def test_stuck_door():
# Door is closed
driver = StuckDoorDriver(0.4, 0.15)
door_model = Door("Test door", driver, 0.5, 0.1, 0.2)
# The door is closed and idle
assert door_model.state.__class__.__name__ == 'ClosedState'
assert door_model.intent.__class__.__name__ == 'IdleIntent'
# Set "open" intent
door_model.set_intent('Open');
assert door_model.intent.__class__.__name__ == 'OpenIntent'
assert driver.door_signal == True
time.sleep(0.175)
# After 0.15 seconds, the door stucks in lower position
assert driver.door_signal == False
assert door_model.state.__class__.__name__ == 'ClosedState'
assert door_model.intent.__class__.__name__ == 'OpenIntent'
assert driver.lower_limit_switch == True
assert driver.upper_limit_switch == False
time.sleep(0.05)
# After 0.2 seconds, the door should be triggered once more
assert driver.door_signal == True
time.sleep(0.2)
# After 0.4 seconds, the door should be in transit to upper position
assert driver.door_signal == False
assert door_model.state.__class__.__name__ == 'OpeningState'
assert door_model.intent.__class__.__name__ == 'OpenIntent'
assert driver.lower_limit_switch == False
assert driver.upper_limit_switch == False
def test_opening_timeout():
# Door is closed
mock_driver = MockDriver()
door_model = Door("Test door", mock_driver, 0.2, 0.1, 0.2)
door_model.set_new_state('Opening')
# The upper switch will not close before timeout is reached
time.sleep(0.3)
assert door_model.state.__class__.__name__ == "IntermediateState"
def test_intermediate_to_open():
# Door is closed
mock_driver = MockDriver()
door_model = Door("Test door", mock_driver, 0.2, 0.1, 0.2)
door_model.set_new_state('Intermediate')
# The upper switch closed
mock_driver.upper_limit_switch = True
signal(SIGNAL_UPPER_SWITCH_CHANGED).send(mock_driver)
assert door_model.state.__class__.__name__ == "OpenState"
def test_closing():
# Door is closed
mock_driver = MockDriver()
door_model = Door("Test door", mock_driver, 0.2, 0.1, 0.2)
door_model.set_new_state('Closing')
# The lower switch closed
mock_driver.lower_limit_switch = True
signal(SIGNAL_LOWER_SWITCH_CHANGED).send(mock_driver)
assert door_model.state.__class__.__name__ == "ClosedState"
time.sleep(0.3)
assert door_model.state.__class__.__name__ == "ClosedState"
def test_start_opening():
# Door is closed
mock_driver = MockDriver()
mock_driver.lower_limit_switch = True
door_model = Door("Test door", mock_driver, 1, 0.1, 0.2)
# trigger move
door_model.start_door_signal()
assert mock_driver.door_signal == True
# The lower switch opened
mock_driver.lower_limit_switch = False
signal(SIGNAL_LOWER_SWITCH_CHANGED).send(mock_driver)
assert mock_driver.door_signal == False
assert door_model.state.__class__.__name__ == "OpeningState"
def test_start_closing_timeout():
# Door is open
mock_driver = MockDriver()
mock_driver.upper_limit_switch = True
door_model = Door("Test door", mock_driver, 1, 0.1, 0.2)
# trigger move
door_model.start_door_signal()
assert mock_driver.door_signal == True
# The upper switch will not open for 200 ms
# This should expire the trigger timer (100 ms)
time.sleep(0.2)
assert mock_driver.door_signal == False
assert door_model.state.__class__.__name__ == "OpenState"
def test_start_opening_timeout():
# Door is closed
mock_driver = MockDriver()
mock_driver.lower_limit_switch = True
door_model = Door("Test door", mock_driver, 1, 0.1, 0.2)
# trigger move
door_model.start_door_signal()
assert mock_driver.door_signal == True
# The lower switch will not open for two seconds
# This should expire the trigger timer
time.sleep(0.2)
assert mock_driver.door_signal == False
assert door_model.state.__class__.__name__ == "ClosedState"
