def setUp(self):
self.uri = uri_helper.uri_from_env(default='radio://0/80/2M/E7E7E7E7E7')
self.cf_mock = MagicMock(spec=Crazyflie)
self.cf_mock.connected = Caller()
self.cf_mock.connection_failed = Caller()
self.cf_mock.disconnected = Caller()
self.cf_mock.open_link = AsyncCallbackCaller(
cb=self.cf_mock.connected,
args=[self.uri],
delay=0.2
).trigger
self.close_link_mock = AsyncCallbackCaller(
cb=self.cf_mock.disconnected,
args=[self.uri],
delay=0.2
)
self.cf_mock.close_link = self.close_link_mock.trigger
# Mock the behaviour that param values are updated(downloaded) after connection
self.param_mock = MagicMock(spec=Param)
self.param_mock.all_updated = Caller()
self.cf_mock.param = self.param_mock
# Register a callback to be called when connected. Use it to trigger a callback
# to trigger the call to the param.all_updated() callback
self.cf_mock.connected.add_callback(self._connected_callback)
self.sut = SyncCrazyflie(self.uri, cf=self.cf_mock)
def setUp(self):
self.uri = 'radio://0/60/2M'
self.cf_mock = MagicMock(spec=Crazyflie)
self.cf_mock.connected = Caller()
self.cf_mock.connection_failed = Caller()
self.cf_mock.disconnected = Caller()
self.cf_mock.open_link = AsyncCallbackCaller(cb=self.cf_mock.connected,
args=[self.uri],
delay=0.2).trigger
self.close_link_mock = AsyncCallbackCaller(
cb=self.cf_mock.disconnected, args=[self.uri], delay=0.2)
self.cf_mock.close_link = self.close_link_mock.trigger
self.sut = SyncCrazyflie(self.uri, self.cf_mock)
def test_lost_connection_in_crazyflie_disconnects(self):
# Fixture
self.sut.connect()
# Test
AsyncCallbackCaller(cb=self.cf_mock.disconnected,
args=['Some uri']).call_and_wait()
# Assert
self.assertFalse(self.sut.is_connected())
def test_closed_if_connection_is_lost(self):
# Fixture
self.sut.open_link()
# Test
AsyncCallbackCaller(cb=self.cf_mock.disconnected,
args=[self.uri]).call_and_wait()
# Assert
self.assertFalse(self.sut.is_link_open())
def setUp(self):
self.uri = 'radio://0/60/2M'
self.ed_mock = MagicMock(spec=Espdrone)
self.ed_mock.connected = Caller()
self.ed_mock.connection_failed = Caller()
self.ed_mock.disconnected = Caller()
self.ed_mock.open_link = AsyncCallbackCaller(cb=self.ed_mock.connected,
args=[self.uri]).trigger
self.sut = SyncEspdrone(self.uri, self.ed_mock)
def test_that_data_is_received(self):
# Fixture
self.sut.connect()
expected = ('Some ts', 'Some data', 'Some logblock')
AsyncCallbackCaller(cb=self.log_config_mock.data_received_cb,
args=[expected[0], expected[1], expected[2]]
).trigger()
# Test
actual = self.sut.__next__()
# Assert
self.assertEqual(expected, actual)
def test_lost_connection_in_crazyflie_raises_exception_in_iterator(self):
# Fixture
self.sut.connect()
# Note this is not foolproof, the disconnected callback may be called
# before we are waiting on data. It will raise the same exception
# though and will pass
AsyncCallbackCaller(cb=self.cf_mock.disconnected,
delay=0.5,
args=['Some uri']).trigger()
# Test
# Assert
with self.assertRaises(StopIteration):
self.sut.__next__()
def test_failed_open_link_raises_exception(self):
# Fixture
expected = 'Some error message'
self.cf_mock.open_link = AsyncCallbackCaller(
cb=self.cf_mock.connection_failed, args=[self.uri,
expected]).trigger
# Test
try:
self.sut.open_link()
except Exception as e:
actual = e.args[0]
else:
self.fail('Expect exception')
# Assert
self.assertEqual(expected, actual)
def _connected_callback(self, uri):
AsyncCallbackCaller(
cb=self.param_mock.all_updated,
delay=0.2
).trigger()
def _connected_callback(self, uri):
AsyncCallbackCaller(cb=self.cf_mock.fully_connected,
args=[self.uri],
delay=0.2).trigger()