def test_manual_mode_no_input(self):
"""
Tests an iteration of the manual mode in the main loop
without data input from the server.
Makes sure that if does not spontaneously turn on
the auto mode, that is requests and sucessfully receives
a sensor data packet, puts it in the queue, and that the
avr_communication reads the values correctly.
"""
send_queue = queue.Queue()
receive_queue = queue.Queue()
spi = fake_spi.SpiDev()
_set_sensor_data_sequence(spi)
try:
auto, _, _, _, _ = main.do_manual_mode_iteration(
spi, spi, send_queue, receive_queue, -1, -1, -1, -1)
except fake_spi.UnexpectedDataException as e:
self.fail("Expected {}, got {}".format(e.expected, e.actual))
self.assertFalse(auto)
self.assertFalse(send_queue.empty())
packet = send_queue.get()
self.assertTrue(send_queue.empty())
sensor_data = packet.sensor
self.assertEqual(0.01, sensor_data.ir_down)
self.assertEqual(0.01, sensor_data.ir_front_left)
self.assertEqual(0.01, sensor_data.ir_back_left)
self.assertEqual(0.01, sensor_data.ir_front_right)
self.assertEqual(0.01, sensor_data.ir_back_right)
self.assertEqual(2.58, sensor_data.lidar)
def test_manual_return_to_neutral(self):
"""
Tests whether the the manual mode responds to a command
from the server to return to neutral by sending the
correct commands to the motor unit.
"""
send_queue = queue.Queue()
receive_queue = queue.Queue()
spi = fake_spi.SpiDev()
_set_sensor_data_sequence(spi)
_add_return_to_neutral(spi)
packet = web.ServerReceivedPacket("{\"reset\": true}")
receive_queue.put(packet)
try:
auto, _, _, _, _ = main.do_manual_mode_iteration(
spi, spi, send_queue, receive_queue, -1, -1, -1, -1)
except fake_spi.UnexpectedDataException as e:
self.fail(
"Something went wrong in the SPI-communication: Expected {}, got {}"
.format(e.expected, e.actual))
self.assertFalse(auto)
def test_is_busy_rotating_true(self):
"""
Tests whether is_busy_rotating is compliant to
the communication protocol, and that it returns
True when the motor unit sends 0x01.
"""
spi = fake_spi.SpiDev()
spi.set_expected_write_sequence([
avr_communication.GARBAGE,
avr_communication._add_parity(avr_communication.DATA_REQ,
avr_communication.BUSY_ROTATING),
avr_communication.BUSY_ROTATING
])
value = 0x01
spi.set_fake_read_sequence([
avr_communication.ACK,
avr_communication._add_parity(avr_communication.BUSY_ROTATING,
value), value
])
try:
result = avr_communication.is_busy_rotating(spi)
except fake_spi.UnexpectedDataException as e:
self.fail("Expected {}, got {}, when writing.".format(
e.expected, e.actual))
self.assertTrue(result)
def test_send_bytes(self):
"""
Tests the _send_bytes function.
"""
spi = fake_spi.SpiDev()
seq = [0x00, 0x0F, 0xFF]
spi.set_expected_write_sequence([avr_communication.GARBAGE] + seq)
try:
avr_communication._send_bytes(spi, *seq)
except fake_spi.UnexpectedDataException as e:
self.fail("Expected {}, got {}".format(e.expected, e.actual))
def test_read_multiple_bytes(self):
"""
Tests the _recieve_bytes function for a multi-byte message.
"""
spi = fake_spi.SpiDev()
msg = [0x01, 0x02, 0x03, 0x01]
# type that indicates that it's a multibyte message with an
# uneven number of ones in the message and length byte
type_ = 0b10001111
spi.set_fake_read_sequence([type_, 4] + msg)
result = avr_communication._recieve_bytes(spi)
self.assertListEqual(result, msg)
def test_read_single_byte(self):
"""
Tests the _recieve_bytes function for a single byte message.
"""
spi = fake_spi.SpiDev()
msg = 0xFE
# type that indicates that it's a one byte message with an
# uneven number of ones
type_ = 0b00001110
spi.set_fake_read_sequence([type_, msg])
result = avr_communication._recieve_bytes(spi)
self.assertListEqual(result, [msg])
def test_auto_sent_but_not_changed_manual(self):
"""
Makes sure the auto mode does not change if a value for auto mode
is sent but set to false when in manual mode.
"""
send_queue = queue.Queue()
receive_queue = queue.Queue()
spi = fake_spi.SpiDev()
_set_sensor_data_sequence(spi)
packet = web.ServerReceivedPacket("{\"auto\": false}")
receive_queue.put(packet)
try:
auto, _, _, _, _ = main.do_manual_mode_iteration(
spi, spi, send_queue, receive_queue, -1, -1, -1, -1)
except fake_spi.UnexpectedDataException as e:
self.fail(
"Something went wrong when reading sensor data: Expected {}, got {}"
.format(e.expected, e.actual))
self.assertFalse(auto)
def test_manual_to_auto(self):
"""
Tests whether auto mode is changed to true if such
a command is sent from the server, when in manual mode.
"""
send_queue = queue.Queue()
receive_queue = queue.Queue()
spi = fake_spi.SpiDev()
_set_sensor_data_sequence(spi)
packet = web.ServerReceivedPacket("{\"auto\": true}")
receive_queue.put(packet)
try:
auto, _, _, _, _ = main.do_manual_mode_iteration(
spi, spi, send_queue, receive_queue, -1, -1, -1, -1)
except fake_spi.UnexpectedDataException as e:
self.fail(
"Something went wrong when reading sensor data: Expected {}, got {}"
.format(e.expected, e.actual))
self.assertTrue(auto)
