def test_handleMultipleEvents(self):
pos = 60.0 #actual encoder pulses in 0.05s interval
self.fake.handleEvent(comms.Message('pos', str(int(pos))))
expectedVel = round(float(60.0 / 25), 3)
encoderVel = round(self.fake._velocity, 3)
expectedPos = round(pos / 500, 3)
encoderPos = round(self.fake._position, 3)
self.assertTrue(encoderPos == expectedPos)
self.assertTrue(encoderVel == expectedVel)
self.HalAdapter.update(self.fake._velocity, self.fake._position)
halPos = round(self.HalAdapter.h['position'], 3)
halVel = round(self.HalAdapter.h['velocity'], 3)
self.assertTrue(halVel == expectedVel)
self.assertTrue(halPos == expectedPos)
self.fake.handleEvent(comms.Message('pos', str(int(pos))))
expectedVel = round(float(60.0 / 25), 3)
encoderVel = round(self.fake._velocity, 3)
expectedPos = expectedPos + round(pos / 500, 3)
encoderPos = round(self.fake._position, 3)
self.assertTrue(encoderPos == expectedPos)
self.assertTrue(encoderVel == expectedVel)
self.HalAdapter.update(self.fake._velocity, self.fake._position)
halPos = round(self.HalAdapter.h['position'], 3)
halVel = round(self.HalAdapter.h['velocity'], 3)
self.assertTrue(halVel == expectedVel)
self.assertTrue(halPos == expectedPos)
def setEnable(self, en):
self.enable = en
if en == True:
self.tempController.writeMessage(comms.Message('en', '1'))
else:
self.tempController.writeMessage(comms.Message('en', '0'))
def test_handlerNoArgs(self):
self.eh_no_args = EventHandlerSpyNoArgs()
self.eb.attach_handler('test', self.eh_no_args.eventHandler)
self.eb.handle_event(comms.Message('test', '99'))
self.assertTrue(self.eh_no_args.has_been_called)
self.assertEqual(self.eh_no_args.last_event_name, '')
self.assertEqual(self.eh_no_args.last_event_data, '')
self.eh_no_args.reset()
self.eb.handle_event(comms.Message('test', ''))
self.assertTrue(self.eh_no_args.has_been_called)
self.assertEqual(self.eh_no_args.last_event_name, '')
self.assertEqual(self.eh_no_args.last_event_data, '')
self.eh_no_args.reset()
def test_setIndexEnable(self):
pos = 600.0
self.fake.handleEvent(comms.Message('pos', str(int(pos))))
expectedVel = round(pos / 25, 3)
encoderVel = round(self.fake._velocity, 3)
expectedPos = round(pos / 500, 3)
encoderPos = round(self.fake._position, 3)
self.assertTrue(encoderPos == expectedPos)
self.assertTrue(encoderVel == expectedVel)
self.HalAdapter.update(self.fake._velocity, self.fake._position)
halPos = round(self.HalAdapter.h['position'], 3)
halVel = round(self.HalAdapter.h['velocity'], 3)
self.assertTrue(halVel == expectedVel)
self.assertTrue(halPos == expectedPos)
self.HalAdapter.h['index-enable'] = 1
self.HalAdapter.update(self.fake._velocity, self.fake._position)
self.assertTrue(self.fake._position == 0)
#self.assertTrue(self.fake.count == 0)
self.assertTrue(self.HalAdapter.h['position'] == 0)
self.assertTrue(self.HalAdapter.h['index-enable'] == 0)
def test_oneHandlerAttached(self):
self.eb.attach_handler('apa',
self.eh1.eventHandler,
args=(self.eb.received_event, ))
self.eb.handle_event(comms.Message('apa', '100'))
self.assertTrue(self.eh1.has_been_called)
self.assertFalse(self.eh2.has_been_called)
self.assertEqual(self.eh1.last_event_name, 'apa')
self.assertEqual(self.eh1.last_event_data, '100')
def test_03_message(self):
c_tx = mod_comms.Channel('RF channel #1', '12345')
c_rx = mod_comms.Channel('RF channel #2', '54321')
self.assertTrue(type(c_tx) is mod_comms.Channel)
self.assertTrue(type(c_rx) is mod_comms.Channel)
m = mod_comms.Message(c_tx, c_rx, 'hello - this is a test', 'content of message')
self.assertTrue(m.prepare())
self.assertTrue(str(m), 'sender attempting to send message to receiver')
self.assertTrue(m.send())
def test_wrongEvent(self):
self.eb.attach_handler('apa',
self.eh1.eventHandler,
args=(self.eb.received_event, ))
self.eb.attach_handler('bepa',
self.eh2.eventHandler,
args=(self.eb.received_event, ))
self.eb.handle_event(comms.Message('foo', '11'))
self.assertFalse(self.eh1.has_been_called)
self.assertFalse(self.eh2.has_been_called)
def test_handleEvent(self):
pos = 100.0 # => vel = pos/dt/scale = pos/(dt*scale) => 100/25 = 4
self.fake.handleEvent(comms.Message('pos', str(int(pos))))
expectedVel = round(float(pos / 25), 3)
encoderVel = round(self.fake._velocity, 3)
expectedPos = round(pos / 500, 3)
encoderPos = round(self.fake._position, 3)
self.assertTrue(encoderPos == expectedPos)
self.assertTrue(encoderVel == expectedVel)
self.HalAdapter.update(self.fake._velocity, self.fake._position)
halPos = round(self.HalAdapter.h['position'], 3)
halVel = round(self.HalAdapter.h['velocity'], 3)
self.assertTrue(halVel == expectedVel)
self.assertTrue(halPos == expectedPos)
def test_writeMessagePortClosed(self):
self.s.close()
self.s.writeMessage(comms.Message('apa', '123'))
self.assertTrue(self.s.serial.writeBuf == '')
def test_writeMessageNoPayload(self):
self.s.writeMessage(comms.Message('bepa'))
self.assertTrue(self.s.serial.writeBuf == 'bepa\n')
def test_writeMessage(self):
self.s.writeMessage(comms.Message('apa', '123'))
self.assertTrue(self.s.serial.writeBuf == 'apa_123\n')
def test_04_message_wrong_setup(self):
c_tx = 'not a real channel'
c_rx = 23423234234234
m = mod_comms.Message(c_tx, c_rx, 'BAD MESSAGE', 'wrong setup - need to pass classes')
self.assertFalse(m.prepare())
self.assertFalse(m.send())
def test_clear(self):
self.fake.handleEvent(comms.Message('pos', '2000'))
self.fake.clear()
self.assertTrue(self.fake._position == 0)
def test_wrongEvent(self):
self.fake.handleEvent(comms.Message('apa', '1000'))
self.assertTrue(self.fake._position == 0)
self.assertTrue(self.fake._velocity == 0)
def setRefTemp(self, refT):
if self.enable == True:
if self.refTemp != refT:
self.tempController.writeMessage(comms.Message(
'sp', str(refT)))
self.refTemp = refT
def test_noHandlerAttached(self):
self.eb.handle_event(comms.Message('foo', 'bar'))
self.assertFalse(self.eh1.has_been_called)
self.assertFalse(self.eh2.has_been_called)
def __init__(self):
self.brokee_dict = {}
self.received_event = comms.Message('')
def test_getCurrTemp(self):
# send a message. i.e call the registered callbak with the "received" message
self.tempCtrler.tempController.msg_hdlr(comms.Message('mv', '123'))
self.assertTrue(self.tempCtrler.currTemp == 123)
