def test_parse_packet(self):
robot = Cortexpilot(config={}, bus=MagicMock())
robot.parse_packet(SAMPLE_DATA)
self.assertEqual(robot.flags, 0x0)
self.assertAlmostEqual(robot.voltage[0], 10.78643798)
self.assertAlmostEqual(robot.voltage[1], 23.79999923)
# trigger pose update
robot.parse_packet(SAMPLE_DATA)
def test_get_packet(self):
robot = Cortexpilot(config={}, bus=None)
packet = robot.get_packet()
self.assertIsNone(packet)
robot._buf = SAMPLE_DATA
packet = robot.get_packet()
self.assertIsNotNone(packet)
self.assertEqual(len(packet), len(SAMPLE_DATA))
self.assertEqual(len(robot._buf), 0)
packet = robot.get_packet()
self.assertIsNone(packet)
def test_2nd_loop(self):
q = MagicMock()
logger = MagicMock()
logger.write = MagicMock(return_value=135)
bus = BusHandler(logger=logger,
out={
'raw': [(q, 'raw')],
'encoders': [],
'emergency_stop': [],
'pose2d': [],
'buttons': []
})
robot = Cortexpilot(config={}, bus=bus)
bus.queue.put(
(123, 'raw', b'\x00\x00\x10\x01\x01Robik V4.0.2\x00\x8f'))
robot.start()
robot.request_stop()
robot.join()
self.assertEqual(
q.put.call_args_list,
[
call((135, 'raw',
b'\x00\x00\x03\x01\x01\xfb')), # request version
call((135, 'raw',
bytes.fromhex('00000f010d000000000000000040010000a2')
)) # cmd
])
def test_usage(self):
logger = MagicMock()
logger.write = MagicMock(return_value=timedelta(seconds=135))
bus = Bus(logger)
handle = bus.handle('cortexpilot')
tester = bus.handle('tester')
robot = Cortexpilot(config={}, bus=handle)
bus.connect('cortexpilot.raw', 'tester.raw')
robot.start()
robot.request_stop()
robot.join()
tester.shutdown()
self.assertEqual(tester.listen(), (timedelta(seconds=135), 'raw', b'\x00\x00\x03\x01\x01\xfb'))
def test_2nd_loop(self):
logger = MagicMock()
logger.write = MagicMock(return_value=timedelta(seconds=135))
bus = Bus(logger)
handle = bus.handle('cortexpilot')
tester = bus.handle('tester')
robot = Cortexpilot(config={}, bus=handle)
bus.connect('cortexpilot.raw', 'tester.raw')
handle.queue.put((timedelta(seconds=123), 'raw', b'\x00\x00\x10\x01\x01Robik V4.0.2\x00\x8f'))
robot.start()
robot.request_stop()
robot.join()
tester.shutdown() # so that listen() does not block
self.assertEqual(tester.listen(), (timedelta(seconds=135), 'raw', b'\x00\x00\x03\x01\x01\xfb')) # request version
self.assertEqual(tester.listen(), (timedelta(seconds=135), 'raw', bytes.fromhex('00000f010d000000000000000040010000a2'))) # cmd
def test_parse_packet(self):
robot = Cortexpilot(config={}, bus=MagicMock())
robot.parse_packet(SAMPLE_DATA)
self.assertEqual(robot.flags, 0x0)
self.assertAlmostEqual(robot.voltage[0], 10.78643798)
self.assertAlmostEqual(robot.voltage[1], 23.79999923)
# trigger pose update
robot.parse_packet(SAMPLE_DATA)
def test_create_packet(self):
robot = Cortexpilot(config={}, bus=MagicMock())
packet = robot.create_packet()
self.assertEqual(len(packet), 3 + 15)
self.assertEqual(sum(packet) % 256, 0)
self.assertEqual(packet[-1], 0xa2)
robot.desired_speed = 0.5
robot.lidar_valid = True # otherwise the speed will be reset to zero
packet = robot.create_packet()
self.assertEqual(len(packet), 3 + 15)
self.assertEqual(sum(packet) % 256, 0)
self.assertEqual(packet[-1], 99)
# test packet checksum
robot.desired_speed = -0.12314114151
packet = robot.create_packet()
def test_usage(self):
q = MagicMock()
logger = MagicMock()
logger.write = MagicMock(return_value=135)
bus = BusHandler(logger=logger,
out={'raw': [(q, 'raw')], 'encoders': [], 'emergency_stop': [],
'pose2d': [], 'buttons': []})
robot = Cortexpilot(config={}, bus=bus)
robot.start()
robot.request_stop()
robot.join()
# at first request firmware version
q.put.assert_called_once_with((135, 'raw',
b'\x00\x00\x03\x01\x01\xfb'))
def test_usage(self):
q = MagicMock()
logger = MagicMock()
logger.write = MagicMock(return_value=135)
bus = BusHandler(logger=logger,
out={
'raw': [(q, 'raw')],
'encoders': [],
'emergency_stop': [],
'pose2d': [],
'buttons': []
})
robot = Cortexpilot(config={}, bus=bus)
robot.start()
robot.request_stop()
robot.join()
# at first request firmware version
q.put.assert_called_once_with(
(135, 'raw', b'\x00\x00\x03\x01\x01\xfb'))
def test_get_packet(self):
robot = Cortexpilot(config={}, bus=MagicMock())
packet = robot.get_packet()
self.assertIsNone(packet)
robot._buf = SAMPLE_DATA
packet = robot.get_packet()
self.assertIsNotNone(packet)
self.assertEqual(len(packet), len(SAMPLE_DATA))
self.assertEqual(len(robot._buf), 0)
packet = robot.get_packet()
self.assertIsNone(packet)
def test_create_packet(self):
robot = Cortexpilot(config={}, bus=None)
packet = robot.create_packet()
self.assertEqual(len(packet), 3 + 15)
self.assertEqual(sum(packet) % 256, 0)
self.assertEqual(packet[-1], 0xa2)
robot.desired_speed = 0.5
robot.lidar_valid = True # otherwise the speed will be reset to zero
packet = robot.create_packet()
self.assertEqual(len(packet), 3 + 15)
self.assertEqual(sum(packet) % 256, 0)
self.assertEqual(packet[-1], 99)
# test packet checksum
robot.desired_speed = -0.12314114151
packet = robot.create_packet()
def test_2nd_loop(self):
q = MagicMock()
logger = MagicMock()
logger.write = MagicMock(return_value=135)
bus = BusHandler(logger=logger,
out={'raw': [(q, 'raw')], 'encoders': [], 'emergency_stop': [],
'pose2d': [], 'buttons': []})
robot = Cortexpilot(config={}, bus=bus)
bus.queue.put((123, 'raw', b'\x00\x00\x10\x01\x01Robik V4.0.2\x00\x8f'))
robot.start()
robot.request_stop()
robot.join()
self.assertEqual(q.put.call_args_list, [
call((135, 'raw', b'\x00\x00\x03\x01\x01\xfb')), # request version
call((135, 'raw', bytes.fromhex('00000f010d000000000000000040010000a2'))) # cmd
])