|
1
|
|
|
import pytest |
|
2
|
|
|
import os, struct, copy |
|
3
|
|
|
import logging |
|
4
|
|
|
from asyncio import coroutine |
|
5
|
|
|
from curio import kernel, sleep, spawn, Event |
|
6
|
|
|
|
|
7
|
|
|
from mock import Mock |
|
8
|
|
|
from mock import patch, call, create_autospec |
|
9
|
|
|
from mock import MagicMock |
|
10
|
|
|
from mock import PropertyMock |
|
11
|
|
|
|
|
12
|
|
|
from hypothesis import given, example, settings |
|
13
|
|
|
from hypothesis import strategies as st |
|
14
|
|
|
|
|
15
|
|
|
from bricknil.message_dispatch import MessageDispatch |
|
16
|
|
|
from bricknil.messages import UnknownMessageError, HubPropertiesMessage |
|
17
|
|
|
from bricknil.sensor import * |
|
18
|
|
|
from bricknil.const import DEVICES |
|
19
|
|
|
from bricknil import attach, start |
|
20
|
|
|
from bricknil.hub import PoweredUpHub, Hub, BoostHub, DuploTrainHub |
|
21
|
|
|
import bricknil |
|
22
|
|
|
import bricknil.const |
|
23
|
|
|
|
|
24
|
|
|
|
|
25
|
|
|
class TestSensors: |
|
26
|
|
|
|
|
27
|
|
|
def setup(self): |
|
28
|
|
|
# Create the main dispatch |
|
29
|
|
|
self.hub = MagicMock() |
|
30
|
|
|
self.m = MessageDispatch(self.hub) |
|
31
|
|
|
self.sensor_list = [ CurrentSensor, |
|
32
|
|
|
DuploSpeedSensor, |
|
33
|
|
|
VisionSensor, |
|
34
|
|
|
InternalTiltSensor, |
|
35
|
|
|
ExternalMotionSensor, |
|
36
|
|
|
ExternalTiltSensor, |
|
37
|
|
|
RemoteButtons, |
|
38
|
|
|
Button, |
|
39
|
|
|
DuploVisionSensor, |
|
40
|
|
|
VoltageSensor, |
|
41
|
|
|
] |
|
42
|
|
|
self.hub_list = [ PoweredUpHub, BoostHub, DuploTrainHub] |
|
43
|
|
|
|
|
44
|
|
|
def _with_header(self, msg:bytearray): |
|
45
|
|
|
l = len(msg)+2 |
|
46
|
|
|
assert l<127 |
|
47
|
|
|
return bytearray([l, 0]+list(msg)) |
|
48
|
|
|
|
|
49
|
|
|
def _draw_capabilities(self, data, sensor): |
|
50
|
|
|
if len(sensor.allowed_combo) > 0: |
|
51
|
|
|
# test capabilities 1 by 1, |
|
52
|
|
|
# or some combination of those in the allowed_combo list |
|
53
|
|
|
capabilities = data.draw( |
|
54
|
|
|
st.one_of( |
|
55
|
|
|
st.lists(st.sampled_from(sensor.capability), min_size=1, max_size=1), |
|
56
|
|
|
st.lists(st.sampled_from(sensor.allowed_combo), min_size=1, unique=True) |
|
57
|
|
|
) |
|
58
|
|
|
) |
|
59
|
|
|
else: |
|
60
|
|
|
# if no combos allowed, then just test 1 by 1 |
|
61
|
|
|
capabilities = data.draw(st.lists(st.sampled_from(sensor.capability), min_size=1, max_size=1)) |
|
62
|
|
|
return capabilities |
|
63
|
|
|
|
|
64
|
|
|
|
|
65
|
|
|
def _get_hub_class(self, hub_type, sensor, sensor_name, capabilities): |
|
66
|
|
|
stop_evt = Event() |
|
67
|
|
|
@attach(sensor, name=sensor_name, capabilities=capabilities) |
|
68
|
|
|
class TestHub(hub_type): |
|
69
|
|
|
async def sensor_change(self): |
|
70
|
|
|
pass |
|
71
|
|
|
async def run(self): |
|
72
|
|
|
pass |
|
73
|
|
|
await stop_evt.wait() |
|
74
|
|
|
|
|
75
|
|
|
return TestHub, stop_evt |
|
76
|
|
|
|
|
77
|
|
|
#@patch('bricknil.hub.PoweredUpHub', autospec=True, create=True) |
|
78
|
|
|
@given(data = st.data()) |
|
79
|
|
|
def test_attach_sensor(self, data): |
|
80
|
|
|
|
|
81
|
|
|
sensor_name = 'sensor' |
|
82
|
|
|
