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Add tests/test_sensor_manager.py
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Thomas Farstrike
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# Unit tests for SensorManager service
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import unittest
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import sys
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# Mock hardware before importing SensorManager
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class MockI2C:
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"""Mock I2C bus for testing."""
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def __init__(self, bus_id, sda=None, scl=None):
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self.bus_id = bus_id
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self.sda = sda
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self.scl = scl
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self.memory = {} # addr -> {reg -> value}
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def readfrom_mem(self, addr, reg, nbytes):
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"""Read from memory (simulates I2C read)."""
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if addr not in self.memory:
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raise OSError("I2C device not found")
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if reg not in self.memory[addr]:
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return bytes([0] * nbytes)
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return bytes(self.memory[addr][reg])
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def writeto_mem(self, addr, reg, data):
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"""Write to memory (simulates I2C write)."""
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if addr not in self.memory:
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self.memory[addr] = {}
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self.memory[addr][reg] = list(data)
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class MockQMI8658:
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"""Mock QMI8658 IMU sensor."""
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def __init__(self, i2c_bus, address=0x6B, accel_scale=0b10, gyro_scale=0b100):
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self.i2c = i2c_bus
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self.address = address
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self.accel_scale = accel_scale
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self.gyro_scale = gyro_scale
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@property
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def temperature(self):
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"""Return mock temperature."""
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return 25.5 # Mock temperature in °C
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@property
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def acceleration(self):
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"""Return mock acceleration (in G)."""
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return (0.0, 0.0, 1.0) # At rest, Z-axis = 1G
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@property
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def gyro(self):
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"""Return mock gyroscope (in deg/s)."""
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return (0.0, 0.0, 0.0) # Stationary
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class MockWsenIsds:
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"""Mock WSEN_ISDS IMU sensor."""
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def __init__(self, i2c, address=0x6B, acc_range="8g", acc_data_rate="104Hz",
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gyro_range="500dps", gyro_data_rate="104Hz"):
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self.i2c = i2c
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self.address = address
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self.acc_range = acc_range
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self.gyro_range = gyro_range
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self.acc_sensitivity = 0.244 # mg/digit for 8g
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self.gyro_sensitivity = 17.5 # mdps/digit for 500dps
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self.acc_offset_x = 0
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self.acc_offset_y = 0
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self.acc_offset_z = 0
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self.gyro_offset_x = 0
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self.gyro_offset_y = 0
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self.gyro_offset_z = 0
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def get_chip_id(self):
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"""Return WHO_AM_I value."""
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return 0x6A
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def read_accelerations(self):
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"""Return mock acceleration (in mg)."""
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return (0.0, 0.0, 1000.0) # At rest, Z-axis = 1000 mg
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def read_angular_velocities(self):
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"""Return mock gyroscope (in mdps)."""
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return (0.0, 0.0, 0.0)
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def acc_calibrate(self, samples=None):
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"""Mock calibration."""
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pass
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def gyro_calibrate(self, samples=None):
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"""Mock calibration."""
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pass
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# Mock constants from drivers
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_QMI8685_PARTID = 0x05
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_REG_PARTID = 0x00
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_ACCELSCALE_RANGE_8G = 0b10
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_GYROSCALE_RANGE_256DPS = 0b100
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# Create mock modules
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mock_machine = type('module', (), {
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'I2C': MockI2C,
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'Pin': type('Pin', (), {})
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})()
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mock_qmi8658 = type('module', (), {
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'QMI8658': MockQMI8658,
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'_QMI8685_PARTID': _QMI8685_PARTID,
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'_REG_PARTID': _REG_PARTID,
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'_ACCELSCALE_RANGE_8G': _ACCELSCALE_RANGE_8G,
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'_GYROSCALE_RANGE_256DPS': _GYROSCALE_RANGE_256DPS
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})()
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mock_wsen_isds = type('module', (), {
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'Wsen_Isds': MockWsenIsds
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})()
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# Mock esp32 module
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def _mock_mcu_temperature(*args, **kwargs):
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"""Mock MCU temperature sensor."""
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return 42.0
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mock_esp32 = type('module', (), {
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'mcu_temperature': _mock_mcu_temperature
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})()
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# Inject mocks into sys.modules
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sys.modules['machine'] = mock_machine
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sys.modules['mpos.hardware.drivers.qmi8658'] = mock_qmi8658
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sys.modules['mpos.hardware.drivers.wsen_isds'] = mock_wsen_isds
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sys.modules['esp32'] = mock_esp32
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# Mock _thread for thread safety testing
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try:
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import _thread
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except ImportError:
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mock_thread = type('module', (), {
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'allocate_lock': lambda: type('lock', (), {
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'acquire': lambda self: None,
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'release': lambda self: None
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})()
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})()
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sys.modules['_thread'] = mock_thread
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# Now import the module to test
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import mpos.sensor_manager as SensorManager
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class TestSensorManagerQMI8658(unittest.TestCase):
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"""Test cases for SensorManager with QMI8658 IMU."""
