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|
# test_sensors -- Test nxt.sensor modules
# Copyright (C) 2021 Nicolas Schodet
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
import struct
from unittest.mock import Mock, call
import pytest
import nxt.sensor
import nxt.sensor.analog
import nxt.sensor.digital
import nxt.sensor.generic
import nxt.sensor.hitechnic
import nxt.sensor.mindsensors
from nxt.sensor import Mode, Port, Type
@pytest.fixture
def mdigital(monkeypatch):
m = Mock(spec_set=("read_value", "write_value"))
monkeypatch.setattr(
nxt.sensor.digital.BaseDigitalSensor, "read_value", m.read_value
)
monkeypatch.setattr(
nxt.sensor.digital.BaseDigitalSensor, "write_value", m.write_value
)
return m
class TestGeneric:
"""Test non digital sensors."""
def test_analog(self, mbrick):
s = mbrick.get_sensor(Port.S1, nxt.sensor.analog.BaseAnalogSensor)
mbrick.get_input_values.side_effect = [
(Port.S1, True, False, Type.SWITCH, Mode.BOOL, 1, 2, 3, 4),
]
s.set_input_mode(Type.SWITCH, Mode.BOOL)
v = s.get_input_values()
assert v.port == Port.S1
assert v.valid is True
assert v.calibrated is False
assert v.sensor_type == Type.SWITCH
assert v.sensor_mode == Mode.BOOL
assert v.raw_value == 1
assert v.normalized_value == 2
assert v.scaled_value == 3
assert v.calibrated_value == 4
assert str(v).startswith("RawReading(")
s.reset_input_scaled_value()
assert mbrick.mock_calls == [
call.set_input_mode(Port.S1, Type.SWITCH, Mode.BOOL),
call.get_input_values(Port.S1),
call.reset_input_scaled_value(Port.S1),
]
def test_analog_retry(self, mbrick, mtime):
s = mbrick.get_sensor(Port.S1, nxt.sensor.analog.BaseAnalogSensor)
mbrick.get_input_values.side_effect = [
(Port.S1, False, False, Type.SWITCH, Mode.BOOL, 1, 2, 3, 4),
(Port.S1, False, False, Type.SWITCH, Mode.BOOL, 1, 2, 3, 4),
(Port.S1, True, False, Type.SWITCH, Mode.BOOL, 1, 2, 3, 4),
]
s.set_input_mode(Type.SWITCH, Mode.BOOL)
v = s.get_valid_input_values()
assert v.port == Port.S1
assert v.valid is True
assert v.calibrated is False
assert v.sensor_type == Type.SWITCH
assert v.sensor_mode == Mode.BOOL
assert v.raw_value == 1
assert v.normalized_value == 2
assert v.scaled_value == 3
assert v.calibrated_value == 4
assert mbrick.mock_calls == [
call.set_input_mode(Port.S1, Type.SWITCH, Mode.BOOL),
call.get_input_values(Port.S1),
call.get_input_values(Port.S1),
call.get_input_values(Port.S1),
]
assert mtime.sleep.mock_calls == [
call(0.1),
call(0.1),
]
def test_analog_retry_fail(self, mbrick, mtime):
retries = 10
s = mbrick.get_sensor(Port.S1, nxt.sensor.analog.BaseAnalogSensor)
mbrick.get_input_values.side_effect = retries * [
(Port.S1, False, False, Type.SWITCH, Mode.BOOL, 1, 2, 3, 4),
]
s.set_input_mode(Type.SWITCH, Mode.BOOL)
with pytest.raises(nxt.sensor.analog.InvalidReading):
s.get_valid_input_values()
assert mbrick.mock_calls == [
call.set_input_mode(Port.S1, Type.SWITCH, Mode.BOOL),
] + retries * [
call.get_input_values(Port.S1),
]
assert mtime.sleep.mock_calls == (retries - 1) * [call(0.1)]
def test_touch(self, mbrick):
assert (
nxt.sensor.generic.Touch.get_sample is nxt.sensor.generic.Touch.is_pressed
)
s = mbrick.get_sensor(Port.S1, nxt.sensor.generic.Touch)
mbrick.get_input_values.side_effect = [
(Port.S1, True, False, Type.SWITCH, Mode.BOOL, 1023, 1023, 0, 1023),
(Port.S1, True, False, Type.SWITCH, Mode.BOOL, 183, 183, 1, 183),
]
assert s.is_pressed() is False
assert s.is_pressed() is True
assert mbrick.mock_calls == [
call.set_input_mode(Port.S1, Type.SWITCH, Mode.BOOL),
call.get_input_values(Port.S1),
call.get_input_values(Port.S1),
]
def test_light(self, mbrick):
assert (
nxt.sensor.generic.Light.get_sample
is nxt.sensor.generic.Light.get_lightness
)
s = mbrick.get_sensor(Port.S1, nxt.sensor.generic.Light)
mbrick.get_input_values.side_effect = [
(Port.S1, True, False, Type.LIGHT_ACTIVE, Mode.RAW, 726, 250, 250, 250),
(Port.S1, True, False, Type.LIGHT_INACTIVE, Mode.RAW, 823, 107, 107, 107),
]
assert s.get_lightness() == 250
s.set_illuminated(False)
assert s.get_lightness() == 107
assert mbrick.mock_calls == [
call.set_input_mode(Port.S1, Type.LIGHT_ACTIVE, Mode.RAW),
call.get_input_values(Port.S1),
call.set_input_mode(Port.S1, Type.LIGHT_INACTIVE, Mode.RAW),
call.get_input_values(Port.S1),
]
def test_sound(self, mbrick):
assert (
nxt.sensor.generic.Sound.get_sample is nxt.sensor.generic.Sound.get_loudness
)
s = mbrick.get_sensor(Port.S1, nxt.sensor.generic.Sound)
mbrick.get_input_values.side_effect = [
(Port.S1, True, False, Type.SOUND_DBA, Mode.RAW, 999, 15, 15, 15),
(Port.S1, True, False, Type.SOUND_DB, Mode.RAW, 999, 15, 15, 15),
]
assert s.get_loudness() == 15
s.set_adjusted(False)
assert s.get_loudness() == 15
assert mbrick.mock_calls == [
call.set_input_mode(Port.S1, Type.SOUND_DBA, Mode.RAW),
call.get_input_values(Port.S1),
call.set_input_mode(Port.S1, Type.SOUND_DB, Mode.RAW),
call.get_input_values(Port.S1),
]
def test_color(self, mbrick):
assert nxt.sensor.generic.Color.get_sample is nxt.sensor.generic.Color.get_color
s = mbrick.get_sensor(Port.S1, nxt.sensor.generic.Color)
