def setUp(self):
self.logger = Mock()
self.logger.error = Mock(side_effect=print_msg)
self.servo = Mock()
self.exchange = Exchange(self.logger)
self.timer = StubTimer()
TimeShift(self.exchange, self.timer.time)
def setUp(self):
self.logger = Mock()
self.logger.error = Mock(side_effect=print_msg)
self.servo = Mock()
self.exchange = Exchange(self.logger)
self.timer = StubTimer()
TimeShift(self.exchange,self.timer.time)
class EventTestCase(unittest.TestCase):
def setUp(self):
self.last_event = Event("None")
self.events = {}
self.exchange = Exchange(test_logger(logging.ERROR))
def event_recorder(self, event):
self.last_event = event
self.events[event.name].append(event)
def listen(self, event_name):
self.events[event_name] = []
self.exchange.subscribe(event_name, self.event_recorder)
def event_count(self, event_name):
if event_name in self.events:
return len(self.events[event_name])
else:
return 0
class EventTestCase(unittest.TestCase):
def setUp(self):
self.last_event = Event("None")
self.events = {}
self.exchange = Exchange(test_logger(logging.ERROR))
def event_recorder(self,event):
self.last_event = event
self.events[event.name].append(event)
def listen(self,event_name):
self.events[event_name] = []
self.exchange.subscribe(event_name,self.event_recorder)
def event_count(self,event_name):
if event_name in self.events:
return len(self.events[event_name])
else:
return 0
def __init__(self, gps=False, servo_port=SERVO_PORT):
# devices
self._gps = gps
self.windsensor = WindSensor(I2C(WINDSENSOR_I2C_ADDRESS))
self.compass = Compass(I2C(COMPASS_I2C_ADDRESS),
I2C(ACCELEROMETER_I2C_ADDRESS))
self.red_led = GpioWriter(17, os)
self.green_led = GpioWriter(18, os)
# Navigation
self.globe = Globe()
self.timer = Timer()
self.application_logger = self._rotating_logger(APPLICATION_NAME)
self.position_logger = self._rotating_logger("position")
self.exchange = Exchange(self.application_logger)
self.timeshift = TimeShift(self.exchange, self.timer.time)
self.event_source = EventSource(self.exchange, self.timer,
self.application_logger,
CONFIG['event source'])
self.sensors = Sensors(self.gps, self.windsensor, self.compass,
self.timer.time, self.exchange,
self.position_logger, CONFIG['sensors'])
self.gps_console_writer = GpsConsoleWriter(self.gps)
self.rudder_servo = Servo(serial.Serial(servo_port),
RUDDER_SERVO_CHANNEL, RUDDER_MIN_PULSE,
RUDDER_MIN_ANGLE, RUDDER_MAX_PULSE,
RUDDER_MAX_ANGLE)
self.steerer = Steerer(self.rudder_servo, self.application_logger,
CONFIG['steerer'])
self.helm = Helm(self.exchange, self.sensors, self.steerer,
self.application_logger, CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors, self.helm,
self.timer,
CONFIG['course steerer'])
self.navigator = Navigator(self.sensors, self.globe, self.exchange,
self.application_logger,
CONFIG['navigator'])
self.self_test = SelfTest(self.red_led, self.green_led, self.timer,
self.rudder_servo, RUDDER_MIN_ANGLE,
RUDDER_MAX_ANGLE)
# Tracking
self.tracking_logger = self._rotating_logger("track")
self.tracking_sensors = Sensors(self.gps, self.windsensor,
self.compass, self.timer.time,
self.exchange, self.tracking_logger,
CONFIG['sensors'])
self.tracker = Tracker(self.tracking_logger, self.tracking_sensors,
self.timer)
def __init__(self):
self.globe = Globe()
self.console_logger = self._console_logger()
self.exchange = Exchange(self.console_logger)
self.gps = SimulatedGPS(CHORLTON.position,0,0.1)
self.vehicle = SimulatedVehicle(self.gps, self.globe,self.console_logger,single_step=False)
