def test_when_receive_message_from_stm_then_append_it_to_queue(self):
ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(),
MagicMock())
ctrl.receive_stm_command()
self.assertEqual(1, len(ctrl._stm_responses_deque))
def test_when_send_ir_signal_command_then_set_flag_done(self):
ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(),
MagicMock())
ctrl._send_command_to_stm({'command': Command.END_SIGNAL})
self.assertEqual(True, ctrl.flag_done)
def test_when_treat_network_request_then_fills_net_work_request_queue(
self):
command = {
'command':
Command.ACTION,
'actions': [{
'command': Command.MOVE_BACKWARD,
'amplitude': 18
}, {
'command': Command.MOVE_FORWARD,
'amplitude': 90
}, {
'command': Command.MOVE_LEFT,
'amplitude': 30
}]
}
ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(),
MagicMock())
ctrl._network_request_queue.put(command)
ctrl.treat_network_request()
self.assertEqual({
'command': Command.MOVE_BACKWARD,
'amplitude': 18
}, ctrl._stm_commands_todo.popleft())
self.assertEqual({
'command': Command.MOVE_FORWARD,
'amplitude': 90
}, ctrl._stm_commands_todo.popleft())
self.assertEqual({
'command': Command.MOVE_LEFT,
'amplitude': 30
}, ctrl._stm_commands_todo.popleft())
def test_when_start_controller_then_wait_start_command(self):
network_ctrl = MagicMock()
ctrl = RobotController(MagicMock(), MagicMock(), network_ctrl,
MagicMock())
ctrl._start()
network_ctrl.wait_start_command.assert_called_once()
def test_when_add_movement_to_queue_then_movement_added(self):
ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(),
MagicMock())
command = {'command': Command.MOVE_FORWARD, 'amplitude': 2222}
ctrl._add_network_request_to_stm_todo_queue(command)
self.assertEqual(command, ctrl._stm_commands_todo.pop())
def test_when_start_controller_then_get_host_ip(self):
network_scanner = MagicMock()
ctrl = RobotController(MagicMock(), network_scanner, MagicMock(),
MagicMock())
ctrl._start()
network_scanner.get_host_ip.assert_called_once()
def test_when_treats_network_request_then_adds_it_to_stm_todo_queue(self):
ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(),
MagicMock())
command = {'command': Command.MOVE_FORWARD, 'amplitude': 2222}
ctrl._network_request_queue.put(command)
ctrl.treat_network_request()
self.assertEqual(command, ctrl._stm_commands_todo.pop())
def test_when_check_if_all_request_were_executed_then_does_not_notify_when_todo_queue_full(
self):
network_ctrl = MagicMock()
ctrl = RobotController(MagicMock(), MagicMock(), network_ctrl,
MagicMock())
ctrl._stm_commands_todo.append({'command': Command.GRAB})
ctrl.check_if_all_request_were_executed()
self.assertFalse(network_ctrl.called)
def test_when_execute_stm_tasks_then_priority_todo_moved_to_sent_queue(
self):
ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(),
MagicMock())
command = {'command': Command.MOVE_FORWARD, 'amplitude': 2222}
ctrl._stm_commands_todo.append(command)
ctrl._execute_stm_tasks()
self.assertEqual(command, ctrl._stm_sent_queue.get())
def test_when_receive_message_from_stm_then_receive_from_channel(self):
channel = MagicMock()
channel.attach_mock(
Mock(return_value=commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value)),
'receive_message')
ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(), channel)
ctrl.receive_stm_command()
channel.receive_message.assert_called_once()
def test_given_host_ip_when_start_controller_then_pair_with_host(self):
host_ip = '10.42.0.78'
network_scanner = Mock()
network_scanner.attach_mock(Mock(return_value=host_ip), 'get_host_ip')
network_ctrl = MagicMock()
ctrl = RobotController(MagicMock(), network_scanner, network_ctrl,
MagicMock())
ctrl._start()
network_ctrl.pair_with_host.assert_called_once_with(host_ip)
def test_when_execute_stm_tasks_then_send_via_channel(self):
channel = MagicMock()
channel.attach_mock(Mock(), 'send_command')
command = {'command': Command.MOVE_FORWARD, 'amplitude': 2222}
ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(), channel)
ctrl._stm_commands_todo.append(command)