mbrick.get_input_values.side_effect = [
(Port.S1, True, False, Type.COLOR_FULL, Mode.RAW, 0, 0, 4, 0),
(Port.S1, True, False, Type.COLOR_FULL, Mode.RAW, 0, 0, 4, 0),
# TODO: handle invalid measures on configuration change.
(Port.S1, True, False, Type.COLOR_RED, Mode.RAW, 114, 46, 46, 46),
(Port.S1, True, False, Type.COLOR_RED, Mode.RAW, 114, 46, 46, 46),
]
color = s.get_color()
assert color == 4
assert color == s.DetectedColor.YELLOW
assert s.get_reflected_light(Type.COLOR_RED) == 46
assert s.get_light_color() == Type.COLOR_RED
assert mbrick.mock_calls == [
# TODO: set too much input mode.
call.set_input_mode(Port.S1, Type.COLOR_FULL, Mode.RAW),
call.set_input_mode(Port.S1, Type.COLOR_FULL, Mode.RAW),
# TODO: get too much input values.
call.get_input_values(Port.S1),
call.get_input_values(Port.S1),
call.set_input_mode(Port.S1, Type.COLOR_RED, Mode.RAW),
call.get_input_values(Port.S1),
call.get_input_values(Port.S1),
]
@pytest.mark.usefixtures("mtime")
class TestDigital:
"""Test nxt.sensor.digital."""
version_bin = b"V1.0\0\0\0\0"
product_id_bin = b"LEGO\0\0\0\0"
sensor_type_bin = b"Sonar\0\0\0"
def test_get_sensor_info(self, mbrick):
s = mbrick.get_sensor(Port.S1, nxt.sensor.digital.BaseDigitalSensor, False)
mbrick.ls_get_status.return_value = 8
mbrick.ls_read.side_effect = [
self.version_bin,
self.product_id_bin,
self.sensor_type_bin,
]
info = s.get_sensor_info()
assert info.version == "V1.0"
assert info.product_id == "LEGO"
assert info.sensor_type == "Sonar"
print(info)
assert mbrick.mock_calls == [
call.set_input_mode(Port.S1, Type.LOW_SPEED_9V, Mode.RAW),
call.ls_write(Port.S1, bytes((0x02, 0x00)), 8),
call.ls_get_status(Port.S1),
call.ls_read(Port.S1),
call.ls_write(Port.S1, bytes((0x02, 0x08)), 8),
call.ls_get_status(Port.S1),
call.ls_read(Port.S1),
call.ls_write(Port.S1, bytes((0x02, 0x10)), 8),
call.ls_get_status(Port.S1),
call.ls_read(Port.S1),
]
def test_check_compatible(self, mbrick, caplog):
class DummySensor(nxt.sensor.digital.BaseDigitalSensor):
pass
DummySensor.add_compatible_sensor(None, "NXT-PYTH", "Dummy")
mbrick.ls_get_status.return_value = 8
mbrick.ls_read.side_effect = [
b"V3\0\0\0\0\0\0",
b"NXT-PYTH",
b"Dummy\0\0\0",
b"V2\0\0\0\0\0\0",
b"NXT-PYTH",
b"Plop\0\0\0\0",
]
DummySensor(mbrick, Port.S1)
assert "WARNING" not in caplog.text
DummySensor(mbrick, Port.S2)
assert "WARNING" in caplog.text
def test_write_value(self, mbrick):
s = mbrick.get_sensor(Port.S1, nxt.sensor.digital.BaseDigitalSensor, False)
s.I2C_ADDRESS = dict(s.I2C_ADDRESS, command=(0x41, "B"))
s.write_value("command", (0x12,))
assert mbrick.mock_calls == [
call.set_input_mode(Port.S1, Type.LOW_SPEED_9V, Mode.RAW),
call.ls_write(Port.S1, bytes((0x02, 0x41, 0x12)), 0),
]
def test_not_ready(self, mbrick):
s = mbrick.get_sensor(Port.S1, nxt.sensor.digital.BaseDigitalSensor, False)
mbrick.ls_get_status.side_effect = [nxt.error.I2CPendingError("pending"), 8]
mbrick.ls_read.return_value = self.product_id_bin
assert s.read_value("product_id") == (self.product_id_bin,)
assert mbrick.mock_calls == [
call.set_input_mode(Port.S1, Type.LOW_SPEED_9V, Mode.RAW),
call.ls_write(Port.S1, bytes((0x02, 0x08)), 8),
call.ls_get_status(Port.S1),
call.ls_get_status(Port.S1),
call.ls_read(Port.S1),
]
def test_status_timeout(self, mbrick):
s = mbrick.get_sensor(Port.S1, nxt.sensor.digital.BaseDigitalSensor, False)
mbrick.ls_get_status.side_effect = (
[nxt.error.I2CPendingError("pending")] * 30 * 3
)
with pytest.raises(nxt.error.I2CError):
s.read_value("product_id")
mock_calls = [call.set_input_mode(Port.S1, Type.LOW_SPEED_9V, Mode.RAW)] + (
[call.ls_write(Port.S1, bytes((0x02, 0x08)), 8)]
+ [call.ls_get_status(Port.S1)] * 30
+ [call.ls_read(Port.S1)]
) * 3
assert mbrick.mock_calls == mock_calls
def test_read_error(self, mbrick):
s = mbrick.get_sensor(Port.S1, nxt.sensor.digital.BaseDigitalSensor, False)
mbrick.ls_get_status.side_effect = [8, 8]
mbrick.ls_read.side_effect = [self.product_id_bin[1:], self.product_id_bin]
assert s.read_value("product_id") == (self.product_id_bin,)
