def test_move_forward(self):
a_star = mock.MagicMock(spec=AStar)
a_star.read_encoders.return_value = 0, 0
odom = Odometer(Encoders(a_star), start_tracking_thread=False)
m = Motors(a_star, odom)
m.move_forward(1, 1)
odom.update(time.time())
a_star.read_encoders.assert_called()
a_star.motors.assert_called()
def test_rotate_done(self):
a_star = mock.MagicMock(spec=AStar)
a_star.read_encoders.return_value = 0, 0
odom = Odometer(Encoders(a_star), start_tracking_thread=False)
m = Motors(a_star, odom)
m.rotate(0, 1)
odom.update(time.time())
# Motors should not move
self.assertFalse(
[c for c in a_star.motors.call_args_list if c != mock.call(0, 0)])