import logging import time import unittest from pylgbst.hub import MoveHub from pylgbst.peripherals import LEDRGB, TiltSensor, COLOR_RED, Button, Current, Voltage, VisionSensor, \ EncodedMotor from tests import HubMock class PeripheralsTest(unittest.TestCase): def test_button(self): hub = HubMock() time.sleep(0.1) button = Button(hub) hub.peripherals[0x00] = button vals = [] def callback(pressed): vals.append(pressed) hub.connection.notification_delayed("060001020600", 0.0) button.subscribe(callback) time.sleep(0.1) hub.connection.notification_delayed("060001020600", 0.1) hub.connection.notification_delayed("060001020601", 0.2) hub.connection.notification_delayed("060001020600", 0.3) time.sleep(0.4) button.unsubscribe(callback) time.sleep(0.1) hub.connection.wait_notifications_handled() self.assertEqual([0, 1, 0], vals) self.assertEqual(b"0500010202", hub.writes[1][1]) self.assertEqual(b"0500010203", hub.writes[2][1]) def test_led(self): hub = HubMock() hub.led = LEDRGB(hub, MoveHub.PORT_LED) hub.peripherals[MoveHub.PORT_LED] = hub.led hub.connection.notification_delayed("0a004732000100000000", 0.1) hub.connection.notification_delayed("050082320a", 0.2) hub.led.set_color(COLOR_RED) self.assertEqual(b"0a004132000100000000", hub.writes.pop(1)[1]) self.assertEqual(b"0800813211510009", hub.writes.pop(1)[1]) hub.connection.notification_delayed("0a004732010100000000", 0.1) hub.connection.notification_delayed("050082320a", 0.2) hub.led.set_color((32, 64, 96)) self.assertEqual(b"0a004132010100000000", hub.writes.pop(1)[1]) self.assertEqual(b"0a008132115101204060", hub.writes.pop(1)[1]) def test_current(self): hub = HubMock() time.sleep(0.1) current = Current(hub, MoveHub.PORT_CURRENT) hub.peripherals[MoveHub.PORT_CURRENT] = current vals = [] def callback(val): vals.append(val) hub.connection.notification_delayed("0a00473b000100000001", 0.1) current.subscribe(callback) hub.connection.notification_delayed("0600453ba400", 0.1) time.sleep(0.2) hub.connection.notification_delayed("0a00473b000000000000", 0.1) current.unsubscribe(callback) hub.connection.wait_notifications_handled() self.assertEqual([97.87936507936507], vals) self.assertEqual(b"0a00413b000100000001", hub.writes[1][1]) self.assertEqual(b"0a00413b000100000000", hub.writes[2][1]) def test_voltage(self): hub = HubMock() time.sleep(0.1) voltage = Voltage(hub, MoveHub.PORT_VOLTAGE) hub.peripherals[MoveHub.PORT_VOLTAGE] = voltage vals = [] def callback(val): vals.append(val) hub.connection.notification_delayed("0a00473c000100000001", 0.1) voltage.subscribe(callback) hub.connection.notification_delayed("0600453c9907", 0.1) time.sleep(0.2) hub.connection.notification_delayed("0a00473c000000000000", 0.1) voltage.unsubscribe(callback) hub.connection.wait_notifications_handled() self.assertEqual([4.79630105317236], vals) self.assertEqual(b"0a00413c000100000001", hub.writes[1][1]) self.assertEqual(b"0a00413c000100000000", hub.writes[2][1]) def test_tilt_sensor(self): hub = HubMock() sensor = TiltSensor(hub, MoveHub.PORT_TILT_SENSOR) hub.peripherals[MoveHub.PORT_TILT_SENSOR] = sensor hub.connection.notification_delayed('0a00473a000100000000', 0.05) hub.connection.notification_delayed('0600453a0201', 0.1) self.assertEqual((2, 1), sensor.get_sensor_data(TiltSensor.MODE_2AXIS_ANGLE)) hub.connection.notification_delayed('0a00473a010100000000', 0.05) hub.connection.notification_delayed('0500453a00', 0.1) self.assertEqual((0,), sensor.get_sensor_data(TiltSensor.MODE_2AXIS_SIMPLE)) hub.connection.notification_delayed('0a00473a020100000000', 0.05) hub.connection.notification_delayed('0600453a0201', 0.1) self.assertEqual((2,), sensor.get_sensor_data(TiltSensor.MODE_3AXIS_SIMPLE)) hub.connection.notification_delayed('0a00473a030100000000', 0.05) hub.connection.notification_delayed('0800453a00000000', 