def test_unpack_response(self):
expected_data = [1,'a','b','c']
b = bytearray()
b.extend(Encoder.encode_uint32(1))
for data in expected_data[1:]:
b.append(data)
data = Encoder.unpack_response('<Iccc',b)
for i in range(0, len(expected_data)):
assert(data[i] == expected_data[i])
def test_unpack_response_with_string(self):
expected_data = [1, 'a', 'b', 'c', 'ABCDE\x00']
b = bytearray()
b.extend(Encoder.encode_uint32(1))
for data in expected_data[1:-1]:
b.append(data)
b.extend(expected_data[-1])
data = Encoder.unpack_response_with_string('<Iccc',b)
for expected, d in zip(expected_data, data):
self.assertEqual(expected, d)
def test_unpack_response_with_string_no_format(self):
expected_string = 'abcde\x00'
b = bytearray()
b.extend(expected_string)
data = Encoder.unpack_response_with_string('',b)
assert(len(data) == 1)
assert data[0] == expected_string
def test_decode_bitfield(self):
cases = [
[[True for i in range(8)], 255],
[[False for i in range(8)], 0],
[[True, False, True, False, True, False, True, False], 85],
]
for case in cases:
self.assertEqual(case[0], Encoder.decode_bitfield(case[1]))
def test_encode_int32(self):
cases = [
[0, '\x00\x00\x00\x00'],
[-2147483648, '\x00\x00\x00\x80'],
[2147483647, '\xFF\xFF\xFF\x7F'],
]
for case in cases:
assert Encoder.encode_int32(case[0]) == case[1]
def test_decode_uint16(self):
cases = [
[0, '\x00\x00'],
[32767, '\xFF\x7F'],
[65535, '\xFF\xFF'],
]
for case in cases:
self.assertEqual(Encoder.decode_uint16(case[1]), case[0])
def test_decode_uint16_bytearray(self):
byteArrayCases = [
[0, bytearray('\x00\x00')],
[32767, bytearray('\xff\x7f')],
[65535, bytearray('\xff\xff')],
]
for case in byteArrayCases:
self.assertEqual(Encoder.decode_uint16(case[1]), case[0])
def test_decode_int32_bytearray(self):
cases = [
[0, bytearray('\x00\x00\x00\x00')],
[-65536, '\x00\x00\xFF\xFF'],
[16, '\x10\x00\x00\x00'],
]
for case in cases:
self.assertEqual(case[0], Encoder.decode_int32(case[1]))
def test_encode_uint16(self):
cases = [
[0, '\x00\x00'],
[32767, '\xFF\x7F'],
[65535, '\xFF\xFF'],
]
for case in cases:
assert Encoder.encode_uint16(case[0]) == case[1]
def test_encode_uint32(self):
cases = [
[0, '\x00\x00\x00\x00'],
[2147483647, '\xFF\xFF\xFF\x7F'],
[4294967295, '\xFF\xFF\xFF\xFF'],
]
for case in cases:
assert Encoder.encode_uint32(case[0]) == case[1]
def test_got_payload(self):
expected_payload = bytearray('abcde')
packet = bytearray()
packet.append(constants.header)
packet.append(len(expected_payload))
packet.extend(expected_payload)
packet.append(Encoder.CalculateCRC(expected_payload))
payload = Encoder.decode_packet(packet)
assert payload == expected_payload
def test_encode_axes(self):
cases = [
[['X', 'Y', 'Z', 'A', 'B'], 0x1F],
[['x','y','z','a','b'], 0x1F],
[['x'], 0x01],
[['y'], 0x02],
[['z'], 0x04],
[['a'], 0x08],
[['b'], 0x10],
[[], 0x00],
]
for case in cases:
assert Encoder.encode_axes(case[0]) == case[1]
def test_packet_crc(self): payload = 'abcd' packet = Encoder.encode_payload(payload) assert packet[6] == Encoder.CalculateCRC(payload);
def test_packet_length_field(self): payload = 'abcd' packet = Encoder.encode_payload(payload) assert packet[1] == len(payload)
def test_packet_header(self):
payload = 'abcd'
packet = Encoder.encode_payload(payload)
assert packet[0] == constants.header
def test_packet_length(self): payload = 'abcd' packet = Encoder.encode_payload(payload) assert len(packet) == len(payload) + 3
def test_unpack_response_with_string_empty_string(self):
expected_string = '\x00'
b = bytearray()
b.append(expected_string)
data = Encoder.unpack_response_with_string('', b)
self.assertEqual(expected_string, data[0])
