def test_output_pwm_blink_interrupt():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
device.blink(1, 0.1)
sleep(0.2)
device.off() # should interrupt while on
pin.assert_states([0, 1, 0])
def test_led_bar_graph_pwm_value():
pin1 = MockPWMPin(2)
pin2 = MockPWMPin(3)
pin3 = MockPWMPin(4)
with LEDBarGraph(pin1, pin2, pin3, pwm=True) as graph:
assert isinstance(graph[0], PWMLED)
assert isinstance(graph[1], PWMLED)
assert isinstance(graph[2], PWMLED)
graph.value = 0
assert graph.value == 0
assert not any((pin1.state, pin2.state, pin3.state))
graph.value = 1
assert graph.value == 1
assert all((pin1.state, pin2.state, pin3.state))
graph.value = 1/3
assert graph.value == 1/3
assert pin1.state and not (pin2.state or pin3.state)
graph.value = -1/3
assert graph.value == -1/3
assert pin3.state and not (pin1.state or pin2.state)
graph.value = 1/2
assert graph.value == 1/2
assert (pin1.state, pin2.state, pin3.state) == (1, 0.5, 0)
pin1.state = 0
pin3.state = 1
assert graph.value == -1/2
def test_output_pwm_fade_background():
pin = MockPWMPin(2)
device = PWMOutputDevice(pin)
device.blink(0, 0, 0.1, 0.1, n=2)
device._blink_thread.join()
pin.assert_states_and_times([
(0.0, 0),
(0.02, 0.2),
(0.02, 0.4),
(0.02, 0.6),
(0.02, 0.8),
(0.02, 1),
(0.02, 0.8),
(0.02, 0.6),
(0.02, 0.4),
(0.02, 0.2),
(0.02, 0),
(0.02, 0.2),
(0.02, 0.4),
(0.02, 0.6),
(0.02, 0.8),
(0.02, 1),
(0.02, 0.8),
(0.02, 0.6),
(0.02, 0.4),
(0.02, 0.2),
(0.02, 0),
])
def test_output_pwm_fade_foreground():
pin = MockPWMPin(2)
device = PWMOutputDevice(pin)
device.blink(0, 0, 0.1, 0.1, n=2, background=False)
pin.assert_states_and_times([
(0.0, 0),
(0.02, 0.2),
(0.02, 0.4),
(0.02, 0.6),
(0.02, 0.8),
(0.02, 1),
(0.02, 0.8),
(0.02, 0.6),
(0.02, 0.4),
(0.02, 0.2),
(0.02, 0),
(0.02, 0.2),
(0.02, 0.4),
(0.02, 0.6),
(0.02, 0.8),
(0.02, 1),
(0.02, 0.8),
(0.02, 0.6),
(0.02, 0.4),
(0.02, 0.2),
(0.02, 0),
])
def test_output_pwm_pulse_foreground():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
start = time()
device.pulse(0.2, 0.2, n=2, background=False)
assert isclose(time() - start, 0.8, abs_tol=0.05)
pin.assert_states_and_times([
(0.0, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
])
def test_output_pwm_fade_foreground():
pin = MockPWMPin(2)
device = PWMOutputDevice(pin)
device.blink(0, 0, 0.1, 0.1, n=2, background=False)
pin.assert_states_and_times([
(0.0, 0),
(0.02, 0.2),
(0.02, 0.4),
(0.02, 0.6),
(0.02, 0.8),
(0.02, 1),
(0.02, 0.8),
(0.02, 0.6),
(0.02, 0.4),
(0.02, 0.2),
(0.02, 0),
(0.02, 0.2),
(0.02, 0.4),
(0.02, 0.6),
(0.02, 0.8),
(0.02, 1),
(0.02, 0.8),
(0.02, 0.6),
(0.02, 0.4),
(0.02, 0.2),
(0.02, 0),
])
def test_output_pwm_states():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
device.value = 0.1
device.value = 0.2
device.value = 0.0
pin.assert_states([0.0, 0.1, 0.2, 0.0])
def test_output_pwm_states():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
device.value = 0.1
device.value = 0.2
device.value = 0.0
pin.assert_states([0.0, 0.1, 0.2, 0.0])
def test_output_pwm_fade_background():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
start = time()
device.blink(0, 0, 0.2, 0.2, n=2)
assert isclose(time() - start, 0, abs_tol=0.05)
device._blink_thread.join()
assert isclose(time() - start, 0.8, abs_tol=0.05)
pin.assert_states_and_times([
(0.0, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
])
def test_output_pwm_fade_background():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
start = time()
device.blink(0, 0, 0.2, 0.2, n=2)
assert isclose(time() - start, 0, abs_tol=0.05)
device._blink_thread.join()
assert isclose(time() - start, 0.8, abs_tol=0.05)
pin.assert_states_and_times([
(0.0, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
])
def test_output_pwm_pulse_foreground():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
start = time()
device.pulse(0.2, 0.2, n=2, background=False)
assert isclose(time() - start, 0.8, abs_tol=0.05)
