Added Unit Test for Motor Cruise Control Toggle Functionality (#23)

* Write test for battery relay status

* Added unit test for motor cruise control

* Apply setUp and tearDown

* added check for OFF state when array relay not held and cruise control toggled off

* Make tests functional

---------

Co-authored-by: Juho Kim <[email protected]>
Co-authored-by: alexlewis9 <[email protected]>

revolution/tests/configurations.py

@@ -4,7 +4,7 @@
 from iclib.nhd_c12864a1z_fsw_fbw_htt import NHDC12864A1ZFSWFBWHTT
 from periphery import GPIO, PWM, Serial
 
-from revolution import (
+from revolution import (  # noqa: F401
     Application,
     Contexts,
     Debugger,
@@ -28,7 +28,7 @@
     Miscellaneous,
     Motor,
     Power,
-    Telemetry,
+    # Telemetry,
 )
 
 CONTEXTS: Contexts = Contexts(
@@ -81,18 +81,8 @@
     )
 )
 
-STEERING_WHEEL_MCP23S17: MCP23S17 = MCP23S17(
-    MagicMock(),
-    MagicMock(),
-    MagicMock(),
-    MagicMock(
-        mode=0b11,
-        max_speed=1e6,
-        bit_order='msb',
-        bits_per_word=8,
-        extra_flags=None,
-        transfer=lambda data: [0] * len(data),
-    ),
+STEERING_WHEEL_MCP23S17: MCP23S17 = MagicMock(
+    read_register=lambda *_: [0xFF],
 )
 
 SHIFT_SWITCH_PRB: PRB = MagicMock()
@@ -104,17 +94,17 @@
 HORN_SWITCH_PRBS: PRBS = MagicMock()
 BACKUP_CAMERA_CONTROL_SWITCH_PRBS: PRBS = MagicMock()
 DISPLAY_BACKLIGHT_SWITCH_PRBS: PRBS = MagicMock()
-BRAKE_SWITCH_GPIO: GPIO = MagicMock()
+BRAKE_SWITCH_GPIO: GPIO = MagicMock(read=lambda *_: False)
 
 ACCELERATION_INPUT_ROTARY_ENCODER_A_PRBS: PRBS = MagicMock()
 ACCELERATION_INPUT_ROTARY_ENCODER_B_PRBS: PRBS = MagicMock()
 DIRECTION_SWITCH_PRBS: PRBS = MagicMock()
 REGENERATION_SWITCH_PRBS: PRBS = MagicMock()
 VARIABLE_FIELD_MAGNET_UP_SWITCH_PRBS: PRBS = MagicMock()
 VARIABLE_FIELD_MAGNET_DOWN_SWITCH_PRBS: PRBS = MagicMock()
-CRUISE_CONTROL_SWITCH_PRBS: PRBS = MagicMock()
+CRUISE_CONTROL_SWITCH_PRBS: PRBS = PRB.GPIOA_GP4
 
-ARRAY_RELAY_SWITCH_PRBS: PRBS = MagicMock()
+ARRAY_RELAY_SWITCH_PRBS: PRBS = PRB.GPIOA_GP0
 BATTERY_RELAY_SWITCH_PRBS: PRBS = MagicMock()
 
 INDICATOR_LIGHTS_PWM: PWM = MagicMock()

revolution/tests/test_driver.py

@@ -0,0 +1,111 @@
+from dataclasses import replace
+from threading import Thread
+from time import sleep
+from typing import ClassVar
+from unittest import TestCase, main
+
+from door.threading2 import AcquirableDoor
+
+from revolution.driver import Driver
+from revolution.environment import Environment, Header, Message
+from revolution.tests import configurations
+
+
+class DriverTestCase(TestCase):
+    TIMEOUT: ClassVar[float] = 0.1
+
+    def setUp(self) -> None:
+        self.environment: Environment = Environment(
+            AcquirableDoor(replace(configurations.CONTEXTS)),
+            replace(configurations.PERIPHERIES),
+            replace(configurations.SETTINGS),
+        )
+        self.driver_thread: Thread = Thread(
+            target=Driver.main,
+            args=(self.environment,),
+        )
+
+        self.driver_thread.start()
+        sleep(self.TIMEOUT)
+
+    def tearDown(self) -> None:
+        self.environment.send_all(Message(Header.STOP))
+        self.driver_thread.join()
+
+    def test_array_relay_status(self) -> None:
+        with self.environment.contexts() as contexts:
+            self.assertFalse(contexts.power_array_relay_status_input)
+
+        (
+            configurations  # type: ignore[method-assign]
+            .STEERING_WHEEL_MCP23S17
+            .read_register
+        ) = lambda *_: [0]
+
+        sleep(self.TIMEOUT)
+
+        with self.environment.contexts() as contexts:
+            self.assertTrue(contexts.power_array_relay_status_input)
+
+        (
+            configurations  # type: ignore[method-assign]
+            .STEERING_WHEEL_MCP23S17
+            .read_register
+        ) = lambda *_: [0xFF]
+
+        sleep(self.TIMEOUT)
+
+        with self.environment.contexts() as contexts:
+            self.assertFalse(contexts.power_array_relay_status_input)
+
+    def test_motor_cruise_control_status(self) -> None:
+        with self.environment.contexts() as contexts:
+            self.assertFalse(contexts.motor_cruise_control_status_input)
+
+        (
+            configurations  # type: ignore[method-assign]
+            .STEERING_WHEEL_MCP23S17
+            .read_register
+        ) = lambda *_: [0]
+
+        sleep(self.TIMEOUT)
+
+        with self.environment.contexts() as contexts:
+            self.assertTrue(contexts.motor_cruise_control_status_input)
+
+        (
+            configurations  # type: ignore[method-assign]
+            .STEERING_WHEEL_MCP23S17
+            .read_register
+        ) = lambda *_: [0xFF]
+
+        sleep(self.TIMEOUT)
+
+        with self.environment.contexts() as contexts:
+            self.assertTrue(contexts.motor_cruise_control_status_input)
+
+        (
+            configurations  # type: ignore[method-assign]
+            .STEERING_WHEEL_MCP23S17
+            .read_register
+        ) = lambda *_: [0]
+
+        sleep(self.TIMEOUT)
+
+        with self.environment.contexts() as contexts:
+            self.assertFalse(contexts.motor_cruise_control_status_input)
+
+        (
+            configurations  # type: ignore[method-assign]
+            .STEERING_WHEEL_MCP23S17
+            .read_register
+        ) = lambda *_: [0xFF]
+
+        sleep(self.TIMEOUT)
+
+        with self.environment.contexts() as contexts:
+            self.assertFalse(contexts.motor_cruise_control_status_input)
+
+
+if __name__ == '__main__':
+    main()  # pragma: no cover