def test_xl320_led_packet():
xl = XL320()
ans = [255, 255, 253, 0, 1, 6, 0, 3, 25, 0, 1, 47, 98]
pkt = xl.makeLEDPacket(1, XL320.LED_RED)
# print(ans)
# print(pkt)
packet_check(ans, pkt)
def test_xl320_reset_packet():
xl = XL320()
ans = [255, 255, 253, 0, 1, 4, 0, 6, 1, 161, 230]
pkt = xl.makeResetPacket(1, 2)
# print(ans)
# print(pkt)
packet_check(ans, pkt)
def test_error_packet():
xl = XL320()
pkt = [255, 255, 253, 0, 1, 4, 0, 85, 0, 161, 12]
with pytest.raises(Exception):
assert getPacketType(pkt) == 0x55
def test_xl320_angle_packet():
xl = XL320()
ans = [255, 255, 253, 0, 1, 7, 0, 3, 30, 0, 139, 1, 83, 255]
pkt = xl.makeServoMovePacket(1, 116)
# print('\n')
# print(ans)
# print(pkt)
packet_check(ans, pkt)
def test_xl320_crc16():
xl = XL320()
pkt = [
0xff, 0xff, 0xfd, 0x00, 0x01, 0x07, 0x00, 0x02, 0x63, 0x02, 0x04, 0x00,
0x1b, 0xf9
]
ans = xl.check_sum(pkt[:-2]) # you don't count the crc
b = le(ans)
assert b == [0x1b, 0xf9]
def test_xl320_find_pkts():
xl = XL320()
err = [
0, 255, 255, 253, 0, 1, 4, 0, 85, 0, 161, 12, 0, 4, 0, 255, 255, 253,
0, 1, 4, 0, 85, 128, 162, 143, 0, 0
]
pkts = xl.decodePacket(err)
assert len(pkts) == 2
err = [0, 1, 4, 0, 85, 0, 161, 12, 0, 4, 0, 255, 255, 253]
pkts = xl.decodePacket(err)
assert len(pkts) == 0
def test_xl320_reboot_packet():
xl = XL320()
ans = [255, 255, 253, 0, 1, 3, 0, 8, 47, 78]
pkt = xl.makeRebootPacket(1)
packet_check(ans, pkt)
def test_xl320_ping_packet():
xl = XL320()
ans = [255, 255, 253, 0, 254, 3, 0, 1, 49, 66]
pkt = xl.makePingPacket()
packet_check(ans, pkt)