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* updated deps * updated generated pom * Test for UltrasonicSensor
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159 changes: 52 additions & 107 deletions
159
src/test/java/org/myrobotlab/service/UltrasonicSensorTest.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,130 +1,75 @@ | ||
| package org.myrobotlab.service; | ||
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| import org.junit.After; | ||
| import static org.junit.Assert.assertEquals; | ||
| import static org.junit.Assert.assertNotNull; | ||
| import static org.junit.Assert.assertNull; | ||
| import static org.junit.Assert.assertTrue; | ||
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| import org.junit.AfterClass; | ||
| import org.junit.Before; | ||
| import org.junit.BeforeClass; | ||
| import org.junit.Ignore; | ||
| import org.junit.Test; | ||
| import org.junit.runner.JUnitCore; | ||
| import org.junit.runner.Result; | ||
| import org.myrobotlab.logging.LoggerFactory; | ||
| import org.myrobotlab.logging.Logging; | ||
| import org.myrobotlab.service.interfaces.PinArrayControl; | ||
| import org.myrobotlab.service.interfaces.SerialDevice; | ||
| import org.myrobotlab.framework.Message; | ||
| import org.myrobotlab.framework.Service; | ||
| import org.myrobotlab.framework.TimeoutException; | ||
| import org.myrobotlab.test.AbstractTest; | ||
| import org.slf4j.Logger; | ||
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| //TODO: re-enable this test when we figure out why it fails from the | ||
| // command line ant build... | ||
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| @Ignore | ||
| public class UltrasonicSensorTest extends AbstractTest { | ||
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| static PinArrayControl arduino = null; | ||
| static TestCatcher catcher = null; | ||
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| // VirtualArduino setup | ||
| static int echoPin = 7; | ||
| public final static Logger log = LoggerFactory.getLogger(UltrasonicSensor.class); | ||
| static String port = "COM4"; | ||
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| static UltrasonicSensor sensor = null; | ||
| static SerialDevice serial = null; | ||
| static int trigPin = 8; | ||
| static Serial uart = null; | ||
| static boolean useVirtualHardware = true; // base class for this and | ||
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| static VirtualArduino virtual = null; | ||
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| // FIXME - test for re-entrant !!!! | ||
| // FIXME - single switch for virtual versus "real" hardware | ||
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| static public void main(String[] args) { | ||
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| try { | ||
| // // LoggingFactory.init(); | ||
| // FIXME - base class static method .webGui() & .gui() | ||
| // Runtime.start("webgui", "WebGui"); | ||
| // Runtime.start("gui", "SwingGui"); | ||
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| // test a "real" arduino | ||
| useVirtualHardware = true; | ||
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| UltrasonicSensorTest test = new UltrasonicSensorTest(); | ||
| UltrasonicSensorTest.setUpBeforeClass(); | ||
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| // arduino.record(); | ||
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| if (virtual != null) { | ||
| virtual.connect(port); | ||
| } | ||
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| test.test(); | ||
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| // run junit as java app | ||
| JUnitCore junit = new JUnitCore(); | ||
| Result result = junit.run(UltrasonicSensorTest.class); | ||
| log.info("Result was: {}", result); | ||
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| } catch (Exception e) { | ||
| Logging.logError(e); | ||
| } | ||
| } | ||
| static MockGateway gateway = null; | ||
| static UltrasonicSensor ultra = null; | ||
| static Arduino uno = null; | ||
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| @BeforeClass | ||
| public static void setUpBeforeClass() throws Exception { | ||
| // // LoggingFactory.init(Level.INFO); | ||
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| log.info("setUpBeforeClass"); | ||
| sensor = (UltrasonicSensor) Runtime.start("arduino", "UltrasonicSensor"); | ||
| virtual = (VirtualArduino) Runtime.start("virtual", "VirtualArduino"); | ||
| if (useVirtualHardware) { | ||
| virtual.connect(port); | ||
| } | ||
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| catcher = (TestCatcher) Runtime.start("catcher", "TestCatcher"); | ||
| uart = (Serial) virtual.getSerial(); | ||
| // uart.setTimeout(100); // don't want to hang when decoding results... | ||
| } | ||
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| @AfterClass | ||
| public static void tearDownAfterClass() throws Exception { | ||
| public static void setupBeforeClass() throws Exception { | ||
| ultra = (UltrasonicSensor) Runtime.start("ultra", "UltrasonicSensor"); | ||
| gateway = (MockGateway) Runtime.start("gateway", "MockGateway"); | ||
| gateway.clear(); | ||
| uno = (Arduino) Runtime.start("uno", "Arduino"); | ||
| uno.setVirtual(true); | ||
| uno.connect("COMX"); | ||
| ultra.setTriggerPin(11); | ||
| ultra.setEchoPin(10); | ||
| ultra.attach("uno"); | ||
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| //Runtime.start("webgui", "WebGui"); | ||
| } | ||
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| @Before | ||
| public void setUp() throws Exception { | ||
| } | ||
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| @After | ||
| public void tearDown() throws Exception { | ||
| public void setup() { | ||
| gateway.clear(); | ||
| } | ||
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| // TODO - Virtual Serial test - do a record of tx & rx on a real sensor | ||
| // then send the data - IT MUST BE INTERLEAVED | ||
| @Test | ||
| public final void test() throws Exception { | ||
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| TestCatcher catcher = (TestCatcher) Runtime.start("catcher", "TestCatcher"); | ||
| Arduino mega = (Arduino) Runtime.start("ultrasonic_arduino", "TestCatcher"); | ||
| sensor.addRangeListener(catcher); | ||
| sensor.attach(mega, trigPin, echoPin); | ||
| sensor.startRanging(); | ||
| log.info("here"); | ||
| sensor.stopRanging(); | ||
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| uart.stopRecording(); | ||
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| sensor.startRanging(); | ||
| log.info("here"); | ||
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| sensor.stopRanging(); | ||
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| sensor.startRanging(); | ||
| public void testUltrasonicSensor() throws TimeoutException { | ||
| assertTrue(ultra.isAttached()); | ||
| Double range = ultra.ping(); | ||
| assertNotNull(range); | ||
| ultra.addListener("publishRange", "mocker@mockId"); | ||
| ultra.startRanging(); | ||
| gateway.waitForMsg("mocker@mockId", "onRange", 100); | ||
| ultra.stopRanging(); | ||
| Service.sleep(10); | ||
| gateway.clear(); | ||
| assertNull(gateway.getMsg("mocker@mockId", "onRange")); | ||
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| // 1 hz | ||
| ultra.setRate(1); | ||
| ultra.startRanging(); | ||
| Message msg = gateway.waitForMsg("mocker@mockId", "onRange", 1000); | ||
| Double r = (Double)msg.data[0]; | ||
| assertNotNull(r); | ||
| ultra.stopRanging(); | ||
| Integer count = gateway.size("mocker@mockId", "onRange"); | ||
| assertTrue(count == 0); | ||
| } | ||
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| sensor.startRanging(); | ||
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| sensor.stopRanging(); | ||
| @AfterClass | ||
| public static void tearDownAfterClass() { | ||
| Runtime.release("ultra"); | ||
| Runtime.release("gateway"); | ||
| Runtime.release("uno"); | ||
| } | ||
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| } |