assert mbrick.mock_calls == [
call.set_input_mode(Port.S1, Type.LOW_SPEED_9V, Mode.RAW),
call.ls_write(Port.S1, bytes((0x02, 0x08)), 8),
call.ls_get_status(Port.S1),
call.ls_read(Port.S1),
# Retry.
call.ls_write(Port.S1, bytes((0x02, 0x08)), 8),
call.ls_get_status(Port.S1),
call.ls_read(Port.S1),
]
def test_read_timeout(self, mbrick):
s = mbrick.get_sensor(Port.S1, nxt.sensor.digital.BaseDigitalSensor, False)
mbrick.ls_get_status.return_value = 8
mbrick.ls_read.return_value = self.product_id_bin[1:]
with pytest.raises(nxt.error.I2CError):
s.read_value("product_id")
mock_calls = [call.set_input_mode(Port.S1, Type.LOW_SPEED_9V, Mode.RAW)] + [
call.ls_write(Port.S1, bytes((0x02, 0x08)), 8),
call.ls_get_status(Port.S1),
call.ls_read(Port.S1),
] * 3
assert mbrick.mock_calls == mock_calls
def test_find_class(self):
def test(info, cls):
found = nxt.sensor.digital.find_class(nxt.sensor.digital.SensorInfo(*info))
assert found is cls
test(("V1.0", "LEGO", "Sonar"), nxt.sensor.generic.Ultrasonic)
test(("Vx.xx", "mndsnsrs", "CMPS"), nxt.sensor.mindsensors.Compassv2)
test(("Vx.xx", "mndsnsrs", "DIST"), nxt.sensor.mindsensors.DIST)
test(("V3.20", "mndsnsrs", "ACCL-NX"), nxt.sensor.mindsensors.ACCL)
test(("V2.11", "mndsnsrs", "MTRMUX"), nxt.sensor.mindsensors.MTRMUX)
test(("V1.16", "mndsnsrs", "LineLdr"), nxt.sensor.mindsensors.LineLeader)
test(("V1.20", "mndsnsrs", "NXTServo"), nxt.sensor.mindsensors.Servo)
test(("V1.01", "mndsnsrs", "NxTMMX"), nxt.sensor.mindsensors.MMX)
test(("V1.02", "mndsnsrs", "NXTHID"), nxt.sensor.mindsensors.HID)
test(("V2.00", "mndsnsrs", "PSPNX"), nxt.sensor.mindsensors.PS2)
test(("\xfdV1.23", "HiTechnc", "Compass "), nxt.sensor.hitechnic.Compass)
test(("\xfdV2.1", "HITECHNC", "Compass "), nxt.sensor.hitechnic.Compass)
test(
("\xfdV1.1 ", "HITECHNC", "Accel. "), nxt.sensor.hitechnic.Accelerometer
)
test(("Vx.xx", "HITECHNC", "IRRecv "), nxt.sensor.hitechnic.IRReceiver)
test(("Vx.xx", "HITECHNC", "NewIRDir"), nxt.sensor.hitechnic.IRSeekerv2)
test(("Vx.xx", "HITECHNC", "ColorPD"), nxt.sensor.hitechnic.Colorv2)
test(("Vx.xx", "HITECHNC", "ColorPD "), nxt.sensor.hitechnic.Colorv2)
test(("Vx.xx", "HiTechnc", "Proto "), nxt.sensor.hitechnic.Prototype)
test(("Vx.xx", "HiTechnc", "SuperPro"), nxt.sensor.hitechnic.SuperPro)
test(("Vx.xx", "HiTechnc", "ServoCon"), nxt.sensor.hitechnic.ServoCon)
test(("Vx.xx", "HiTechnc", "MotorCon"), nxt.sensor.hitechnic.MotorCon)
def test_get_sensor(self, mbrick):
mbrick.ls_get_status.return_value = 8
mbrick.ls_read.side_effect = [
self.version_bin,
self.product_id_bin,
self.sensor_type_bin,
]
assert mbrick.get_sensor(Port.S1).__class__ is nxt.sensor.generic.Ultrasonic
assert mbrick.mock_calls == [
call.set_input_mode(Port.S1, Type.LOW_SPEED_9V, Mode.RAW),
call.ls_write(Port.S1, bytes((0x02, 0x00)), 8),
call.ls_get_status(Port.S1),
call.ls_read(Port.S1),
call.ls_write(Port.S1, bytes((0x02, 0x08)), 8),
call.ls_get_status(Port.S1),
call.ls_read(Port.S1),
call.ls_write(Port.S1, bytes((0x02, 0x10)), 8),
call.ls_get_status(Port.S1),
call.ls_read(Port.S1),
call.set_input_mode(Port.S1, Type.LOW_SPEED_9V, Mode.RAW),
]
class TestGenericDigital:
"""Test LEGO digital sensors."""