def test_perfect_door():
# Door is closed
driver = PerfectDoorDriver(0.4, 0.15)
door_model = Door("Test door", driver, 0.5, 0.1, 0.2)
# The door is closed and idle
assert door_model.state.__class__.__name__ == 'ClosedState'
assert door_model.intent.__class__.__name__ == 'IdleIntent'
# Set "open" intent
door_model.set_intent('Open');
assert door_model.intent.__class__.__name__ == 'OpenIntent'
assert driver.door_signal == True
time.sleep(0.2)
# After 0.15 seconds, the door should be in transit to upper position
assert driver.door_signal == False
assert door_model.state.__class__.__name__ == 'OpeningState'
assert door_model.intent.__class__.__name__ == 'OpenIntent'
assert driver.lower_limit_switch == False
assert driver.upper_limit_switch == False
time.sleep(0.25)
# After 0.4 seconds, the door should be in upper position
assert door_model.state.__class__.__name__ == 'OpenState'
assert door_model.intent.__class__.__name__ == 'IdleIntent'
assert driver.upper_limit_switch == True
# The door is open and idle
# Set "close" intent
door_model.set_intent('Close');
assert door_model.intent.__class__.__name__ == 'CloseIntent'
assert driver.door_signal == True
time.sleep(0.2)
# After 0.15 seconds, the door should be in transit to lower position
assert driver.door_signal == False
assert door_model.state.__class__.__name__ == 'ClosingState'
assert door_model.intent.__class__.__name__ == 'CloseIntent'
assert driver.lower_limit_switch == False
assert driver.upper_limit_switch == False
time.sleep(0.25)
# After 0.4 seconds, the door should be in lower position
assert door_model.state.__class__.__name__ == 'ClosedState'
assert door_model.intent.__class__.__name__ == 'IdleIntent'
assert driver.lower_limit_switch == True
def test_state_closed_error():
# Door is closed
mock_driver = MockDriver()
mock_driver.lower_limit_switch = True
door_model = Door("Test door", mock_driver, 1, 0.1, 0.3)
# start intent
door_model.set_intent("Open");
assert mock_driver.door_signal == True
logger.debug("The lower switch didn't open, the door stuck")
time.sleep(0.2)
assert mock_driver.door_signal == False
assert door_model.state.__class__.__name__ == "ClosedState"
mock_driver.door_signal_toggled = False
logger.debug("The intent have to restart the door after timeout")
time.sleep(0.2)
assert mock_driver.door_signal_toggled == True
logger.debug("The intent have restart the door after timeout")
logger.debug("Now the lower switch opened")
mock_driver.lower_limit_switch = False
signal(SIGNAL_LOWER_SWITCH_CHANGED).send(mock_driver)
assert mock_driver.door_signal == False
assert door_model.state.__class__.__name__ == "OpeningState"
logger.debug("The upper switch closed")
mock_driver.upper_limit_switch = True
signal(SIGNAL_UPPER_SWITCH_CHANGED).send(mock_driver)
assert door_model.state.__class__.__name__ == "OpenState"
assert door_model.intent.__class__.__name__ == "IdleIntent"
def test_state_closed():
# Door is closed
mock_driver = MockDriver()
mock_driver.lower_limit_switch = True
door_model = Door("Test door", mock_driver, 1, 0.1, 0.2)
# start intent
door_model.set_intent("Open");
assert mock_driver.door_signal == True
logger.debug("The lower switch opened")
mock_driver.lower_limit_switch = False
signal(SIGNAL_LOWER_SWITCH_CHANGED).send(mock_driver)
assert mock_driver.door_signal == False
assert door_model.state.__class__.__name__ == "OpeningState"
logger.debug("The upper switch closed")
mock_driver.upper_limit_switch = True
signal(SIGNAL_UPPER_SWITCH_CHANGED).send(mock_driver)
assert door_model.state.__class__.__name__ == "OpenState"
assert door_model.intent.__class__.__name__ == "IdleIntent"