self.timeshift = TimeShift(self.exchange,self.vehicle.timer.time)
self.event_source = EventSource(self.exchange,self.vehicle.timer,self.console_logger,CONFIG['event source'])
self.sensors = Sensors(self.vehicle.gps, self.vehicle.windsensor,self.vehicle.compass,self.vehicle.timer.time,self.exchange,self.console_logger,CONFIG['sensors'])
self.steerer = Steerer(self.vehicle.rudder,self.console_logger,CONFIG['steerer'])
self.helm = Helm(self.exchange, self.sensors, self.steerer, self.console_logger, CONFIG['helm'])
self.course_steerer = CourseSteerer(self.sensors,self.helm,self.vehicle.timer, CONFIG['course steerer'])
self.navigator_simulator = Navigator(self.sensors,self.globe,self.exchange,self.console_logger,CONFIG['navigator'])
self.tracking_timer = Timer()
self.tracker_simulator = Tracker(self.console_logger,self.sensors,self.tracking_timer)
def test_errors_during_logging_should_be_ignored_and_event_processing_continues(
self):
failing_logger = Mock()
failing_logger.configure_mock(**{'error.side_effect': RuntimeError})
exchange = Exchange(failing_logger)
ts_error = TestSubscriber(exchange)
ts_after_error = TestSubscriber(exchange)
event = Event("bong")
exchange.subscribe("bong", ts_error.bad_call)
exchange.subscribe("bong", ts_after_error.callme)
exchange.publish(event)
failing_logger.error.assert_has_calls(
[call('Exchange, RuntimeError: oops')])
self.assertEqual(ts_after_error.event_call_count("bong"), 1)
def test_errors_during_logging_should_be_ignored_and_event_processing_continues(self):
failing_logger = Mock()
failing_logger.configure_mock(**{'error.side_effect': RuntimeError})
exchange = Exchange(failing_logger)
ts_error = TestSubscriber(exchange)
ts_after_error = TestSubscriber(exchange)
event = Event("bong")
exchange.subscribe("bong",ts_error.bad_call)
exchange.subscribe("bong",ts_after_error.callme)
exchange.publish(event)
failing_logger.error.assert_has_calls([call('Exchange, RuntimeError: oops')])
self.assertEqual(ts_after_error.event_call_count("bong"),1)
def setUp(self):
self.mock_logger = Mock()
self.mock_logger.error = Mock(side_effect=print_msg)
self.exchange = Exchange(self.mock_logger)
self.timer = StubTimer()
self.timeshift = TimeShift(self.exchange, self.timer.time)
self.event_source = EventSource(self.exchange, self.timer,
self.mock_logger,
{'tick interval': 0.2})
gps = FakeMovingGPS([
Position(10, 10),
Position(11, 11),
Position(12, 12),
Position(13, 13)
])
self.navigator = Navigator(gps, Globe(), self.exchange,
self.mock_logger, {
'min time to steer': 5,
'max time to steer': 20
})
class TestEventSource(unittest.TestCase):
def setUp(self):
self.mock_logger = Mock()
self.exchange = Exchange(self.mock_logger)
self.timer = Mock()
self.last_event = None
def event_recorder(self,event):
self.last_listened_event = event
self.event_count += 1
def intercept_publish(self,event):
self.exchange.original_publish(event)
if event.name == EventName.tick:
raise RuntimeError("oops")
def listen(self,event_name):
self.event_count = 0
self.exchange.subscribe(event_name,self.event_recorder)
def after(self,times,event_name):
self.ticks_left = times
self.end_event_name = event_name
def count_down_ticks(self,args):
self.ticks_left -= 1
if self.ticks_left <= 0:
self.exchange.publish(Event(self.end_event_name))
def finish(self,args):
self.exchange.publish(Event(EventName.end))
def test_should_publish_start_navigation_event(self):
self.listen(EventName.start)
self.timer.wait_for = Mock(side_effect=self.finish)
event_source = EventSource(self.exchange,self.timer, self.mock_logger,CONFIG)