def test_ultrasonic(self, mbrick, mdigital):
assert (
nxt.sensor.generic.Ultrasonic.get_sample
is nxt.sensor.generic.Ultrasonic.get_distance
)
s = mbrick.get_sensor(
Port.S1, nxt.sensor.generic.Ultrasonic, check_compatible=False
)
mdigital.read_value.side_effect = [
(42,),
(b"10E-2m\0",),
(1, 2, 3, 4, 5, 6, 7, 8),
(4,),
(43,),
]
assert s.get_distance() == 42
assert s.get_measurement_units() == "10E-2m"
assert s.get_all_measurements() == (1, 2, 3, 4, 5, 6, 7, 8)
assert s.get_measurement_no(3) == 4
s.command(s.Command.OFF)
assert s.get_interval() == 43
s.set_interval(44)
assert mdigital.mock_calls == [
call.read_value("measurement_byte_0"),
call.read_value("measurement_units"),
call.read_value("measurements"),
call.read_value("measurement_byte_3"),
call.write_value("command", (0,)),
call.read_value("continuous_measurement_interval"),
call.write_value("continuous_measurement_interval", (44,)),
]
def test_temperature(self, mbrick, mdigital):
assert (
nxt.sensor.generic.Temperature.get_sample
is nxt.sensor.generic.Temperature.get_deg_c
)
s = mbrick.get_sensor(Port.S1, nxt.sensor.generic.Temperature)
mdigital.read_value.side_effect = [
(1600 * 16,),
(1600 * 16,),
struct.unpack(">h", b"\xff\x80"),
]
assert s.get_deg_c() == 100
assert s.get_deg_f() == 212
assert s.get_deg_c() == -0.5
assert mdigital.mock_calls == [
call.read_value("raw_value"),
call.read_value("raw_value"),
call.read_value("raw_value"),
]
class TestMindsensors:
"""Test Mindsensors sensors."""
def test_sumoeyes(self, mbrick):
s = mbrick.get_sensor(Port.S1, nxt.sensor.mindsensors.SumoEyes)
mbrick.get_input_values.side_effect = [
(Port.S1, True, False, Type.LIGHT_ACTIVE, Mode.RAW, 0, 0, 0, 0),
(Port.S1, True, False, Type.LIGHT_ACTIVE, Mode.RAW, 0, 350, 0, 0),
(Port.S1, True, False, Type.LIGHT_ACTIVE, Mode.RAW, 0, 650, 0, 0),
(Port.S1, True, False, Type.LIGHT_ACTIVE, Mode.RAW, 0, 800, 0, 0),
]
m = s.get_sample()
assert str(m) == "(left: False, right: False)"
assert (m.left, m.right) == (False, False)
m = s.get_sample()
assert (m.left, m.right) == (True, False)
m = s.get_sample()
assert (m.left, m.right) == (False, True)
m = s.get_sample()
assert (m.left, m.right) == (True, True)
s.set_long_range(True)
assert mbrick.mock_calls == [
call.set_input_mode(Port.S1, Type.LIGHT_ACTIVE, Mode.RAW),
call.get_input_values(Port.S1),
call.get_input_values(Port.S1),
call.get_input_values(Port.S1),
call.get_input_values(Port.S1),
call.set_input_mode(Port.S1, Type.LIGHT_INACTIVE, Mode.RAW),
]
def test_compassv2(self, mbrick, mdigital):
assert (
nxt.sensor.mindsensors.Compassv2.get_sample
is nxt.sensor.mindsensors.Compassv2.get_heading
)
s = mbrick.get_sensor(Port.S1, nxt.sensor.mindsensors.Compassv2, False)
mdigital.read_value.return_value = (300,)
# TODO: should return degrees (divide by 10).
assert s.get_heading() == 300
s.command(s.Commands.BEGIN_CALIBRATION)
# TODO: get rid of ord, adapt format.
assert mdigital.mock_calls == [
call.write_value("command", (ord("I"),)),
call.read_value("heading"),
call.write_value("command", (ord("C"),)),
]
def test_dist(self, mbrick, mdigital):
assert (
nxt.sensor.mindsensors.DIST.get_sample
is nxt.sensor.mindsensors.DIST.get_distance
)
s = mbrick.get_sensor(Port.S1, nxt.sensor.mindsensors.DIST, False)
# TODO: get rid of ord, adapt format.
mdigital.read_value.side_effect = [(100,), (ord("2"),), (42,), (43,), (44,)]
assert s.get_distance() == 100
assert s.get_type() == ord(s.Commands.TYPE_GP2D120)
s.command(s.Commands.POWER_OFF)
assert s.get_voltage() == 42
assert s.get_min_distance() == 43
assert s.get_max_distance() == 44
assert mdigital.mock_calls == [
call.read_value("distance"),
call.read_value("type"),
call.write_value("command", (ord("D"),)),
call.read_value("voltage"),
call.read_value("min_distance"),
call.read_value("max_distance"),
]
def test_rtc(self, mbrick, mdigital):
s = mbrick.get_sensor(Port.S1, nxt.sensor.mindsensors.RTC)
