def test_pin_mode(self):
hw = HWSim(None, [], [])
hw.set_pin_mode(1, PinModes.OUTPUT)
hw.set_pin_mode(3, PinModes.INPUT)
hw.set_pin_mode(2, PinModes.OUTPUT)
assert hw.get_pin_mode(1) == PinModes.OUTPUT
assert hw.get_pin_mode(3) == PinModes.INPUT
assert hw.get_pin_mode(2) == PinModes.OUTPUT
def construct_sim_connection(self):
# Assemble HW here
'''
Stage 1
'''
rocket_sim_stage_1 = RocketSim(
'simple.ork') # TODO: Update ORK file once possible
hw_sim_sensors_stage_1 = [
DummySensor(SensorType.BAROMETER, (1000, 25)),
DummySensor(SensorType.GPS, (12.6, 13.2, 175)),
DummySensor(SensorType.ACCELEROMETER, (1, 0, 0)),
DummySensor(SensorType.IMU, (1, 0, 0, 0)),
DummySensor(SensorType.TEMPERATURE, (20, )),
VoltageSensor()
]
hw_sim_ignitors_stage_1 = [
Ignitor(IgnitorType.MAIN, 4, 14, 16),
Ignitor(IgnitorType.DROGUE, 17, 34, 35),
]
hwsim_stage_1 = HWSim(rocket_sim_stage_1, hw_sim_sensors_stage_1,
hw_sim_ignitors_stage_1)
'''
Stage 2
'''
rocket_sim_stage_2 = RocketSim(
'simple.ork') # TODO: Update ORK file once possible
hw_sim_sensors_stage_2 = [
DummySensor(SensorType.BAROMETER, (100000, 25)),
DummySensor(SensorType.GPS, (12.6, 13.2, 175)),
DummySensor(SensorType.ACCELEROMETER, (1, 0, 0)),
DummySensor(SensorType.IMU, (1, 0, 0, 0)),
DummySensor(SensorType.TEMPERATURE, (20, )),
VoltageSensor()
]
hw_sim_ignitors_stage_2 = [
Ignitor(IgnitorType.MAIN, 4, 14, 16),
Ignitor(IgnitorType.DROGUE, 17, 34, 35),
]
hwsim_stage_2 = HWSim(rocket_sim_stage_2, hw_sim_sensors_stage_2,
hw_sim_ignitors_stage_2)
return {
'TANTALUS_STAGE_1_CONNECTION':
SimConnection("TantalusStage1", "0013A20041678FC0", hwsim_stage_1),
'TANTALUS_STAGE_2_CONNECTION':
SimConnection("TantalusStage2", "0013A20041678FC0", hwsim_stage_2),
}
def test_clock(self):
clock = Clock()
rocket_sim = MagicMock()
rocket_sim.get_clock = MagicMock(return_value=clock)
hw = HWSim(rocket_sim, [], [])
assert clock.get_time_ms() == 0
assert clock.get_time_us() == 0
assert hw.time_update(1000) == 1
assert hw.time_update(1900) == 2
assert hw.time_update(100) == 3
def construct_sim_connection(self):
# Assemble HW here
'''
Body
'''
rocket_sim_body = RocketSim('Hollyburn CanSat Jan 20.ork')
hw_sim_sensors_body = [
SensorSim(SensorType.BAROMETER, rocket_sim_body, error_stdev=(50, 0.005)),
DummySensor(SensorType.GPS, (12.6, 13.2, 175)),
SensorSim(SensorType.ACCELEROMETER, rocket_sim_body),
DummySensor(SensorType.IMU, (1, 0, 0, 0)),
DummySensor(SensorType.TEMPERATURE, (20,)),
]
hw_sim_ignitors_body = [
Ignitor(IgnitorType.MAIN, 4, 14, 16, action_fn=rocket_sim_body.deploy_main),
Ignitor(IgnitorType.DROGUE, 17, 34, 35, action_fn=rocket_sim_body.deploy_drogue),
]
hwsim_body = HWSim(rocket_sim_body, hw_sim_sensors_body, hw_sim_ignitors_body)
'''
Nose
'''
# TODO: Enable this once possible
'''
rocket_sim_nose = RocketSim('Hollyburn CanSat Jan 20.ork')
hw_sim_sensors_nose = [
SensorSim(SensorType.BAROMETER, rocket_sim_nose, error_stdev=(50, 0.005)),
DummySensor(SensorType.GPS, (12.6, 13.2, 175)),
SensorSim(SensorType.ACCELEROMETER, rocket_sim_nose),
DummySensor(SensorType.IMU, (1, 0, 0, 0)),
DummySensor(SensorType.TEMPERATURE, (20,)),
]
hw_sim_ignitors_nose = [
Ignitor(IgnitorType.MAIN, 4, 14, 16, action_fn=rocket_sim_body.deploy_main),
Ignitor(IgnitorType.DROGUE, 17, 34, 35, action_fn=rocket_sim_body.deploy_drogue),
]
