def test_encoders_overflow(self):
q = MagicMock()
logger = MagicMock()
logger.write = MagicMock(return_value=22)
bus = BusHandler(logger=logger,
out={
'can': [],
'encoders': [(q, 'encoders')],
'emergency_stop': [],
'pose2d': [],
'buttons': []
})
eduro = Eduro(config={}, bus=bus)
sync = CAN_packet(0x80, [])
enc_left = CAN_packet(0x181, [0xff, 0xff, 0xff, 0x7f])
bus.queue.put((42, 'can', enc_left))
bus.queue.put((123, 'can', sync))
enc_left = CAN_packet(0x181, [0x01, 0x00, 0x00, 0x80])
bus.queue.put((44, 'can', enc_left))
sync = CAN_packet(0x80, [])
bus.queue.put((123, 'can', sync))
bus.shutdown()
eduro.run()
self.assertEqual(
q.put.call_args_list,
[call((22, 'encoders', [0, 0])),
call((22, 'encoders', [2, 0]))])
def test_sync(self):
q = MagicMock()
logger = MagicMock()
logger.write = MagicMock(return_value=135)
bus = BusHandler(logger=logger,
out={'can': [], 'encoders': [], 'emergency_stop': [],
'pose2d': [(q, 'pose2d'),], 'buttons': []})
eduro = Eduro(config={}, bus=bus)
sync = CAN_packet(0x80, [])
bus.queue.put((123, 'can', sync))
bus.shutdown()
eduro.run()
q.put.assert_called_once_with((135, 'pose2d', [0, 0, 0]))
def test_buttons(self):
# is there a simpler way without starting the Thread??
q = MagicMock()
logger = MagicMock()
logger.write = MagicMock(return_value=42)
bus = BusHandler(logger=logger,
out={'can': [], 'encoders': [], 'emergency_stop': [],
'pose2d': [], 'buttons': [(q, 'buttons')]})
eduro = Eduro(config={}, bus=bus)
buttons_msg = CAN_packet(0x28A, [0, 0])
bus.queue.put((42, 'can', buttons_msg))
bus.shutdown()
eduro.run()
q.put.assert_called_once_with((42, 'buttons', {'blue_selected': True, 'cable_in': False}))
def test_float_speed_bug(self):
bus = MagicMock()
eduro = Eduro(config={}, bus=bus)
# set internal values before crash
eduro.desired_speed = 0.71
eduro.desired_angular_speed = 1.6952383024620923
eduro._rampLastLeft = 1417
eduro._rampLastRight = 3891
eduro.send_speed()
bus.publish.assert_called_once_with('can', b'@$\xa9\x05\xa0\x0f')
def test_sync(self):
q = MagicMock()
logger = MagicMock()
logger.write = MagicMock(return_value=135)
bus = BusHandler(logger=logger,
out={
'can': [],
'encoders': [],
'emergency_stop': [],
'pose2d': [
(q, 'pose2d'),
],
'buttons': []
})
eduro = Eduro(config={}, bus=bus)
sync = CAN_packet(0x80, [])
bus.queue.put((123, 'can', sync))
bus.shutdown()
eduro.run()
q.put.assert_called_once_with((135, 'pose2d', [0, 0, 0]))
def test_float_speed_bug(self):
bus = MagicMock()
eduro = Eduro(config={}, bus=bus)
# set internal values before crash
eduro.desired_speed = 0.71
eduro.desired_angular_speed = 1.6952383024620923
eduro._rampLastLeft = 1417
eduro._rampLastRight = 3891
eduro.send_speed()
bus.publish.assert_called_once_with('can', b'@$\xa9\x05\xa0\x0f')
def test_buttons(self):
# is there a simpler way without starting the Thread??
q = MagicMock()
logger = MagicMock()
logger.write = MagicMock(return_value=42)
bus = BusHandler(logger=logger,
out={
'can': [],
'encoders': [],
'emergency_stop': [],
'pose2d': [],
'buttons': [(q, 'buttons')]
})
eduro = Eduro(config={}, bus=bus)
buttons_msg = CAN_packet(0x28A, [0, 0])
bus.queue.put((42, 'can', buttons_msg))
bus.shutdown()
eduro.run()
q.put.assert_called_once_with((42, 'buttons', {
'blue_selected': True,
'cable_in': False
}))
def test_encoders_overflow(self):
q = MagicMock()
logger = MagicMock()
logger.write = MagicMock(return_value=22)
bus = BusHandler(logger=logger,
out={'can': [], 'encoders': [(q, 'encoders')], 'emergency_stop': [],
'pose2d': [], 'buttons': []})
eduro = Eduro(config={}, bus=bus)
sync = CAN_packet(0x80, [])
enc_left = CAN_packet(0x181, [0xff, 0xff, 0xff, 0x7f])
bus.queue.put((42, 'can', enc_left))
bus.queue.put((123, 'can', sync))
enc_left = CAN_packet(0x181, [0x01, 0x00, 0x00, 0x80])
bus.queue.put((44, 'can', enc_left))
sync = CAN_packet(0x80, [])
bus.queue.put((123, 'can', sync))
bus.shutdown()
eduro.run()
self.assertEqual(q.put.call_args_list, [call((22, 'encoders', [0, 0])),
call((22, 'encoders', [2, 0]))])
def test_sync(self):
logger = MagicMock()
logger.write = MagicMock(return_value=timedelta(135))
bus = Bus(logger)
eduro = Eduro(config={}, bus=bus.handle('eduro'))
tester = bus.handle('tester')
tester.register('can')
bus.connect('tester.can', 'eduro.can')
bus.connect('eduro.pose2d', 'tester.pose2d')
sync = CAN_triplet(0x80, [])
tester.publish('can', sync)
eduro.request_stop()
eduro.run()
tester.shutdown()
self.assertEqual(tester.listen(),
(timedelta(135), 'pose2d', [0, 0, 0]))
def test_buttons(self):
logger = MagicMock()
logger.write = MagicMock(return_value=timedelta(42))
bus = Bus(logger)
eduro = Eduro(config={}, bus=bus.handle('eduro'))
tester = bus.handle('tester')
tester.register('can')
bus.connect('eduro.buttons', 'tester.buttons')
bus.connect('tester.can', 'eduro.can')
tester.publish('can', CAN_triplet(0x28A, [0, 0]))
eduro.request_stop()
eduro.run()
tester.shutdown()
self.assertEqual(tester.listen(), (timedelta(42), 'buttons', {
'blue_selected': True,
'cable_in': False
}))
def test_encoders_overflow(self):
logger = MagicMock()
logger.write = MagicMock(return_value=timedelta(22))
bus = Bus(logger)
eduro = Eduro(config={}, bus=bus.handle('eduro'))
tester = bus.handle('tester')
tester.register('can')
bus.connect('eduro.encoders', 'tester.encoders')
bus.connect('tester.can', 'eduro.can')
sync = CAN_triplet(0x80, [])
enc_left = CAN_triplet(0x181, [0xff, 0xff, 0xff, 0x7f])
tester.publish('can', enc_left)
tester.publish('can', sync)
enc_left = CAN_triplet(0x181, [0x01, 0x00, 0x00, 0x80])
tester.publish('can', enc_left)
tester.publish('can', sync)
eduro.request_stop()
eduro.run()
tester.shutdown()
self.assertEqual(tester.listen(), (timedelta(22), 'encoders', [0, 0]))
self.assertEqual(tester.listen(), (timedelta(22), 'encoders', [2, 0]))