event_source.start()
self.assertEqual(self.last_listened_event.name,EventName.start)
def test_should_publish_a_tick_event(self):
self.listen(EventName.tick)
self.timer.wait_for = Mock(side_effect=self.finish)
event_source = EventSource(self.exchange, self.timer, self.mock_logger, CONFIG)
event_source.start()
self.assertEqual(self.last_listened_event.name,EventName.tick)
def test_should_publish_multiple_events_until_nav_complete(self):
self.listen(EventName.tick)
self.after(5,EventName.end)
self.timer.wait_for = Mock(side_effect=self.count_down_ticks)
event_source = EventSource(self.exchange,self.timer, self.mock_logger,CONFIG)
event_source.start()
self.assertEqual(self.event_count,5)
def test_errors_should_be_logged_and_events_continue(self):
self.listen(EventName.tick)
self.after(2,EventName.end)
self.timer.wait_for = Mock(side_effect=self.count_down_ticks)
self.exchange.original_publish = self.exchange.publish
self.exchange.publish = self.intercept_publish
event_source = EventSource(self.exchange,self.timer, self.mock_logger,CONFIG)
event_source.start()
self.mock_logger.error.assert_has_calls([call('EventSource, RuntimeError: oops')])
self.assertEqual(self.event_count,2)
def test_errors_during_logging_should_be_ignored_and_event_processing_continues(self):
failing_logger = Mock()
failing_logger.configure_mock(**{'error.side_effect': RuntimeError})
self.listen(EventName.tick)
self.after(2,EventName.end)
self.timer.wait_for = Mock(side_effect=self.count_down_ticks)
self.exchange.original_publish = self.exchange.publish
self.exchange.publish = self.intercept_publish
event_source = EventSource(self.exchange,self.timer, failing_logger,CONFIG)
event_source.start()
failing_logger.error.assert_has_calls([call('EventSource, RuntimeError: oops')])
self.assertEqual(self.event_count,2)
class TestNavigationAndHelm(unittest.TestCase):
def ticks(self,number,duration):
for i in range(1,number):
self.exchange.publish(Event(EventName.tick))
self.timer.wait_for(duration)
def setUp(self):
self.logger = Mock()
self.logger.error = Mock(side_effect=print_msg)
self.servo = Mock()
self.exchange = Exchange(self.logger)
self.timer = StubTimer()
TimeShift(self.exchange,self.timer.time)
def test_should_steer_to_next_waypoint(self):
destination = Waypoint(Position(10.03,10.03),10)
gps = FakeMovingGPS([Position(10,10),Position(10.01,10.01),Position(10.02,10.02),Position(10.03,10.03)])
sensors = FakeSensors(gps,1,45)
steerer = Steerer(self.servo,self.logger, CONFIG['steerer'])
helm = Helm(self.exchange,sensors,steerer,self.logger, CONFIG['helm'])
navigator = Navigator(sensors,Globe(),self.exchange,self.logger, CONFIG['navigator'])
self.exchange.publish(Event(EventName.navigate,waypoint = destination))
self.ticks(number = 14,duration=200)
self.logger.info.assert_has_calls(
[call('Navigator, steering to +10.030000,+10.030000, bearing 44.6, distance 4681.8m, review after 600s'),
call('Navigator, steering to +10.030000,+10.030000, bearing 44.6, distance 3121.2m, review after 600s'),
call('Navigator, steering to +10.030000,+10.030000, bearing 44.6, distance 1560.6m, review after 600s'),
call('Navigator, arrived at +10.030000,+10.030000')])
def test_should_navigate_to_next_waypoint_with_kink_in_route(self):
destination = Waypoint(Position(10.03,10.03),10)
gps = FakeMovingGPS([Position(10,10),Position(10.01,10.01),Position(10.025,10.015),Position(10.03,10.03)])
sensors = FakeSensors(gps,1,45)
steerer = Steerer(self.servo,self.logger, CONFIG['steerer'])
helm = Helm(self.exchange,sensors,steerer,self.logger, CONFIG['helm'])
