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Code Issues Releases Wiki Activity

Added tests

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This commit is contained in:
Andrey Pohilko 2017-09-14 14:43:00 +03:00
parent 6067e4f218
commit 539715af8b
4 changed files with 57 additions and 25 deletions
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2
pylgbst/__init__.py
View File

@ -79,6 +79,8 @@ class MoveHub(object):
self._handle_port_status(data)
elif msg_type == MSG_SENSOR_DATA:
self._handle_sensor_data(data)
elif msg_type == MSG_SENSOR_SUBSCRIBE_ACK:
log.debug("Sensor subscribe ack on port %s", PORTS[get_byte(data, 3)])
else:
log.warning("Unhandled msg type 0x%x: %s", msg_type, str2hex(orig))
else:

16
pylgbst/constants.py
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@ -92,24 +92,26 @@ STATUS_FINISHED = 0x0a
# TILT
TILT_SENSOR_MODE_FULL = 0x00
TILT_SENSOR_MODE_SOME1 = 0x01
TILT_SENSOR_MODE_2AXIS = 0x01
TILT_SENSOR_MODE_BASIC = 0x02
TILT_SENSOR_MODE_OFF = 0x03
TILT_HORIZ = 0x00
TILT_HORIZONTAL = 0x00
TILT_UP = 0x01
TILT_DOWN = 0x02
TILT_RIGHT = 0x03
TILT_LEFT = 0x04
TILT_INVERT = 0x05
TILT_SOME = 0x09
TILT_FRONT = 0x05
TILT_SOME1 = 0x07
TILT_SOME2 = 0x09
TILT_STATES = {
TILT_HORIZ: "BACK",
TILT_HORIZONTAL: "HORIZONTAL",
TILT_UP: "UP",
TILT_DOWN: "DOWN",
TILT_RIGHT: "RIGHT",
TILT_LEFT: "LEFT",
TILT_INVERT: "FRONT",
TILT_SOME: "SOME",
TILT_FRONT: "FRONT",
TILT_SOME1: "LEFT1",
TILT_SOME2: "SOME2",
}

43
pylgbst/peripherals.py
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@ -22,7 +22,7 @@ class Peripheral(object):
self.parent = parent
self.port = port
self.working = False
self._subscribers = []
self._subscribers = set()
def __repr__(self):
return "%s on port %s" % (self.__class__.__name__, PORTS[self.port] if self.port in PORTS else 'N/A')
@ -129,14 +129,20 @@ class ColorDistanceSensor(Peripheral):
class TiltSensor(Peripheral):
def _switch_mode(self, simple):
self._subscribe_on_port(chr(simple) + b'\x01\x00\x00\x00\x01')
def __init__(self, parent, port):
super(TiltSensor, self).__init__(parent, port)
self.mode = TILT_SENSOR_MODE_OFF
def _switch_mode(self, mode):
self.mode = mode
self._subscribe_on_port(chr(mode) + b'\x01\x00\x00\x00\x01')
def subscribe(self, callback, mode=TILT_SENSOR_MODE_BASIC):
if mode not in (TILT_SENSOR_MODE_BASIC, TILT_SENSOR_MODE_SOME1, TILT_SENSOR_MODE_FULL):
if mode not in (TILT_SENSOR_MODE_BASIC, TILT_SENSOR_MODE_2AXIS, TILT_SENSOR_MODE_FULL):
raise ValueError("Wrong tilt sensor mode: 0x%x", mode)
self._switch_mode(mode)
self._subscribers.append(callback) # TODO: maybe join it into `_subscribe_on_port`
self._subscribers.add(callback) # TODO: maybe join it into `_subscribe_on_port`
# 1b0e00 0a00 47 3a020100000001
# 1b0e00 0a00 47 3a020100000001
@ -146,22 +152,31 @@ class TiltSensor(Peripheral):
def unsubscribe(self, callback):
self._subscribers.remove(callback)
if not self._subscribers:
self._switch_mode(3)
self._switch_mode(TILT_SENSOR_MODE_OFF)
def handle_notification(self, data):
if len(data) == 5:
state = get_byte(data, 4)
self._notify_subscribers(state)
elif len(data) == 6:
# TODO: how to interpret these 2 bytes?
self._notify_subscribers(get_byte(data, 4), get_byte(data, 5))
if self.mode == TILT_SENSOR_MODE_BASIC:
self._notify_subscribers(get_byte(data, 4))
elif self.mode == TILT_SENSOR_MODE_FULL:
roll = self._byte2deg(get_byte(data, 4))
pitch = self._byte2deg(get_byte(data, 5))
self._notify_subscribers(roll, pitch)
elif self.mode == TILT_SENSOR_MODE_2AXIS:
# TODO: figure out right interpreting of this
self._notify_subscribers(get_byte(data, 4))
else:
log.warning("Unexpected length for tilt sensor data: %s", len(data))
log.debug("Got tilt sensor data while in finished mode: %s", self.mode)
def _byte2deg(self, val):
if val > 90:
return val - 256
else:
return val
class Button(Peripheral):
def __init__(self, parent):
super(Button, self).__init__(parent, None)
super(Button, self).__init__(parent, 0)
LISTEN_COLOR_SENSOR_ON_C = b' \x0a\x00 \x41\x01 \x08\x01\x00\x00\x00\x01'

21
tests.py
View File

@ -5,7 +5,10 @@ from threading import Thread
from pylgbst import MoveHub, COLOR_RED, LED, EncodedMotor, PORT_AB
from pylgbst.comms import Connection, str2hex, hex2str
from pylgbst.constants import PORT_LED, TILT_STATES
from pylgbst.constants import PORT_LED, TILT_STATES, TILT_SENSOR_MODE_FULL, TILT_SENSOR_MODE_2AXIS, \
MOVE_HUB_HARDWARE_HANDLE
HANDLE = MOVE_HUB_HARDWARE_HANDLE
logging.basicConfig(level=logging.DEBUG)
@ -76,7 +79,7 @@ class GeneralTest(unittest.TestCase):
def test_tilt_sensor(self):
hub = HubMock()
hub.connection.notifications.append((14, '1b0e00 0f00 04 3a 0128000000000100000001'))
hub.connection.notifications.append((HANDLE, '1b0e00 0f00 04 3a 0128000000000100000001'))
time.sleep(1)
def callback(param1, param2=None, param3=None):
@ -86,10 +89,20 @@ class GeneralTest(unittest.TestCase):
log.debug("Tilt: %s %s %s", param1, param2, param3)
hub.tilt_sensor.subscribe(callback)
hub.connection.notifications.append((14, "1b0e000500453a05"))
hub.connection.notifications.append((14, "1b0e000600453a04fe"))
hub.connection.notifications.append((HANDLE, "1b0e000500453a05"))
hub.connection.notifications.append((HANDLE, "1b0e000a00473a010100000001"))
time.sleep(1)
hub.tilt_sensor.subscribe(callback, TILT_SENSOR_MODE_2AXIS)
hub.connection.notifications.append((HANDLE, "1b0e000500453a09"))
time.sleep(1)
hub.tilt_sensor.subscribe(callback, TILT_SENSOR_MODE_FULL)
hub.connection.notifications.append((HANDLE, "1b0e000600453a04fe"))
time.sleep(1)
self._wait_notifications_handled(hub)
hub.tilt_sensor.unsubscribe(callback)
# self.assertEquals("0a01413a000100000001", hub.connection.writes[0][1])
def test_motor(self):