def testPositionNotifications(self):
NotificationCenter().addObserver(
self,
method=self.handleDid,
notificationName=LinearMotionNotification.didGetPosition)
(x, y, z) = self.device.position()
self.assertTrue(self.didNotificationReceived)
NotificationCenter().removeObserver(self)
def removeDevice(self, device):
with self.lock:
NotificationCenter().postNotification(
DeviceManagerNotification.willRemoveDevice,
notifyingObject=self,
userInfo=device)
self.devices.remove(device)
NotificationCenter().postNotification(
DeviceManagerNotification.didRemoveDevice,
notifyingObject=self,
userInfo=device)
def addDevice(self, device):
with self.lock:
NotificationCenter().postNotification(
DeviceManagerNotification.willAddDevice,
notifyingObject=self,
userInfo=device)
self.devices.add(device)
NotificationCenter().postNotification(
DeviceManagerNotification.didAddDevice,
notifyingObject=self,
userInfo=device)
def stop(self):
if self.isCapturing:
NotificationCenter().postNotification(
CameraDeviceNotification.willStopCapture, notifyingObject=self)
with self.lock:
self.quitLoop = True
self.mainLoop.join()
self.mainLoop = None
NotificationCenter().postNotification(
CameraDeviceNotification.didStopCapture, notifyingObject=self)
else:
raise RuntimeError("No monitoring loop running")
def setUp(self):
# DeviceManager().devices = []
DeviceManager()
del DeviceManager._instance
DeviceManager._instance = None
NotificationCenter()
del NotificationCenter._instance
NotificationCenter._instance = None
self.lock = RLock()
self.notificationsToReceive = []
self.assertEqual(NotificationCenter().observersCount(), 0)
def captureLoopThread(self):
frame = None
NotificationCenter().postNotification(
notificationName=CameraDeviceNotification.didStartCapture,
notifyingObject=self)
while (True):
frame = self.doCaptureFrame()
NotificationCenter().postNotification(
CameraDeviceNotification.imageCaptured, self, frame)
if self.quitLoop:
return
def testAddObserverWrongSender(self):
someObject = NotificationCenter()
nc = NotificationCenter()
nc.addObserver(self,
method=self.handle,
notificationName=TestNotificationName.test,
observedObject=someObject)
nc.postNotification(notificationName=TestNotificationName.test,
notifyingObject=self,
userInfo="1234")
self.assertFalse(self.notificationReceived)
self.assertNotEqual(self.postedUserInfo, "1234")
nc.removeObserver(self)
self.assertEqual(nc.observersCount(), 0)
def testRemoveIncorrectObject(self):
nc = NotificationCenter()
someObject = NotificationCenter()
nc.addObserver(self, self.handle, TestNotificationName.test,
someObject)
nc.removeObserver(someObject)
self.assertEqual(nc.observersCount(), 1)
def testAddObserverRemoveObserver(self):
nc = NotificationCenter()
nc.addObserver(observer=self,
method=self.handle,
notificationName=TestNotificationName.test)
self.assertEqual(nc.observersCount(), 1)
nc.removeObserver(observer=self)
self.assertEqual(nc.observersCount(), 0)
def measureAbsolutePower(self):
self.doGetAbsolutePower()
power = self.absolutePower
NotificationCenter().postNotification(
PowerMeterNotification.didMeasure,
notifyingObject=self,
userInfo=power)
return power
def testAddObserverAnySenderAndPostithObject(self):
nc = NotificationCenter()
nc.addObserver(observer=self,
method=self.handle,
notificationName=TestNotificationName.test)
nc.postNotification(notificationName=TestNotificationName.test,
notifyingObject=self)
self.assertTrue(self.notificationReceived)
nc.removeObserver(self)
def monitoringLoop(self, duration=1e7):
startTime = time.time()
endTime = startTime + duration
NotificationCenter().postNotification(
DeviceManagerNotification.didStartMonitoring, notifyingObject=self)
while time.time() < endTime:
currentDevices = self.updateConnectedDevices()
NotificationCenter().postNotification(
DeviceManagerNotification.status,
notifyingObject=self,
