def test_stop_buzzer():
serial = MockSerial(ACK)
attiny = AttinyProtocol(serial)
result = attiny.stop_buzzer()
assert result == True
assert serial.received == STOP_BUZZER
def test_set_left_motor_timeout():
serial = MockSerial(b'')
attiny = AttinyProtocol(serial)
result = attiny.set_left_motor(0)
assert result == False
def test_set_left_motor_nak():
serial = MockSerial(NAK)
attiny = AttinyProtocol(serial)
result = attiny.set_left_motor(0)
assert result == False
def test_set_both_motors_timeout():
serial = MockSerial(b'')
attiny = AttinyProtocol(serial)
result = attiny.set_motors(0, 0)
assert result == False
def test_set_both_motors_nak():
serial = MockSerial(NAK)
attiny = AttinyProtocol(serial)
result = attiny.set_motors(0, 0)
assert result == False
def test_reset_both_encoders_invalid():
serial = MockSerial(INVALID_RESPONSE)
attiny = AttinyProtocol(serial)
with pytest.raises(InvalidResponseException):
attiny.reset_encoders()
assert serial.received == ENCODERS_RESET_BOTH
def test_reset_both_encoders_timeout():
serial = MockSerial(b'')
attiny = AttinyProtocol(serial)
result = attiny.reset_encoders()
assert serial.received == ENCODERS_RESET_BOTH
assert result == False
def test_reset_left_encoder_timeout():
serial = MockSerial(b'')
attiny = AttinyProtocol(serial)
result = attiny.reset_left_encoder()
assert serial.received == ENCODERS_RESET_LEFT
assert result == False
def test_reset_right_encoder_nak():
serial = MockSerial(NAK)
attiny = AttinyProtocol(serial)
result = attiny.reset_right_encoder()
assert serial.received == ENCODERS_RESET_RIGHT
assert result == False
def test_set_pi_parameters_timeout():
serial = MockSerial(b'')
attiny = AttinyProtocol(serial)
result = attiny.set_pi_parameters(0, 0, 0)
assert len(serial.received) == 6
assert result == False
def test_set_both_motors_invalid():
serial = MockSerial(INVALID_RESPONSE)
attiny = AttinyProtocol(serial)
with pytest.raises(InvalidResponseException):
attiny.set_motors(0, 0)
assert serial.received[:1] == SET_BOTH_MOTORS
def test_set_right_motor_invalid():
serial = MockSerial(INVALID_RESPONSE)
attiny = AttinyProtocol(serial)
with pytest.raises(InvalidResponseException):
attiny.set_right_motor(0)
assert serial.received[:1] == SET_RIGHT_MOTOR
def test_reset_left_encoder():
serial = MockSerial(ACK)
attiny = AttinyProtocol(serial)
result = attiny.reset_left_encoder()
assert serial.received == ENCODERS_RESET_LEFT
assert result == True
def test_stop_motors():
serial = MockSerial(ACK)
attiny = AttinyProtocol(serial)
result = attiny.stop_motors()
assert serial.received == STOP_MOTORS
assert result == True
def test_alive_ack():
# send out an ACK byte
serial = MockSerial(ACK)
attiny = AttinyProtocol(serial)
result = attiny.alive()
assert serial.received == ALIVE
assert result == True
def test_alive_nak():
# send out an NAK byte
serial = MockSerial(NAK)
attiny = AttinyProtocol(serial)
result = attiny.alive()
assert serial.received == ALIVE
assert result == False
def test_echo():
serial = MockSerial(ECHO_TEST)
attiny = AttinyProtocol(serial)
response = attiny.echo(ECHO_TEST)
assert serial.received == ECHO + ECHO_TEST
assert response == ECHO_TEST
def test_stop_motors_undefined():
# send out something that is neither an ACK or a NAK byte
serial = MockSerial(INVALID_RESPONSE)
attiny = AttinyProtocol(serial)
with pytest.raises(InvalidResponseException):
attiny.stop_motors()
assert serial.received == STOP_MOTORS
