def test_two_modules(self):
logger = MagicMock()
handler2 = BusHandler(logger)
handler1 = BusHandler(logger, out={'raw':[(handler2.queue, 42)]})
logger.write = MagicMock(return_value=123)
handler1.publish('raw', b"Hello!")
self.assertEqual(handler2.listen(), (123, 42, b"Hello!"))
def test_two_modules(self):
logger = MagicMock()
handler2 = BusHandler(logger)
handler1 = BusHandler(logger, out={'raw': [(handler2.queue, 42)]})
logger.write = MagicMock(return_value=123)
handler1.publish('raw', b"Hello!")
self.assertEqual(handler2.listen(), (123, 42, b"Hello!"))
def test_processing(self):
config = {}
logger = MagicMock()
robot_bus = BusHandler(logger, out={}, name='robot')
bus = BusHandler(logger,
out={'orientation':[(robot_bus.queue, 'orientation')], 'rotation':[]},
name='imu')
imu = IMU(config, bus=bus)
imu.start()
imu.bus.queue.put((123, 'raw', self.nmea_line))
data = robot_bus.listen()
imu.request_stop()
imu.join()
def test_processing(self):
config = {}
logger = MagicMock()
robot_bus = BusHandler(logger, out={}, name='robot')
bus = BusHandler(logger,
out={
'orientation': [(robot_bus.queue, 'orientation')],
'rotation': []
},
name='imu')
imu = IMU(config, bus=bus)
imu.start()
imu.bus.queue.put((123, 'raw', self.nmea_line))
data = robot_bus.listen()
imu.request_stop()
imu.join()
def test_shutdown(self):
logger = MagicMock()
handler = BusHandler(logger)
handler.shutdown()
with self.assertRaises(BusShutdownException):
handler.listen()
def test_listen(self):
logger = MagicMock()
handler = BusHandler(logger)
handler.queue.put((1, 2, b"bin data"))
self.assertEqual(handler.listen(), (1, 2, b"bin data"))
def test_shutdown(self):
logger = MagicMock()
handler = BusHandler(logger)
handler.shutdown()
with self.assertRaises(BusShutdownException):
handler.listen()
def test_listen(self):
logger = MagicMock()
handler = BusHandler(logger)
handler.queue.put((1, 2, b"bin data"))
self.assertEqual(handler.listen(), (1, 2, b"bin data"))
