Merge pull request #20 from norkator/more-tests

Add more tests

src/nx100_remote_control/module/MockResponse.py

@@ -45,6 +45,12 @@
 # noinspection SpellCheckingInspection
 IOREAD = "b'0\\r\\n'"
 
+# noinspection SpellCheckingInspection
+RJDIR = ""
+
+# noinspection SpellCheckingInspection
+SETMJ = "b'0000\\r\\n'"
+
 
 def get_mock_response(command):
     if command.name == 'RALARM':
@@ -75,5 +81,9 @@ def get_mock_response(command):
         return IOWRITE
     elif command.name == 'IOREAD':
         return IOREAD
+    elif command.name == 'RJDIR':
+        return RJDIR
+    elif command.name == 'SETMJ':
+        return SETMJ
     else:
         return '[E] no mock response for given command ' + command.name

src/nx100_remote_control/tests/test_commands.py

@@ -1,6 +1,7 @@
 import unittest
 import nx100_remote_control
-from nx100_remote_control.module import Commands
+from nx100_remote_control.module import Commands, Utils
+from nx100_remote_control.objects import MoveJ, MoveL, IO
 
 
 class MyTestCase(unittest.TestCase):
@@ -14,6 +15,69 @@ def test_read_current_joint_coordinate_position(self):
         position = Commands.read_current_joint_coordinate_position()
         self.assertEqual(position, '45411,-59646,-55567,667,-1077,-1260,0,0,0,0,0,0')
 
+    def test_write_hold(self):
+        res = Commands.write_hold('1')
+        self.assertEqual(res.get_response(), '0000')
+
+    def test_write_reset(self):
+        res = Commands.write_reset()
+        self.assertEqual(res.get_response(), '0000')
+
+    def test_write_cancel(self):
+        res = Commands.write_cancel()
+        self.assertEqual(res.get_response(), '0000')
+
+    def test_write_servo_power(self):
+        res = Commands.write_servo_power('1')
+        self.assertEqual(res.get_response(), '0000')
+
+    def test_write_start_job(self):
+        res = Commands.write_start_job('test_job')
+        self.assertEqual(res.get_response(), '0000')
+
+    def test_read_io_signals(self):
+        io = IO.IO(4)
+        res = Commands.read_io_signals(io)
+        self.assertEqual(res.get_response(), '0')
+
+    def test_write_io_signals(self):
+        io = IO.IO(4)
+        res = Commands.write_io_signals(io)
+        self.assertEqual(res.get_response(), '0')
+
+    def test_read_all_job_names(self):
+        res = Commands.read_all_job_names()
+        self.assertEqual(res.get_response(), '')
+
+    def test_write_master_job(self):
+        res = Commands.write_master_job('test_job')
+        self.assertEqual(res.get_response(), '0000')
+
+    def test_linear_motion_move(self):
+        move_l = MoveL.MoveL(
+            MoveL.MoveL.motion_speed_selection_posture_speed,
+            5,
+            MoveL.MoveL.coordinate_specification_base_coordinate,
+            352.769, 202.779, 120.658,
+            -1.34, 35.78, 27.84,
+            Utils.binary_to_decimal(0x00000001),
+            0, 0, 0, 0, 0, 0, 0
+        )
+        res = Commands.write_linear_move(move_l=move_l)
+        self.assertEqual(res.get_response(), '0000')
+
+    def test_joint_motion_move(self):
+        move_j = MoveJ.MoveJ(
+            25,  # speed %
+            MoveJ.MoveJ.coordinate_specification_base_coordinate,
+            352.769, 202.779, 120.658,
+            -1.34, 35.78, 27.84,
+            Utils.binary_to_decimal(0x00000001),
+            0, 0, 0, 0, 0, 0, 0
+        )
+        res = Commands.write_joint_motion_move(move_j=move_j)
+        self.assertEqual(res.get_response(), '0000')
+
 
 if __name__ == '__main__':
     unittest.main()