def test_pull_rx_message_corrupted():
""" Should not receive a corrupted message """
port = MockSerialPort()
frame = Frame(port)
# this is the serial representation of framed data, with checksum
port.serial_data_in = [
frame.SOF, 1, 2, frame.ESC, frame.SOF ^ frame.ESC_XOR, 4, frame.ESC,
frame.EOF ^ frame.ESC_XOR, 6, frame.ESC, frame.ESC ^ frame.ESC_XOR, 8,
9, 10, 148, 21, frame.EOF
]
time.sleep(0.1)
assert frame.pull_rx_message() == []
def test_pull_rx_message_corrupted():
""" Should not receive a corrupted message """
port = MockSerialPort()
frame = Frame(port)
# this is the serial representation of framed data, with checksum
port.serial_data_in = [frame.SOF, 1, 2, frame.ESC, frame.SOF ^ frame.ESC_XOR,
4, frame.ESC, frame.EOF ^ frame.ESC_XOR,
6, frame.ESC, frame.ESC ^ frame.ESC_XOR,
8, 9, 10, 148, 21, frame.EOF]
time.sleep(0.1)
assert frame.pull_rx_message() == []
def test_rx_is_available():
""" When *valid* serial data is received, rx available should not be empty """
port = MockSerialPort()
frame = Frame(port)
# this is the serial representation of framed data, with checksum
port.serial_data_in = [frame.SOF, 1, 2, frame.ESC, frame.SOF ^ frame.ESC_XOR,
4, frame.ESC, frame.EOF ^ frame.ESC_XOR,
6, frame.ESC, frame.ESC ^ frame.ESC_XOR,
8, 9, 10, 148, 20, frame.EOF]
time.sleep(0.1)
assert frame.rx_is_available is True
def test_rx_is_available():
""" When *valid* serial data is received, rx available should not be empty """
port = MockSerialPort()
frame = Frame(port)
# this is the serial representation of framed data, with checksum
port.serial_data_in = [
frame.SOF, 1, 2, frame.ESC, frame.SOF ^ frame.ESC_XOR, 4, frame.ESC,
frame.EOF ^ frame.ESC_XOR, 6, frame.ESC, frame.ESC ^ frame.ESC_XOR, 8,
9, 10, 148, 20, frame.EOF
]
time.sleep(0.1)
assert frame.rx_is_available is True
def test_rx_is_available_empty():
""" At initialization, rx available should be empty """
port = MockSerialPort()
frame = Frame(port)
assert not frame.rx_is_available
def test_pull_rx_message():
""" Test the retrieval of a message """
port = MockSerialPort()
frame = Frame(port)
# this is the serial representation of framed data, with checksum
port.serial_data_in = [frame.SOF, 1, 2, frame.ESC, frame.SOF ^ frame.ESC_XOR,
4, frame.ESC, frame.EOF ^ frame.ESC_XOR,
6, frame.ESC, frame.ESC ^ frame.ESC_XOR,
8, 9, 10, 148, 20, frame.EOF]
time.sleep(0.1)
# this is the expected 'de-framed' data
data_to_receive = [1, 2, frame.SOF, 4, frame.EOF, 6, frame.ESC, 8, 9, 10]
assert frame.pull_rx_message() == data_to_receive
def test_pull_rx_message():
""" Test the retrieval of a message """
port = MockSerialPort()
frame = Frame(port)
# this is the serial representation of framed data, with checksum
port.serial_data_in = [
frame.SOF, 1, 2, frame.ESC, frame.SOF ^ frame.ESC_XOR, 4, frame.ESC,
frame.EOF ^ frame.ESC_XOR, 6, frame.ESC, frame.ESC ^ frame.ESC_XOR, 8,
9, 10, 148, 20, frame.EOF
]
time.sleep(0.1)
# this is the expected 'de-framed' data
data_to_receive = [1, 2, frame.SOF, 4, frame.EOF, 6, frame.ESC, 8, 9, 10]
assert frame.pull_rx_message() == data_to_receive
def test_publish_3_u8():
port = MockSerialPort()
sd = SerialDispatch(port)
# this is the data that should be published
sd.publish('foo', [[10, 20, 30]], ['U8'])
