def test_fsm_state(self):
msg = TICPMessageAllSensorData.from_sensor_values(tof1_data=10,
tof2_data=20,
accelx_data=30,
accely_data=40,
speed_data=50,
servo1_data=60,
fsm_state=70)
self.assertEqual(70, msg.fsm_state)
def test_read(self):
queue = Queue()
payload = bytes.fromhex("FF00FFFF0000FFFF0000")
exp_msg = TICPMessageAllSensorData(payload)
queue.put(exp_msg.command.opcode)
for block in payload:
queue.put(block.to_bytes(1, byteorder='big', signed=False))
serial_mock = _SerialInterfaceMock(queue)
adapter = _TICPToSerialAdapter(serial_mock)
act_msg = adapter.read()
self.assertTrue(exp_msg.command.opcode == act_msg.command.opcode)
self.assertTrue(exp_msg.payload == exp_msg.payload)
def test_from_sensor_values(self):
msg = TICPMessageAllSensorData.from_sensor_values(
255, 0, 32767, 0, 32767, 127, 255)
expected_payload = _TICPMessageDecoder.convert_from_tof_to_byte(255)
expected_payload += _TICPMessageDecoder.convert_from_tof_to_byte(0)
expected_payload += _TICPMessageDecoder.convert_from_accel_to_bytes(
32767)
expected_payload += _TICPMessageDecoder.convert_from_accel_to_bytes(0)
expected_payload += _TICPMessageDecoder.convert_from_speed_to_bytes(
32767)
expected_payload += _TICPMessageDecoder.convert_from_servo_to_bytes(
127)
expected_payload += _TICPMessageDecoder.convert_from_fsm_to_bytes(255)
self.assertEqual(expected_payload, msg._payload)
def test_write(self):
queue = Queue()
serial_mock = _SerialInterfaceMock(queue)
adapter = _TICPToSerialAdapter(serial_mock)
payload = bytes.fromhex("FF00FFFF0000FFFF0000")
msg = TICPMessageAllSensorData(payload)
exp_queue = Queue()
exp_queue.put(msg.command.opcode)
for block in payload:
exp_queue.put(block.to_bytes(1, byteorder='big', signed=False))
adapter.write(msg)
self.assertEqual(exp_queue.queue, queue.queue)
def read(self) -> TICPMessagePrototype:
opcode_byte = self._serial.read(1)
try:
command = TICPCommand(opcode_byte)
ticp_message_type = self._message_type_factory.get_ticp_message_type_from_command(
command)
if ticp_message_type.payload_size != 0:
payload = self._serial.read(ticp_message_type.payload_size)
else:
payload = None
return TICPMessageAllSensorData(payload)
except ValueError:
return TICPMessagePrototype(TICPMessageType.SPC_END_OF_FRAM_MSG,
None)
def test_tof2(self):
msg = TICPMessageAllSensorData.from_sensor_values(
255, 0, 32767, 0, 32767, 127, 255)
self.assertEqual(0, msg.tof2)