navigator = Navigator(sensors,Globe(),self.exchange,self.logger, CONFIG['navigator'])
self.exchange.publish(Event(EventName.navigate,waypoint = destination))
self.ticks(number = 14,duration=200)
self.logger.info.assert_has_calls(
[call('Navigator, steering to +10.030000,+10.030000, bearing 44.6, distance 4681.8m, review after 600s'),
call('Navigator, steering to +10.030000,+10.030000, bearing 44.6, distance 3121.2m, review after 600s'),
call('Navigator, steering to +10.030000,+10.030000, bearing 71.3, distance 1734.0m, review after 600s'),
call('Navigator, arrived at +10.030000,+10.030000')])
def test_should_steer_repeatedly_during_navigation(self):
logger = Mock()
destination = Waypoint(Position(10.0003,10.0003),10)
gps = FakeMovingGPS([Position(10,10),Position(10.0001,10.00015),Position(10.00025,10.0002),Position(10.0003,10.0003)])
sensors = FakeSensors(gps,1,45)
steerer = Steerer(self.servo,logger, CONFIG['steerer'])
helm = Helm(self.exchange,sensors,steerer,logger, CONFIG['helm'])
navigator = Navigator(sensors,Globe(),self.exchange,logger, CONFIG['navigator'])
self.exchange.publish(Event(EventName.navigate,waypoint = destination))
self.ticks(number = 7,duration=20)
logger.debug.assert_has_calls(
[call('Navigator, distance from waypoint +46.819018, combined tolerance +10.000000'),
call('Navigator, distance from waypoint +27.647432, combined tolerance +10.000000'),
call('Steerer, steering 36.4, heading 45.0, rate of turn +1.0, rudder +0.0, new rudder +4.6'),
call('Steerer, steering 36.4, heading 45.0, rate of turn +1.0, rudder +4.6, new rudder +9.2'),
call('Navigator, distance from waypoint +12.281099, combined tolerance +10.000000'),
call('Steerer, steering 63.1, heading 45.0, rate of turn +1.0, rudder +9.2, new rudder +0.4'),
call('Navigator, distance from waypoint +0.000000, combined tolerance +10.000000'),
call('Steerer, steering 63.1, heading 45.0, rate of turn +1.0, rudder +0.4, new rudder -8.3'),
call('Steerer, steering 63.1, heading 45.0, rate of turn +1.0, rudder -8.3, new rudder -17.1')])
logger.info.assert_has_calls(
[call('Navigator, steering to +10.000300,+10.000300, bearing 44.6, distance 46.8m, review after 23s'),
call('Navigator, steering to +10.000300,+10.000300, bearing 36.4, distance 27.6m, review after 13s'),
call('Navigator, steering to +10.000300,+10.000300, bearing 63.1, distance 12.3m, review after 6s'),
call('Navigator, arrived at +10.000300,+10.000300')])
def setUp(self):
self.last_event = Event("None")
self.events = {}
self.exchange = Exchange(test_logger(logging.ERROR))
def setUp(self):
self.mock_logger = Mock()
self.exchange = Exchange(self.mock_logger)
self.timer = Mock()
self.last_event = None
class TestEventSource(unittest.TestCase):
def setUp(self):
self.mock_logger = Mock()
self.exchange = Exchange(self.mock_logger)
self.timer = Mock()
self.last_event = None
def event_recorder(self, event):
self.last_listened_event = event
self.event_count += 1
def intercept_publish(self, event):
self.exchange.original_publish(event)
if event.name == EventName.tick:
raise RuntimeError("oops")
def listen(self, event_name):
self.event_count = 0
self.exchange.subscribe(event_name, self.event_recorder)
def after(self, times, event_name):
self.ticks_left = times
self.end_event_name = event_name
def count_down_ticks(self, args):
self.ticks_left -= 1
if self.ticks_left <= 0:
self.exchange.publish(Event(self.end_event_name))
def finish(self, args):
self.exchange.publish(Event(EventName.end))
def test_should_publish_start_navigation_event(self):
