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147 lines
5.0 KiB
Python
147 lines
5.0 KiB
Python
import unittest
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from pylgbst import *
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HANDLE = MOVE_HUB_HARDWARE_HANDLE
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logging.basicConfig(level=logging.DEBUG)
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log = logging.getLogger('test')
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class ConnectionMock(Connection):
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"""
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For unit testing purposes
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"""
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def __init__(self):
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super(ConnectionMock, self).__init__()
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self.writes = []
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self.notifications = []
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self.notification_handler = None
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self.running = True
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self.finished = False
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def set_notify_handler(self, handler):
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self.notification_handler = handler
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thr = Thread(target=self.notifier)
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thr.setDaemon(True)
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thr.start()
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def notifier(self):
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while self.running:
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if self.notification_handler:
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while self.notifications:
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handle, data = self.notifications.pop(0)
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self.notification_handler(handle, hex2str(data.replace(' ', '')))
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time.sleep(0.1)
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self.finished = True
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def write(self, handle, data):
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log.debug("Writing to %s: %s", handle, str2hex(data))
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self.writes.append((handle, str2hex(data)))
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def read(self, handle):
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log.debug("Reading from: %s", handle)
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return None # TODO
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class HubMock(MoveHub):
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def __init__(self, connection=None):
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super(HubMock, self).__init__(connection if connection else ConnectionMock())
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def _wait_for_devices(self):
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pass
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class GeneralTest(unittest.TestCase):
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def _wait_notifications_handled(self, hub):
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hub.connection.running = False
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for _ in range(1, 180):
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time.sleep(1)
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log.debug("Waiting for notifications to process...")
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if hub.connection.finished:
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log.debug("Done waiting")
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break
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def test_led(self):
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hub = HubMock()
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led = LED(hub, PORT_LED)
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led.set_color(COLOR_RED)
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self.assertEqual("0801813211510009", hub.connection.writes[0][1])
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def test_tilt_sensor(self):
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hub = HubMock()
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hub.connection.notifications.append((HANDLE, '1b0e00 0f00 04 3a 0128000000000100000001'))
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time.sleep(1)
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def callback(param1, param2=None, param3=None):
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if param2 is None:
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log.debug("Tilt: %s", TILT_STATES[param1])
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else:
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log.debug("Tilt: %s %s %s", param1, param2, param3)
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hub.tilt_sensor.subscribe(callback)
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hub.connection.notifications.append((HANDLE, "1b0e000500453a05"))
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hub.connection.notifications.append((HANDLE, "1b0e000a00473a010100000001"))
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time.sleep(1)
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hub.tilt_sensor.subscribe(callback, TILT_MODE_2AXIS_SIMPLE)
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hub.connection.notifications.append((HANDLE, "1b0e000500453a09"))
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time.sleep(1)
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hub.tilt_sensor.subscribe(callback, TILT_MODE_2AXIS_FULL)
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hub.connection.notifications.append((HANDLE, "1b0e000600453a04fe"))
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time.sleep(1)
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self._wait_notifications_handled(hub)
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hub.tilt_sensor.unsubscribe(callback)
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# TODO: assert
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def test_motor(self):
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conn = ConnectionMock()
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conn.notifications.append((14, '1b0e00 0900 04 39 0227003738'))
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hub = HubMock(conn)
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motor = EncodedMotor(hub, PORT_AB)
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motor.timed(1.5)
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self.assertEqual("0d018139110adc056464647f03", conn.writes[0][1])
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motor.angled(90)
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self.assertEqual("0f018139110c5a0000006464647f03", conn.writes[1][1])
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def test_capabilities(self):
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conn = ConnectionMock()
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conn.notifications.append((14, '1b0e00 0f00 04 01 0125000000001000000010'))
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conn.notifications.append((14, '1b0e00 0f00 04 02 0126000000001000000010'))
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conn.notifications.append((14, '1b0e00 0f00 04 37 0127000100000001000000'))
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conn.notifications.append((14, '1b0e00 0f00 04 38 0127000100000001000000'))
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conn.notifications.append((14, '1b0e00 0900 04 39 0227003738'))
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conn.notifications.append((14, '1b0e00 0f00 04 32 0117000100000001000000'))
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conn.notifications.append((14, '1b0e00 0f00 04 3a 0128000000000100000001'))
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conn.notifications.append((14, '1b0e00 0f00 04 3b 0115000200000002000000'))
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conn.notifications.append((14, '1b0e00 0f00 04 3c 0114000200000002000000'))
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conn.notifications.append((14, '1b0e00 0f00 8202 01'))
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conn.notifications.append((14, '1b0e00 0f00 8202 0a'))
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hub = MoveHub(conn)
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# demo_all(hub)
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self._wait_notifications_handled(hub)
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def test_color_sensor(self):
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#
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hub = HubMock()
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hub.connection.notifications.append((HANDLE, '1b0e000f0004010125000000001000000010'))
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time.sleep(1)
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def callback(color, unk1, unk2):
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name = COLORS[color] if color is not None else 'NONE'
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log.info("Color: %s %s %s", name, unk1, unk2)
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hub.color_distance_sensor.subscribe(callback)
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hub.connection.notifications.append((HANDLE, "1b0e0008004501ff0aff00"))
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time.sleep(1)
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# TODO: assert
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self._wait_notifications_handled(hub)
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hub.color_distance_sensor.unsubscribe(callback)
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