hwsim_nose = HWSim(rocket_sim_nose, hw_sim_sensors_nose, hw_sim_ignitors_nose)
'''
return {
'HOLLYBURN_BODY_CONNECTION': SimConnection("Hollyburn", "0013A20041678FC0", hwsim_body),
# 'HOLLYBURN_NOSE_CONNECTION': SimConnection("Hollyburn", "0013A20041678FC0", hwsim_nose),
}
def test_sensor_read(self):
GPS_DATA = (1, 2, 3)
BARO_DATA = (4, 5)
GPS = DummySensor(SensorType.GPS, GPS_DATA)
BARO = DummySensor(SensorType.BAROMETER, BARO_DATA)
hw = HWSim(None, [GPS, BARO], [])
assert hw.sensor_read(SensorType.GPS) == GPS_DATA
assert hw.sensor_read(SensorType.BAROMETER) == BARO_DATA
GPS_DATA = (11, 12, 13)
BARO_DATA = (14, 15)
GPS.set_value(GPS_DATA)
BARO.set_value(BARO_DATA)
assert hw.sensor_read(SensorType.GPS) == GPS_DATA
assert hw.sensor_read(SensorType.BAROMETER) == BARO_DATA
def test_ignitor_broken(self):
hw = HWSim(None, [], [
Ignitor(IgnitorType.MAIN, 1, 2, 3, broken=True),
Ignitor(IgnitorType.DROGUE, 4, 5, 6, broken=True)
])
hw.set_pin_mode(1, PinModes.INPUT)
hw.set_pin_mode(2, PinModes.OUTPUT)
hw.set_pin_mode(3, PinModes.INPUT)
hw.set_pin_mode(4, PinModes.INPUT)
hw.set_pin_mode(5, PinModes.OUTPUT)
hw.set_pin_mode(6, PinModes.INPUT)
assert ignitor_test(hw, 1, 2) == Ignitor.DISCONNECTED
assert ignitor_test(hw, 4, 5) == Ignitor.DISCONNECTED
hw = HWSim(None, [], [
Ignitor(IgnitorType.MAIN, 1, 2, 3, broken=True),
Ignitor(IgnitorType.DROGUE, 4, 5, 6, broken=False)
])
hw.set_pin_mode(1, PinModes.INPUT)
hw.set_pin_mode(2, PinModes.OUTPUT)
hw.set_pin_mode(3, PinModes.INPUT)
hw.set_pin_mode(4, PinModes.INPUT)
hw.set_pin_mode(5, PinModes.OUTPUT)
hw.set_pin_mode(6, PinModes.INPUT)
assert ignitor_test(hw, 1, 2) == Ignitor.DISCONNECTED
assert ignitor_test(hw, 4, 5) == Ignitor.CONNECTED
hw.digital_write(6, True)
assert ignitor_test(hw, 4, 5) == Ignitor.DISCONNECTED
def test_ignitor_fire(self):
hw = HWSim(None, [], [Ignitor(IgnitorType.MAIN, 6, 3, 1)])
hw.set_pin_mode(1, PinModes.INPUT)
hw.set_pin_mode(3, PinModes.OUTPUT)
hw.set_pin_mode(6, PinModes.INPUT)
hw.digital_write(1, False) # Writing false does not fire
assert hw.analog_read(3) == Ignitor.OFF
hw.digital_write(6, True)
assert hw.analog_read(3) == Ignitor.CONNECTED
hw.digital_write(6, False)
hw.digital_write(1, True) # Fire the pin
assert hw.analog_read(3) == Ignitor.OFF
hw.digital_write(6, True)
assert hw.analog_read(3) == Ignitor.DISCONNECTED
hw.digital_write(6, False)
hw.digital_write(1, False) # Firing is one-way
assert hw.analog_read(3) == Ignitor.OFF
hw.digital_write(6, True)
assert hw.analog_read(3) == Ignitor.DISCONNECTED
hw.digital_write(6, False)
def test_ignitor_readwrite(self):
hw = HWSim(None, [], [
Ignitor(IgnitorType.MAIN, 1, 2, 3),
Ignitor(IgnitorType.DROGUE, 5, 9, 10)
])
hw.set_pin_mode(2, PinModes.OUTPUT)
hw.set_pin_mode(9, PinModes.OUTPUT)
assert hw.analog_read(2) == Ignitor.OFF
assert hw.analog_read(9) == Ignitor.OFF
hw.set_pin_mode(1, PinModes.INPUT)
hw.digital_write(1, True)
assert hw.analog_read(2) == Ignitor.CONNECTED
assert hw.analog_read(9) == Ignitor.OFF
hw.digital_write(1, False)
assert hw.analog_read(2) == Ignitor.OFF
assert hw.analog_read(9) == Ignitor.OFF
hw.set_pin_mode(5, PinModes.INPUT)
hw.set_pin_mode(7, PinModes.INPUT)
hw.digital_write(5, True)
hw.digital_write(7, True)
assert hw.analog_read(2) == Ignitor.OFF
assert hw.analog_read(9) == Ignitor.CONNECTED