hal_hw_interface: Fix unit tests

Tests became stale over time

hal_hw_interface/src/hal_hw_interface/tests/conftest.py

@@ -12,23 +12,23 @@ def mock_objs():
 
 
 @pytest.fixture()
-def mock_comp_obj():
+def mock_comp_obj(request):
     # Mock hal.component and returned object
     # - Settable and readable pins
-    pin_value_map = dict(__default=0xDEADBEEF)
+    request.instance.pin_values = pin_values = dict(__default=0xDEADBEEF)
 
     def get_pin(key):
-        if key in pin_value_map:
-            value = pin_value_map[key]
+        if key in pin_values:
+            value = pin_values[key]
             print("Returning pin %s value=%s" % (key, value))
         else:
-            value = pin_value_map['__default']
+            value = pin_values['__default']
             print("Returning pin %s DEFAULT value=0x%x" % (key, value))
         return value
 
     def set_pin(key, value):
         print("Setting pin %s value=%s" % (key, value))
-        pin_value_map[key] = value
+        pin_values[key] = value
 
     mock_objs_dict['comp_name'] = 'test_comp'
     comp_getprefix = MagicMock(side_effect=lambda: mock_objs_dict['comp_name'])
@@ -140,10 +140,10 @@ def log_side_effect(msg_fmt, *args):
 
 
 @pytest.fixture()
-def mock_redis_client_obj():
+def mock_redis_client_obj(request):
     # Mock redis_store.ConfigClient method and returned object
     # - Settable and readable pins
-    key_value_map = dict(__default=0)
+    request.instance.key_value_map = key_value_map = dict(__default=0)
 
     def get_key(key):
         value = key_value_map.get(key, key_value_map['__default'])
@@ -158,6 +158,7 @@ def set_key(key, value):
     mock_client_obj.configure_mock(
         name='mock_redis_client_obj',
         set_key=set_key,  # Won't increment mock_calls
+        on_update_received=list(),
         **{'get_param.side_effect': get_key, 'set_param.side_effect': set_key}
     )
 

hal_hw_interface/src/hal_hw_interface/tests/test_fixtures.py

@@ -7,93 +7,95 @@
 keys2 = dict(pin1=False, pin2=1.88e42, pin4=0)
 