# TODO: this one is completely broken:
# - Return str instead of int.
# - Bad handling of hour format.
# - Fields are read one by one (what happen if you read minutes at 11:59 and
# hours at 12:00?
# - Pretty sure struct_time is not right too.
mdigital.read_value.side_effect = [(0x32,)]
assert s.get_seconds() == "32"
def test_accl(self, mbrick, mdigital):
assert (
nxt.sensor.mindsensors.ACCL.get_sample
is nxt.sensor.mindsensors.ACCL.get_all_accel
)
s = mbrick.get_sensor(Port.S1, nxt.sensor.mindsensors.ACCL, False)
# TODO: get rid of ord, adapt format.
mdigital.read_value.side_effect = [
(ord("2"),),
(42,),
(1, 2, 3),
(43,),
(1, 2, 3),
(44,),
(45,),
]
s.command(s.Commands.SENS_2G)
assert s.get_sensitivity() == s.Commands.SENS_2G
assert s.get_tilt("x") == 42
assert s.get_all_tilt() == (1, 2, 3)
assert s.get_accel("z") == 43
assert s.get_all_accel() == (1, 2, 3)
assert s.get_offset("x") == 44
assert s.get_range("x") == 45
s.set_offset("x", 46)
s.set_range("x", 47)
assert mdigital.mock_calls == [
call.write_value("command", (ord("2"),)),
call.read_value("sensitivity"),
call.read_value("x_tilt"),
call.read_value("all_tilt"),
call.read_value("z_accel"),
call.read_value("all_accel"),
call.read_value("x_offset"),
call.read_value("x_range"),
call.write_value("x_offset", (46,)),
call.write_value("x_range", (47,)),
]
def test_mtrmux(self, mbrick, mdigital):
assert not hasattr(nxt.sensor.mindsensors.MTRMUX, "get_sample")
s = mbrick.get_sensor(Port.S1, nxt.sensor.mindsensors.MTRMUX, False)
mdigital.read_value.side_effect = [(1,), (2,)]
s.command(s.Commands.FLOAT)
s.set_direction(1, 1)
s.set_speed(2, 2)
assert s.get_direction(3) == 1
assert s.get_speed(4) == 2
assert mdigital.mock_calls == [
call.write_value("command", (0,)),
call.write_value("direction_m1", (1,)),
call.write_value("speed_m2", (2,)),
call.read_value("direction_m3"),
call.read_value("speed_m4"),
]
def test_lineleader(self, mbrick, mdigital):
assert (
nxt.sensor.mindsensors.LineLeader.get_sample
is nxt.sensor.mindsensors.LineLeader.get_reading_all
)
s = mbrick.get_sensor(Port.S1, nxt.sensor.mindsensors.LineLeader, False)
mdigital.read_value.side_effect = [
(-10,),
(50,),
(0x5A,),
(50,),
(1, 2, 3, 4, 5, 6, 7, 8),
(60,),
(11, 12, 13, 14, 15, 16, 17, 18),
]
s.command(s.Commands.CALIBRATE_WHITE)
assert s.get_steering() == -10
assert s.get_average() == 50
assert s.get_result() == 0x5A
s.set_set_point(50)
s.set_pid("p", 35)
s.set_pid_divisor("i", 10)
assert s.get_reading(1) == 50
assert s.get_reading_all() == (1, 2, 3, 4, 5, 6, 7, 8)
assert s.get_uncal_reading(2) == 60
assert s.get_uncal_all() == (11, 12, 13, 14, 15, 16, 17, 18)
assert mdigital.mock_calls == [
# TODO: get rid of ord, adapt format.
call.write_value("command", (ord("W"),)),
call.read_value("steering"),
call.read_value("average"),
call.read_value("result"),
call.write_value("set_point", (50,)),
call.write_value("kp", (35,)),
call.write_value("ki_divisor", (10,)),
call.read_value("calibrated_reading_byte1"),
call.read_value("all_calibrated_readings"),
call.read_value("uncal_sensor2_voltage_byte1"),
call.read_value("all_uncal_readings"),
]
def test_servo(self, mbrick, mdigital):
assert not hasattr(nxt.sensor.mindsensors.Servo, "get_sample")
s = mbrick.get_sensor(Port.S1, nxt.sensor.mindsensors.Servo, False)
# TODO: command can not work, can not fit two bytes in one byte.
mdigital.read_value.side_effect = [(1,), (42,), (43,)]
assert s.get_bat_level() == 1
s.set_position(1, 42)
assert s.get_position(1) == 42
s.set_speed(2, 43)
assert s.get_speed(2) == 43
s.set_quick(3, 44)
assert mdigital.mock_calls == [
call.read_value("command"),
call.write_value("servo_1_pos", (42,)),
call.read_value("servo_1_pos"),
call.write_value("servo_2_speed", (43,)),
call.read_value("servo_2_speed"),
call.write_value("servo_3_quick", (44,)),
]
def test_mmx(self, mbrick, mdigital):
assert not hasattr(nxt.sensor.mindsensors.MMX, "get_sample")
s = mbrick.get_sensor(Port.S1, nxt.sensor.mindsensors.MMX, False)
mdigital.read_value.side_effect = [
(1,),
(0xAA,),
(0x55,),
(12345,),
(0x55,),
(42,),
]