# this is the data that should be contained in the serial port outbuffer
data_test = [
Frame.SOF, 102, 111, 111, 0, 1, 3, 0, 2, 10, 20, 30, 134, 36, Frame.EOF
]
assert port.serial_data_out == data_test
def test_push_tx_message():
""" Test to ensure that a straightforward frame may be sent """
port = MockSerialPort()
frame = Frame(port)
data_to_send = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
frame.push_tx_message(bytearray(data_to_send))
data_expected = [
frame.SOF, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 55, 220, frame.EOF
]
assert set(data_expected) == set(port.serial_data_out)
def test_publish_3_s8():
port = MockSerialPort()
sd = SerialDispatch(port)
# this is the data that should be published
sd.publish('foo', [[-10, -20, -30]], ['S8'])
# this is the data that should be contained in the serial port outbuffer
data_test = [
Frame.SOF, 102, 111, 111, 0, 1, 3, 0, 3, 246, 246 ^ 0x20, 236, 226, 15,
96, Frame.EOF
]
assert port.serial_data_out == data_test
def test_publish_3x3_u8u16u32():
port = MockSerialPort()
sd = SerialDispatch(port)
# this is the data that should be published
sd.publish('foo', [[10, 20, 30], [40, 50, 60], [70, 80, 90]],
['U8', 'U16', 'U32'])
# this is the data that should be contained in the serial port outbuffer
data_test = [
Frame.SOF, 102, 111, 111, 0, 3, 3, 0, 0x42, 0x06, 10, 20, 30, 40, 0,
50, 0, 60, 0, 70, 0, 0, 0, 80, 0, 0, 0, 90, 0, 0, 0, 84, 186, Frame.EOF
]
assert port.serial_data_out == data_test
def test_publish_3x3_s8s16s32():
port = MockSerialPort()
sd = SerialDispatch(port)
# this is the data that should be published
sd.publish('foo', [[-10, -20, -30], [-40, -50, -60], [-70, -80, -90]],
['S8', 'S16', 'S32'])
# this is the data that should be contained in the serial port outbuffer
data_test = [
Frame.SOF,
102,
111,
111,
0,
3,
3,
0,
0x53,
0x07,
246,
246 ^ 0x20,
236,
226, # <= one of these happens to be an esc char
216,
255,
206,
255,
196,
255,
186,
255,
255,
255,
176,
255,
255,
255,
166,
255,
255,
255,
214,
236,
Frame.EOF
]
assert port.serial_data_out == data_test
def test_push_tx_message_with_escapes():
""" Test to ensure that a frame with all required escape characters may be sent """
port = MockSerialPort()
frame = Frame(port)
data_to_send = [1, 2, frame.SOF, 4, frame.EOF, 6, frame.ESC, 8, 9, 10]
frame.push_tx_message(bytearray(data_to_send))
data_expected = [
frame.SOF, 1, 2, frame.ESC, frame.SOF ^ frame.ESC_XOR, 4, frame.ESC,
frame.EOF ^ frame.ESC_XOR, 6, frame.ESC, frame.ESC ^ frame.ESC_XOR, 8,
9, 10, 148, 20, frame.EOF
]
assert set(data_expected) == set(port.serial_data_out)
def test_publish_str():
""" test publish """
port = MockSerialPort()
sd = SerialDispatch(port)
# this is the data that should be published
sd.publish('foo', [['bar']])
# this is the data that should be contained in the serial port outbuffer
data_test = [
Frame.SOF, 102, 111, 111, 0, 1, 3, 0, 1, 98, 97, 114, 126, 22,
Frame.EOF
]
assert port.serial_data_out == data_test
def subscribing_fixture():
global process_data
port = MockSerialPort()
sd = SerialDispatch(port, threaded=False)
process_data = None
def toggle_flag(data):
global process_data
nonlocal sd
process_data = data
sd.subscribe('foo', toggle_flag)
yield port, sd
def sending_fixture():
port = MockSerialPort()
sd = SerialDispatch(port)
yield port, sd