if __name__ == "__main__":
logging.info('Steering system test: starting')
steering = Steering(steering_motor_address='outC',
steering_motor_speed_factor=10,
steering_speed=5,
steering_max_range=35,
steering_motor_position_factor=-1)
logging.info('=== Steering system test: Initialize ===')
steering.initialize()
logging.info('Steering system test: steering position = ' +
str(steering.get_current_steering_position()))
time.sleep(1)
logging.info('=== Steering system test: turn to 100% left ===')
steering.set_steering_position(-100)
logging.info('Steering system test: steering position = ' +
str(steering.get_current_steering_position()))
logging.info('Steering system test: steering motor state = ' +
str(steering.steering_motor.state))
time.sleep(1)
logging.info('=== Steering system test: turn to 50% right ===')
steering.set_steering_position(50)
logging.info('Steering system test: steering position = ' +
str(steering.get_current_steering_position()))
logging.info('Steering system test: steering motor state = ' +
str(steering.steering_motor.state))
time.sleep(1)
logging.info('=== Steering system test: turn to 100% right ===')
class SteeringUnitTest(unittest.TestCase):
def setUp(self):
self.steering = Steering(TEST_STEERING_MOTOR_ADDRESS,
TEST_STEERING_MOTOR_SPEED_FACTOR,
TEST_STEERING_SPEED, TEST_STEERING_MAX_RANGE,
TEST_STEERING_MOTOR_POSITION_FACTOR, True)
self.steering.steering_motor = MagicMock()
def test_shouldCalculateCorrectCurrentSteeringPositionWhenTurnedLeft(self):
# given
__test_steering_motor_position = -21
self.steering.steering_motor.position = __test_steering_motor_position
# when
__actual_steering_position = self.steering.get_current_steering_position(
)
# then
__expected_steering_position = self.__get_expected_steering_position(
__test_steering_motor_position)
self.assertEqual(__expected_steering_position,
__actual_steering_position)
def test_shouldCalculateCorrectCurrentSteeringPositionWhenTurnedMaxLeft(
self):
# given
self.steering.steering_motor.position = -TEST_STEERING_MAX_RANGE
# when
__actual_steering_position = self.steering.get_current_steering_position(
)
# then
__expected_steering_position = TEST_STEERING_MOTOR_POSITION_FACTOR * -100
self.assertEqual(__expected_steering_position,
__actual_steering_position)
def test_shouldCalculateCorrectCurrentSteeringPositionWhenTurnedRight(
self):
# given
__test_steering_motor_position = 18
self.steering.steering_motor.position = __test_steering_motor_position
# when
__actual_steering_position = self.steering.get_current_steering_position(
)
# then
__expected_steering_position = self.__get_expected_steering_position(
__test_steering_motor_position)
self.assertEqual(__expected_steering_position,
__actual_steering_position)
def test_shouldCalculateCorrectCurrentSteeringPositionWhenTurnedMaxRight(
self):
# given
self.steering.steering_motor.position = TEST_STEERING_MAX_RANGE
# when
__actual_steering_position = self.steering.get_current_steering_position(
)
# then
__expected_steering_position = TEST_STEERING_MOTOR_POSITION_FACTOR * 100
self.assertEqual(__expected_steering_position,
__actual_steering_position)
def test_shouldCalculateCorrectCurrentSteeringPositionWhenAtCenter(self):
# given
self.steering.steering_motor.position = 0
# when
__actual_steering_position = self.steering.get_current_steering_position(
)
# then
self.assertEqual(0, __actual_steering_position)
def test_shouldResetSteeringPositionToCenterWhenInitialized(self):
# given
self.steering.steering_motor.position = 32
# when
self.steering.initialize()
# then
self.steering.steering_motor.reset.assert_called_once()
def test_shouldTurnMaxRangeRightForCenteringWhenInitialized(self):
# given
self.steering.steering_motor.position = 32
# when
self.steering.initialize()
# then
__expected_steering_motor_turn = TEST_STEERING_MOTOR_POSITION_FACTOR * TEST_STEERING_MAX_RANGE
self.steering.steering_motor.run_to_rel_pos.assert_called_with(
position_sp=__expected_steering_motor_turn,
speed_sp=EXPECTED_STEERING_MOTOR_SPEED,
stop_action=EXPECTED_STEERING_MOTOR_STOP_ACTION)
def test_should_turn_steering_motor_left_by_correct_amount_when_steering_motor_position_was_zero(
