def test_config_with_invalid_board_id(self):
"""
Test that an invalid board ID causes the expected exception.
"""
with self.assertRaises(ThunderBorgException) as cm:
ThunderBorg(logger_name=self._LOG_FILENAME,
log_level=logging.DEBUG)
def __init__(self,
bus_num=ThunderBorg.DEFAULT_BUS_NUM,
address=ThunderBorg.DEFAULT_I2C_ADDRESS,
log_level=logging.INFO,
debug=False):
self._debug = debug
log_level = logging.DEBUG if debug else log_level
cl = ConfigLogger()
cl.config(logger_name=self._BASE_LOGGER_NAME,
file_path=self._LOG_PATH,
level=log_level)
self._log = logging.getLogger(self._LOGGER_NAME)
if not self._debug:
self._tb = ThunderBorg(bus_num=bus_num,
address=address,
logger_name=self._TBORG_LOGGER_NAME,
log_level=log_level)
PYGameController.__init__(self,
logger_name=self._CTRL_LOGGER_NAME,
log_level=log_level,
debug=debug)
Daemon.__init__(self,
self._PIDFILE,
logger_name=self._LOGGER_NAME,
verbose=2 if debug else 0)
def test_config_with_invalid_address(self):
"""
Test that an invalid address creates the expected exception.
"""
with self.assertRaises(ThunderBorgException) as cm:
ThunderBorg(address=0x70,
logger_name=self._LOG_FILENAME,
log_level=logging.DEBUG)
def setUpClass(self):
ThunderBorg.DEFAULT_I2C_ADDRESS = 0x15
ThunderBorg.set_i2c_address(ThunderBorg.DEFAULT_I2C_ADDRESS)
tb = ThunderBorg()
tb.halt_motors()
tb.set_both_leds(0, 0, 0)
tb.set_led_battery_state(False)
tb.set_comms_failsafe(False)
tb.write_external_led_word(0, 0, 0, 0)
def test_config_with_auto_set_address(self):
"""
Test that ``auto_set_addr`` if set to ``True`` causes the API to
find the first valid board and configure itself to that board.
"""
# First change the board address so it cannot be found at the
# default address.
new_addr = 0x70
ThunderBorg.set_i2c_address(new_addr)
# Now instantiate ThunderBorg.
tb = ThunderBorg(logger_name=self._LOG_FILENAME,
log_level=logging.DEBUG,
auto_set_addr=True)
def test_find_address_with_invalid_default_address(self):
"""
Test that an invalid default address will cause a board to be
initialized if the `auto_set_addr` argument is `True`.
"""
default_address = 0x15
# Initialize the board by instantiating ThunderBorg.
tb = ThunderBorg(logger_name=self.LOGGER_NAME,
log_level=logging.DEBUG,
auto_set_addr=True)
boards = ThunderBorg.find_board()
msg = "Boards found: {}".format(boards)
self.assertEquals(ThunderBorg.DEFAULT_I2C_ADDRESS, 0x20, msg)
self.assertTrue(len(boards) > 0, msg)
self.assertEqual(boards[0], default_address, msg)
def __init__(self,
bus_num=ThunderBorg.DEFAULT_BUS_NUM,
address=ThunderBorg.DEFAULT_I2C_ADDRESS,
borg=True,
log_level=logging.INFO,
voltage_in=_VOLTAGE_IN,
debug=False):
self._borg = borg
self.voltage_in = float(voltage_in)
log_level = logging.DEBUG if debug else log_level
cl = ConfigLogger()
cl.config(logger_name=self._BASE_LOGGER_NAME,
file_path=self._LOG_PATH,
level=log_level)
self._log = logging.getLogger(self._LOGGER_NAME)
super(JoyStickControl, self).__init__(self._PIDFILE,
logger_name=self._LOGGER_NAME)
self._log.info(
"Initial arguments: bus_num: %s, address: %s, "
"borg: %s, log_level: %s, voltage_in: %s, debug: %s", bus_num,
address, borg, logging.getLevelName(log_level), voltage_in, debug)
if self._borg:
self._tb = ThunderBorg(bus_num=bus_num,
address=address,
logger_name=self._TBORG_LOGGER_NAME,
log_level=log_level)
if math.isclose(self.voltage_in, 0.0):
self.voltage_in = self._tb.get_battery_voltage()
self._log.info("Voltage in: %s, max power: %s", self.voltage_in,
self.max_power)
self.set_battery_limits()
# Set defaults
self.__quit = False
self.fwd_rev_invert = False
self.turn_invert = False
# Longer than 10 secs will never be recognized because the
# controller itself will disconnect before that.
self.quit_hold_time = 9.0
def setUp(self):
self._tb = ThunderBorg(logger_name=self._LOG_FILENAME,
log_level=logging.DEBUG)