userInfo=currentDevices)
with self.lock:
if self.quitMonitoring:
break
time.sleep(0.3)
NotificationCenter().postNotification(
DeviceManagerNotification.didStopMonitoring, notifyingObject=self)
def testAddObserverWrongNotification(self):
nc = NotificationCenter()
nc.addObserver(observer=self,
method=self.handle,
notificationName=TestNotificationName.wrong)
nc.postNotification(notificationName=TestNotificationName.test,
notifyingObject=self,
userInfo="1234")
self.assertFalse(self.notificationReceived)
self.assertNotEqual(self.postedUserInfo, "1234")
nc.removeObserver(self)
def testAddObserverAnySenderAndPostWithUserInfo(self):
nc = NotificationCenter()
nc.addObserver(observer=self,
method=self.handle,
notificationName=TestNotificationName.test)
nc.postNotification(notificationName=TestNotificationName.test,
notifyingObject=self,
userInfo="1234")
self.assertTrue(self.notificationReceived)
self.assertEqual(self.postedUserInfo, "1234")
nc.removeObserver(self)
def setUp(self):
super().setUp()
DeviceManager().updateConnectedDevices()
self.device = None
self.isRunning = False
self.notificationReceived = None
DeviceManager().destroy()
NotificationCenter().destroy()
def testDeviceMoveByNotifications(self):
NotificationCenter().addObserver(
self,
method=self.handleWill,
notificationName=LinearMotionNotification.willMove)
NotificationCenter().addObserver(
self,
method=self.handleDid,
notificationName=LinearMotionNotification.didMove)
self.assertFalse(self.willNotificationReceived)
self.assertFalse(self.didNotificationReceived)
self.device.moveBy((-1000, -2000, -3000))
self.assertTrue(self.willNotificationReceived)
self.assertTrue(self.didNotificationReceived)
NotificationCenter().removeObserver(self)
def testDeviceMoveNotifications(self):
NotificationCenter().addObserver(
self,
method=self.handleWill,
notificationName=LinearMotionNotification.willMove)
NotificationCenter().addObserver(
self,
method=self.handleDid,
notificationName=LinearMotionNotification.didMove)
self.assertFalse(self.willNotificationReceived)
self.assertFalse(self.didNotificationReceived)
destination = (4000, 5000, 6000)
self.device.moveTo(destination)
self.assertTrue(self.willNotificationReceived)
self.assertTrue(self.didNotificationReceived)
NotificationCenter().removeObserver(self)
def captureLoopSynchronous(self):
frame = None
NotificationCenter().postNotification(
notificationName=CameraDeviceNotification.didStartCapture,
notifyingObject=self)
while (True):
frame = self.doCaptureFrame()
NotificationCenter().postNotification(
CameraDeviceNotification.imageCaptured, self, frame)
cv2.imshow('Preview (Q to quit)', frame)
if cv2.waitKey(1) & 0xFF == ord('q'):
NotificationCenter().postNotification(
CameraDeviceNotification.willStopCapture,
notifyingObject=self)
break
cv2.destroyAllWindows()
NotificationCenter().postNotification(
CameraDeviceNotification.didStopCapture, notifyingObject=self)
def stopMonitoring(self):
if self.isMonitoring:
NotificationCenter().postNotification(
DeviceManagerNotification.willStopMonitoring,
notifyingObject=self)
with self.lock:
self.quitMonitoring = True
self.monitoring.join()
self.removeAllDevices()
self.monitoring = None
else:
raise RuntimeError("No monitoring loop running")
def start(self):
with self.lock:
if not self.isCapturing:
self.quitLoop = False
self.mainLoop = Thread(target=self.captureLoop,
name="Camera-CaptureLoop")
NotificationCenter().postNotification(
notificationName=CameraDeviceNotification.willStartCapture,
notifyingObject=self)
self.mainLoop.start()
else:
raise RuntimeError("Capture loop already running")
def startMonitoring(self):
with self.lock:
if not self.isMonitoring:
self.quitMonitoring = False
self.monitoring = Thread(target=self.monitoringLoop,
name="DeviceManager-RunLoop")
NotificationCenter().postNotification(
notificationName=DeviceManagerNotification.
