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ut_tests.py
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import unittest
import mock
import drive
def seq(start, stop, step=1):
n = int(round((stop - start)/float(step)))
if n > 1:
return([start + step*i for i in range(n+1)])
else:
return([])
class TestDrive(unittest.TestCase):
def setUp(self):
self.robot_drive = mock.RobotDrive()
self.joy = mock.JoyStick()
self.photo_sensors = [ mock.PhotoSensor() for x in range(5)]
self.hs_button = mock.Button()
self.align_button = mock.Button()
self.drive = drive.Drive(self.robot_drive, self.joy, self.photo_sensors,
self.hs_button, self.align_button)
def tearDown(self):
pass
def test_throttle(self):
self.joy.x = 0.0
# Sweep forward
for y in seq(-1.0, 1.0, 0.1):
self.joy.y = y
self.drive.tick()
self.assertEquals(self.robot_drive.speed, self.joy.y)
self.assertEquals(self.robot_drive.rotation, self.joy.x)
# Sweep back
for y in seq(1.0, -1.0, -0.1):
self.joy.y = y
self.drive.tick()
self.assertEquals(self.robot_drive.speed, self.joy.y)
self.assertEquals(self.robot_drive.rotation, self.joy.x)
def test_steering(self):
self.joy.y = 0.0
# Sweep forward
for x in seq(-1.0, 1.0, 0.1):
self.joy.x = x
self.drive.tick()
self.assertEquals(self.robot_drive.speed, self.joy.y)
self.assertEquals(self.robot_drive.rotation, self.joy.x)
# Sweep back
for x in seq(1.0, -1.0, -0.1):
self.joy.x = x
self.drive.tick()
self.assertEquals(self.robot_drive.speed, self.joy.y)
self.assertEquals(self.robot_drive.rotation, self.joy.x)
def test_half_speed_throttle(self):
self.hs_button.pressed = True
self.joy.x = 0.0
# Sweep forward
for y in seq(-1.0, 1.0, 0.1):
self.joy.y = y
self.drive.tick()
self.assertEquals(self.robot_drive.speed, self.joy.y/2)
self.assertEquals(self.robot_drive.rotation, self.joy.x)
# Sweep back
for y in seq(1.0, -1.0, -0.1):
self.joy.y = y
self.drive.tick()
self.assertEquals(self.robot_drive.speed, self.joy.y/2)
self.assertEquals(self.robot_drive.rotation, self.joy.x)
def test_half_speed_steering(self):
self.hs_button.pressed = True
self.joy.y = 0.0
# Sweep forward
for x in seq(-1.0, 1.0, 0.1):
self.joy.x = x
self.drive.tick()
self.assertEquals(self.robot_drive.speed, self.joy.y)
self.assertEquals(self.robot_drive.rotation, self.joy.x/2)
# Sweep back
for x in seq(1.0, -1.0, -0.1):
self.joy.x = x
self.drive.tick()
self.assertEquals(self.robot_drive.speed, self.joy.y)
self.assertEquals(self.robot_drive.rotation, self.joy.x/2)
if __name__ == '__main__':
unittest.main()