Add additional test cases for communicator utils and fix bug in fpParser

src/communicator/MultiProcess.py

@@ -25,12 +25,12 @@
 class MultiProcess:
     def __init__(self):
         log.info('Initializing Multithread Communication')
-        # self.android = Android()
+        self.android = Android()
         self.arduino = Arduino()
         self.pc = PC()
         self.detector = SymbolDetector()
 
-        # self.android.connect()
+        self.android.connect()
         self.arduino.connect()
         self.pc.connect()
 
@@ -40,11 +40,11 @@ def __init__(self):
 
     def start(self):
         # self.detector.start()
-
-        # r_android = Process(target=self.read_android, args=(self.pc_queue,))
-        # r_android.start()
-        # w_android = Process(target=self.write_android, args=(self.android_queue,))
-        # w_android.start()
+        
+        r_android = Process(target=self.read_android, args=(self.pc_queue,))
+        r_android.start()
+        w_android = Process(target=self.write_android, args=(self.android_queue,))
+        w_android.start()
 
         r_arduino = Process(target=self.read_arduino, args=(self.pc_queue,))
         r_arduino.start()

src/communicator/test.py

@@ -60,6 +60,34 @@ def runTests(verbose):
         all_passed = False
         log.error('pcMsgParser: FP  - Failed!')
 
+    try:
+        msg_read = "FP|(1,1,E);(1,5,E);(2,5,N);(4,5,N);(4,6,E);(4,9,E);(5,9,N);(8,9,N);(8,10,E);(8,13,E);(9,13,N);(10,13,N);(10,12,W)"
+        pc_msg = pcMsgParser(msg_read)
+        assert pc_msg['target'] == 'both'
+        assert pc_msg['payload']['arduino'] == 'w4aw3dw4aw4dw4aw2aw1'
+        if verbose:
+            log.info('Msg to parse: ' + msg_read)
+            log.info('Parsed Android: ' + pc_msg['payload']['android'])
+            log.info('Parsed Arduino: ' + pc_msg['payload']['arduino'])
+        log.info('pcMsgParser: FP2 - Passed!')
+    except AssertionError as e:
+        all_passed = False
+        log.error('pcMsgParser: FP2  - Failed!')
+
+    try:
+        msg_read = "FP|(1,1,E);(1,5,E);(2,5,N);(2,4,W)"
+        pc_msg = pcMsgParser(msg_read)
+        assert pc_msg['target'] == 'both'
+        assert pc_msg['payload']['arduino'] == 'w4aw1aw1'
+        if verbose:
+            log.info('Msg to parse: ' + msg_read)
+            log.info('Parsed Android: ' + pc_msg['payload']['android'])
+            log.info('Parsed Arduino: ' + pc_msg['payload']['arduino'])
+        log.info('pcMsgParser: FP3 - Passed!')
+    except AssertionError as e:
+        all_passed = False
+        log.error('pcMsgParser: FP3  - Failed!')
+
     if all_passed:
         log.info('All Tests Passed!')
 

src/communicator/utils.py

@@ -1,7 +1,7 @@
 from src.Logger import Logger
 log = Logger()
 
-arduino_commands = ['H', 'F', 'S']
+arduino_commands = ['H', 'F', 'S', 'Z']
 arduino_out = ['SD', 'MC', 'CC', 'EC']
 
 '''
@@ -114,7 +114,7 @@ def fpParser(system, path_data):
                         or (dir_1 == 'E' and dir_2 == 'S')\
                         or (dir_1 == 'W' and dir_2 == 'N'):
                         step_seq.append('d')
-                    elif (dir == 'N' and dir_2 =='W')\
+                    elif (dir_1 == 'N' and dir_2 =='W')\
                         or (dir_1 == 'S' and dir_2 == 'E')\
                         or (dir_1 == 'E' and dir_2 == 'N')\
                         or (dir_1 == 'W' and dir_2 == 'S'):
@@ -126,7 +126,6 @@ def fpParser(system, path_data):
                         step_count = abs(int(x_1) - int(x_2))
                     else:
                         print('Error: ' + str(dir_1) + ', ' + str(dir_2))
-
                     step_seq = step_seq + [ 'w' for x in range(step_count) ]
 
     if system == 'android':