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def setUp(self):
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"""Set up test fixtures before each test."""
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# Reset SensorManager state
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SensorManager._initialized = False
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SensorManager._imu_driver = None
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SensorManager._sensor_list = []
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SensorManager._has_mcu_temperature = False
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# Create mock I2C bus with QMI8658
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self.i2c_bus = MockI2C(0, sda=48, scl=47)
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# Set QMI8658 chip ID
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self.i2c_bus.memory[0x6B] = {_REG_PARTID: [_QMI8685_PARTID]}
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def test_initialization_qmi8658(self):
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"""Test that SensorManager initializes with QMI8658."""
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result = SensorManager.init(self.i2c_bus, address=0x6B)
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self.assertTrue(result)
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self.assertTrue(SensorManager.is_available())
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def test_sensor_list_qmi8658(self):
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"""Test getting sensor list for QMI8658."""
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SensorManager.init(self.i2c_bus, address=0x6B)
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sensors = SensorManager.get_sensor_list()
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# QMI8658 provides: Accelerometer, Gyroscope, IMU Temperature, MCU Temperature
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self.assertGreaterEqual(len(sensors), 3)
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# Check sensor types present
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sensor_types = [s.type for s in sensors]
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self.assertIn(SensorManager.TYPE_ACCELEROMETER, sensor_types)
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self.assertIn(SensorManager.TYPE_GYROSCOPE, sensor_types)
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self.assertIn(SensorManager.TYPE_IMU_TEMPERATURE, sensor_types)
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def test_get_default_sensor(self):
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"""Test getting default sensor by type."""
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SensorManager.init(self.i2c_bus, address=0x6B)
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accel = SensorManager.get_default_sensor(SensorManager.TYPE_ACCELEROMETER)
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self.assertIsNotNone(accel)
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self.assertEqual(accel.type, SensorManager.TYPE_ACCELEROMETER)
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gyro = SensorManager.get_default_sensor(SensorManager.TYPE_GYROSCOPE)
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self.assertIsNotNone(gyro)
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self.assertEqual(gyro.type, SensorManager.TYPE_GYROSCOPE)
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def test_get_nonexistent_sensor(self):
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"""Test getting a sensor type that doesn't exist."""
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SensorManager.init(self.i2c_bus, address=0x6B)
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# Type 999 doesn't exist
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sensor = SensorManager.get_default_sensor(999)
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self.assertIsNone(sensor)
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def test_read_accelerometer(self):
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"""Test reading accelerometer data."""
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SensorManager.init(self.i2c_bus, address=0x6B)
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accel = SensorManager.get_default_sensor(SensorManager.TYPE_ACCELEROMETER)
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data = SensorManager.read_sensor(accel)
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self.assertTrue(data is not None, f"read_sensor returned None, expected tuple")
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self.assertEqual(len(data), 3) # (x, y, z)
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ax, ay, az = data
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# At rest, Z should be ~9.8 m/s² (1G converted to m/s²)
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self.assertAlmostEqual(az, 9.80665, places=2)
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def test_read_gyroscope(self):
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"""Test reading gyroscope data."""
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SensorManager.init(self.i2c_bus, address=0x6B)
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gyro = SensorManager.get_default_sensor(SensorManager.TYPE_GYROSCOPE)
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data = SensorManager.read_sensor(gyro)
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self.assertTrue(data is not None, f"read_sensor returned None, expected tuple")
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self.assertEqual(len(data), 3) # (x, y, z)
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gx, gy, gz = data
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# Stationary, all should be ~0 deg/s
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self.assertAlmostEqual(gx, 0.0, places=1)
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self.assertAlmostEqual(gy, 0.0, places=1)
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self.assertAlmostEqual(gz, 0.0, places=1)
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def test_read_temperature(self):
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"""Test reading temperature data."""
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SensorManager.init(self.i2c_bus, address=0x6B)
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# Try IMU temperature
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imu_temp = SensorManager.get_default_sensor(SensorManager.TYPE_IMU_TEMPERATURE)
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if imu_temp:
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temp = SensorManager.read_sensor(imu_temp)
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self.assertIsNotNone(temp)
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self.assertIsInstance(temp, (int, float))
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# Try MCU temperature
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mcu_temp = SensorManager.get_default_sensor(SensorManager.TYPE_SOC_TEMPERATURE)
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if mcu_temp:
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temp = SensorManager.read_sensor(mcu_temp)
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self.assertIsNotNone(temp)
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self.assertEqual(temp, 42.0) # Mock value
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def test_read_sensor_without_init(self):
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"""Test reading sensor without initialization."""
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accel = SensorManager.get_default_sensor(SensorManager.TYPE_ACCELEROMETER)
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self.assertIsNone(accel)
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def test_is_available_before_init(self):
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"""Test is_available before initialization."""
