🧪 unit tests [#7]

tests/conftest.py

@@ -20,7 +20,10 @@
     StreamingPollingCmd,
 )
 from umrx_app_v3.mcu_board.commands.timer import TimerCmd
+from umrx_app_v3.sensors.bmi088 import BMI088
+from umrx_app_v3.sensors.bmi323 import BMI323
 from umrx_app_v3.shuttle_board.bmi088.bmi088_shuttle import BMI088Shuttle
+from umrx_app_v3.shuttle_board.bmi323.bmi323_shuttle import BMI323Shuttle
 
 handler = logging.StreamHandler(sys.stdout)
 handler.setFormatter(logging.Formatter("[%(asctime)s][%(levelname)-8s][%(name)s]: %(message)s"))
@@ -145,3 +148,18 @@ def app_board_v3_rev1(bst_protocol_serial: BstProtocol) -> ApplicationBoardV3Rev
 @pytest.fixture(scope="session", autouse=True)
 def bmi088_shuttle(app_board_v3_rev0: ApplicationBoardV3Rev0) -> BMI088Shuttle:
     return BMI088Shuttle(board=app_board_v3_rev0)
+
+
+@pytest.fixture(scope="session", autouse=True)
+def bmi088() -> BMI088:
+    return BMI088()
+
+
+@pytest.fixture(scope="session", autouse=True)
+def bmi323_shuttle(app_board_v3_rev1: ApplicationBoardV3Rev1) -> BMI323Shuttle:
+    return BMI323Shuttle(board=app_board_v3_rev1)
+
+
+@pytest.fixture(scope="session", autouse=True)
+def bmi323() -> BMI323:
+    return BMI323()

tests/sensors/test_bmi088.py

@@ -0,0 +1,48 @@
+import struct
+from unittest.mock import patch
+
+from umrx_app_v3.sensors.bmi088 import BMI088
+
+
+def test_bmi088_read_properties(bmi088: BMI088) -> None:
+    all_properties = {key: value for key, value in bmi088.__class__.__dict__.items() if isinstance(value, property)}
+    write_only_properties = [
+        key for key, value in all_properties.items() if (value.fset is not None) and (value.fget is None)
+    ]
+    readable_properties = all_properties.keys() - write_only_properties
+
+    for readable_property in readable_properties:
+        with (
+            patch.object(
+                bmi088,
+                "read_gyro",
+                side_effect=lambda *vals: tuple(range(vals[1])) if (isinstance(vals, tuple) and len(vals) > 1) else 1,
+            ) as mocked_gyro_read,
+            patch.object(
+                bmi088,
+                "read_accel",
+                side_effect=lambda *vals: tuple(range(vals[1])) if (isinstance(vals, tuple) and len(vals) > 1) else 1,
+            ) as mocked_acc_read,
+            patch.object(struct, "unpack", return_value=(1, 2, 3)),
+        ):
+            getattr(bmi088, readable_property)
+            if readable_property.startswith("gyro_"):
+                mocked_gyro_read.assert_called_once()
+            elif readable_property.startswith("acc_"):
+                mocked_acc_read.assert_called_once()
+
+
+def test_bmi088_write_properties(bmi088: BMI088) -> None:
+    all_properties = {key: value for key, value in bmi088.__class__.__dict__.items() if isinstance(value, property)}
+    writable_properties = [key for key, value in all_properties.items() if value.fset is not None]
+
+    for writable_property in writable_properties:
+        with (
+            patch.object(bmi088, "write_gyro") as mocked_gyro_write,
+            patch.object(bmi088, "write_accel") as mocked_accel_write,
+        ):
+            setattr(bmi088, writable_property, 123)
+            if writable_property.startswith("gyro_"):
+                mocked_gyro_write.assert_called_once()
+            elif writable_property.startswith("acc_"):
+                mocked_accel_write.assert_called_once()

tests/sensors/test_bmi323.py

@@ -0,0 +1,30 @@
+import struct
+from unittest.mock import patch
+
+from umrx_app_v3.sensors.bmi323 import BMI323
+
+
+def test_bmi323_read_properties(bmi323: BMI323) -> None:
+    all_properties = {key: value for key, value in bmi323.__class__.__dict__.items() if isinstance(value, property)}
+    write_only_properties = [
+        key for key, value in all_properties.items() if (value.fset is not None) and (value.fget is None)
+    ]
+    readable_properties = all_properties.keys() - write_only_properties
+
+    for readable_property in readable_properties:
+        with patch.object(bmi323, "read") as mocked_read, patch.object(struct, "unpack", return_value=(1, 2, 3)):
+            getattr(bmi323, readable_property)
+            if readable_property == "sensor_time":
+                assert mocked_read.call_count == 2
+            else:
+                mocked_read.assert_called_once()
+
+
+def test_bmi323_write_properties(bmi323: BMI323) -> None:
+    all_properties = {key: value for key, value in bmi323.__class__.__dict__.items() if isinstance(value, property)}
+    writable_properties = [key for key, value in all_properties.items() if value.fset is not None]
+
+    for writable_property in writable_properties:
+        with patch.object(bmi323, "write") as mocked_write:
+            setattr(bmi323, writable_property, 123)
+            mocked_write.assert_called_once()