def test_stop_motors_timeout():
serial = MockSerial(b'')
attiny = AttinyProtocol(serial)
result = attiny.stop_motors()
assert serial.received == STOP_MOTORS
assert result == False
def test_echo_too_long():
serial = MockSerial(b'')
attiny = AttinyProtocol(serial)
with pytest.raises(InvalidLengthException):
attiny.echo(b'abcd')
assert serial.received == b''
def test_echo_invalid():
serial = MockSerial(ECHO_INVALID)
attiny = AttinyProtocol(serial)
with pytest.raises(InvalidResponseException):
attiny.echo(ECHO_TEST)
assert serial.received == ECHO + ECHO_TEST
def test_get_right_encoder():
value = 21845
encoder_bytes = value.to_bytes(2, 'big')
serial = MockSerial(encoder_bytes)
attiny = AttinyProtocol(serial)
result = attiny.get_right_encoder()
assert serial.received == ENCODERS_RIGHT
assert result == value
def test_get_left_encoder():
value = 43690
encoder_bytes = value.to_bytes(2, 'big')
serial = MockSerial(encoder_bytes)
attiny = AttinyProtocol(serial)
result = attiny.get_left_encoder()
assert serial.received == ENCODERS_LEFT
assert result == value
def test_set_pi_parameters_timeout():
serial = MockSerial(INVALID_RESPONSE)
attiny = AttinyProtocol(serial)
with pytest.raises(InvalidResponseException):
attiny.set_pi_parameters(0, 0, 0)
assert len(serial.received) == 6
assert serial.received[:1] == SET_PI
def test_set_left_motor_zero():
serial = MockSerial(ACK)
left = MOTOR_ZERO
left_bytes = BYTES_MOTOR_ZERO
attiny = AttinyProtocol(serial)
result = attiny.set_left_motor(left)
assert len(serial.received) == 2
assert serial.received == SET_LEFT_MOTOR + left_bytes
assert result == True
def test_set_right_motor_zero():
serial = MockSerial(ACK)
right = MOTOR_ZERO
right_bytes = BYTES_MOTOR_ZERO
attiny = AttinyProtocol(serial)
result = attiny.set_right_motor(right)
assert len(serial.received) == 2
assert serial.received == SET_RIGHT_MOTOR + right_bytes
assert result == True
def test_set_buzzer_max():
serial = MockSerial(ACK)
attiny = AttinyProtocol(serial)
result = attiny.set_buzzer(FREQUENCY_MAX, DURATION_MAX, VOLUME_MAX)
assert result == True
assert len(serial.received) == 6
assert serial.received[:1] == SET_BUZZER
assert serial.received[1:3] == FREQUENCY_MAX_ENCODED
assert serial.received[3:5] == DURATION_MAX_ENCODED
assert serial.received[5:] == VOLUME_MAX_ENCODED
def test_set_pi_parameters_max():
serial = MockSerial(ACK)
attiny = AttinyProtocol(serial)
result = attiny.set_pi_parameters(INT16_MAX, INT16_MAX, UINT8_MAX)
assert result == True
assert len(serial.received) == 6
assert serial.received[:1] == SET_PI
assert serial.received[1:3] == INT16_MAX_ENCODED
assert serial.received[3:5] == INT16_MAX_ENCODED
assert serial.received[5:] == UINT8_MAX_ENCODED
def test_set_both_motors_exceed_maxmin():
serial = MockSerial(ACK)
left = MOTOR_MAX + 1
left_bytes = BYTES_MOTOR_MAX
right = MOTOR_MIN - 1
right_bytes = BYTES_MOTOR_MIN
attiny = AttinyProtocol(serial)
attiny.set_motors(left, right)
assert len(serial.received) == 3
assert serial.received == SET_BOTH_MOTORS + left_bytes + right_bytes
def test_set_both_motors_zero():
serial = MockSerial(ACK)
left = MOTOR_ZERO
left_bytes = BYTES_MOTOR_ZERO
right = MOTOR_ZERO
right_bytes = BYTES_MOTOR_ZERO
attiny = AttinyProtocol(serial)
result = attiny.set_motors(left, right)
assert len(serial.received) == 3
assert serial.received == SET_BOTH_MOTORS + left_bytes + right_bytes
assert result == True