def test_validate_pdesc_failed(self):
# test setting of parameter where the automatic conversion fails
# set
test_param = 'focus_distance_m'
test_val = 'foo'
expecting_type = float
param = Parameter(test_param, test_val, expecting_type)
# we know the parameter, this should not raise anything
ParametersStore.get(test_param)
# same as this one
self.assertRaises(ValueError, ParametersStore.set,
param.name, param.value)
self.assertRaises(ValueError, ParametersStore.validate,
param.name, param.value)
self.assertRaises(ValueError, ParametersStore.validate_desc,
param)
# change value to correct one
param.value = 10
try:
ParametersStore.validate_desc(param)
except Exception as err:
self.fail("Exception raised")
def test_set_validate_failed(self):
# test setting of parameter where the automatic conversion fails
# set
test_param = 'focus_distance_m'
test_val = 'foo'
expecting_type = float
# this will raise ValueError obviously
self.assertRaises(ValueError, expecting_type, test_val)
focus_before = ParametersStore.get(test_param)
# same as this one
self.assertRaises(ValueError, ParametersStore.set,
test_param, test_val)
self.assertRaises(ValueError, ParametersStore.validate,
test_param, test_val)
self.assertRaises(KeyError, ParametersStore.validate,
test_param + '=foo', test_val)
self.assertRaises(KeyError, ParametersStore.set,
test_param + '=foo', test_val)
# try to fetch the parameter again to compare that its value
# is unchaged
focus_after = ParametersStore.get(test_param)
self.assertIs(focus_before, focus_after)
def _set_servo_params_status(cls, pstatus):
"""Update status of parameters that are applied to servo"""
for pname in SERVO_PARAMETERS:
pdesc = ParametersStore.get(pname)
pdesc_status = pdesc.status
pdesc_status.set_status(pstatus)
ParametersStore.set_status(pname, pdesc_status)
def test_apply(self):
to_apply = [
Parameter('foo-writable', 'test', str),
Parameter('foo-readonly', 'test2', str)
]
applied = self.ctrl.apply_parameters(to_apply)
# only one parameter was applied
self.assertEqual(len(applied), 1)
app_param = applied[0]
self.assertEqual(app_param.name, 'foo-writable')
self.assertEqual(app_param.value, 'test')
# writable parameter was set
self.assertEqual(ParametersStore.get('foo-writable').value, 'test')
# readonly remains unchanged
self.assertEqual(ParametersStore.get('foo-readonly').value, 'baz')
def test_set(self):
# test that a parameter can be set
test_param = 'focus_distance_m'
test_val = 10.0
self.assertTrue(ParametersStore.set(test_param, test_val))
focus_set = ParametersStore.get(test_param)
self.assertEqual(focus_set.value, test_val)
def test_get_value(self):
for param_in in self.PARAMETERS:
pdesc = ParametersStore.get(param_in.name)
self.assertEqual(param_in.name, pdesc.name)
self.assertEqual(param_in.value, pdesc.value)
self.assertEqual(param_in.value_type, pdesc.value_type)
pvalue = ParametersStore.get_value(param_in.name)
self.assertEqual(pvalue, param_in.value)
self.assertEqual(type(pvalue), param_in.value_type)
def test_set_convert(self):
# test that parameter can be set, and the value is
# automatically converted to proper type
test_param = 'focus_distance_m'
test_val = 10
expecting_type = float
# test value is an int
self.assertIsInstance(test_val, int)
# first read it
param = ParametersStore.get(test_param)
self.assertEqual(param.value_type, expecting_type)
self.assertIsInstance(param.value, expecting_type)
# set
ParametersStore.set(test_param, test_val)
as_set = ParametersStore.get(test_param)
# the type should have been converted according to parameter
# description
self.assertIsInstance(as_set.value, expecting_type)
self.assertEqual(as_set.value, expecting_type(test_val))
def test_get_existing(self):
from ros3ddevcontroller.param.sysparams import SYSTEM_PARAMETERS
for param in SYSTEM_PARAMETERS:
name = param.name
value = param.value
try:
from_store = ParametersStore.get(param.name)
except KeyError:
self.fail('Expecting key in the set')
self.assertEqual(name, from_store.name)
self.assertEqual(value, from_store.value)
self.assertEqual(param.value_type, from_store.value_type)
def test_set_value(self):
self.assertNotEqual(ParametersStore.DEPENDENCIES, {})
pdesc_bar = ParametersStore.get('bar')
ParametersStore.set('foo', 3)
bar_val = ParametersStore.get_value('bar')
# bar = foo + 1
self.assertEqual(bar_val, 4)
baz_val = ParametersStore.get_value('baz')
# baz = foo * bar + 1
self.assertEqual(baz_val, 13)
# cafe = baz ** 2 + bar
cafe_val = ParametersStore.get_value('cafe')
self.assertEqual(cafe_val, 173)
def apply_parameters(self, params):
"""Apply a parameter set
:param params list of ParamDesc: list of parameters to apply
:rtype: list(Parameter)
:return: list of parameters applied"""
# record changed parameter descriptors
changed_params = []
# apply parameters serially, note that if any parameter takes
# longer to aplly this will contribute to wait time of the
# whole request
for param in params:
applied = self.apply_single_parameter(param)
# param validation was successful and was applied to servo
if applied:
par = ParametersStore.get(param.name)
changed_params.append(par)
return changed_params
def apply_parameters(self, params):
"""Apply a parameter set
:param params list of ParamDesc: list of parameters to apply
:rtype: list(Parameter)
:return: list of parameters applied"""
# record changed parameter descriptors
changed_params = []
# apply parameters serially, note that if any parameter takes
# longer to aplly this will contribute to wait time of the
# whole request
for param in params:
applied = self.apply_single_parameter(param)
# param validation was successful and was applied to servo
if applied:
par = ParametersStore.get(param.name)
changed_params.append(par)
return changed_params
def _set_camera_status(self, pstatus):
for pname in CAMERA_PARAMETERS:
pdesc = ParametersStore.get(pname)
pdesc_status = pdesc.status
pdesc_status.set_status(pstatus)
ParametersStore.set_status(pname, pdesc_status)