self):
# given
__test_steering_motor_initial_position = 0
__test_steering_position = -50
self.steering.steering_motor.position = __test_steering_motor_initial_position
# when
self.steering.set_steering_position(__test_steering_position)
# then
__expected_steering_motor_turn = self.__get_expected_steering_motor_turn(
__test_steering_position)
self.steering.steering_motor.run_to_abs_pos.assert_called_with(
position_sp=__expected_steering_motor_turn,
speed_sp=EXPECTED_STEERING_MOTOR_SPEED,
stop_action=EXPECTED_STEERING_MOTOR_STOP_ACTION)
def test_should_turn_steering_motor_right_by_correct_amount_when_steering_motor_position_was_zero(
self):
# given
__test_steering_motor_initial_position = 0
__test_steering_position = 66
self.steering.steering_motor.position = __test_steering_motor_initial_position
# when
self.steering.set_steering_position(__test_steering_position)
# then
__expected_steering_motor_turn = self.__get_expected_steering_motor_turn(
__test_steering_position)
self.steering.steering_motor.run_to_abs_pos.assert_called_with(
position_sp=__expected_steering_motor_turn,
speed_sp=EXPECTED_STEERING_MOTOR_SPEED,
stop_action=EXPECTED_STEERING_MOTOR_STOP_ACTION)
def test_should_turn_steering_motor_left_by_correct_amount_when_steering_motor_position_was_in_left(
self):
# given
__test_steering_motor_initial_position = -10
__test_steering_position = -50
self.steering.steering_motor.position = __test_steering_motor_initial_position
# when
self.steering.set_steering_position(__test_steering_position)
# then
__expected_steering_motor_turn = self.__get_expected_steering_motor_turn(
__test_steering_position)
self.steering.steering_motor.run_to_abs_pos.assert_called_with(
position_sp=__expected_steering_motor_turn,
speed_sp=EXPECTED_STEERING_MOTOR_SPEED,
stop_action=EXPECTED_STEERING_MOTOR_STOP_ACTION)
def test_should_turn_steering_motor_left_by_correct_amount_when_steering_motor_position_was_in_right(
self):
# given
__test_steering_motor_initial_position = 15
__test_steering_position = -50
self.steering.steering_motor.position = __test_steering_motor_initial_position
# when
self.steering.set_steering_position(__test_steering_position)
# then
__expected_steering_motor_turn = self.__get_expected_steering_motor_turn(
__test_steering_position)
self.steering.steering_motor.run_to_abs_pos.assert_called_with(
position_sp=__expected_steering_motor_turn,
speed_sp=EXPECTED_STEERING_MOTOR_SPEED,
stop_action=EXPECTED_STEERING_MOTOR_STOP_ACTION)
def test_should_turn_steering_motor_right_by_correct_amount_when_steering_motor_position_was_in_right(
self):
# given
__test_steering_motor_initial_position = 15
__test_steering_position = 60
self.steering.steering_motor.position = __test_steering_motor_initial_position
# when
self.steering.set_steering_position(__test_steering_position)
# then
__expected_steering_motor_turn = self.__get_expected_steering_motor_turn(
__test_steering_position)
self.steering.steering_motor.run_to_abs_pos.assert_called_with(
position_sp=__expected_steering_motor_turn,
speed_sp=EXPECTED_STEERING_MOTOR_SPEED,
stop_action=EXPECTED_STEERING_MOTOR_STOP_ACTION)
def test_should_turn_steering_motor_right_by_correct_amount_when_steering_motor_position_was_in_left(
self):
# given
__test_steering_motor_initial_position = -20
__test_steering_position = 60
self.steering.steering_motor.position = __test_steering_motor_initial_position
# when
self.steering.set_steering_position(__test_steering_position)
# then
__expected_steering_motor_turn = self.__get_expected_steering_motor_turn(
__test_steering_position)
self.steering.steering_motor.run_to_abs_pos.assert_called_with(
position_sp=__expected_steering_motor_turn,
speed_sp=EXPECTED_STEERING_MOTOR_SPEED,
stop_action=EXPECTED_STEERING_MOTOR_STOP_ACTION)
@staticmethod
def __get_expected_steering_motor_turn(desired_steering_position):
return TEST_STEERING_MOTOR_POSITION_FACTOR * (int(
desired_steering_position * TEST_STEERING_MAX_RANGE / 100))
@staticmethod
def __get_expected_steering_position(steering_motor_position):
return TEST_STEERING_MOTOR_POSITION_FACTOR * int(
steering_motor_position * 100 / TEST_STEERING_MAX_RANGE)