sensor = data.draw(st.sampled_from(self.sensor_list)) |
|
83
|
|
|
capabilities = self._draw_capabilities(data, sensor) |
|
84
|
|
|
|
|
85
|
|
|
hub_type = data.draw(st.sampled_from(self.hub_list)) |
|
86
|
|
|
TestHub, stop_evt = self._get_hub_class(hub_type, sensor, sensor_name, capabilities) |
|
87
|
|
|
hub = TestHub('testhub') |
|
88
|
|
|
# Check to make sure we have the peripheral attached |
|
89
|
|
|
# and the sensor inserted as an attribute |
|
90
|
|
|
assert sensor_name in hub.peripherals |
|
91
|
|
|
assert hasattr(hub, sensor_name) |
|
92
|
|
|
|
|
93
|
|
|
@given(data = st.data()) |
|
94
|
|
|
def test_run_hub(self, data): |
|
95
|
|
|
|
|
96
|
|
|
Hub.hubs = [] |
|
97
|
|
|
sensor_name = 'sensor' |
|
98
|
|
|
sensor = data.draw(st.sampled_from(self.sensor_list)) |
|
99
|
|
|
capabilities = self._draw_capabilities(data, sensor) |
|
100
|
|
|
|
|
101
|
|
|
hub_type = data.draw(st.sampled_from(self.hub_list)) |
|
102
|
|
|
TestHub, stop_evt = self._get_hub_class(hub_type, sensor, sensor_name, capabilities) |
|
103
|
|
|
hub = TestHub('test_hub') |
|
104
|
|
|
|
|
105
|
|
|
# Start the hub |
|
106
|
|
|
#kernel.run(self._emit_control(TestHub)) |
|
107
|
|
|
with patch('Adafruit_BluefruitLE.get_provider') as ble,\ |
|
108
|
|
|
patch('bricknil.ble_queue.USE_BLEAK', False) as use_bleak: |
|
109
|
|
|
ble.return_value = MockBLE(hub) |
|
110
|
|
|
sensor_obj = getattr(hub, sensor_name) |
|
111
|
|
|
sensor_obj.send_message = Mock(side_effect=coroutine(lambda x,y: "the awaitable should return this")) |
|
112
|
|
|
kernel.run(self._emit_control, data, hub, stop_evt, ble(), sensor_obj) |
|
113
|
|
|
#start(system) |
|
114
|
|
|
|
|
115
|
|
|
async def _wait_send_message(self, mock_call, msg): |
|
116
|
|
|
print("in mock") |
|
117
|
|
|
while not mock_call.call_args: |
|
118
|
|
|
await sleep(0.01) |
|
119
|
|
|
while not msg in mock_call.call_args[0][0]: |
|
120
|
|
|
print(mock_call.call_args) |
|
121
|
|
|
await sleep(0.01) |
|
122
|
|
|
|
|
123
|
|
|
async def _emit_control(self, data, hub, hub_stop_evt, ble, sensor): |
|
124
|
|
|
async def dummy(): |
|
125
|
|
|
pass |
|
126
|
|
|
system = await spawn(bricknil.bricknil._run_all(ble, dummy)) |
|
127
|
|
|
while not hub.peripheral_queue: |
|
128
|
|
|
await sleep(0.1) |
|
129
|
|
|
#await sleep(3) |
|
130
|
|
|
port = data.draw(st.integers(0,254)) |
|
131
|
|
|
await hub.peripheral_queue.put( ('attach', (port, sensor.sensor_name)) ) |
|
132
|
|
|
|
|
133
|
|
|
# Now, make sure the sensor sent an activate updates message |
|
134
|
|
|
if sensor.sensor_name == "Button": |
|
135
|
|
|
await self._wait_send_message(sensor.send_message, 'Activate button') |
|
136
|
|
|
else: |
|
137
|
|
|
await self._wait_send_message(sensor.send_message, 'Activate SENSOR') |
|
138
|
|
|
# Need to generate a value on the port |
|
139
|
|
|
# if False: |
|
140
|
|
|
msg = [] |
|
141
|
|
|
if len(sensor.capabilities) == 1: |
|
142
|
|
|
# Handle single capability |
|
143
|
|
|
for cap in sensor.capabilities: |
|
144
|
|
|
n_datasets, byte_count = sensor.datasets[cap][0:2] |
|
145
|
|
|
for i in range(n_datasets): |
|
146
|
|
|
for b in range(byte_count): |
|
147
|
|
|