ctrl._execute_stm_tasks()
channel.send_command.assert_called_once_with(
StmCommand.factory(command))
def test_when_receive_network_request_then_fills_net_work_request_queue(
self):
network_ctrl = MagicMock()
command = {'command': Command.CAN_I_GRAB}
network_ctrl.attach_mock(Mock(return_value=command), 'wait_message')
ctrl = RobotController(MagicMock(), MagicMock(), network_ctrl,
MagicMock())
ctrl.receive_network_request()
self.assertEqual(command, ctrl._network_request_queue.get())
def test_when_treats_stm_response_country_code_then_notify_server(self):
network_ctrl = MagicMock()
ctrl = RobotController(MagicMock(), MagicMock(), network_ctrl,
MagicMock())
ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(bytearray(b'\xb0\x75\x00\x00')))
command = {'command': Command.GRAB}
ctrl._stm_received_queue.put(command)
ctrl.treat_stm_response()
network_ctrl.send_country_code.assert_called_once()
def test_when_treats_stm_response_task_received_then_add_to_received_queue(
self):
ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(),
MagicMock())
command = {'command': Command.MOVE_FORWARD, 'amplitude': 2222}
ctrl._stm_sent_queue.put(command)
ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
ctrl.treat_stm_response()
self.assertEqual(command, ctrl._stm_received_queue.get())
def test_when_treats_stm_response_task_failed_then_add_to_todos_to_top_priority(
self):
ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(),
MagicMock())
command = {'command': Command.MOVE_FORWARD, 'amplitude': 2222}
ctrl._stm_received_queue.put(command)
ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.UNSUCCESSFULL_TASK.value))
ctrl.treat_stm_response()
self.assertEqual(command, ctrl._stm_commands_todo.popleft())
def test_when_send_movement_command_then_send_via_channel(self):
network_ctrl = MagicMock()
channel = Mock()
channel.receive_message = Mock(
return_value=commands_from_stm.Message.SUCCESSFULL_TASK.value)
ctrl = RobotController(MagicMock(), MagicMock(), network_ctrl, channel)
ctrl._send_command_to_stm({
'command': Command.MOVE_BACKWARD,
'amplitude': 200
})
channel.send_command.assert_called_once_with(
bytearray(b'\x3b\x07\xd0'))
def test_when_treats_stm_response_cube_task_failed_then_notify_server(
self):
network_ctrl = MagicMock()
ctrl = RobotController(MagicMock(), MagicMock(), network_ctrl,
MagicMock())
command = {'command': Command.GRAB}
ctrl._stm_received_queue.put(command)
ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_CUBE_FAILED.value))
ctrl.treat_stm_response()
network_ctrl.send_feedback.assert_called_once()
def test_when_robot_initialized_check_if_all_request_were_executed_then_does_not_notify_network(
self):
network_ctrl = MagicMock()
ctrl = RobotController(MagicMock(), MagicMock(), network_ctrl,
MagicMock())
ctrl.check_if_all_request_were_executed()
ctrl.check_if_all_request_were_executed()
ctrl.check_if_all_request_were_executed()
self.assertFalse(network_ctrl.send_feedback.called)
def setUp(self):
network_ctrl = MagicMock()
network_ctrl.attach_mock(Mock(return_value=None), 'wait_message')
self.ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(),
MagicMock())
class TestScenarioRobotController(TestCase):
def setUp(self):
network_ctrl = MagicMock()
network_ctrl.attach_mock(Mock(return_value=None), 'wait_message')
self.ctrl = RobotController(MagicMock(), MagicMock(), MagicMock(),
MagicMock())
def test_scenario_1_easy_going(self):
self.__set_up_scenario_1()
self.ctrl.main_loop()
self.assertEqual(3, self.ctrl._stm_done_queue.qsize())
self.assertEqual(1, self.ctrl._stm_sent_queue.empty())
self.assertRaises(IndexError, self.ctrl._stm_commands_todo.pop)
def test_scenario_2_task_failure(self):
self.__set_up_scenario_1()
self.ctrl.main_loop()
self.assertEqual(3, self.ctrl._stm_done_queue.qsize())
self.assertEqual(1, self.ctrl._stm_sent_queue.empty())
self.assertRaises(IndexError, self.ctrl._stm_commands_todo.pop)
def test_scenario_3_ir_signal(self):
self.__set_up_scenario_3()
self.ctrl.main_loop()
self.assertEqual(4, self.ctrl._stm_done_queue.qsize())
