async def test_heater_command():
async def _req_cb(path, timeout):
assert False
async def _pub_cb(path, timeout):
assert False
async def _reg_rep_cb(path, callback):
assert False
async def _reg_sub_cb(path, callback):
assert False
bus = MockBus()
bus.req_cb = _req_cb
bus.pub_cb = _pub_cb
bus.reg_rep_cb = _reg_rep_cb
bus.reg_sub_cb = _reg_sub_cb
pwm = MockPWM()
pwm.duty_cycle = 50
pwm.frequency = 51
pid = MockPID()
heater = Heater(pwm, pid, 1000, bus)
response = await heater.command_callback({'command': 'get'})
assert response['status'] == 'ok'
assert response['duty_cycle'] == 50
assert response['frequency'] == 51
response = await heater.command_callback({'command': 'put'})
assert response['status'] == 'error'
async def test_refiller_command():
async def _req_cb(path, data, timeout):
assert False
async def _pub_cb(path, data):
assert False
async def _reg_rep_cb(path, callback):
assert False
async def _reg_sub_cb(path, callback):
assert False
bus = MockBus()
bus.req_cb = _req_cb
bus.pub_cb = _pub_cb
bus.reg_rep_cb = _reg_rep_cb
bus.reg_sub_cb = _reg_sub_cb
pwm = MockPWM()
pwm.duty_cycle = 50
pwm.frequency = 51
service = RefillService(pwm, 1000, bus)
response = await service.command_callback({'command': 'get'})
assert response['status'] == 'ok'
assert response['stop'] is True
response = await service.command_callback({'command': 'put'})
assert response['status'] == 'error'
response = await service.command_callback({'command': 'start'})
assert response['status'] == 'ok'
assert pwm._open is True
async def test_heater_start():
async def _req_cb(path, timeout):
assert False
async def _pub_cb(path, timeout):
assert False
async def _reg_rep_cb(path, callback):
assert path == 'tank.heater'
async def _reg_sub_cb(path, callback):
assert False
bus = MockBus()
bus.req_cb = _req_cb
bus.pub_cb = _pub_cb
bus.reg_rep_cb = _reg_rep_cb
bus.reg_sub_cb = _reg_sub_cb
pwm = MockPWM()
pid = MockPID()
heater = Heater(pwm, pid, 1000, bus)
loop = asyncio.get_event_loop()
task = loop.create_task(heater.start())
await asyncio.sleep(0.5)
assert pwm._open is True
assert pwm._start is True
task.cancel()
async def test_refiller_start():
async def _req_cb(path, data, timeout):
assert path == 'tank.water'
assert data['command'] == 'get'
return {'status': 'ok', 'water': True}
async def _pub_cb(path, timeout):
assert False
async def _reg_rep_cb(path, callback):
assert path == 'tank.refill'
async def _reg_sub_cb(path, callback):
assert False
bus = MockBus()
bus.req_cb = _req_cb
bus.pub_cb = _pub_cb
bus.reg_rep_cb = _reg_rep_cb
bus.reg_sub_cb = _reg_sub_cb
pwm = MockPWM()
refiller = RefillService(pwm, 1000, bus)
loop = asyncio.get_event_loop()
task = loop.create_task(refiller.start())
await asyncio.sleep(0.5)
task.cancel()
async def test_tank_temp_service_pub():
async def _req_cb(path, timeout):
assert False
async def _pub_cb(path, data):
assert path == 'tank.temperature'
assert data['status'] == 'ok'
assert data['temperature'] == 100
async def _reg_rep_cb(path, callback):
assert False
async def _reg_sub_cb(path, callback):
assert False
bus = MockBus()
bus.req_cb = _req_cb
bus.pub_cb = _pub_cb
bus.reg_rep_cb = _reg_rep_cb
bus.reg_sub_cb = _reg_sub_cb
sensor = MockTemperatureSensor()
sensor.temp = 100
service = TankTempService(sensor, 1000, bus)
await service.pub_tank_temperature()
assert sensor.is_connected() is True
async def test_tank_water_service_command():
async def _req_cb(path, timeout):
assert False
async def _pub_cb(path, data):
assert path == 'tank.water'
assert data['status'] == 'ok'
assert data['water'] is True
async def _reg_rep_cb(path, callback):
assert False
async def _reg_sub_cb(path, callback):
assert False
bus = MockBus()
bus.req_cb = _req_cb
bus.pub_cb = _pub_cb
bus.reg_rep_cb = _reg_rep_cb
bus.reg_sub_cb = _reg_sub_cb
sensor = MockWaterDetector()
sensor._is_water_full = True
service = TankWaterService(sensor, 1000, bus)
await service.pub_water_status()
response = await service.rep_water_command({'command': 'get'})
assert sensor.is_connected() is True
assert response['status'] == 'ok'
assert response['water'] is True
async def test_barista_start():
async def _req_cb(path, timeout):
assert False
async def _pub_cb(path, timeout):
assert False
async def _reg_rep_cb(path, callback):
assert path == 'barista'
async def _reg_sub_cb(path, callback):
assert False
bus = MockBus()
bus.req_cb = _req_cb
bus.pub_cb = _pub_cb
bus.reg_rep_cb = _reg_rep_cb
bus.reg_sub_cb = _reg_sub_cb
pid = MockPID()
pos = barista.WasteWaterPosition(x=0, y=0, z=0)
b = barista.Barista(MovingDev(), ExtruderDev(), pid, pos, 5000, bus)
loop = asyncio.get_event_loop()
task = loop.create_task(b.start())
response = await b.command_callback({'command': 'get'})
assert response['status'] == 'ok'
task.cancel()
async def test_barista_brew():
async def _req_cb(path, data, timeout):
if path == 'tank.refill':
return {'status': 'ok'}
if path == 'output.temperature':
return {'status': 'ok', 'temperature': 50}
async def _pub_cb(path, timeout):
assert False
async def _reg_rep_cb(path, callback):
assert path == 'barista'
async def _reg_sub_cb(path, callback):
assert False
bus = MockBus()
bus.req_cb = _req_cb
bus.pub_cb = _pub_cb
bus.reg_rep_cb = _reg_rep_cb
bus.reg_sub_cb = _reg_sub_cb
pid = MockPID()
moving = MovingDev()
extruder = ExtruderDev()
pos = barista.WasteWaterPosition(x=70, y=50, z=180)
b = barista.Barista(moving, extruder, pid, pos, 5000, bus)
await b.brew([{'type': 'command', 'name': 'home'}])
assert len(moving.sent_commands) == 1
assert moving.sent_commands[0] == 'G28'
await b.brew([{'type': 'command', 'name': 'calibration'}])
assert moving.sent_commands[0] == 'G28'
assert moving.sent_commands[
1] == 'G1 X70.00000 Y50.00000 Z180.00000 F5000.00000'