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self.assertFalse(SensorManager.is_available())
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class TestSensorManagerWsenIsds(unittest.TestCase):
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"""Test cases for SensorManager with WSEN_ISDS IMU."""
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def setUp(self):
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"""Set up test fixtures before each test."""
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# Reset SensorManager state
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SensorManager._initialized = False
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SensorManager._imu_driver = None
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SensorManager._sensor_list = []
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SensorManager._has_mcu_temperature = False
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# Create mock I2C bus with WSEN_ISDS
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self.i2c_bus = MockI2C(0, sda=9, scl=18)
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# Set WSEN_ISDS WHO_AM_I
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self.i2c_bus.memory[0x6B] = {0x0F: [0x6A]}
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def test_initialization_wsen_isds(self):
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"""Test that SensorManager initializes with WSEN_ISDS."""
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result = SensorManager.init(self.i2c_bus, address=0x6B)
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self.assertTrue(result)
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self.assertTrue(SensorManager.is_available())
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def test_sensor_list_wsen_isds(self):
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"""Test getting sensor list for WSEN_ISDS."""
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SensorManager.init(self.i2c_bus, address=0x6B)
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sensors = SensorManager.get_sensor_list()
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# WSEN_ISDS provides: Accelerometer, Gyroscope, MCU Temperature
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# (no IMU temperature)
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self.assertGreaterEqual(len(sensors), 2)
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# Check sensor types
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sensor_types = [s.type for s in sensors]
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self.assertIn(SensorManager.TYPE_ACCELEROMETER, sensor_types)
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self.assertIn(SensorManager.TYPE_GYROSCOPE, sensor_types)
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def test_read_accelerometer_wsen_isds(self):
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"""Test reading accelerometer from WSEN_ISDS."""
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SensorManager.init(self.i2c_bus, address=0x6B)
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accel = SensorManager.get_default_sensor(SensorManager.TYPE_ACCELEROMETER)
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data = SensorManager.read_sensor(accel)
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self.assertTrue(data is not None, f"read_sensor returned None, expected tuple")
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self.assertEqual(len(data), 3)
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ax, ay, az = data
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# WSEN_ISDS mock returns 1000mg = 1G = 9.80665 m/s²
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self.assertAlmostEqual(az, 9.80665, places=2)
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class TestSensorManagerNoHardware(unittest.TestCase):
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"""Test cases for SensorManager without hardware (desktop mode)."""
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def setUp(self):
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"""Set up test fixtures before each test."""
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# Reset SensorManager state
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SensorManager._initialized = False
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SensorManager._imu_driver = None
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SensorManager._sensor_list = []
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SensorManager._has_mcu_temperature = False
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# Create mock I2C bus with no devices
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self.i2c_bus = MockI2C(0, sda=48, scl=47)
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# No chip ID registered - simulates no hardware
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def test_no_imu_detected(self):
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"""Test behavior when no IMU is present."""
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result = SensorManager.init(self.i2c_bus, address=0x6B)
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# Returns True if MCU temp is available (even without IMU)
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self.assertTrue(result)
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def test_graceful_degradation(self):
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"""Test graceful degradation when no sensors available."""
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SensorManager.init(self.i2c_bus, address=0x6B)
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# Should have at least MCU temperature
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sensors = SensorManager.get_sensor_list()
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self.assertGreaterEqual(len(sensors), 0)
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# Reading non-existent sensor should return None
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accel = SensorManager.get_default_sensor(SensorManager.TYPE_ACCELEROMETER)
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if accel is None:
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# Expected when no IMU
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pass
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else:
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# If somehow initialized, reading should handle gracefully
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data = SensorManager.read_sensor(accel)
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# Should either work or return None, not crash
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self.assertTrue(data is None or len(data) == 3)
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class TestSensorManagerMultipleInit(unittest.TestCase):
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"""Test cases for multiple initialization calls."""
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def setUp(self):
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"""Set up test fixtures before each test."""
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# Reset SensorManager state
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SensorManager._initialized = False
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SensorManager._imu_driver = None
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SensorManager._sensor_list = []
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SensorManager._has_mcu_temperature = False
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# Create mock I2C bus with QMI8658
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self.i2c_bus = MockI2C(0, sda=48, scl=47)
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self.i2c_bus.memory[0x6B] = {_REG_PARTID: [_QMI8685_PARTID]}
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def test_multiple_init_calls(self):
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"""Test that multiple init calls are handled gracefully."""
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result1 = SensorManager.init(self.i2c_bus, address=0x6B)
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self.assertTrue(result1)
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# Second init should return True but not re-initialize
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result2 = SensorManager.init(self.i2c_bus, address=0x6B)
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self.assertTrue(result2)
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# Should still work normally
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self.assertTrue(SensorManager.is_available())
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