# TODO: get rid of ord, adapt format.
s.command(s.Commands.RESET_PARAMS_ENCODERS)
assert s.get_bat_level() == 1
s.set_encoder_target(1, 12345)
s.set_speed(2, 50)
s.set_time_run(1, 60)
s.command_b(1, 42)
s.command_a(2, 2, 1)
s.command_a(2, 2, 0)
assert s.get_encoder_pos(1) == 12345
# TODO: should be bool.
assert s.get_motor_status(1, 2) == 1
assert s.get_tasks(1) == 42
s.set_pid("p", "speed", 3)
s.set_pass_count(43)
s.set_tolerance(44)
assert mdigital.mock_calls == [
call.write_value("command", (ord("R"),)),
call.read_value("command"),
call.write_value("encoder_1_target", (12345,)),
call.write_value("speed_2", (50,)),
call.write_value("seconds_to_run_1", (60,)),
call.write_value("command_b_1", (42,)),
call.read_value("command_a_2"),
call.write_value("command_a_2", (0xAE,)),
call.read_value("command_a_2"),
call.write_value("command_a_2", (0x51,)),
call.read_value("encoder_1_pos"),
call.read_value("status_m1"),
call.read_value("tasks_running_m1"),
call.write_value("p_speed", (3,)),
call.write_value("pass_count", (43,)),
call.write_value("tolerance", (44,)),
]
def test_hid(self, mbrick, mdigital):
assert not hasattr(nxt.sensor.mindsensors.HID, "get_sample")
s = mbrick.get_sensor(Port.S1, nxt.sensor.mindsensors.HID, False)
s.command(s.Commands.ASCII_MODE)
s.set_modifier(42)
s.write_data("a")
assert mdigital.mock_calls == [
call.write_value("command", (ord("A"),)),
call.write_value("modifier", (42,)),
call.write_value("keyboard_data", (ord("a"),)),
]
def test_ps2(self, mbrick, mdigital):
s = mbrick.get_sensor(Port.S1, nxt.sensor.mindsensors.PS2, False)
mdigital.read_value.side_effect = [
(42,),
(0x55,),
# TODO: read everything in one read.
(0x55,),
(0x55,),
(42,),
(43,),
(44,),
(45,),
]
s.command(s.Commands.POWER_ON)
assert s.get_joystick("x", "left") == 42
assert s.get_buttons(1) == 0x55
st = s.get_sample()
assert st.leftstick == (42, 43)
assert st.rightstick == (44, 45)
assert st.buttons.left is True
assert st.buttons.down is False
assert st.buttons.right is True
assert st.buttons.up is False
assert st.buttons.square is True
assert st.buttons.cross is False
assert st.buttons.circle is True
assert st.buttons.triangle is False
assert st.buttons.r1 is True
assert st.buttons.r2 is True
assert st.buttons.r3 is False
assert st.buttons.l1 is False
assert st.buttons.l2 is False
assert st.buttons.l3 is True
assert mdigital.mock_calls == [
call.write_value("command", (ord("E"),)),
call.read_value("x_left_joystick"),
call.read_value("button_set_1"),
call.read_value("button_set_1"),
call.read_value("button_set_2"),
call.read_value("x_left_joystick"),
call.read_value("y_left_joystick"),
call.read_value("x_right_joystick"),
call.read_value("y_right_joystick"),
]
class TestHitechnic:
"""Test HiTechnic sensors."""
def test_compass(self, mbrick, mdigital):
assert (
nxt.sensor.hitechnic.Compass.get_sample
is nxt.sensor.hitechnic.Compass.get_heading
)
s = mbrick.get_sensor(Port.S1, nxt.sensor.hitechnic.Compass, False)
mdigital.read_value.return_value = (10,)
assert s.get_heading() == 30
assert s.get_relative_heading(0) == 30
assert s.get_relative_heading(-170) == -160
mdigital.read_value.return_value = (-10,)
assert s.get_relative_heading(170) == 160
assert s.is_in_range(-40, -20) is True
assert s.is_in_range(-20, -40) is False
mdigital.read_value.return_value = (0x02,)
assert s.get_mode() == s.Modes.CALIBRATION_FAILED
s.set_mode(s.Modes.CALIBRATION)
with pytest.raises(ValueError):
s.set_mode(s.Modes.CALIBRATION_FAILED)
assert mdigital.mock_calls == [
call.read_value("heading"),
call.read_value("adder"),
] * 6 + [
call.read_value("mode"),
call.write_value("mode", (0x43,)),
]
def test_accelerometer(self, mbrick, mdigital):
assert (
nxt.sensor.hitechnic.Accelerometer.get_sample
is nxt.sensor.hitechnic.Accelerometer.get_acceleration
)
s = mbrick.get_sensor(Port.S1, nxt.sensor.hitechnic.Accelerometer, False)
mdigital.read_value.return_value = (0x12, 0x23, -0x32, 0x3, 0x0, 0x2)
v = s.get_acceleration()
assert (v.x, v.y, v.z) == (75, 140, -198)
assert mdigital.mock_calls == [
call.read_value("all_data"),
]
def test_irreceiver(self, mbrick, mdigital):
assert (
nxt.sensor.hitechnic.IRReceiver.get_sample
is nxt.sensor.hitechnic.IRReceiver.get_speeds
)
s = mbrick.get_sensor(Port.S1, nxt.sensor.hitechnic.IRReceiver, False)
mdigital.read_value.return_value = (0, -16, 30, -44, 58, -72, 100, -128)
v = s.get_speeds()
assert (v.m1A, v.m1B) == (0, -16)
assert v.channel_1 == (0, -16)
assert (v.m2A, v.m2B) == (30, -44)
assert v.channel_2 == (30, -44)
assert (v.m3A, v.m3B) == (58, -72)
assert v.channel_3 == (58, -72)
