UltrasonicSensorTest.java

package org.myrobotlab.service;

import java.io.IOException;

import org.junit.After;
import org.junit.AfterClass;
import org.junit.Before;
import org.junit.BeforeClass;
import org.junit.Ignore;
import org.junit.Test;
import org.myrobotlab.codec.serial.ArduinoMsgCodec;
import org.myrobotlab.codec.serial.Codec;
import org.myrobotlab.framework.Service;
import org.myrobotlab.logging.Level;
import org.myrobotlab.logging.LoggerFactory;
import org.myrobotlab.logging.LoggingFactory;
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 {

  public final static Logger log = LoggerFactory.getLogger(UltrasonicSensor.class);
  static UltrasonicSensor sensor = null;

  static Arduino arduino = null;
  static Serial serial = null;
  static TestCatcher catcher = null;

  static VirtualDevice virtual = null;
  static Python logic = null;
  static String vport = "vport";
  static Serial uart = null;

  int servoPin = 9;

  static ArduinoMsgCodec codec = new ArduinoMsgCodec();

  // FIXME - test for re-entrant !!!!
  // FIXME - single switch for virtual versus "real" hardware

  @BeforeClass
  public static void setUpBeforeClass() throws Exception {
    LoggingFactory.init(Level.INFO);

    log.info("setUpBeforeClass");

    // Runtime.start("gui", "GUIService");
    sensor = (UltrasonicSensor) Runtime.start("arduino", "UltrasonicSensor");
    arduino = (Arduino)sensor.getController();
    serial = arduino.getSerial();

    catcher = (TestCatcher) Runtime.start("catcher", "TestCatcher");
    virtual = (VirtualDevice) Runtime.start("virtual", "VirtualDevice");
    virtual.createVirtualArduino(vport);
    logic = virtual.getLogic();

    catcher.subscribe(arduino, "onError");

    uart = virtual.getUart(vport);
    uart.setCodec("arduino");
    Codec codec = uart.getRXCodec();
    codec.setTimeout(1000);
    uart.setTimeout(100); // don't want to hang when decoding results...

    arduino.setBoardMega();
    arduino.connect(vport);

    Service.sleep(500);
    // nice to be able to check messages
    // uart.addByteListener(catcher);
    log.info("here");

  }

  @AfterClass
  public static void tearDownAfterClass() throws Exception {
  }

  @Before
  public void setUp() throws Exception {
  }

  @After
  public void tearDown() throws Exception {
  }

  @Test
  public final void testGetCategories() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testGetDescription() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testStartService() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testGetPeers() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testMain() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testUltrasonicSensor() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testAddRangeListener() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testAttach() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testGetArduino() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testGetEchoPin() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testGetLastRange() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testGetTriggerPin() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testOnRange() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testPing() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testPingInt() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testPublishRange() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testRange() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testSetType() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testStartRanging() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testStartRangingInt() {
    // fail("Not yet implemented");
  }

  @Test
  public final void testStopRanging() {
    // fail("Not yet implemented");
  }

  // 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 IOException {

    // FIXME - there has to be a properties method to configure
    // localized
    // testing
    int triggerPin = 7;
    int echoPin = 8;

    String port = "COM15";

    // TODO FIXME
    // sensor.attach(port, triggerPin, echoPin);
    // arduino.re
    // TODO - VIRTUAL NULL MODEM WITH TEST DATA !!!!
    // RECORD FROM ACTUAL SENSOR !!!

    // sensor.arduino.setLoadTimingEnabled(true);
    TestCatcher catcher = (TestCatcher) Runtime.start("catcher", "TestCatcher");
    sensor.addRangeListener(catcher);

    sensor.startRanging();
    log.info("here");
    sensor.stopRanging();

    uart.stopRecording();

   
    sensor.startRanging();
    log.info("here");

    sensor.stopRanging();

    sensor.startRanging(5);
    sensor.startRanging(10);

    sensor.startRanging();

    sensor.stopRanging();

  }

}