def test_control_mode_read_write(self):
"""Registers read/written when setting/reading control modes from
MCU."""
for motor_port_registers in MotorControlRegisters:
motor_port_name = motor_port_registers.name
motor_registers = motor_port_registers.value
control_mode_register = motor_registers[
MotorRegisterTypes.CONTROL_MODE]
for control_mode in MotorControlModes:
# create instance
controller = EncoderMotorController(port=motor_port_name)
# setup r/w mocks
write_byte_mock = controller._mcu_device.write_byte = Mock()
read_unsigned_byte_mock = (
controller._mcu_device.read_unsigned_byte) = Mock()
read_unsigned_byte_mock.return_value = control_mode.value
# test
controller.set_control_mode(control_mode)
write_byte_mock.assert_called_with(control_mode_register,
control_mode.value)
self.assertEquals(controller.control_mode(), control_mode)
read_unsigned_byte_mock.assert_called_with(
control_mode_register)
def test_control_mode_1_read_write(self):
"""Registers read/written when using control mode 1 methods."""
rpm_value = 500
for motor_port_registers in MotorControlRegisters:
motor_port_name = motor_port_registers.name
motor_registers = motor_port_registers.value
mode_1_register = motor_registers[MotorRegisterTypes.MODE_1_RPM]
# create instance
controller = EncoderMotorController(port=motor_port_name)
controller.set_control_mode = Mock()
controller.control_mode = Mock()
controller.control_mode.return_value = MotorControlModes.MODE_1
# setup r/w mocks
write_word_mock = controller._mcu_device.write_word = Mock()
read_signed_word_mock = controller._mcu_device.read_signed_word = Mock(
)
read_signed_word_mock.return_value = rpm_value
# test
controller.set_rpm_control(rpm_value)
write_word_mock.assert_called_with(mode_1_register,
rpm_value,
little_endian=True,
signed=True)
self.assertEquals(controller.rpm_control(), rpm_value)
read_signed_word_mock.assert_called_with(mode_1_register,
little_endian=True)
def test_control_mode_2_read_write(self):
"""Registers read/written when using control mode 2 methods."""
rpm_value = 500
rotations_value = 10
# from rpm and rotations values, calculate byte values to use in mocks
rpm_and_rotations_in_bytes = split_into_bytes(
rotations_value, 2, signed=True,
little_endian=True) + split_into_bytes(
rpm_value, 2, signed=True, little_endian=True)
rpm_and_rotations_read = join_bytes(rpm_and_rotations_in_bytes)
for motor_port_registers in MotorControlRegisters:
motor_port_name = motor_port_registers.name
motor_registers = motor_port_registers.value
mode_1_register = motor_registers[
MotorRegisterTypes.MODE_2_RPM_WITH_ROTATIONS]
# create instance
controller = EncoderMotorController(port=motor_port_name)
controller.set_control_mode = Mock()
controller.control_mode = Mock()
controller.control_mode.return_value = MotorControlModes.MODE_2
# setup r/w mocks
write_n_bytes_mock = controller._mcu_device.write_n_bytes = Mock()
read_n_unsigned_bytes_mock = (
controller._mcu_device.read_n_unsigned_bytes) = Mock()
read_n_unsigned_bytes_mock.return_value = rpm_and_rotations_read
# test
controller.set_rpm_with_rotations(rpm_value, rotations_value)
write_n_bytes_mock.assert_called_with(mode_1_register,
rpm_and_rotations_in_bytes)
self.assertEquals(controller.rpm_with_rotations(),
(rpm_value, rotations_value))
read_n_unsigned_bytes_mock.assert_called_with(mode_1_register,
4,
little_endian=True)