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_publish_status(self): q = MagicMock() logger=MagicMock() logger.write = MagicMock(return_value=135) bus = BusHandler(logger=logger, out={'status':[(q, 'status'),], 'can':[]}) spider = Spider(config={}, bus=bus) spider.can_bridge_initialized = True # skip initialization self.assertEqual(CAN_packet(0x200, [0, 0x80]), b'@\x02\x00\x80') bus.queue.put((123, 'raw', b'@\x02\x00\x80')) bus.shutdown() spider.run() q.put.assert_called_once_with((135, 'status', ([0x8000, None])))
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_publish_status(self): q = MagicMock() logger = MagicMock() logger.write = MagicMock(return_value=135) bus = BusHandler(logger=logger, out={ 'status': [ (q, 'status'), ], 'can': [] }) spider = Spider(config={}, bus=bus) spider.can_bridge_initialized = True # skip initialization self.assertEqual(CAN_packet(0x200, [0, 0x80]), b'@\x02\x00\x80') bus.queue.put((123, 'raw', b'@\x02\x00\x80')) bus.shutdown() spider.run() q.put.assert_called_once_with((135, 'status', ([0x8000, None])))
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_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_alive(self): logger = MagicMock() bus = BusHandler(logger, out={}) self.assertTrue(bus.is_alive()) bus.shutdown() self.assertFalse(bus.is_alive())
def test_shutdown(self): logger = MagicMock() handler = BusHandler(logger) handler.shutdown() with self.assertRaises(BusShutdownException): handler.listen()
def test_alive(self): logger = MagicMock() bus = BusHandler(logger, out={}) self.assertTrue(bus.is_alive()) bus.shutdown() self.assertFalse(bus.is_alive())
def test_shutdown(self): logger = MagicMock() handler = BusHandler(logger) handler.shutdown() with self.assertRaises(BusShutdownException): handler.listen()