willStartMonitoring,
notifyingObject=self)
self.monitoring.start()
else:
raise RuntimeError("Monitoring loop already running")
def testObserverInfo(self):
nc = NotificationCenter()
observer = ObserverInfo(observer=self,
method=self.handle,
notificationName=TestNotificationName.test,
observedObject=nc)
self.assertTrue(observer.matches(ObserverInfo(observer=self)))
self.assertTrue(
observer.matches(
ObserverInfo(observer=self,
notificationName=TestNotificationName.test)))
self.assertTrue(
observer.matches(ObserverInfo(observer=self,
notificationName=None)))
self.assertTrue(
observer.matches(
ObserverInfo(observer=self,
notificationName=TestNotificationName.test,
observedObject=nc)))
self.assertTrue(
observer.matches(
ObserverInfo(observer=self,
notificationName=None,
observedObject=nc)))
self.assertFalse(observer.matches(ObserverInfo(observer=nc)))
self.assertFalse(
observer.matches(
ObserverInfo(observer=nc,
notificationName=TestNotificationName.test,
observedObject=nc)))
self.assertFalse(
observer.matches(
ObserverInfo(observer=nc,
notificationName=TestNotificationName.other,
observedObject=nc)))
self.assertFalse(
observer.matches(
ObserverInfo(observer=nc,
notificationName=TestNotificationName.other,
observedObject=None)))
self.assertFalse(
observer.matches(
ObserverInfo(observer=self,
notificationName=TestNotificationName.other,
observedObject=None)))
def testPostNotificationDidInitialize(self):
nc = NotificationCenter()
nc.addObserver(observer=self,
method=self.handle,
notificationName=PhysicalDeviceNotification.
didInitializeDevice,
observedObject=self.device)
self.assertIsNone(self.notificationReceived)
self.device.initializeDevice()
self.assertIsNotNone(self.notificationReceived)
nc.removeObserver(self)
def usbDeviceDisconnected(self, usbDevice):
descriptor = None
for aDescriptor in self.usbDeviceDescriptors:
if aDescriptor.usbDevice == usbDevice:
descriptor = aDescriptor
break
if descriptor is None:
print("Unable to find descriptor matching {0}".format(usbDevice))
NotificationCenter().postNotification(
DeviceManagerNotification.usbDeviceDidDisconnect,
notifyingObject=self,
userInfo=descriptor)
currentDevices = list(self.devices)
for device in currentDevices:
if descriptor.matchesPhysicalDevice(device):
self.removeDevice(device)
def usbDeviceConnected(self, usbDevice):
descriptor = USBDeviceDescriptor.fromUSBDevice(usbDevice)
NotificationCenter().postNotification(
DeviceManagerNotification.usbDeviceDidConnect,
notifyingObject=self,
userInfo=descriptor)
if descriptor not in self.usbDeviceDescriptors:
self.usbDeviceDescriptors.append(descriptor)
candidates = PhysicalDevice.candidates(descriptor.idVendor,
descriptor.idProduct)
for candidateClass in candidates:
# This may throw if incompatible
deviceInstance = candidateClass(
serialNumber=descriptor.serialNumber,
idProduct=descriptor.idProduct,
idVendor=descriptor.idVendor)
deviceInstance.initializeDevice()
deviceInstance.shutdownDevice()
self.addDevice(deviceInstance)
def testAddObserver(self):
nc = NotificationCenter()
nc.addObserver(observer=self,
method=self.handle,
notificationName=TestNotificationName.test)
def home(self) -> ():
NotificationCenter().postNotification(LinearMotionNotification.willMove, notifyingObject=self)
self.doHome()
NotificationCenter().postNotification(LinearMotionNotification.didMove, notifyingObject=self)
def position(self) -> ():
position = self.doGetPosition()
NotificationCenter().postNotification(LinearMotionNotification.didGetPosition, notifyingObject=self, userInfo=position)
return position
def moveBy(self, displacement):
NotificationCenter().postNotification(LinearMotionNotification.willMove, notifyingObject=self, userInfo=displacement)
self.doMoveBy(displacement)
NotificationCenter().postNotification(LinearMotionNotification.didMove, notifyingObject=self, userInfo=displacement)
def moveTo(self, position):
NotificationCenter().postNotification(LinearMotionNotification.willMove, notifyingObject=self, userInfo=position)
self.doMoveTo(position)
NotificationCenter().postNotification(LinearMotionNotification.didMove, notifyingObject=self, userInfo=position)
