def test_yaw(self):
encoder = mock.MagicMock(spec=Encoders)
encoder.read_encoders.return_value = 0, 0
odom = Odometer(encoder)
odom.track_odometry()
time.sleep(0.1)
half_circle = WHEEL_DISTANCE_MM * math.pi / 2
encoder.read_encoders.return_value = (half_circle /
DISTANCE_PER_TICK_MM,
-half_circle /
DISTANCE_PER_TICK_MM)
time.sleep(0.1)
yaw = odom.get_situation().yaw
self.assertEqual(math.pi, yaw)
quarter_circle = half_circle / 2
encoder.read_encoders.return_value = (quarter_circle /
DISTANCE_PER_TICK_MM,
-quarter_circle /
DISTANCE_PER_TICK_MM)
time.sleep(0.1)
yaw = odom.get_situation().yaw
self.assertEqual(math.pi / 2, yaw)
def test_callback(self):
encoder = mock.MagicMock(spec=Encoders)
encoder.read_encoders.return_value = 0, 0
odom = Odometer(encoder)
callback = mock.MagicMock()
odom.add_measurement_callback(callback.call_back)
odom.track_odometry()
time.sleep(0.1)
callback.call_back.assert_called()
def test_distance(self):
encoder = mock.MagicMock(spec=Encoders)
encoder.read_encoders.return_value = 0, 0
odom = Odometer(encoder)
odom.track_odometry()
time.sleep(0.1)
encoder.read_encoders.return_value = 1000, 1000
time.sleep(0.1)
distance = odom.get_situation().dist
self.assertEqual(distance, DISTANCE_PER_TICK_MM)
def test_monitoring_thread_stops(self):
encoder = mock.MagicMock(spec=Encoders)
encoder.read_encoders.return_value = 0, 0
odom = Odometer(encoder)
odom.track_odometry()
odom.stop_tracking()
time.sleep(0.3)
time.sleep(1)
encoder.reset_mock()
encoder.read_encoders.assert_not_called()