self.assertTrue(self.ctrl._stm_sent_queue.empty())
self.assertRaises(IndexError, self.ctrl._stm_commands_todo.pop)
def test_scenario_4_many_moves_and_ir(self):
self.__set_up_scenario_4()
self.ctrl.main_loop()
self.assertTrue(self.ctrl._stm_sent_queue.empty())
self.assertRaises(IndexError, self.ctrl._stm_commands_todo.pop)
self.assertEqual(5, self.ctrl._stm_done_queue.qsize())
def test_scenario_5_no_ack_but_success(self):
self.__set_up_scenario_5()
self.ctrl.main_loop()
self.assertTrue(self.ctrl._stm_sent_queue.empty())
self.assertRaises(IndexError, self.ctrl._stm_commands_todo.pop)
self.assertEqual(3, self.ctrl._stm_done_queue.qsize())
def test_scenario_6_no_ack_but_failed(self):
self.__set_up_scenario_6()
self.ctrl.main_loop()
self.assertTrue(self.ctrl._stm_sent_queue.empty())
self.assertRaises(IndexError, self.ctrl._stm_commands_todo.pop)
self.assertEqual(3, self.ctrl._stm_done_queue.qsize())
def __set_up_scenario_1(self):
self.ctrl._network_request_queue = Queue()
self.ctrl._network_request_queue.put({
'command': 'move-forward',
'amplitude': 13.0
})
self.ctrl._network_request_queue.put({
'command': 'move-right',
'amplitude': 10.0
})
self.ctrl._network_request_queue.put({'command': 'end-signal'})
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
def __set_up_scenario_2(self):
self.ctrl._network_request_queue = Queue()
self.ctrl._network_request_queue.put({
'command': 'move-forward',
'amplitude': 13.0
})
self.ctrl._network_request_queue.put({
'command': 'move-right',
'amplitude': 10.0
})
self.ctrl._network_request_queue.put({'command': 'end-signal'})
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.UNSUCCESSFULL_TASK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
def __set_up_scenario_3(self):
self.ctrl._network_request_queue = Queue()
self.ctrl._network_request_queue.put({
'command': Command.MOVE_FORWARD,
'amplitude': 13.0
})
self.ctrl._network_request_queue.put({
'command': Command.MOVE_RIGHT,
'amplitude': 10.0
})
self.ctrl._network_request_queue.put(
{'command': Command.INFRARED_SIGNAL})
self.ctrl._network_request_queue.put({'command': 'end-signal'})
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(bytearray(b'\xb0\x75\x12\xc9')))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
def __set_up_scenario_4(self):
self.ctrl._network_request_queue = Queue()
self.ctrl._network_request_queue.put({
'command':
Command.ACTION,
'actions': [{
'command': Command.MOVE_BACKWARD,
'amplitude': 18
}, {
'command': Command.MOVE_FORWARD,
'amplitude': 90
}, {
'command': Command.MOVE_LEFT,
'amplitude': 30
}]
})
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
self.ctrl.execute()
self.ctrl._network_request_queue.put(
{'command': Command.INFRARED_SIGNAL})
self.ctrl._network_request_queue.put({'command': 'end-signal'})
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(bytearray(b'\xb0\x75\x12\xc9')))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
def __set_up_scenario_5(self):
self.ctrl._network_request_queue = Queue()
self.ctrl._network_request_queue.put({
'command':
Command.ACTION,
'actions': [{
'command': Command.MOVE_BACKWARD,
'amplitude': 18
}, {
'command': Command.MOVE_BACKWARD,
'amplitude': 18
}]
})
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
self.ctrl.execute()
self.ctrl._network_request_queue.put({'command': 'end-signal'})
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
def __set_up_scenario_6(self):
self.ctrl._network_request_queue = Queue()
self.ctrl._network_request_queue.put({
'command':
Command.ACTION,
'actions': [{
'command': Command.MOVE_BACKWARD,
'amplitude': 18
}, {
'command': Command.MOVE_BACKWARD,
'amplitude': 18
}]
})
self.ctrl._network_request_queue.put({'command': 'end-signal'})
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.UNSUCCESSFULL_TASK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.TASK_RECEIVED_ACK.value))
self.ctrl._stm_responses_deque.append(
commands_from_stm.Feedback(
commands_from_stm.Message.SUCCESSFULL_TASK.value))
