def test_should_not_set_the_mode_on_the_second_command(self):
mockOs = Mock()
gpio_writer = GpioWriter(10,mockOs)
gpio_writer.high()
mockOs.reset_mock()
gpio_writer.high()
mockOs.system.assert_called_once_with("gpio -g write 10 1")
def test_should_set_the_mode_on_the_first_command(self):
mockOs = Mock()
gpio_writer = GpioWriter(10, mockOs)
gpio_writer.high()
mockOs.system.assert_has_calls(
[call("gpio -g mode 10 out"),
call("gpio -g write 10 1")])
def test_should_set_the_port_low(self):
mockOs = Mock()
gpio_writer = GpioWriter(10, mockOs)
gpio_writer.low()
mockOs.system.assert_has_calls(
[call("gpio -g mode 10 out"),
call("gpio -g write 10 0")])
def __init__(self, gps=False, servo_port=SERVO_PORT):
# devices
self._gps = gps
self.windsensor = WindSensor(I2C(WINDSENSOR_I2C_ADDRESS))
self.compass = Compass(I2C(COMPASS_I2C_ADDRESS),
I2C(ACCELEROMETER_I2C_ADDRESS))
self.red_led = GpioWriter(17, os)
self.green_led = GpioWriter(18, os)
# Navigation
self.globe = Globe()
self.timer = Timer()
self.application_logger = self._rotating_logger(APPLICATION_NAME)
self.position_logger = self._rotating_logger("position")
self.exchange = Exchange(self.application_logger)
self.timeshift = TimeShift(self.exchange, self.timer.time)
self.event_source = EventSource(self.exchange, self.timer,
self.application_logger,
CONFIG['event source'])
self.sensors = Sensors(self.gps, self.windsensor, self.compass,
self.timer.time, self.exchange,
self.position_logger, CONFIG['sensors'])
self.gps_console_writer = GpsConsoleWriter(self.gps)
self.rudder_servo = Servo(serial.Serial(servo_port),
RUDDER_SERVO_CHANNEL, RUDDER_MIN_PULSE,
RUDDER_MIN_ANGLE, RUDDER_MAX_PULSE,
RUDDER_MAX_ANGLE)
self.steerer = Steerer(self.rudder_servo, self.application_logger,
CONFIG['steerer'])
self.helm = Helm(self.exchange, self.sensors, self.steerer,
self.application_logger, CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors, self.helm,
self.timer,
CONFIG['course steerer'])
self.navigator = Navigator(self.sensors, self.globe, self.exchange,
self.application_logger,
CONFIG['navigator'])
self.self_test = SelfTest(self.red_led, self.green_led, self.timer,
self.rudder_servo, RUDDER_MIN_ANGLE,
RUDDER_MAX_ANGLE)
# Tracking
self.tracking_logger = self._rotating_logger("track")
self.tracking_sensors = Sensors(self.gps, self.windsensor,
self.compass, self.timer.time,
self.exchange, self.tracking_logger,
CONFIG['sensors'])
self.tracker = Tracker(self.tracking_logger, self.tracking_sensors,
self.timer)
def test_should_not_set_the_mode_on_the_second_command(self):
mockOs = Mock()
gpio_writer = GpioWriter(10, mockOs)
gpio_writer.high()
mockOs.reset_mock()
gpio_writer.high()
mockOs.system.assert_called_once_with("gpio -g write 10 1")
def test_should_set_the_mode_on_the_first_command(self):
mockOs = Mock()
gpio_writer = GpioWriter(10,mockOs)
gpio_writer.high()
mockOs.system.assert_has_calls([call("gpio -g mode 10 out"),call("gpio -g write 10 1")])
def test_should_set_the_port_low(self):
mockOs = Mock()
gpio_writer = GpioWriter(10,mockOs)
gpio_writer.low()
mockOs.system.assert_has_calls([call("gpio -g mode 10 out"),call("gpio -g write 10 0")])