def test_injector_not_provided():
"""
Should return an exception if not provided.
"""
i = DependencyContainer()
with pytest.raises(Exception):
i.get('test')
def test_injector_abstract_class():
"""
Should not be able to provide an abstract class.
"""
i = DependencyContainer()
with pytest.raises(Exception):
i.provide('test', AbstractClass)
def test_injector_manual_argument_in_constructor():
"""
Should be able to manually pass arguments for the constructor.
"""
i = DependencyContainer()
i.provide('dummy_c', DummyC, my_other_dep=1, my_array=[42])
dummy_c = i.get('dummy_c')
assert dummy_c is not None
assert dummy_c.my_array == [42]
assert dummy_c.my_other_dep == 1
def test_injector_missing_dependencies():
"""
Should not be able to instantiate if a dependency is missing.
"""
i = DependencyContainer()
i.provide('test', DummyC)
with pytest.raises(Exception):
i.get('test')
def test_injector_double_provide():
"""
Should not be able to provide the same thing twice.
"""
i = DependencyContainer()
i.provide('test', DummyA)
with pytest.raises(Exception):
i.provide('test', DummyA)
async def _get_container(simulation: bool, stub_lidar: bool,
stub_socket_can: bool) -> DependencyContainer:
"""
Build the dependency container.
"""
i = DependencyContainer()
i.provide('configuration', CONFIG)
i.provide('protobuf_router', ProtobufRouter)
i.provide('odometry_function', lambda: odometry_arc)
i.provide('position_controller', PositionController)
i.provide('motor_gateway', MotorGateway)
i.provide('motion_controller', MotionController)
i.provide('trajectory_controller', TrajectoryController)
i.provide('strategy_controller', StrategyController)
i.provide('symmetry_controller', SymmetryController)
i.provide('obstacle_controller', ObstacleController)
i.provide('debug_controller', DebugController)
i.provide('match_action_controller', MatchActionController)
i.provide('probe', Probe)
i.provide('event_loop', asyncio.get_event_loop())
i.provide('http_client', HTTPClient)
i.provide('web_browser_client', WebBrowserClient)
i.provide('replay_saver', ReplaySaver)
if simulation:
i.provide('simulation_configuration', SIMULATION_CONFIG)
i.provide('simulation_router', SimulationRouter)
i.provide('simulation_runner', SimulationRunner)
i.provide(
'simulation_state',
SimulationState(time=0,
cups=[],
left_tick=0,
right_tick=0,
left_speed=0,
right_speed=0,
queue_speed_left=deque(),
queue_speed_right=deque(),
last_position_update=0,
last_lidar_update=0))
i.provide('simulation_gateway', SimulationGateway)
i.provide('clock', FakeClock)
else:
i.provide('clock', RealClock)
if simulation or stub_lidar:
i.provide('lidar_adapter', SimulatedLIDARAdapter)
else:
rplidar_obj = rplidar.RPLidar(list_ports.comports()[0].device)
i.provide('rplidar_object', rplidar_obj)
i.provide('lidar_adapter', RPLIDARAdapter)
servo_adapter_list: List[SocketAdapter] = []
if simulation or stub_socket_can:
i.provide('motor_board_adapter', LoopbackSocketAdapter)
for _ in range(NB_SERVO_BOARDS):
servo_adapter_list.append(LoopbackSocketAdapter())
else:
i.provide('motor_board_adapter',
ISOTPSocketAdapter,
address=NET_ADDRESS_MOTOR,
adapter_name='motor_board')
for index in range(NB_SERVO_BOARDS):
servo_adapter_list.append(
ISOTPSocketAdapter(address=NET_ADDRESSES_SERVO[index],
adapter_name="servo_board_" + str(index)))
i.provide('servo_adapters_list', servo_adapter_list)
i.provide('actuator_gateway', ActuatorGateway)
i.provide('actuator_controller', ActuatorController)
return i
async def _get_container(simulation: bool, stub_lidar: bool,
stub_socket_can: bool) -> DependencyContainer:
"""
Build the dependency container.
"""
i = DependencyContainer()
i.provide('configuration', CONFIG)
i.provide('protobuf_handler', ProtobufHandler)
i.provide('odometry_controller', OdometryController)
i.provide('localization_controller', LocalizationController)
i.provide('motion_controller', MotionController)
i.provide('strategy_controller', StrategyController)
i.provide('symmetry_controller', SymmetryController)
i.provide('lidar_controller', LidarController)
i.provide('debug_controller', DebugController)
i.provide('match_action_controller', MatchActionController)
i.provide('motion_gateway', MotionGateway)
i.provide('simulation_probe', SimulationProbe)
i.provide('event_loop', asyncio.get_event_loop())
if simulation:
i.provide('simulation_configuration', SIMULATION_CONFIG)
i.provide('event_queue', EventQueue())
i.provide('simulation_handler', SimulationHandler)
i.provide('simulation_runner', SimulationRunner)
i.provide(
'simulation_state',
SimulationState(time=0,
cups=[],
left_tick=0,
right_tick=0,
last_position_update=0,
last_lidar_update=0))
i.provide('simulation_gateway', SimulationGateway)
i.provide('http_client', HTTPClient)
i.provide('web_browser_client', WebBrowserClient)
i.provide('replay_saver', ReplaySaver)
if simulation or stub_lidar:
i.provide('lidar_adapter', SimulatedLIDARAdapter)
else:
rplidar_obj = rplidar.RPLidar(list_ports.comports()[0].device)
i.provide('rplidar_object', rplidar_obj)
i.provide('lidar_adapter', RPLIDARAdapter)
if simulation or stub_socket_can:
i.provide('socket_adapter', LoopbackSocketAdapter)
i.provide('motor_board_adapter', LoopbackSocketAdapter)
else:
reader, writer = await tcp.get_reader_writer('localhost', 32000)
i.provide('motor_board_adapter',
TCPSocketAdapter,
reader=reader,
writer=writer)
return i
def test_injector_happy_path():
"""
Happy path.
"""
i = DependencyContainer()
i.provide('my_dep', DummyA)
i.provide('my_array', [1, 2, 3])
i.provide('my_other_dep', DummyB)
i.provide('dummy_c', DummyC)
dummy_c = i.get('dummy_c')
assert dummy_c is not None
assert dummy_c.my_array == [1, 2, 3]
assert isinstance(dummy_c.my_other_dep, DummyB)
assert isinstance(dummy_c.my_other_dep.my_dep, DummyA)