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
146 lines
5.7 KiB
Python
146 lines
5.7 KiB
Python
import time
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import unittest
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from pylgbst.hub import Hub, MoveHub
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from pylgbst.messages import MsgHubAction, MsgHubAlert, MsgHubProperties
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from pylgbst.peripherals import VisionSensor
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from pylgbst.utilities import usbyte
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from tests import ConnectionMock
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class HubTest(unittest.TestCase):
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def test_hub_properties(self):
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conn = ConnectionMock().connect()
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hub = Hub(conn)
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conn.notification_delayed('060001060600', 0.1)
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msg = MsgHubProperties(MsgHubProperties.VOLTAGE_PERC, MsgHubProperties.UPD_REQUEST)
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resp = hub.send(msg)
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assert isinstance(resp, MsgHubProperties)
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self.assertEqual(1, len(resp.parameters))
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self.assertEqual(0, usbyte(resp.parameters, 0))
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conn.notification_delayed('12000101064c45474f204d6f766520487562', 0.1)
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msg = MsgHubProperties(MsgHubProperties.ADVERTISE_NAME, MsgHubProperties.UPD_REQUEST)
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resp = hub.send(msg)
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assert isinstance(resp, MsgHubProperties)
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self.assertEqual(b"LEGO Move Hub", resp.parameters)
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conn.wait_notifications_handled()
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def test_device_attached(self):
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conn = ConnectionMock().connect()
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hub = Hub(conn)
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# regular startup attaches
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conn.notifications.append('0f0004010126000000001000000010')
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conn.notifications.append('0f0004020125000000001000000010')
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# detach and reattach
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conn.notifications.append('0500040100')
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conn.notifications.append('0500040200')
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conn.notifications.append('0f0004010126000000001000000010')
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conn.notifications.append('0f0004020125000000001000000010')
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del hub
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conn.wait_notifications_handled()
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def test_hub_actions(self):
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conn = ConnectionMock().connect()
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hub = Hub(conn)
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conn.notification_delayed('04000230', 0.1)
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hub.send(MsgHubAction(MsgHubAction.UPSTREAM_SHUTDOWN))
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conn.notification_delayed('04000231', 0.1)
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hub.send(MsgHubAction(MsgHubAction.UPSTREAM_DISCONNECT))
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conn.notification_delayed('04000232', 0.1)
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hub.send(MsgHubAction(MsgHubAction.UPSTREAM_BOOT_MODE))
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time.sleep(0.1)
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conn.wait_notifications_handled()
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def test_hub_alerts(self):
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conn = ConnectionMock().connect()
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hub = Hub(conn)
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conn.notification_delayed('0600 03 0104ff', 0.1)
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hub.send(MsgHubAlert(MsgHubAlert.LOW_VOLTAGE, MsgHubAlert.UPD_REQUEST))
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conn.notification_delayed('0600 03 030400', 0.1)
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hub.send(MsgHubAlert(MsgHubAlert.LOW_SIGNAL, MsgHubAlert.UPD_REQUEST))
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conn.wait_notifications_handled()
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def test_error(self):
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conn = ConnectionMock().connect()
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hub = Hub(conn)
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conn.notification_delayed("0500056105", 0.1)
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time.sleep(0.2)
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conn.wait_notifications_handled()
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def test_disconnect_off(self):
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conn = ConnectionMock().connect()
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hub = Hub(conn)
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conn.notification_delayed("04000231", 0.1)
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hub.disconnect()
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self.assertEqual(b"04000202", conn.writes[1][1])
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conn = ConnectionMock().connect()
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hub = Hub(conn)
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conn.notification_delayed("04000230", 0.1)
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hub.switch_off()
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self.assertEqual(b"04000201", conn.writes[1][1])
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def test_sensor(self):
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conn = ConnectionMock().connect()
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conn.notifications.append("0f0004020125000000001000000010") # add dev
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hub = Hub(conn)
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time.sleep(0.1)
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dev = hub.peripherals[0x02]
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assert isinstance(dev, VisionSensor)
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conn.notification_delayed("0a004702080000000000", 0.1)
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conn.notification_delayed("08004502ff0aff00", 0.2) # value for sensor
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self.assertEqual((255, 10.0), dev.get_sensor_data(VisionSensor.COLOR_DISTANCE_FLOAT))
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self.assertEqual(b"0a004102080100000000", conn.writes.pop(1)[1])
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self.assertEqual(b"0500210200", conn.writes.pop(1)[1])
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vals = []
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cb = lambda x, y=None: vals.append((x, y))
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conn.notification_delayed("0a004702080100000001", 0.1) # subscribe ack
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dev.subscribe(cb, granularity=1)
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self.assertEqual(b"0a004102080100000001", conn.writes.pop(1)[1])
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conn.notification_delayed("08004502ff0aff00", 0.1) # value for sensor
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time.sleep(0.3)
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conn.notification_delayed("0a004702080000000000", 0.3) # unsubscribe ack
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dev.unsubscribe(cb)
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self.assertEqual(b"0a004102080100000000", conn.writes.pop(1)[1])
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self.assertEqual([(255, 10.0)], vals)
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class MoveHubTest(unittest.TestCase):
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def test_capabilities(self):
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conn = ConnectionMock()
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conn.notifications.append('0f00 04 01 0125000000001000000010')
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conn.notifications.append('0f00 04 02 0126000000001000000010')
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conn.notifications.append('0f00 04 37 0127000100000001000000')
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conn.notifications.append('0f00 04 38 0127000100000001000000')
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conn.notifications.append('0900 04 39 0227003738')
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conn.notifications.append('0f00 04 32 0117000100000001000000')
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conn.notifications.append('0f00 04 3a 0128000000000100000001')
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conn.notifications.append('0f00 04 3b 0115000200000002000000')
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conn.notifications.append('0f00 04 3c 0114000200000002000000')
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conn.notification_delayed('12000101064c45474f204d6f766520487562', 0.1)
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conn.notification_delayed('0b00010d06001653a0d1d4', 0.3)
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conn.notification_delayed('060001060600', 0.5)
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conn.notification_delayed('0600030104ff', 0.7)
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MoveHub(conn.connect())
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time.sleep(1)
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conn.wait_notifications_handled()
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self.assertEqual(b"0500010105", conn.writes[1][1])
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self.assertEqual(b"0500010d05", conn.writes[2][1])
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self.assertEqual(b"0500010605", conn.writes[3][1])
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self.assertEqual(b"0500030103", conn.writes[4][1])
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