 
-def test_mock_comp_obj_fixture(mock_comp_obj, mock_objs):
-    # Test hal.component returns mock_comp_obj
-    assert mock_objs['hal_comp']() is mock_comp_obj
-
-    # Set each pin (with out-of-band method) and check
-    for name, value in keys1.items():
-        mock_comp_obj.set_pin(name, value)
-        assert mock_comp_obj[name] == value
-
-    # Recheck
-    for name, value in keys1.items():
-        assert mock_comp_obj[name] == value
-
-    # Set each pin and check
-    for name, value in keys2.items():
-        mock_comp_obj[name] = value
-        assert mock_comp_obj[name] == value
-
-    # Recheck everything
-    pins = keys1.copy()
-    pins.update(keys2)
-    for name, value in pins.items():
-        assert mock_comp_obj[name] == value
-
-    # Default case
-    assert mock_comp_obj['bogus'] == 0xDEADBEEF
-
-
-def test_mock_rospy_fixture(mock_rospy, mock_objs):
-    # Test mock rospy.get_param()
-    gp = mock_objs['rospy_get_param']
-    gp.set_key('foo', 1)
-    gp.set_key('bar', 2)
-    assert gp('foo') == 1
-    assert gp('bar') == 2
-    gp.set_key('baz', 3)
-    assert gp('foo') == 1
-    assert gp('bar') == 2
-    assert gp('baz') == 3
-
-    # Test rospy.Rate() returns expected object
-    assert mock_objs['rospy_Rate']() is mock_objs['rospy_Rate_obj']
-
-    # Test rospy.is_shutdown() returns True values, then False
-    found_false = False
-    for i in range(10):
-        val = mock_objs['rospy_is_shutdown']()
-        print("iter {} val {}".format(i, val))
-        if val is False:
-            found_false = True
-        if val is True:
-            break
-    else:
-        raise Exception("is_shutdown never returned True")
-    if not found_false:
-        raise Exception("is_shutdown never returned False")
-
-    # Test returned objects
-    for name in ('Subscriber', 'Publisher', 'Service'):
-        method = mock_objs['rospy_{}'.format(name)]
-        obj = mock_objs['rospy_{}_obj'.format(name)]
-        assert method() == obj
-
-
-def test_mock_redis_client_obj(mock_redis_client_obj, mock_objs):
-    # Test redis_store.ConfigClient() returns object
-    assert mock_objs['redis_store']() is mock_redis_client_obj
-
-    # Set each param (with out-of-band method) and check
-    for name, value in keys1.items():
-        mock_redis_client_obj.set_key(name, value)
-        assert mock_redis_client_obj.get_param(name) == value
-
-    # Recheck
-    for name, value in keys1.items():
-        assert mock_redis_client_obj.get_param(name) == value
-
-    # Set each param and check
-    for name, value in keys2.items():
-        mock_redis_client_obj.set_param(name, value)
-        assert mock_redis_client_obj.get_param(name) == value
-
-    # Recheck everything
-    params = keys1.copy()
-    params.update(keys2)
-    for name, value in params.items():
-        assert mock_redis_client_obj.get_param(name) == value
-
-    # Default case
-    assert mock_redis_client_obj.get_param('bogus') == 0
+class TestFixtures:
+
+    def test_mock_comp_obj_fixture(self, mock_comp_obj, mock_objs):
+        # Test hal.component returns mock_comp_obj
+        assert mock_objs['hal_comp']() is mock_comp_obj
+
+        # Set each pin (with out-of-band method) and check
+        for name, value in keys1.items():
+            mock_comp_obj.set_pin(name, value)
+            assert mock_comp_obj[name] == value
+
+        # Recheck
+        for name, value in keys1.items():
+            assert mock_comp_obj[name] == value
+
+        # Set each pin and check
+        for name, value in keys2.items():
+            mock_comp_obj[name] = value
+            assert mock_comp_obj[name] == value
+
+        # Recheck everything
+        pins = keys1.copy()
+        pins.update(keys2)
+        for name, value in pins.items():
+            assert mock_comp_obj[name] == value
+
+        # Default case
+        assert mock_comp_obj['bogus'] == 0xDEADBEEF
+
+
+    def test_mock_rospy_fixture(self, mock_rospy, mock_objs):
+        # Test mock rospy.get_param()
+        gp = mock_objs['rospy_get_param']
+        gp.set_key('foo', 1)
+        gp.set_key('bar', 2)
+        assert gp('foo') == 1
+        assert gp('bar') == 2
+        gp.set_key('baz', 3)
+        assert gp('foo') == 1
+        assert gp('bar') == 2
+        assert gp('baz') == 3
+
+        # Test rospy.Rate() returns expected object
+        assert mock_objs['rospy_Rate']() is mock_objs['rospy_Rate_obj']
+
+        # Test rospy.is_shutdown() returns True values, then False
+        found_false = False
+        for i in range(10):
+            val = mock_objs['rospy_is_shutdown']()
+            print("iter {} val {}".format(i, val))
+            if val is False:
+                found_false = True
+            if val is True:
+                break
+        else:
+            raise Exception("is_shutdown never returned True")
+        if not found_false:
+            raise Exception("is_shutdown never returned False")
+
+        # Test returned objects
+        for name in ('Subscriber', 'Publisher', 'Service'):
+            method = mock_objs['rospy_{}'.format(name)]
+            obj = mock_objs['rospy_{}_obj'.format(name)]
+            assert method() == obj
+
+
+    def test_mock_redis_client_obj(self, mock_redis_client_obj, mock_objs):
+        # Test redis_store.ConfigClient() returns object
+        assert mock_objs['redis_store']() is mock_redis_client_obj
+
+        # Set each param (with out-of-band method) and check
+        for name, value in keys1.items():
+            mock_redis_client_obj.set_key(name, value)
+            assert mock_redis_client_obj.get_param(name) == value
+
+        # Recheck
+        for name, value in keys1.items():
+            assert mock_redis_client_obj.get_param(name) == value
+
+        # Set each param and check
+        for name, value in keys2.items():
+            mock_redis_client_obj.set_param(name, value)
+            assert mock_redis_client_obj.get_param(name) == value
+
+        # Recheck everything
+        params = keys1.copy()
+        params.update(keys2)
+        for name, value in params.items():
+            assert mock_redis_client_obj.get_param(name) == value
+
+        # Default case
+        assert mock_redis_client_obj.get_param('bogus') == 0

hal_hw_interface/src/hal_hw_interface/tests/test_hal_io_comp.py

@@ -76,15 +76,13 @@ def test_hal_io_comp_update(self, obj, pin_params, mock_comp_obj):
         get_param, test_pins = pin_params
         obj.setup_component()
 
-        # Put pins in dict and set values
+        # Set pin values
         for pin in obj.pins:
             mock_comp_obj.set_pin(pin.name, 1)
-            pin.last_value = 0
 
         # Run update() and check that pins changed
         print("----------- Running obj.update()")
         obj.update()
         for pin in obj.pins:
-            print("- pin %s" % pin)
-            assert pin.last_value == 1
-            pin.pub.publish.assert_called_with(1)
+            print(f"- pin {pin}")
+            pin.pub.publish.assert_called()