self.listen(EventName.start)
self.timer.wait_for = Mock(side_effect=self.finish)
event_source = EventSource(self.exchange, self.timer, self.mock_logger,
CONFIG)
event_source.start()
self.assertEqual(self.last_listened_event.name, EventName.start)
def test_should_publish_a_tick_event(self):
self.listen(EventName.tick)
self.timer.wait_for = Mock(side_effect=self.finish)
event_source = EventSource(self.exchange, self.timer, self.mock_logger,
CONFIG)
event_source.start()
self.assertEqual(self.last_listened_event.name, EventName.tick)
def test_should_publish_multiple_events_until_nav_complete(self):
self.listen(EventName.tick)
self.after(5, EventName.end)
self.timer.wait_for = Mock(side_effect=self.count_down_ticks)
event_source = EventSource(self.exchange, self.timer, self.mock_logger,
CONFIG)
event_source.start()
self.assertEqual(self.event_count, 5)
def test_errors_should_be_logged_and_events_continue(self):
self.listen(EventName.tick)
self.after(2, EventName.end)
self.timer.wait_for = Mock(side_effect=self.count_down_ticks)
self.exchange.original_publish = self.exchange.publish
self.exchange.publish = self.intercept_publish
event_source = EventSource(self.exchange, self.timer, self.mock_logger,
CONFIG)
event_source.start()
self.mock_logger.error.assert_has_calls(
[call('EventSource, RuntimeError: oops')])
self.assertEqual(self.event_count, 2)
def test_errors_during_logging_should_be_ignored_and_event_processing_continues(
self):
failing_logger = Mock()
failing_logger.configure_mock(**{'error.side_effect': RuntimeError})
self.listen(EventName.tick)
self.after(2, EventName.end)
self.timer.wait_for = Mock(side_effect=self.count_down_ticks)
self.exchange.original_publish = self.exchange.publish
self.exchange.publish = self.intercept_publish
event_source = EventSource(self.exchange, self.timer, failing_logger,
CONFIG)
event_source.start()
failing_logger.error.assert_has_calls(
[call('EventSource, RuntimeError: oops')])
self.assertEqual(self.event_count, 2)
def setUp(self):
self.mock_logger = Mock()
self.exchange = Exchange(self.mock_logger)
class TestEvents(unittest.TestCase):
def setUp(self):
self.mock_logger = Mock()
self.exchange = Exchange(self.mock_logger)
def test_should_return_nil_event_if_not_called(self):
ts = TestSubscriber()
self.assertEqual(ts.last_event_called.name, "nil")
def test_should_call_back(self):
ts = TestSubscriber(self.exchange)
self.exchange.subscribe("thing", ts.callme)
self.exchange.publish(Event("thing"))
def test_should_ignore_events_with_no_subscribers_and_log_warning(self):
self.exchange.publish(Event("doesnotexist"))
self.mock_logger.warn.assert_called_with(
"Event(doesnotexist) published but no subscribers")
def test_should_be_able_to_unsubscribe(self):
ts1 = TestSubscriber(self.exchange)
self.exchange.subscribe("never", ts1.callme)
self.exchange.unsubscribe("never", ts1.callme)
self.exchange.publish(Event("never"))
self.assertEqual(ts1.last_event_called.name, "nil")
self.mock_logger.warn.assert_called_with(
"Event(never) published but no subscribers")
def test_should_accept_unsubscribe_without_subscribe(self):
ts1 = TestSubscriber(self.exchange)
self.exchange.unsubscribe("never", ts1.callme)
self.exchange.publish(Event("never"))
self.assertEqual(ts1.last_event_called.name, "nil")
self.mock_logger.warn.assert_called_with(
"Event(never) published but no subscribers")
def test_should_signal_events_to_multiple_subscribers(self):
ts1 = TestSubscriber(self.exchange)
ts2 = TestSubscriber(self.exchange)
