Ultrasonic test

pom.xml

@@ -1655,6 +1655,14 @@
           <groupId>io.netty</groupId>
           <artifactId>*</artifactId>
         </exclusion>
+        <exclusion>
+          <groupId>logback-classic</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
+        <exclusion>
+          <groupId>logback-core</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
       </exclusions>
   </dependency>
   <dependency>

src/main/java/org/myrobotlab/service/Arduino.java

@@ -288,6 +288,17 @@ public void attach(String listener, int address) {
 
   @Override
   public void attach(UltrasonicSensorControl sensor, Integer triggerPin, Integer echoPin) throws Exception {
+
+    if (triggerPin == null) {
+      error("%s please set trigger pin");
+      return;
+    }
+
+    if (echoPin == null) {
+      error("%s please set echo pin");
+      return;
+    }
+
     // refer to
     // http://myrobotlab.org/content/control-controller-manifesto
     if (isAttached(sensor)) {

src/main/java/org/myrobotlab/service/MockGateway.java

@@ -333,4 +333,14 @@ public Message getMsg(String name, String callback) {
     }
     return null;
   }
+
+  public Integer size(String name, String callback) {
+    String fullName = getFullRemoteName(name);
+
+    String key = String.format("%s.%s", fullName, callback);
+    if (!sendQueues.containsKey(key)) {
+      return null;
+    }
+    return sendQueues.get(key).size();
+  }
 }

src/main/java/org/myrobotlab/service/Runtime.java

@@ -5165,7 +5165,7 @@ static public void savePlan(String configName) {
   private void savePlanInternal(String configName) {
 
     if (configName == null) {
-      error("cannot save plan config name is null");
+      info("cannot save plan config name is null");
       return;
     }
 

src/main/java/org/myrobotlab/service/UltrasonicSensor.java

@@ -35,20 +35,13 @@ public class UltrasonicSensor extends Service<UltrasonicSensorConfig> implements
 
   private static final long serialVersionUID = 1L;
 
-  // probably should do this in a util class
-  public static int byteArrayToInt(int[] b) {
-    return b[3] & 0xFF | (b[2] & 0xFF) << 8 | (b[1] & 0xFF) << 16 | (b[0] & 0xFF) << 24;
-  }
-
-  // currently not variable in NewPing.h
-  // Integer maxDistanceCm = 500;
-
   transient protected UltrasonicSensorController controller;
 
   protected String controllerName;
 
   transient protected BlockingQueue<Double> data = new LinkedBlockingQueue<Double>();
 
+  @Deprecated /* use directly from config - should be String */
   protected Integer echoPin = null;
 
   protected boolean isAttached = false;
@@ -74,6 +67,7 @@ public static int byteArrayToInt(int[] b) {
 
   protected long timeout = 500;
 
+  @Deprecated /* use directly from config - should be String */
   protected Integer trigPin = null;
 
   protected final Set<String> types = new HashSet<String>(Arrays.asList("SR04", "SR05"));
@@ -222,6 +216,10 @@ public long getPingCount() {
   public int getTriggerPin() {
     return trigPin;
   }
+
+  public boolean isAttached() {
+    return isAttached;
+  }
 
   @Override
   public boolean isAttached(String name) {

src/main/java/org/myrobotlab/service/meta/WebGuiMeta.java

@@ -22,6 +22,8 @@ public WebGuiMeta() {
     addDependency("org.jmdns", "jmdns", "3.5.5");
     addDependency("org.atmosphere", "nettosphere", "3.2.2");
     exclude("io.netty", "*"); // it brings in an old version of netty
+    exclude("logback-classic", "*"); 
+    exclude("logback-core", "*"); 
 
     addDependency("javax.annotation", "javax.annotation-api", "1.3.2");
     // force correct version of netty

src/test/java/org/myrobotlab/service/UltrasonicSensorTest.java

@@ -1,130 +1,75 @@
 package org.myrobotlab.service;
 
-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;
+
 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;
-
-//TODO: re-enable this test when we figure out why it fails from the
-// command line ant build...
 
-@Ignore
 public class UltrasonicSensorTest extends AbstractTest {
 
-  static PinArrayControl arduino = null;
-  static TestCatcher catcher = null;
-
-  // VirtualArduino setup
-  static int echoPin = 7;
-  public final static Logger log = LoggerFactory.getLogger(UltrasonicSensor.class);
-  static String port = "COM4";
-
-  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
-
-  static VirtualArduino virtual = null;
-
-  // FIXME - test for re-entrant !!!!
-  // FIXME - single switch for virtual versus "real" hardware
-
-  static public void main(String[] args) {
-
-    try {
-      // // LoggingFactory.init();
-      // FIXME - base class static method .webGui() & .gui()
-      // Runtime.start("webgui", "WebGui");
-      // Runtime.start("gui", "SwingGui");
-
-      // test a "real" arduino
-      useVirtualHardware = true;
-
-      UltrasonicSensorTest test = new UltrasonicSensorTest();
-      UltrasonicSensorTest.setUpBeforeClass();
-
-      // arduino.record();
-
-      if (virtual != null) {
-        virtual.connect(port);
-      }
-
-      test.test();
-
-      // run junit as java app
-      JUnitCore junit = new JUnitCore();
-      Result result = junit.run(UltrasonicSensorTest.class);
-      log.info("Result was: {}", result);
-
-    } catch (Exception e) {
-      Logging.logError(e);
-    }
-  }
+  static MockGateway gateway = null;
+  static UltrasonicSensor ultra = null;
+  static Arduino uno = null;
 
   @BeforeClass
-  public static void setUpBeforeClass() throws Exception {
-    // // LoggingFactory.init(Level.INFO);
-
-    log.info("setUpBeforeClass");
-    sensor = (UltrasonicSensor) Runtime.start("arduino", "UltrasonicSensor");
-    virtual = (VirtualArduino) Runtime.start("virtual", "VirtualArduino");
-    if (useVirtualHardware) {
-      virtual.connect(port);
-    }
-
-    catcher = (TestCatcher) Runtime.start("catcher", "TestCatcher");
-    uart = (Serial) virtual.getSerial();
-    // uart.setTimeout(100); // don't want to hang when decoding results...
-  }
-
-  @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");
+
+    //Runtime.start("webgui", "WebGui");
   }
 
   @Before
-  public void setUp() throws Exception {
-  }
-
-  @After
-  public void tearDown() throws Exception {
+  public void setup() {    
+    gateway.clear();
   }
 
-  // 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 {
-
-    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();
-
-    uart.stopRecording();
-
-    sensor.startRanging();
-    log.info("here");
-
-    sensor.stopRanging();
-
-    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"));
+
+    // 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);
+  }
 
-    sensor.startRanging();
 
-    sensor.stopRanging();
+  @AfterClass
+  public static void tearDownAfterClass() {
+    Runtime.release("ultra");
+    Runtime.release("gateway");
+    Runtime.release("uno");
   }
 
 }