0.1) self.assertEqual((0,), sensor.get_sensor_data(TiltSensor.MODE_IMPACT_COUNT)) hub.connection.notification_delayed('0a00473a040100000000', 0.05) hub.connection.notification_delayed('0700453afd0140', 0.1) self.assertEqual((-3, 1, 64), sensor.get_sensor_data(TiltSensor.MODE_3AXIS_ACCEL)) hub.connection.notification_delayed('0a00473a050100000000', 0.05) hub.connection.notification_delayed('0500453a00', 0.1) self.assertEqual((0,), sensor.get_sensor_data(TiltSensor.MODE_ORIENT_CF)) hub.connection.notification_delayed('0a00473a060100000000', 0.05) hub.connection.notification_delayed('0600453a7f14', 0.1) self.assertEqual((127,), sensor.get_sensor_data(TiltSensor.MODE_IMPACT_CF)) hub.connection.notification_delayed('0a00473a070100000000', 0.05) hub.connection.notification_delayed('0700453a00feff', 0.1) self.assertEqual((0, 254, 255), sensor.get_sensor_data(TiltSensor.MODE_CALIBRATION)) hub.connection.wait_notifications_handled() def test_motor(self): hub = HubMock() motor = EncodedMotor(hub, MoveHub.PORT_D) hub.peripherals[MoveHub.PORT_D] = motor hub.connection.notification_delayed('050082030a', 0.1) motor.start_power(1.0) self.assertEqual(b"07008103110164", hub.writes.pop(1)[1]) hub.connection.notification_delayed('050082030a', 0.1) motor.stop() self.assertEqual(b"0c0081031109000064647f03", hub.writes.pop(1)[1]) hub.connection.notification_delayed('050082030a', 0.1) motor.set_acc_profile(1.0) self.assertEqual(b"090081031105e80300", hub.writes.pop(1)[1]) hub.connection.notification_delayed('050082030a', 0.1) motor.set_dec_profile(1.0) self.assertEqual(b"090081031106e80300", hub.writes.pop(1)[1]) hub.connection.notification_delayed('050082030a', 0.1) motor.start_speed(1.0) self.assertEqual(b"090081031107646403", hub.writes.pop(1)[1]) hub.connection.notification_delayed('050082030a', 0.1) motor.stop() self.assertEqual(b"0c0081031109000064647f03", hub.writes.pop(1)[1]) logging.debug("\n\n") hub.connection.notification_delayed('0500820301', 0.1) hub.connection.notification_delayed('050082030a', 0.2) motor.timed(1.0) self.assertEqual(b"0c0081031109e80364647f03", hub.writes.pop(1)[1]) hub.connection.notification_delayed('0500820301', 0.1) hub.connection.notification_delayed('050082030a', 0.2) motor.angled(180) self.assertEqual(b"0e008103110bb400000064647f03", hub.writes.pop(1)[1]) hub.connection.notification_delayed('050082030a', 0.2) motor.preset_encoder(-180) self.assertEqual(b"0b0081031151024cffffff", hub.writes.pop(1)[1]) hub.connection.notification_delayed('0500820301', 0.1) hub.connection.notification_delayed('050082030a', 0.2) motor.goto_position(0) self.assertEqual(b"0e008103110d0000000064647f03", hub.writes.pop(1)[1]) hub.connection.wait_notifications_handled() def test_motor_sensor(self): hub = HubMock() motor = EncodedMotor(hub, MoveHub.PORT_C) hub.peripherals[MoveHub.PORT_C] = motor vals = [] def callback(*args): vals.append(args) hub.connection.notification_delayed('0a004702020100000001', 0.1) motor.subscribe(callback) hub.connection.notification_delayed("0800450200000000", 0.1) hub.connection.notification_delayed("08004502ffffffff", 0.2) hub.connection.notification_delayed("08004502feffffff", 0.3) time.sleep(0.4) hub.connection.notification_delayed('0a004702020000000000', 0.1) motor.unsubscribe(callback) hub.connection.wait_notifications_handled() self.assertEqual([(0,), (-1,), (-2,)], vals) def test_color_sensor(self): hub = HubMock() cds = VisionSensor(hub, MoveHub.PORT_C) hub.peripherals[MoveHub.PORT_C] = cds vals = [] def callback(*args): vals.append(args) hub.connection.notification_delayed('0a00 4702080100000001', 0.1) cds.subscribe(callback) hub.connection.notification_delayed("08004502ff0aff00", 0.1) time.sleep(0.2) hub.connection.notification_delayed('0a00 4702090100000001', 0.1) cds.unsubscribe(callback) hub.connection.wait_notifications_handled() self.assertEqual([(255, 10.0)], vals)