self.exchange.subscribe("boo", ts1.callme)
self.exchange.subscribe("boo", ts2.callme)
self.exchange.publish(Event("boo"))
self.assertEqual(ts1.last_event_called.name, "boo")
self.assertEqual(ts2.last_event_called.name, "boo")
def test_should_be_able_to_chain_events(self):
ts1 = TestSubscriber(self.exchange)
ts2 = TestSubscriber(self.exchange)
self.exchange.subscribe("chain", ts1.callme)
self.exchange.subscribe("secondevent", ts2.callme)
self.exchange.publish(Event("chain"))
self.assertEqual(ts2.last_event_called.name, "secondevent")
def test_should_chain_a_few_events(self):
ts = TestSubscriber(self.exchange)
ts2 = TestSubscriber(self.exchange)
self.exchange.subscribe("chain", ts.callme)
self.exchange.subscribe("secondevent", ts.callme)
self.exchange.subscribe("secondevent", ts2.callme)
self.exchange.publish(Event("chain"))
self.assertEqual(ts.event_call_count("secondevent"), 1)
self.assertEqual(ts2.event_call_count("secondevent"), 1)
def test_should_call_events_again_if_we_signal_primary_event_again(self):
ts = TestSubscriber(self.exchange)
event = Event("bing")
self.exchange.subscribe("bing", ts.callme)
self.exchange.publish(event)
self.exchange.publish(event)
self.exchange.publish(event)
self.assertEqual(ts.event_call_count("bing"), 3)
def test_errors_should_be_logged_and_event_processing_continues(self):
ts_error = TestSubscriber(self.exchange)
ts_after_error = TestSubscriber(self.exchange)
event = Event("bong")
self.exchange.subscribe("bong", ts_error.bad_call)
self.exchange.subscribe("bong", ts_after_error.callme)
self.exchange.publish(event)
self.mock_logger.error.assert_has_calls(
[call('Exchange, RuntimeError: oops')])
self.assertEqual(ts_after_error.event_call_count("bong"), 1)
def test_errors_during_logging_should_be_ignored_and_event_processing_continues(
self):
failing_logger = Mock()
failing_logger.configure_mock(**{'error.side_effect': RuntimeError})
exchange = Exchange(failing_logger)
ts_error = TestSubscriber(exchange)
ts_after_error = TestSubscriber(exchange)
event = Event("bong")
exchange.subscribe("bong", ts_error.bad_call)
exchange.subscribe("bong", ts_after_error.callme)
exchange.publish(event)
failing_logger.error.assert_has_calls(
[call('Exchange, RuntimeError: oops')])
self.assertEqual(ts_after_error.event_call_count("bong"), 1)
def setUp(self):
self.mock_logger = Mock()
self.exchange = Exchange(self.mock_logger)
self.timer = Mock()
self.last_event = None
def setUp(self):
self.last_event = Event("None")
self.events = {}
self.exchange = Exchange(test_logger(logging.ERROR))
class TestEvents(unittest.TestCase):
def setUp(self):
self.mock_logger = Mock()
self.exchange = Exchange(self.mock_logger)
def test_should_return_nil_event_if_not_called(self):
ts = TestSubscriber()
self.assertEqual(ts.last_event_called.name,"nil")
def test_should_call_back(self):
ts = TestSubscriber(self.exchange)
self.exchange.subscribe("thing",ts.callme)
self.exchange.publish(Event("thing"))
def test_should_ignore_events_with_no_subscribers_and_log_warning(self):
self.exchange.publish(Event("doesnotexist"))
self.mock_logger.warn.assert_called_with("Event(doesnotexist) published but no subscribers")
def test_should_be_able_to_unsubscribe(self):
ts1 = TestSubscriber(self.exchange)
self.exchange.subscribe("never",ts1.callme)
self.exchange.unsubscribe("never",ts1.callme)
self.exchange.publish(Event("never"))
self.assertEqual(ts1.last_event_called.name,"nil")
self.mock_logger.warn.assert_called_with("Event(never) published but no subscribers")
def test_should_accept_unsubscribe_without_subscribe(self):
