def test_process_data_request(self):
robot_state = RobotState()
robot_state.values['right_brick:ev3-ports:in4'] = 10
robot_state.locks['right_brick:ev3-ports:in4'] = threading.Lock()
message_processor = MessageProcessor('right_brick', robot_state)
value = message_processor.process_data_request(DataRequest('ev3-ports:in4'))
self.assertEqual(value, 10)
def test_create_jobs_right(self):
robot_state = RobotState()
message_processor = MessageProcessor('left_brick', robot_state)
message_processor.process_rotate_command(RotateCommand('ev3-ports:outD', 10, 100, 'hold'))
for i in range(300):
c, l, r = robot_state.next_motor_jobs()
self.assertIsNone(c)
self.assertIsNone(l)
self.assertAlmostEqual(r, 0.104, 3)
self.assertEqual((None, None, None), robot_state.next_motor_jobs())
def test_create_jobs_center(self):
robot_state = RobotState()
message_processor = MessageProcessor('left_brick', robot_state)
message_processor.process_rotate_command(RotateCommand('ev3-ports:outB', 20, 100, 'hold'))
for i in range(150):
c, l, r = robot_state.next_motor_jobs()
self.assertAlmostEqual(c, -0.667, 3)
self.assertIsNone(l)
self.assertIsNone(r)
self.assertEqual((None, None, None), robot_state.next_motor_jobs())
def test_process_sound_command(self):
robot_state = RobotState()
frames_per_second = get_config().get_data()['exec_settings']['frames_per_second']
frames = int(round((32 / 2.5) * frames_per_second))
message_processor = MessageProcessor('left_brick', robot_state)
message_processor.process_sound_command(SoundCommand('A test is running at the moment!'))
for i in range(frames - 1):
self.assertIsNotNone(robot_state.next_sound_job())
message = robot_state.next_sound_job()
self.assertEqual(message, 'A test is \nrunning at\n the momen\nt!')
self.assertIsNone(robot_state.next_sound_job())
def __init__(self, robot_state: RobotState, client, connection_id: str):
super(ClientSocketHandler,
self).__init__(MessageProcessor(connection_id, robot_state))
self.client = client
self.connection_id = connection_id
self.is_running = True
def test_create_jobs_coast_left(self):
coasting_sub = apply_scaling(get_config().get_data()['motor_settings']['pixel_coasting_subtraction'])
robot_state = RobotState()
message_processor = MessageProcessor('left_brick', robot_state)
message_processor.process_rotate_command(RotateCommand('ev3-ports:outA', 80, 200, 'coast'))
for i in range(75):
c, l, r = robot_state.next_motor_jobs()
self.assertIsNone(c)
self.assertAlmostEqual(l, 0.833, 3)
self.assertIsNone(r)
ppf = 0.833 - coasting_sub
for i in range(2):
c, l, r = robot_state.next_motor_jobs()
self.assertIsNone(c)
self.assertAlmostEqual(l, ppf, 3)
self.assertIsNone(r)
ppf = max(ppf - coasting_sub, 0)
self.assertEqual((None, None, None), robot_state.next_motor_jobs())
def test_create_jobs_coast_center(self):
coasting_sub = get_config().get_data()['motor_settings']['degree_coasting_subtraction']
robot_state = RobotState()
message_processor = MessageProcessor('left_brick', robot_state)
message_processor.process_rotate_command(RotateCommand('ev3-ports:outB', 80, 200, 'coast'))
for i in range(75):
c, l, r = robot_state.next_motor_jobs()
self.assertAlmostEqual(c, -2.667, 3)
self.assertIsNone(l)
self.assertIsNone(r)
ppf = 2.667 - coasting_sub
for i in range(2):
c, l, r = robot_state.next_motor_jobs()
self.assertAlmostEqual(c, -ppf, 3)
self.assertIsNone(l)
self.assertIsNone(r)
ppf = max(ppf - coasting_sub, 0)
self.assertEqual((None, None, None), robot_state.next_motor_jobs())
def test_process_right_led_command(self):
robot_state = RobotState()
message_processor = MessageProcessor('right_brick', robot_state)
command1 = LedCommand('led0:red:brick-status', 1)
command2 = LedCommand('led0:green:brick-status', 1)
message_processor.process_led_command(command1)
message_processor.process_led_command(command2)
self.assertEqual(robot_state.right_brick_left_led_color, 0)
self.assertEqual(robot_state.right_brick_right_led_color, 1)
command3 = LedCommand('led1:red:brick-status', 1)
command4 = LedCommand('led1:green:brick-status', 0.5)
message_processor.process_led_command(command3)
message_processor.process_led_command(command4)
self.assertEqual(robot_state.right_brick_left_led_color, 0)
self.assertEqual(robot_state.right_brick_right_led_color, 4)
def __init__(self, robot_state: RobotState):
super(ServerSocketSingle,
self).__init__(MessageProcessor('', robot_state))
self.robot_state = robot_state
self.first_run = True