def test_environment_board_backend_mapping() -> None:
"""Test that the board_backend_mapping works."""
environment = Environment("MockEnv")
environment.register_backend(MockBackend)
assert type(environment.board_backend_mapping) == dict
assert len(environment.supported_boards) == 1
assert environment.board_backend_mapping[MockBoard] == MockBackend
def test_environment_check_multiple_backends_same_env() -> None:
"""Test that we can't define two backends for the same board/environment combo."""
test_environment = Environment("test_environment")
class BackendOne(Backend):
board = MockBoard
@classmethod
def discover(cls) -> Set[Board]:
return set()
@property
def firmware_version(self) -> Optional[str]:
return None
class BackendTwo(Backend):
board = MockBoard
@classmethod
def discover(cls) -> Set[Board]:
return set()
@property
def firmware_version(self) -> Optional[str]:
return None
test_environment.register_backend(BackendOne)
with pytest.raises(RuntimeError):
test_environment.register_backend(BackendTwo)
def test_environment_get_board_group() -> None:
"""Test that we can create a boardgroup from an environment."""
env = Environment("TestEnv")
env.register_backend(MockBackend)
bg = env.get_board_group(MockBoard)
assert bg.backend_class is MockBackend
def test_get_boardgroup_from_environment() -> None:
"""Test that we can create a boardgroup from an environment."""
env = Environment("TestEnv")
env.register_backend(OneBoardMockBackend)
# See https://github.com/j5api/j5/issues/408
bg = MockBoard.get_board_group_from_environment(env) # type: ignore
assert bg.backend_class is OneBoardMockBackend
assert len(bg) == 1
def test_environment_merge_duplicate() -> None:
"""Test that the correct exception is thrown if duplicate entries exist."""
env1 = Environment("Env1")
env2 = Environment("Env2")
env1.register_backend(MockBackend)
env2.register_backend(MockBackend)
with pytest.raises(RuntimeError) as e:
env1.merge(env2)
assert e is not None
assert str(e.value) == \
"Attempted to merge two Environments that both contain: MockBoard"
def test_environment_merge() -> None:
"""Test that we can merge environments."""
env1 = Environment("Env1")
env2 = Environment("Env2")
assert len(env1.supported_boards) == 0
assert len(env2.supported_boards) == 0
env1.merge(env2)
assert len(env1.supported_boards) == 0
assert len(env2.supported_boards) == 0
env2.register_backend(MockBackend)
assert len(env2.supported_boards) == 1
env1.merge(env2)
assert len(env1.supported_boards) == 1
assert len(env2.supported_boards) == 1
def test_environment_board_get_backend_unknown() -> None:
"""Test that we can't get the backend of an unknown board."""
environment = Environment("MockEnv")
environment.register_backend(MockBackend)
with pytest.raises(NotImplementedError):
assert environment.get_backend(Mock2Board)
def test_environment_board_get_backend() -> None:
"""Test that we can get the backend of a board."""
environment = Environment("MockEnv")
environment.register_backend(MockBackend)
assert issubclass(environment.get_backend(MockBoard), MockBackend)
def test_environment_supported_boards() -> None:
"""Test that we can get the supported boards for a environment."""
environment = Environment("MockEnv")
environment.register_backend(MockBackend)
assert type(environment.supported_boards) is set
assert len(environment.supported_boards) == 1
)
from j5.backends.console.sr.v4.servo_board import SRV4ServoBoardConsoleBackend
from j5.backends.hardware.sb.arduino import SBArduinoHardwareBackend
from j5.backends.hardware.sr.v4 import (
SRV4MotorBoardHardwareBackend,
SRV4PowerBoardHardwareBackend,
SRV4ServoBoardHardwareBackend,
)
__all__ = [
"HardwareEnvironment",
]
HardwareEnvironment = Environment("Hardware Environment")
HardwareEnvironment.register_backend(
cast(Type[Backend], SRV4PowerBoardHardwareBackend))
HardwareEnvironment.register_backend(
cast(Type[Backend], SRV4ServoBoardHardwareBackend))
HardwareEnvironment.register_backend(
cast(Type[Backend], SRV4MotorBoardHardwareBackend))
HardwareEnvironment.register_backend(
cast(Type[Backend], SBArduinoHardwareBackend))
ConsoleEnvironment = Environment("Console Environment")
ConsoleEnvironment.register_backend(
cast(Type[Backend], SRV4PowerBoardConsoleBackend))
ConsoleEnvironment.register_backend(
cast(Type[Backend], SRV4ServoBoardConsoleBackend))
ConsoleEnvironment.register_backend(
cast(Type[Backend], SRV4MotorBoardConsoleBackend))
from j5.backends.hardware.sb.arduino import SBArduinoHardwareBackend
from j5.backends.hardware.sr.v4 import (
SRV4MotorBoardHardwareBackend,
SRV4PowerBoardHardwareBackend,
SRV4ServoBoardHardwareBackend,
)
from sbot.vision.backend import SBZolotoSingleHardwareBackend
__all__ = [
"HardwareEnvironment",
]
HardwareEnvironment = Environment("Hardware Environment")
HardwareEnvironment.register_backend(SRV4PowerBoardHardwareBackend)
HardwareEnvironment.register_backend(SRV4ServoBoardHardwareBackend)
HardwareEnvironment.register_backend(SRV4MotorBoardHardwareBackend)
HardwareEnvironment.register_backend(SBArduinoHardwareBackend)
HardwareEnvironment.register_backend(SBZolotoSingleHardwareBackend)
ConsoleEnvironment = Environment("Console Environment")
ConsoleEnvironment.register_backend(SRV4PowerBoardConsoleBackend)
ConsoleEnvironment.register_backend(SRV4ServoBoardConsoleBackend)
ConsoleEnvironment.register_backend(SRV4MotorBoardConsoleBackend)
ConsoleEnvironment.register_backend(SBArduinoConsoleBackend)
CONSOLE_ENVIRONMENT_WITH_VISION = Environment(
"Console Environment with Vision")