ts1 = TestSubscriber(self.exchange)
self.exchange.unsubscribe("never",ts1.callme)
self.exchange.publish(Event("never"))
self.assertEqual(ts1.last_event_called.name,"nil")
self.mock_logger.warn.assert_called_with("Event(never) published but no subscribers")
def test_should_signal_events_to_multiple_subscribers(self):
ts1 = TestSubscriber(self.exchange)
ts2 = TestSubscriber(self.exchange)
self.exchange.subscribe("boo",ts1.callme)
self.exchange.subscribe("boo",ts2.callme)
self.exchange.publish(Event("boo"))
self.assertEqual(ts1.last_event_called.name,"boo")
self.assertEqual(ts2.last_event_called.name,"boo")
def test_should_be_able_to_chain_events(self):
ts1 = TestSubscriber(self.exchange)
ts2 = TestSubscriber(self.exchange)
self.exchange.subscribe("chain",ts1.callme)
self.exchange.subscribe("secondevent",ts2.callme)
self.exchange.publish(Event("chain"))
self.assertEqual(ts2.last_event_called.name,"secondevent")
def test_should_chain_a_few_events(self):
ts = TestSubscriber(self.exchange)
ts2 = TestSubscriber(self.exchange)
self.exchange.subscribe("chain",ts.callme)
self.exchange.subscribe("secondevent",ts.callme)
self.exchange.subscribe("secondevent",ts2.callme)
self.exchange.publish(Event("chain"))
self.assertEqual(ts.event_call_count("secondevent"),1)
self.assertEqual(ts2.event_call_count("secondevent"),1)
def test_should_call_events_again_if_we_signal_primary_event_again(self):
ts = TestSubscriber(self.exchange)
event = Event("bing")
self.exchange.subscribe("bing",ts.callme)
self.exchange.publish(event)
self.exchange.publish(event)
self.exchange.publish(event)
self.assertEqual(ts.event_call_count("bing"),3)
def test_errors_should_be_logged_and_event_processing_continues(self):
ts_error = TestSubscriber(self.exchange)
ts_after_error = TestSubscriber(self.exchange)
event = Event("bong")
self.exchange.subscribe("bong",ts_error.bad_call)
self.exchange.subscribe("bong",ts_after_error.callme)
self.exchange.publish(event)
self.mock_logger.error.assert_has_calls([call('Exchange, RuntimeError: oops')])
self.assertEqual(ts_after_error.event_call_count("bong"),1)
def test_errors_during_logging_should_be_ignored_and_event_processing_continues(self):
failing_logger = Mock()
failing_logger.configure_mock(**{'error.side_effect': RuntimeError})
exchange = Exchange(failing_logger)
ts_error = TestSubscriber(exchange)
ts_after_error = TestSubscriber(exchange)
event = Event("bong")
exchange.subscribe("bong",ts_error.bad_call)
exchange.subscribe("bong",ts_after_error.callme)
exchange.publish(event)
failing_logger.error.assert_has_calls([call('Exchange, RuntimeError: oops')])
self.assertEqual(ts_after_error.event_call_count("bong"),1)
class TestNavigationAndHelm(unittest.TestCase):
def ticks(self, number, duration):
for i in range(1, number):
self.exchange.publish(Event(EventName.tick))
self.timer.wait_for(duration)
def setUp(self):
self.logger = Mock()
self.logger.error = Mock(side_effect=print_msg)
self.servo = Mock()
self.exchange = Exchange(self.logger)
self.timer = StubTimer()
TimeShift(self.exchange, self.timer.time)
def test_should_steer_to_next_waypoint(self):
destination = Waypoint(Position(10.03, 10.03), 10)
gps = FakeMovingGPS([
Position(10, 10),
Position(10.01, 10.01),
Position(10.02, 10.02),
Position(10.03, 10.03)
])
sensors = FakeSensors(gps, 1, 45)
steerer = Steerer(self.servo, self.logger, CONFIG['steerer'])
helm = Helm(self.exchange, sensors, steerer, self.logger,
CONFIG['helm'])
navigator = Navigator(sensors, Globe(), self.exchange, self.logger,
