DRIVERS: Add thruster communication unit tests

drivers/sub8_videoray_m5_thruster/CMakeLists.txt

@@ -7,4 +7,10 @@ catkin_python_setup()
 catkin_package()
 include_directories(
   ${catkin_INCLUDE_DIRS}
-)
+)
+
+# Add folders to be run by python nosetests
+if(CATKIN_ENABLE_TESTING)
+    catkin_add_nosetests(test)
+endif()
+

drivers/sub8_videoray_m5_thruster/test/test_thruster_comm.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python
+import unittest
+import numpy as np
+from sub8_thruster_comm import thruster_comm_factory, FakeThrusterPort
+
+class TestThrusterComm(unittest.TestCase):
+    def setUp(self):
+        port = '/dev/fake_port'
+        node_id = 17
+        thruster_name = 'BRL'
+
+        self.port_info = {
+            'port': port,
+            'thrusters': {
+                'BRV': {
+                    'node_id': 16,
+                },
+                thruster_name: {
+                    'node_id': node_id,
+                }
+            }
+        }
+
+    def test_thruster_comm_factory_fake(self):
+        '''Test that the thruster factory returns a proper simulated FakeThrusterPort'''
+        # This should succeed
+        thrust_comm = thruster_comm_factory(self.port_info, fake=True)
+
+    def test_fake_thruster_status(self):
+        '''Test that the fake thruster status published is what we expect'''
+        thrust_comm = FakeThrusterPort(self.port_info)
+        fake_status = thrust_comm.command_thruster('BRV', 0.2)
+        self.assertEqual(fake_status['bus_voltage'], 48)
+
+    def test_thruster_comm_factory_real_fail(self):
+        '''Test that the comm factory fails to create a ThrusterPort on a port that does not exist'''
+        # This should fail
+        with self.assertRaises(IOError):
+            thrust_comm = thruster_comm_factory(self.port_info, fake=False)
+
+
+if __name__ == '__main__':
+    unittest.main()