# TODO: handle -128 specially.
assert (v.m4A, v.m4B) == (100, -128)
assert v.channel_4 == (100, -128)
assert mdigital.mock_calls == [
call.read_value("all_data"),
]
def test_irseekerv2(self, mbrick, mdigital):
assert (
nxt.sensor.hitechnic.IRSeekerv2.get_sample
is nxt.sensor.hitechnic.IRSeekerv2.get_ac_values
)
s = mbrick.get_sensor(Port.S1, nxt.sensor.hitechnic.IRSeekerv2, False)
mdigital.read_value.side_effect = [
(5, 42, 43, 44, 45, 46, 44),
(5, 42, 43, 44, 45, 46),
(0,),
]
v = s.get_dc_values()
assert v.direction == 5
# TODO: use a tuple.
assert v.sensor_1 == 42
assert v.sensor_2 == 43
assert v.sensor_3 == 44
assert v.sensor_4 == 45
assert v.sensor_5 == 46
assert v.sensor_mean == 44
assert v.get_dir_brightness(5) == 44
assert v.get_dir_brightness(4) == 43.5
v = s.get_ac_values()
assert v.direction == 5
assert v.sensor_1 == 42
assert v.sensor_2 == 43
assert v.sensor_3 == 44
assert v.sensor_4 == 45
assert v.sensor_5 == 46
assert v.get_dir_brightness(5) == 44
assert v.get_dir_brightness(4) == 43.5
assert s.get_dsp_mode() == s.DSPModes.AC_DSP_1200Hz
s.set_dsp_mode(s.DSPModes.AC_DSP_600Hz)
assert mdigital.mock_calls == [
call.read_value("all_DC"),
call.read_value("all_AC"),
call.read_value("dspmode"),
call.write_value("dspmode", (1,)),
]
def test_eopd(self, mbrick):
assert (
nxt.sensor.hitechnic.EOPD.get_sample
is nxt.sensor.hitechnic.EOPD.get_scaled_value
)
s = mbrick.get_sensor(Port.S1, nxt.sensor.hitechnic.EOPD)
mbrick.get_input_values.side_effect = [
(Port.S1, True, False, Type.LIGHT_INACTIVE, Mode.RAW, 523, 0, 0, 0),
(Port.S1, True, False, Type.LIGHT_INACTIVE, Mode.RAW, 398, 0, 0, 0),
(Port.S1, True, False, Type.LIGHT_INACTIVE, Mode.RAW, 398, 0, 0, 0),
(Port.S1, True, False, Type.LIGHT_INACTIVE, Mode.RAW, 1023, 0, 0, 0),
]
# TODO: choose a mode in constructor, or raise error if no mode chosen.
s.set_range_long()
s.set_range_short()
assert s.get_raw_value() == 500
assert s.get_processed_value() == 25
assert s.get_scaled_value() == 10
assert s.get_scaled_value() == 250
assert mbrick.mock_calls == [
call.set_input_mode(Port.S1, Type.LIGHT_ACTIVE, Mode.RAW),
call.set_input_mode(Port.S1, Type.LIGHT_INACTIVE, Mode.RAW),
call.get_input_values(Port.S1),
call.get_input_values(Port.S1),
call.get_input_values(Port.S1),
call.get_input_values(Port.S1),
]
def test_colorv2(self, mbrick, mdigital):
assert (
nxt.sensor.hitechnic.Colorv2.get_sample
is nxt.sensor.hitechnic.Colorv2.get_active_color
)
s = mbrick.get_sensor(Port.S1, nxt.sensor.hitechnic.Colorv2, False)
mdigital.read_value.side_effect = [
(8, 100, 50, 0, 75, 42, 66, 33, 0),
(100, 50, 0, 75),
(0,),
]
v = s.get_active_color()
assert v.number == 8
assert v.red == 100
assert v.green == 50
assert v.blue == 0
assert v.white == 75
assert v.index == 42
assert v.normred == 66
assert v.normgreen == 33
assert v.normblue == 0
v = s.get_passive_color()
assert v.red == 100
assert v.green == 50
assert v.blue == 0
assert v.white == 75
assert s.get_mode() == s.Modes.ACTIVE
s.set_mode(s.Modes.PASSIVE)
assert mdigital.mock_calls == [
call.read_value("all_data"),
call.read_value("all_raw_data"),
call.read_value("mode"),
call.write_value("mode", (1,)),
]
def test_giro(self, mbrick):
assert (
nxt.sensor.hitechnic.Gyro.get_sample
is nxt.sensor.hitechnic.Gyro.get_rotation_speed
)
s = mbrick.get_sensor(Port.S1, nxt.sensor.hitechnic.Gyro)
mbrick.get_input_values.side_effect = [
(Port.S1, True, False, Type.ANGLE, Mode.RAW, 0, 0, 42, 0),
(Port.S1, True, False, Type.ANGLE, Mode.RAW, 0, 0, 42, 0),
(Port.S1, True, False, Type.ANGLE, Mode.RAW, 0, 0, 54, 0),
(Port.S1, True, False, Type.ANGLE, Mode.RAW, 0, 0, 54, 0),
]
assert s.get_rotation_speed() == 42
s.calibrate()
assert s.get_rotation_speed() == 12
s.set_zero(0)
assert s.get_rotation_speed() == 54
assert mbrick.mock_calls == [
call.set_input_mode(Port.S1, Type.ANGLE, Mode.RAW),
call.get_input_values(Port.S1),
call.get_input_values(Port.S1),
call.get_input_values(Port.S1),