CONFIG['navigator'])
self.exchange.publish(Event(EventName.navigate, waypoint=destination))
self.ticks(number=14, duration=200)
self.logger.info.assert_has_calls([
call(
'Navigator, steering to +10.030000,+10.030000, bearing 44.6, distance 4681.8m, review after 600s'
),
call(
'Navigator, steering to +10.030000,+10.030000, bearing 44.6, distance 3121.2m, review after 600s'
),
call(
'Navigator, steering to +10.030000,+10.030000, bearing 44.6, distance 1560.6m, review after 600s'
),
call('Navigator, arrived at +10.030000,+10.030000')
])
def test_should_navigate_to_next_waypoint_with_kink_in_route(self):
destination = Waypoint(Position(10.03, 10.03), 10)
gps = FakeMovingGPS([
Position(10, 10),
Position(10.01, 10.01),
Position(10.025, 10.015),
Position(10.03, 10.03)
])
sensors = FakeSensors(gps, 1, 45)
steerer = Steerer(self.servo, self.logger, CONFIG['steerer'])
helm = Helm(self.exchange, sensors, steerer, self.logger,
CONFIG['helm'])
navigator = Navigator(sensors, Globe(), self.exchange, self.logger,
CONFIG['navigator'])
self.exchange.publish(Event(EventName.navigate, waypoint=destination))
self.ticks(number=14, duration=200)
self.logger.info.assert_has_calls([
call(
'Navigator, steering to +10.030000,+10.030000, bearing 44.6, distance 4681.8m, review after 600s'
),
call(
'Navigator, steering to +10.030000,+10.030000, bearing 44.6, distance 3121.2m, review after 600s'
),
call(
'Navigator, steering to +10.030000,+10.030000, bearing 71.3, distance 1734.0m, review after 600s'
),
call('Navigator, arrived at +10.030000,+10.030000')
])
def test_should_steer_repeatedly_during_navigation(self):
logger = Mock()
destination = Waypoint(Position(10.0003, 10.0003), 10)
gps = FakeMovingGPS([
Position(10, 10),
Position(10.0001, 10.00015),
Position(10.00025, 10.0002),
Position(10.0003, 10.0003)
])
sensors = FakeSensors(gps, 1, 45)
steerer = Steerer(self.servo, logger, CONFIG['steerer'])
helm = Helm(self.exchange, sensors, steerer, logger, CONFIG['helm'])
navigator = Navigator(sensors, Globe(), self.exchange, logger,
CONFIG['navigator'])
self.exchange.publish(Event(EventName.navigate, waypoint=destination))
self.ticks(number=7, duration=20)
logger.debug.assert_has_calls([
call(
'Navigator, distance from waypoint +46.819018, combined tolerance +10.000000'
),
call(
'Navigator, distance from waypoint +27.647432, combined tolerance +10.000000'
),
call(
'Steerer, steering 36.4, heading 45.0, rate of turn +1.0, rudder +0.0, new rudder +4.6'
),
call(
'Steerer, steering 36.4, heading 45.0, rate of turn +1.0, rudder +4.6, new rudder +9.2'
),
call(
'Navigator, distance from waypoint +12.281099, combined tolerance +10.000000'
),
call(
'Steerer, steering 63.1, heading 45.0, rate of turn +1.0, rudder +9.2, new rudder +0.4'
),
call(
'Navigator, distance from waypoint +0.000000, combined tolerance +10.000000'
),
call(
'Steerer, steering 63.1, heading 45.0, rate of turn +1.0, rudder +0.4, new rudder -8.3'
),
call(
'Steerer, steering 63.1, heading 45.0, rate of turn +1.0, rudder -8.3, new rudder -17.1'
)
])
logger.info.assert_has_calls([
call(
'Navigator, steering to +10.000300,+10.000300, bearing 44.6, distance 46.8m, review after 23s'
),
call(
'Navigator, steering to +10.000300,+10.000300, bearing 36.4, distance 27.6m, review after 13s'
),
call(
'Navigator, steering to +10.000300,+10.000300, bearing 63.1, distance 12.3m, review after 6s'
),
call('Navigator, arrived at +10.000300,+10.000300')
])
def setUp(self):
self.mock_logger = Mock()
self.exchange = Exchange(self.mock_logger)
