,123,123,123,50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
_, throttle, _, _ = serial_part.run_threaded()
assert throttle == 1.0
def test_radio_angle(self, serial_part: SerialPart, arduino: Queue) -> None:
angle, _, _, _ = serial_part.run_threaded()
assert 0.0 == angle
# Over Left
channel_1 = 99
arduino.put(f'123,{channel_1},123,123,123,123,123,50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
angle, _, _, _ = serial_part.run_threaded()
assert angle == -1.0
# Left
channel_1 = 998
arduino.put(f'123,{channel_1},123,123,123,123,123,50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
angle, _, _, _ = serial_part.run_threaded()
assert -1.0 < angle < -0.9
# Middle
channel_1 = 1450
arduino.put(f'123,{channel_1},123,123,123,123,123,50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
angle, _, _, _ = serial_part.run_threaded()
assert -0.1 < angle < 0.1
# Right
channel_1 = 1958
arduino.put(f'123,{channel_1},123,123,123,123,123,50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
angle, _, _, _ = serial_part.run_threaded()
assert 1.0 > angle > 0.9
# Over Right
channel_1 = 2998
arduino.put(f'123,{channel_1},123,123,123,123,123,50\n'.encode(encoding='utf-8'))
time.sleep(0.001)
angle, _, _, _ = serial_part.run_threaded()
assert angle == 1.0
def _configure_arduino(self, cfg):
self.register(part=SerialPart(port=cfg.ARDUINO_SERIAL_PORT, baudrate=cfg.ARDUINO_SERIAL_BAUDRATE))