def test_dynamixel_scan(self, mock_robot_init):
robot = BaseRobot(**mock_robot_init['dynamixel'])
robot.start()
ids = robot.buses['ttys1'].scan()
assert 11 in ids
assert 12 in ids
robot.stop()
def test_dynamixel_bus_closed(self, mock_robot_init, caplog):
robot = BaseRobot(**mock_robot_init['dynamixel'])
bus = robot.buses['ttys1']
# ping
caplog.clear()
bus.ping(11)
assert len(caplog.records) == 1
assert 'Ping invoked with a bus not opened' in caplog.text
# scan
caplog.clear()
bus.scan(range(10))
assert len(caplog.records) == 1
assert 'Scan invoked with a bus not opened' in caplog.text
# read
dev = robot.devices['d11']
caplog.clear()
bus.read(dev.return_delay_time)
assert len(caplog.records) == 1
assert 'Attempt to use closed bus "ttys1"' in caplog.text
# write
caplog.clear()
bus.write(dev.return_delay_time, 10)
assert len(caplog.records) == 1
assert 'Attempt to use closed bus "ttys1"' in caplog.text
robot.stop()
def test_open_device_with_sync_items(self, mock_robot_init):
robot = BaseRobot(**mock_robot_init['dynamixel'])
robot.start()
dev = robot.devices['d11']
dev.present_position_deg.sync = True
dev.open()
robot.stop()
def test_dynamixel_write(self, mock_robot_init):
robot = BaseRobot(**mock_robot_init['dynamixel'])
robot.start()
dev = robot.devices['d11']
for _ in range(100): # so that we also hit some comm errors
dev.temperature_limit.value = 85
assert dev.temperature_limit.value == 85
dev.cw_angle_limit_deg.value = 10
assert (dev.cw_angle_limit_deg.value - 10) < 0.2
robot.stop()
def test_i2c_robot(self, mock_robot_init, caplog):
robot = BaseRobot(**mock_robot_init['i2crobot'])
robot.start()
dev = robot.devices['imu']
# 1 Byte registers
for _ in range(5): # to account for possible comm errs
dev.byte_xl_x.value = 20
assert dev.byte_xl_x.value == 20
# word register
dev.word_xl_x.value = 12345
assert dev.word_xl_x.value == 12345
robot.stop()
def test_dynamixel_bus_acquire_bulkread(self, mock_robot_init, caplog):
# syncs
robot = BaseRobot(**mock_robot_init['dynamixel'])
robot.start()
robot.buses['ttys1'].can_use() # lock the bus
caplog.clear()
robot.syncs['bulkread'].start()
time.sleep(1)
assert len(caplog.records) >= 1
assert 'failed to acquire bus ttys1' in caplog.text
robot.syncs['bulkread'].stop()
# release bus
robot.buses['ttys1'].stop_using()
robot.stop()
def test_dynamixel_bus_acquire(self, mock_robot_init, caplog):
robot = BaseRobot(**mock_robot_init['dynamixel'])
robot.start()
dev = robot.devices['d11']
bus = robot.buses['ttys1']
bus.can_use() # lock the bus
# read
caplog.clear()
bus.read(dev.return_delay_time)
assert len(caplog.records) >= 1
assert 'failed to acquire bus ttys1' in caplog.text
# write
caplog.clear()
bus.write(dev.return_delay_time, 10)
assert len(caplog.records) >= 1
assert 'failed to acquire bus ttys1' in caplog.text
# release bus
bus.stop_using()
robot.stop()
def test_dynamixel_bus_params(self, mock_robot_init):
robot = BaseRobot(**mock_robot_init['dynamixel'])
assert robot.buses['ttys1'].baudrate == 19200
assert not robot.buses['ttys1'].rs485
robot.stop()
def test_dynamixel_ping(self, mock_robot_init):
robot = BaseRobot(**mock_robot_init['dynamixel'])
robot.start()
assert robot.buses['ttys1'].ping(11) == True
robot.stop()
def test_dynamixel_rangeread(self, mock_robot_init):
robot = BaseRobot(**mock_robot_init['dynamixel'])
robot.start()
robot.syncs['rangeread'].start()
time.sleep(1)
robot.stop()
def test_dynamixel_bulkwrite(self, mock_robot_init):
robot = BaseRobot(**mock_robot_init['dynamixel'])
robot.start()
robot.syncs['bulkwrite'].start()
time.sleep(1)
robot.stop()
def test_dynamixel_robot(self, mock_robot_init):
for name, init_dict in mock_robot_init.items():
break
robot = BaseRobot(name=name, **init_dict)
robot.start()
robot.stop()
def test_i2c_write_loop(self, mock_robot_init):
robot = BaseRobot(**mock_robot_init['i2crobot'])
robot.start()
robot.syncs['write_xl'].start()
time.sleep(1)
robot.stop()
def test_i2c_read_loop(self, mock_robot_init):
robot = BaseRobot(**mock_robot_init['i2crobot'])
robot.start()
robot.syncs['read_g'].start()
time.sleep(1)
robot.stop()