msg.append(data.draw(st.integers(0,255))) |
|
148
|
|
|
msg = bytearray(msg) |
|
149
|
|
|
await hub.peripheral_queue.put( ('value_change', (port, msg))) |
|
150
|
|
|
elif len(sensor.capabilities) > 1: |
|
151
|
|
|
modes = 1 |
|
152
|
|
|
msg.append(modes) |
|
153
|
|
|
for cap_i, cap in enumerate(sensor.capabilities): |
|
154
|
|
|
if modes & (1<<cap_i): |
|
155
|
|
|
n_datasets, byte_count = sensor.datasets[cap][0:2] |
|
156
|
|
|
for i in range(n_datasets): |
|
157
|
|
|
for b in range(byte_count): |
|
158
|
|
|
msg.append(data.draw(st.integers(0,255))) |
|
159
|
|
|
msg = bytearray(msg) |
|
160
|
|
|
await hub.peripheral_queue.put( ('value_change', (port, msg))) |
|
161
|
|
|
|
|
162
|
|
|
await hub_stop_evt.set() |
|
163
|
|
|
await system.join() |
|
164
|
|
|
|
|
165
|
|
|
class MockBLE: |
|
166
|
|
|
def __init__(self, hub): |
|
167
|
|
|
self.hub = hub |
|
168
|
|
|
|
|
169
|
|
|
def initialize(self): |
|
170
|
|
|
print("initialized") |
|
171
|
|
|
|
|
172
|
|
|
def clear_cached_data(self): |
|
173
|
|
|
pass |
|
174
|
|
|
|
|
175
|
|
|
def get_default_adapter(self): |
|
176
|
|
|
self.mock_adapter = MockAdapter() |
|
177
|
|
|
return self.mock_adapter |
|
178
|
|
|
|
|
179
|
|
|
def find_devices(self, service_uuids): |
|
180
|
|
|
self.device = MockDevice(hub_name = self.hub.ble_name, hub_id = self.hub.manufacturer_id) |
|
181
|
|
|
return [self.device] |
|
182
|
|
|
|
|
183
|
|
|
def run_mainloop_with(self, func): |
|
184
|
|
|
print("run mainloop") |
|
185
|
|
|
func() |
|
186
|
|
|
|
|
187
|
|
|
class MockAdapter: |
|
188
|
|
|
def __init__(self): |
|
189
|
|
|
self.name = 'Mock adapter' |
|
190
|
|
|
def power_on(self): |
|
191
|
|
|
pass |
|
192
|
|
|
|
|
193
|
|
|
def start_scan(self): |
|
194
|
|
|
print("start scan called") |
|
195
|
|
|
|
|
196
|
|
|
def stop_scan(self): |
|
197
|
|
|
print("stop scan called") |
|
198
|
|
|
|
|
199
|
|
|
class MockDevice: |
|
200
|
|
|
def __init__(self, hub_name, hub_id): |
|
201
|
|
|
self.advertised = [-1, -1, -1, -1, hub_id] |
|
202
|
|
|
self.id = 'XX:XX:XX:XX:XX:XX' |
|
203
|
|
|
self.name = hub_name |
|
204
|
|
|
|
|
205
|
|
|
def connect(self): |
|
206
|
|
|
print("device connect called") |
|
207
|
|
|
|
|
208
|
|
|
def discover(self, uart_uuid, char_uuid): |
|
209
|
|
|
print(f'discover called on uart {uart_uuid}, char {char_uuid}') |
|
210
|
|
|
self.uart_uuid = uart_uuid |
|
211
|
|
|
self.char = char_uuid |
|
212
|
|
|
|
|
213
|
|
|
def find_service(self, uart_uuid): |
|
214
|
|
|
self.uart = MockUart() |
|
215
|
|
|
return self.uart |
|
216
|
|
|
|
|
217
|
|
|
def disconnect(self): |
|
218
|
|
|
print('device disconnect called') |
|
219
|
|
|
|
|
220
|
|
|
|
|
221
|
|
|
class MockUart: |
|
222
|
|
|
def __init__(self): |
|
223
|
|
|
pass |
|
224
|
|
|
def find_characteristic(self, char_uuid): |
|
225
|
|
|
self.char_uuid = char_uuid |
|
226
|
|
|
return self |
|
227
|
|
|
|
|
228
|
|
|
def start_notify(self, callback): |
|
229
|
|
|
# Spawn a task to do the attachments, etc |
|
230
|
|
|
self.notify = callback |
|
231
|
|
|
|
|
232
|
|
|
def write_value(self, values): |
|
233
|
|
|
print(f'received values: {values}') |
virantha /
bricknil
