SerialDispatch/test_serialdispatch.py at master · jjonesAtMoog/SerialDispatch · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
from test_mockserial import MockSerialPort
from serialdispatch.dispatchframe import Frame
from serialdispatch.serialdispatch import SerialDispatch


def test_publish_str():
    """ test publish """

    port = MockSerialPort()
    sd = SerialDispatch(port)

    # this is the data that should be published
    sd.publish('foo', [['bar']])

    # this is the data that should be contained in the serial port outbuffer
    data_test = [Frame.SOF,
                 102, 111, 111, 0,
                 1, 3, 0, 1,
                 98, 97, 114,
                 126, 22,
                 Frame.EOF]

    assert port.serial_data_out == data_test


def test_publish_3_u8():
    port = MockSerialPort()
    sd = SerialDispatch(port)

    # this is the data that should be published
    sd.publish('foo', [[10, 20, 30]], ['U8'])

    # this is the data that should be contained in the serial port outbuffer
    data_test = [Frame.SOF,
                 102, 111, 111, 0,
                 1, 3, 0, 2,
                 10, 20, 30,
                 134, 36,
                 Frame.EOF]

    assert port.serial_data_out == data_test


def test_publish_3_s8():
    port = MockSerialPort()
    sd = SerialDispatch(port)

    # this is the data that should be published
    sd.publish('foo', [[-10, -20, -30]], ['S8'])

    # this is the data that should be contained in the serial port outbuffer
    data_test = [Frame.SOF,
                 102, 111, 111, 0,
                 1, 3, 0, 3,
                 246, 246 ^ 0x20, 236, 226,
                 15, 96,
                 Frame.EOF]

    assert port.serial_data_out == data_test


def test_publish_3x3_u8u16u32():
    port = MockSerialPort()
    sd = SerialDispatch(port)

    # this is the data that should be published
    sd.publish('foo', [[10, 20, 30], [40, 50, 60], [70, 80, 90]], ['U8', 'U16', 'U32'])

    # this is the data that should be contained in the serial port outbuffer
    data_test = [Frame.SOF,
                 102, 111, 111, 0,
                 3, 3, 0, 0x42, 0x06,
                 10, 20, 30,
                 40, 0, 50, 0, 60, 0,
                 70, 0, 0, 0, 80, 0, 0, 0, 90, 0, 0, 0,
                 84, 186,
                 Frame.EOF]

    assert port.serial_data_out == data_test


def test_publish_3x3_s8s16s32():
    port = MockSerialPort()
    sd = SerialDispatch(port)

    # this is the data that should be published
    sd.publish('foo', [[-10, -20, -30], [-40, -50, -60], [-70, -80, -90]], ['S8', 'S16', 'S32'])

    # this is the data that should be contained in the serial port outbuffer
    data_test = [Frame.SOF,
                 102, 111, 111, 0,
                 3, 3, 0, 0x53, 0x07,
                 246, 246 ^ 0x20, 236, 226,  # <= one of these happens to be an esc char
                 216, 255, 206, 255, 196, 255,
                 186, 255, 255, 255, 176, 255, 255, 255, 166, 255, 255, 255,
                 214, 236,
                 Frame.EOF]

    assert port.serial_data_out == data_test