call.get_input_values(Port.S1),
]
def test_prototype(self, mbrick, mdigital):
assert not hasattr(nxt.sensor.hitechnic.Prototype, "get_sample")
s = mbrick.get_sensor(Port.S1, nxt.sensor.hitechnic.Prototype, False)
mdigital.read_value.side_effect = [
(42, 43, 44, 45, 46),
(0x2A,),
]
v = s.get_analog()
assert v.a0 == 42
assert v.a1 == 43
assert v.a2 == 44
assert v.a3 == 45
assert v.a4 == 46
v = s.get_digital()
assert v.dataint == 0x2A
assert v.datalst == [False, True, False, True, False, True]
assert list(v) == [False, True, False, True, False, True]
assert v[0] is False
assert v.d0 is False
assert v.d1 is True
assert v.d2 is False
assert v.d3 is True
assert v.d4 is False
assert v.d5 is True
s.set_digital(s.Digital_Data(0x15))
s.set_digital_modes(s.Digital_Data((False, True, False, True, False, True)))
assert mdigital.mock_calls == [
call.read_value("all_analog"),
call.read_value("digital_in"),
call.write_value("digital_out", (0x15,)),
call.write_value("digital_cont", (0x2A,)),
]
def test_superpro(self, mbrick, mdigital):
s = mbrick.get_sensor(Port.S1, nxt.sensor.hitechnic.SuperPro, False)
mdigital.read_value.side_effect = [[0x00], [0x00], [0x00], [0x00]]
s.get_analog()
mdigital.read_value.side_effect = [[0x00], [0x00], [0x00], [0x00]]
s.get_analog_volts()
mdigital.read_value.side_effect = [[0x00]]
s.get_digital()
s.set_digital([0, 1, 0, 1, 0, 1, 0, 1])
s.set_digital_byte(0x00)
s.set_digital_modes([0, 1, 0, 1, 0, 1, 0, 1])
s.set_digital_modes_byte(0x00)
s.set_strobe_output(0x00)
s.set_led_output(0x00)
s.analog_out(0, nxt.sensor.hitechnic.SuperPro.AnalogOutputMode.SQUARE, 1, 1023)
s.analog_out_voltage(
0, nxt.sensor.hitechnic.SuperPro.AnalogOutputMode.SQUARE, 1, 3.3
)
def test_servocon(self, mbrick, mdigital):
assert not hasattr(nxt.sensor.hitechnic.ServoCon, "get_sample")
s = mbrick.get_sensor(Port.S1, nxt.sensor.hitechnic.ServoCon, False)
mdigital.read_value.side_effect = [
(1,),
(43,),
]
assert s.get_status() == s.Status.RUNNING
s.set_step_time(5)
s.set_pos(1, 42)
assert s.get_pwm() == 43
s.set_pwm(44)
assert mdigital.mock_calls == [
call.read_value("status"),
call.write_value("steptime", (5,)),
call.write_value("s1pos", (42,)),
call.read_value("pwm"),
call.write_value("pwm", (44,)),
]
def test_motorcon(self, mbrick, mdigital):
assert not hasattr(nxt.sensor.hitechnic.MotorCon, "get_sample")
s = mbrick.get_sensor(Port.S1, nxt.sensor.hitechnic.MotorCon, False)
mdigital.read_value.side_effect = [
(123456,),
(654321,),
(0x55,),
(43,),
(1,),
(3, 2, 1),
(0x70, 0x2),
]
s.set_enc_target(1, 123456)
assert s.get_enc_target(1) == 123456
assert s.get_enc_current(2) == 654321
s.set_mode(1, 0x55)
assert s.get_mode(2) == 0x55
s.set_power(1, 42)
assert s.get_power(2) == 43
s.set_gear_ratio(1, 2)
assert s.get_gear_ratio(2) == 1
s.set_pid(1, s.PID_Data(3, 2, 1))
v = s.get_pid(2)
assert (v.p, v.i, v.d) == (3, 2, 1)
assert s.get_battery_voltage() == 450
assert mdigital.mock_calls == [
call.write_value("m1enctarget", (123456,)),
call.read_value("m1enctarget"),
call.read_value("m2enccurrent"),
call.write_value("m1mode", (0x55,)),
call.read_value("m2mode"),
call.write_value("m1power", (42,)),
call.read_value("m2power"),
call.write_value("m1gearratio", (2,)),
call.read_value("m2gearratio"),
call.write_value("m1pid", (3, 2, 1)),
call.read_value("m2pid"),
call.read_value("batteryvoltage"),
]
def test_angle(self, mbrick, mdigital):
assert (
nxt.sensor.hitechnic.Angle.get_sample
is nxt.sensor.hitechnic.Angle.get_angle
)
s = mbrick.get_sensor(Port.S1, nxt.sensor.hitechnic.Angle, False)
mdigital.read_value.side_effect = [
(21, 1),
(123456789,),
(16,),
]
assert s.get_angle() == 43
assert s.get_accumulated_angle() == 123456789
assert s.get_rpm() == 16
s.calibrate()
s.reset()
assert mdigital.mock_calls == [
call.read_value("angle"),
call.read_value("angle_acc"),
call.read_value("rpm"),
call.write_value("mode", b"C"),
call.write_value("mode", b"R"),
]
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