From a9a0386634c047a2bc5e996b48aa01ea456523b7 Mon Sep 17 00:00:00 2001
From: Andrey Pohilko <apc4@ya.ru>
Date: Tue, 19 Sep 2017 18:08:29 +0300
Subject: [PATCH] Fix tests

---
 tests.py                   | 13 ++++++++++++-
 vernie/android_remote.py   |  2 ++
 vernie/go_towards_light.py |  1 +
 3 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/tests.py b/tests.py
index 03983fb..7ea19c6 100644
--- a/tests.py
+++ b/tests.py
@@ -78,15 +78,18 @@ class GeneralTest(unittest.TestCase):
             else:
                 log.debug("Tilt: %s %s %s", param1, param2, param3)
 
+        self._inject_notification(hub, '1b0e000a00 47 3a 090100000001', 1)
         hub.tilt_sensor.subscribe(callback)
         hub.connection.notifications.append((HANDLE, "1b0e000500453a05"))
         hub.connection.notifications.append((HANDLE, "1b0e000a00473a010100000001"))
         time.sleep(1)
+        self._inject_notification(hub, '1b0e000a00 47 3a 090100000001', 1)
         hub.tilt_sensor.subscribe(callback, TILT_MODE_2AXIS_SIMPLE)
 
         hub.connection.notifications.append((HANDLE, "1b0e000500453a09"))
         time.sleep(1)
 
+        self._inject_notification(hub, '1b0e000a00 47 3a 090100000001', 1)
         hub.tilt_sensor.subscribe(callback, TILT_MODE_2AXIS_FULL)
         hub.connection.notifications.append((HANDLE, "1b0e000600453a04fe"))
         time.sleep(1)
@@ -130,13 +133,14 @@ class GeneralTest(unittest.TestCase):
     def test_color_sensor(self):
         #
         hub = HubMock()
-        hub.connection.notifications.append((HANDLE, '1b0e000f0004010125000000001000000010'))
+        hub.connection.notifications.append((HANDLE, '1b0e000f00 04010125000000001000000010'))
         time.sleep(1)
 
         def callback(color, unk1, unk2=None):
             name = COLORS[color] if color is not None else 'NONE'
             log.info("Color: %s %s %s", name, unk1, unk2)
 
+        self._inject_notification(hub, '1b0e000a00 4701090100000001', 1)
         hub.color_distance_sensor.subscribe(callback)
 
         hub.connection.notifications.append((HANDLE, "1b0e0008004501ff0aff00"))
@@ -160,3 +164,10 @@ class GeneralTest(unittest.TestCase):
         # TODO: assert
         self._wait_notifications_handled(hub)
         hub.button.unsubscribe(callback)
+
+    def _inject_notification(self, hub, notify, pause):
+        def inject():
+            time.sleep(pause)
+            hub.connection.notifications.append((HANDLE, notify))
+
+        Thread(target=inject).start()
diff --git a/vernie/android_remote.py b/vernie/android_remote.py
index b8a346f..53a8d1c 100644
--- a/vernie/android_remote.py
+++ b/vernie/android_remote.py
@@ -44,6 +44,8 @@ robot = Vernie()
 robot.button.subscribe(on_btn)
 robot.motor_AB.stop()
 
+# TODO: use distance sensor to stop movement forward
+
 try:
     udp_sock.bind((host, port))
     time.sleep(1)
diff --git a/vernie/go_towards_light.py b/vernie/go_towards_light.py
index 4f0d77c..cd23976 100644
--- a/vernie/go_towards_light.py
+++ b/vernie/go_towards_light.py
@@ -30,6 +30,7 @@ def on_turn(angle):
 robot.button.subscribe(on_btn)
 robot.color_distance_sensor.subscribe(on_change_lum, CDS_MODE_LUMINOSITY, granularity=1)
 robot.motor_A.subscribe(on_turn, granularity=30)
+# TODO: add bump detect to go back?
 while running:
     # turn around, measuring luminosity
     lum_values = {}