pin.assert_states_and_times([
(0.0, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
])
def test_output_pwm_blink_interrupt():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
device.blink(1, 0.1)
sleep(0.2)
device.off() # should interrupt while on
pin.assert_states([0, 1, 0])
def test_output_pwm_fade_background():
pin = MockPWMPin(2)
device = PWMOutputDevice(pin)
device.blink(0, 0, 0.1, 0.1, n=2)
device._blink_thread.join()
pin.assert_states_and_times([
(0.0, 0),
(0.02, 0.2),
(0.02, 0.4),
(0.02, 0.6),
(0.02, 0.8),
(0.02, 1),
(0.02, 0.8),
(0.02, 0.6),
(0.02, 0.4),
(0.02, 0.2),
(0.02, 0),
(0.02, 0.2),
(0.02, 0.4),
(0.02, 0.6),
(0.02, 0.8),
(0.02, 1),
(0.02, 0.8),
(0.02, 0.6),
(0.02, 0.4),
(0.02, 0.2),
(0.02, 0),
])
def test_mock_pin_init_twice_different_modes():
pin1 = MockPin(2)
pin2 = MockPWMPin(pin1.number+1)
assert pin1 != pin2
with pytest.raises(ValueError):
pin3 = MockPWMPin(pin1.number)
with pytest.raises(ValueError):
pin4 = MockPin(pin2.number)
def test_led_board_pwm_bad_initial_value():
pin1 = MockPWMPin(2)
pin2 = MockPWMPin(3)
pin3 = MockPWMPin(4)
with pytest.raises(ValueError):
LEDBoard(pin1, pin2, foo=pin3, pwm=True, initial_value=-1)
with pytest.raises(ValueError):
LEDBoard(pin1, pin2, foo=pin3, pwm=True, initial_value=2)
def test_mock_pin_frequency_supported():
pin = MockPWMPin(3)
pin.function = 'output'
assert pin.frequency is None
pin.frequency = 100
pin.state = 0.5
pin.frequency = None
assert not pin.state
def test_motor_close():
f = MockPWMPin(1)
b = MockPWMPin(2)
device = Motor(f, b)
device.close()
assert device.closed
assert device.forward_device.pin is None
assert device.backward_device.pin is None
def test_output_pwm_blink_foreground():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
start = time()
device.blink(0.1, 0.1, n=2, background=False)
assert isclose(time() - start, 0.4, abs_tol=0.05)
pin.assert_states_and_times([(0.0, 0), (0.0, 1), (0.1, 0), (0.1, 1),
(0.1, 0)])
def test_motor_pins():
f = MockPWMPin(1)
b = MockPWMPin(2)
with Motor(f, b) as device:
assert device.forward_device.pin is f
assert isinstance(device.forward_device, PWMOutputDevice)
assert device.backward_device.pin is b
assert isinstance(device.backward_device, PWMOutputDevice)
def test_motor_bad_value():
f = MockPWMPin(1)
b = MockPWMPin(2)
with Motor(f, b) as device:
with pytest.raises(ValueError):
device.value = -2
with pytest.raises(ValueError):
device.value = 2
def test_led_board_pwm_bad_value():
pin1 = MockPWMPin(2)
pin2 = MockPWMPin(3)
pin3 = MockPWMPin(4)
with LEDBoard(pin1, pin2, foo=pin3, pwm=True) as board:
with pytest.raises(ValueError):
board.value = (-1, 0, 0)
with pytest.raises(ValueError):
board.value = (0, 2, 0)
def test_output_pwm_toggle():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
device.toggle()
device.value = 0.5
device.value = 0.1
device.toggle()
device.off()
pin.assert_states([False, True, 0.5, 0.1, 0.9, False])
def test_output_pwm_toggle():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
device.toggle()
device.value = 0.5
device.value = 0.1
device.toggle()
device.off()
pin.assert_states([False, True, 0.5, 0.1, 0.9, False])
def test_led_board_pwm_initial_value():
pin1 = MockPWMPin(2)
pin2 = MockPWMPin(3)
pin3 = MockPWMPin(4)
with LEDBoard(pin1, pin2, foo=pin3, pwm=True, initial_value=0) as board:
assert board.value == (0, 0, 0)
with LEDBoard(pin1, pin2, foo=pin3, pwm=True, initial_value=1) as board:
assert board.value == (1, 1, 1)
with LEDBoard(pin1, pin2, foo=pin3, pwm=True, initial_value=0.5) as board:
assert board.value == (0.5, 0.5, 0.5)
def test_led_bar_graph_pwm_initial_value():
pin1 = MockPWMPin(2)
pin2 = MockPWMPin(3)
pin3 = MockPWMPin(4)
with LEDBarGraph(pin1, pin2, pin3, pwm=True, initial_value=0.5) as graph:
assert graph.value == 0.5
assert (pin1.state, pin2.state, pin3.state) == (1, 0.5, 0)
with LEDBarGraph(pin1, pin2, pin3, pwm=True, initial_value=-0.5) as graph:
assert graph.value == -0.5
assert (pin1.state, pin2.state, pin3.state) == (0, 0.5, 1)
def test_motor_reverse():
f = MockPWMPin(1)
b = MockPWMPin(2)
device = Motor(f, b)
device.forward()
assert device.value == 1
assert b.state == 0 and f.state == 1
device.reverse()
assert device.value == -1
assert b.state == 1 and f.state == 0
def test_led_board_pwm_value():
pin1 = MockPWMPin(2)
pin2 = MockPWMPin(3)
pin3 = MockPWMPin(4)
with LEDBoard(pin1, pin2, foo=pin3, pwm=True) as board:
assert board.value == (0, 0, 0)
board.value = (0, 1, 0)
assert board.value == (0, 1, 0)
board.value = (0.5, 0, 0.75)
assert board.value == (0.5, 0, 0.75)
def test_led_board_fade_background():
pin1 = MockPWMPin(2)
pin2 = MockPWMPin(3)
pin3 = MockPWMPin(4)
with LEDBoard(pin1, LEDBoard(pin2, pin3, pwm=True), pwm=True) as board:
board.blink(0, 0, 0.2, 0.2, n=2)
board._blink_thread.join()
test = [
(0.0, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
]
pin1.assert_states_and_times(test)
pin2.assert_states_and_times(test)
pin3.assert_states_and_times(test)
def test_output_pwm_blink_foreground():
pin = MockPWMPin(2)
device = PWMOutputDevice(pin)
device.blink(0.1, 0.1, n=2, background=False)
pin.assert_states_and_times([
(0.0, 0),
(0.0, 1),
(0.1, 0),
(0.1, 1),
(0.1, 0)
])
def test_output_pwm_blink_foreground():
pin = MockPWMPin(2)
device = PWMOutputDevice(pin)
device.blink(0.1, 0.1, n=2, background=False)
pin.assert_states_and_times([
(0.0, 0),
(0.0, 1),
(0.1, 0),
(0.1, 1),
(0.1, 0)
])
def test_output_pwm_blink_background():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
device.blink(0.1, 0.1, n=2)
device._blink_thread.join()
pin.assert_states_and_times([
(0.0, 0),
(0.0, 1),
(0.1, 0),
(0.1, 1),
(0.1, 0)
])
def test_output_pwm_blink_foreground():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
start = time()
device.blink(0.1, 0.1, n=2, background=False)
assert isclose(time() - start, 0.4, abs_tol=0.05)
pin.assert_states_and_times([
(0.0, 0),
(0.0, 1),
(0.1, 0),
(0.1, 1),
(0.1, 0)
])
def test_motor_reverse():
f = MockPWMPin(1)
b = MockPWMPin(2)
with Motor(f, b) as device:
device.forward()
assert device.value == 1
assert b.state == 0 and f.state == 1
device.reverse()
assert device.value == -1
assert b.state == 1 and f.state == 0
device.backward(0.5)
assert device.value == -0.5
assert b.state == 0.5 and f.state == 0
device.reverse()
assert device.value == 0.5
assert b.state == 0 and f.state == 0.5
def test_robot():
pins = [MockPWMPin(n) for n in (2, 3, 4, 5)]
with Robot((2, 3), (4, 5)) as robot:
assert ([device.pin for device in robot.left_motor] +
[device.pin for device in robot.right_motor]) == pins
assert robot.value == (0, 0)
robot.forward()
assert [pin.state for pin in pins] == [1, 0, 1, 0]
assert robot.value == (1, 1)
robot.backward()
assert [pin.state for pin in pins] == [0, 1, 0, 1]
assert robot.value == (-1, -1)
robot.forward(0.5)
assert [pin.state for pin in pins] == [0.5, 0, 0.5, 0]
assert robot.value == (0.5, 0.5)
robot.left()
assert [pin.state for pin in pins] == [0, 1, 1, 0]
assert robot.value == (-1, 1)
robot.right()
assert [pin.state for pin in pins] == [1, 0, 0, 1]
assert robot.value == (1, -1)
robot.reverse()
assert [pin.state for pin in pins] == [0, 1, 1, 0]
assert robot.value == (-1, 1)
robot.stop()
assert [pin.state for pin in pins] == [0, 0, 0, 0]
assert robot.value == (0, 0)
robot.value = (-1, -1)
assert robot.value == (-1, -1)
robot.value = (0.5, 1)
assert robot.value == (0.5, 1)
robot.value = (0, -0.5)
assert robot.value == (0, -0.5)
def test_angular_servo_angles():
p = MockPWMPin(1)
with AngularServo(p) as device:
device.angle = 0
assert device.angle == 0
assert isclose(device.value, 0)
device.max()
assert device.angle == 90
assert isclose(device.value, 1)
device.min()
assert device.angle == -90
assert isclose(device.value, -1)
device.detach()
assert device.angle is None
with AngularServo(p, initial_angle=15, min_angle=0,
