mirror of
https://github.com/undera/pylgbst.git
synced 2020-11-18 19:37:26 -08:00
32eecac1a6
* It's HUB ID * Rename file * Working with official doc * Some progress * AttachedIO msg * device action impl * some better device alert impl * restructuring * Some port commands handled * Some command feedback waiting * Some more request-reply things * Some more request-reply things * Reworked msg classes * Getting back to UTs * Getting back to UTs * Facing sync lock problems * Facing sync lock problems * Testing it * Covering more with tests * handle actions * Hub class is almost covered * done coverage for Hub * done coverage for MoveHub * Button is tested * remove debug server from examples * Current and voltage tested * color sensor basic test * cover tilt sensor * motor sensor tested * constant motor * motor is tested * hold_speed impl for motor * motor commands recorded * some cleanup * some cleanup * some cleanup * debug * debug * FIX a bug * acc/dec profiles figured out * UT motor ops * UT motor ops * Get rid of weird piggyback * fix UT * Fix encoding? * fix test mb * More robust * Checked demo works * cosmetics * cosmetics * Maybe better test * fetching and decoding some device caps * describing devs * describing devs works * Applying modes we've learned * Simple and extensible dev attach * Reworking peripherals based on modes * Applying modes we've learned * implemented getting sensor data * fixed port subscribe * Added led out cmds on vision sensor * Worked on color-distance sensor * Introduce some locking for consistency * Improved it all * Travis flags * improve * improve * improve docs
87 lines
2.4 KiB
Python
87 lines
2.4 KiB
Python
import time
|
|
from binascii import unhexlify
|
|
|
|
from pylgbst.comms import Connection
|
|
from pylgbst.hub import MoveHub, Hub
|
|
from pylgbst.peripherals import *
|
|
|
|
logging.basicConfig(level=logging.DEBUG)
|
|
|
|
log = logging.getLogger('test')
|
|
|
|
|
|
class HubMock(Hub):
|
|
"""
|
|
:type connection: ConnectionMock
|
|
"""
|
|
|
|
# noinspection PyUnresolvedReferences
|
|
def __init__(self, conn=None):
|
|
super(HubMock, self).__init__(conn if conn else ConnectionMock())
|
|
self.connection = self.connection
|
|
self.notify_mock = self.connection.notifications
|
|
self.writes = self.connection.writes
|
|
|
|
|
|
class ConnectionMock(Connection):
|
|
"""
|
|
For unit testing purposes
|
|
"""
|
|
|
|
def __init__(self):
|
|
super(ConnectionMock, self).__init__()
|
|
self.writes = []
|
|
self.notifications = []
|
|
self.notification_handler = None
|
|
self.running = True
|
|
self.finished = False
|
|
|
|
self.thr = Thread(target=self.notifier)
|
|
self.thr.setDaemon(True)
|
|
|
|
def set_notify_handler(self, handler):
|
|
self.notification_handler = handler
|
|
self.thr.start()
|
|
|
|
def notifier(self):
|
|
while self.running or self.notifications:
|
|
if self.notification_handler:
|
|
while self.notifications:
|
|
data = self.notifications.pop(0)
|
|
s = unhexlify(data.replace(' ', ''))
|
|
self.notification_handler(MoveHub.HUB_HARDWARE_HANDLE, bytes(s))
|
|
time.sleep(0.01)
|
|
|
|
self.finished = True
|
|
|
|
def write(self, handle, data):
|
|
log.debug("Writing to %s: %s", handle, str2hex(data))
|
|
self.writes.append((handle, str2hex(data)))
|
|
|
|
def connect(self, hub_mac=None):
|
|
"""
|
|
:rtype: ConnectionMock
|
|
"""
|
|
super(ConnectionMock, self).connect(hub_mac)
|
|
log.debug("Mock connected")
|
|
return self
|
|
|
|
def is_alive(self):
|
|
return not self.finished and self.thr.is_alive()
|
|
|
|
def notification_delayed(self, payload, pause=0.001):
|
|
def inject():
|
|
time.sleep(pause)
|
|
self.notifications.append(payload)
|
|
|
|
Thread(target=inject).start()
|
|
|
|
def wait_notifications_handled(self):
|
|
self.running = False
|
|
for _ in range(1, 180):
|
|
time.sleep(0.01)
|
|
log.debug("Waiting for notifications to process...")
|
|
if self.finished:
|
|
log.debug("Done waiting for notifications to process")
|
|
break
|