max_angle=90) as device:
assert device.angle == 15
assert isclose(device.value, -2 / 3)
device.angle = 0
assert device.angle == 0
assert isclose(device.value, -1)
device.angle = 90
assert device.angle == 90
assert isclose(device.value, 1)
device.angle = None
assert device.angle is None
with AngularServo(p, min_angle=45, max_angle=-45) as device:
assert device.angle == 0
assert isclose(device.value, 0)
device.angle = -45
assert device.angle == -45
assert isclose(device.value, 1)
device.angle = -15
assert device.angle == -15
assert isclose(device.value, 1 / 3)
def test_rgbled_pulse_foreground():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b) as device:
start = time()
device.pulse(0.2, 0.2, n=2, background=False)
assert isclose(time() - start, 0.8, abs_tol=0.05)
expected = [
(0.0, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
]
r.assert_states_and_times(expected)
g.assert_states_and_times(expected)
b.assert_states_and_times(expected)
def test_rgbled_fade_background():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b) as device:
start = time()
device.blink(0, 0, 0.2, 0.2, n=2)
assert isclose(time() - start, 0, abs_tol=0.05)
device._blink_thread.join()
assert isclose(time() - start, 0.8, abs_tol=0.05)
expected = [
(0.0, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
]
r.assert_states_and_times(expected)
g.assert_states_and_times(expected)
b.assert_states_and_times(expected)
def test_rgbled_fade_background():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
device = RGBLED(r, g, b)
device.blink(0, 0, 0.1, 0.1, n=2)
device._blink_thread.join()
expected = [
(0.0, 0),
(0.02, 0.2),
(0.02, 0.4),
(0.02, 0.6),
(0.02, 0.8),
(0.02, 1),
(0.02, 0.8),
(0.02, 0.6),
(0.02, 0.4),
(0.02, 0.2),
(0.02, 0),
(0.02, 0.2),
(0.02, 0.4),
(0.02, 0.6),
(0.02, 0.8),
(0.02, 1),
(0.02, 0.8),
(0.02, 0.6),
(0.02, 0.4),
(0.02, 0.2),
(0.02, 0),
]
r.assert_states_and_times(expected)
g.assert_states_and_times(expected)
b.assert_states_and_times(expected)
def test_servo_values():
p = MockPWMPin(1)
with Servo(p) as device:
device.min()
assert device.is_active
assert device.value == -1
assert isclose(p.state, 0.05)
device.max()
assert device.is_active
assert device.value == 1
assert isclose(p.state, 0.1)
device.mid()
assert device.is_active
assert device.value == 0.0
assert isclose(p.state, 0.075)
device.value = 0.5
assert device.is_active
assert device.value == 0.5
assert isclose(p.state, 0.0875)
device.detach()
assert not device.is_active
assert device.value is None
device.value = 0
assert device.value == 0
device.value = None
assert device.value is None
def test_output_pwm_active_high_read():
pin = MockPWMPin(2)
with PWMOutputDevice(pin, active_high=False) as device:
device.value = 0.1
assert isclose(device.value, 0.1)
assert isclose(pin.state, 0.9)
device.frequency = None
assert device.value
def test_rgbled_bad_value():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b) as device:
with pytest.raises(ValueError):
device.value = (2, 0, 0)
with RGBLED(r, g, b) as device:
with pytest.raises(ValueError):
device.value = (0, -1, 0)
def test_rgbled_close():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b) as device:
assert not device.closed
device.close()
assert device.closed
device.close()
assert device.closed
def test_mock_pwm_pin_state():
pin = MockPWMPin(2)
with pytest.raises(PinSetInput):
pin.state = 1
pin.function = "output"
assert pin.state == 0
pin.state = 1
assert pin.state == 1
pin.state = 0
assert pin.state == 0
pin.state = 0.5
assert pin.state == 0.5
def test_mock_pwm_pin_open_close():
pin = MockPWMPin(2)
pin.close()
def test_output_pwm_write_silly():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
pin.function = 'input'
with pytest.raises(AttributeError):
device.off()
def test_output_pwm_write():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
device.on()
device.off()
pin.assert_states([False, True, False])