def test_FTSensor_SetTT_OK01(self):
"""
Test the setToolTransform wrapper function.
"""
self.test_sensor.createCalibration(self.cal_file,1)
self.test_sensor.setToolTransform(self.translation_floats,atiiaftt.FTUnit.DIST_MM,atiiaftt.FTUnit.ANGLE_DEG)
new_aunit=ffi.string(self.test_sensor.calibration.cfg.UserTransform.AngleUnits)
new_dunit=ffi.string(self.test_sensor.calibration.cfg.UserTransform.DistUnits)
tt_vector=list(self.test_sensor.calibration.cfg.UserTransform.TT)
logger.debug("{}, {}".format(new_aunit,new_dunit))
logger.debug("{}".format(tt_vector))
self.assertEqual(b"deg",new_aunit)
self.assertEqual(b"mm",new_dunit)
self.assertEqual(self.translation_floats,tt_vector)
def test_FTSensor_SetTorqueUnits_OK04(self):
"""
Test that the setTorqueUnits wrapper function properly sets 'TORQUE_KG_CM' units.
"""
cal_ok=self.test_sensor.createCalibration(self.cal_file,1)
self.test_sensor.setTorqueUnits(atiiaftt.FTUnit.TORQUE_KG_CM)
new_tunit=ffi.string(self.test_sensor.calibration.cfg.TorqueUnits)
self.assertEqual(b"kg-cm",new_tunit)
def test_FTSensor_SetForceUnits_OK06(self):
"""
Test that the setForceUnits wrapper function properly sets 'FORCE_KLB' units.
"""
cal_ok=self.test_sensor.createCalibration(self.cal_file,1)
self.test_sensor.setForceUnits(atiiaftt.FTUnit.FORCE_KLB)
new_funit=ffi.string(self.test_sensor.calibration.cfg.ForceUnits)
self.assertEqual(b"klb",new_funit)
def cffi_usage_example():
"""
Usage example for atiiaftt cffi library.
Functionally the same as the Sample/ftconvert.c example included with ATIDAQ zip
"""
cal_file = "tests/FT18766.cal"
cal_file_index = 1
cal_file_path = ffi.new(
"char[]",
os.path.join(os.path.dirname(__file__), cal_file).encode("ascii"))
print(ffi.string(cal_file_path))
calibrationData = lib.createCalibration(cal_file_path, cal_file_index)
print(calibrationData)
# print the working calibration matrix (loaded from file, pre-bias)
print("Calibration Matrix Dimensions [{} Channels,{} Axes]".format(
calibrationData.rt.NumChannels, calibrationData.rt.NumAxes))
for ai in range(calibrationData.rt.NumAxes):
print("{}\t".format(ffi.string(calibrationData.AxisNames[ai])), end="")
for ci in range(calibrationData.rt.NumChannels):
print("{}\t".format(calibrationData.rt.working_matrix[ai][ci]),
end="")
print("")
# same values as sample program 'ftconvert'
bias_readings = ffi.new("float[]", [
0.265100, -0.017700, -0.038400, -0.042700, -0.189100, 0.137300,
-3.242300
])
input_floats = ffi.new("float[]", [
-3.286300, 0.387500, -3.487700, 0.404300, -3.934100, 0.547400,
-3.210600
])
translation_floats = ffi.new("float[]", [0, 0, 20, 45, 0, 0])
output_floats = ffi.new("float[]", [0, 0, 0, 0, 0, 0, 0])
translation_dist_unit = ffi.new("char[]", "mm".encode("ascii"))
translation_angle_unit = ffi.new("char[]", "degrees".encode("ascii"))
force_unit_str = ffi.new("char[]", "N".encode("ascii"))
torque_unit_str = ffi.new("char[]", "N-m".encode("ascii"))
lib.SetForceUnits(calibrationData, force_unit_str)
lib.SetTorqueUnits(calibrationData, torque_unit_str)
print("Running tool transform with translation: [", end="")
for i in range(6):
print(translation_floats[i], end="")
if (i < 5):
print(",", end="")
print("]")
lib.SetToolTransform(calibrationData, translation_floats,
translation_dist_unit, translation_angle_unit)
lib.Bias(calibrationData, bias_readings)
lib.ConvertToFT(calibrationData, input_floats, output_floats)
print("Bias reading:")
for i in range(7):
print(bias_readings[i], end='')
if (i < 6):
print(",", end='')
print("")
print("Measurement:")
for i in range(7):
print(input_floats[i], end='')
if (i < 6):
print(",", end='')
print("")
print("Result:")
for i in range(7):
print(output_floats[i], end='')
if (i < 6):
print(",", end='')
print("")
return 0
def usage_example():
"""
Usage example for atiiaftt python classes.
Functionally the same as the Sample/ftconvert.c example included with ATIDAQ zip
"""
cal_file = "tests/FT18766.cal"
cal_file_index = 1
# same values as sample program 'ftconvert.c'
bias_readings = [
0.265100, -0.017700, -0.038400, -0.042700, -0.189100, 0.137300,
-3.242300
]
input_floats = [
-3.286300, 0.387500, -3.487700, 0.404300, -3.934100, 0.547400,
-3.210600
]
translation_floats = [0, 0, 20, 45, 0, 0]
output_floats = [0, 0, 0, 0, 0, 0, 0]
translation_dist_unit = atiiaftt.FTUnit.DIST_MM
translation_angle_unit = atiiaftt.FTUnit.ANGLE_DEG
force_unit_str = atiiaftt.FTUnit.FORCE_N
torque_unit_str = atiiaftt.FTUnit.TORQUE_N_M
ftSensor00 = atiiaftt.FTSensor()
try:
forcetorqueValues = ftSensor00.convertToFt(input_floats)
forcetorqueValues = ftSensor00.bias(bias_readings)
except RuntimeError:
logging.error("Caught expected exception.")
print("Using calibration file: '{}'".format(cal_file))
ftSensor01 = atiiaftt.FTSensor(cal_file, cal_file_index)
print(ftSensor01.calibration)
# print the working calibration matrix (loaded from file, pre-bias)
print("Calibration Matrix Dimensions [{} Channels,{} Axes]".format(
ftSensor01.calibration.rt.NumChannels,
ftSensor01.calibration.rt.NumAxes))
for ai in range(ftSensor01.calibration.rt.NumAxes):
print("{}\t".format(ffi.string(ftSensor01.calibration.AxisNames[ai])),
end="")
for ci in range(ftSensor01.calibration.rt.NumChannels):
print("{}\t".format(
ftSensor01.calibration.rt.working_matrix[ai][ci]),
end="")
print("")
print("Running tool transform with translation: {}".format(
translation_floats))
ftSensor01.setToolTransform(translation_floats, translation_dist_unit,
translation_angle_unit)
ftSensor01.bias(bias_readings)
forcetorqueValues = ftSensor01.convertToFt(input_floats)
print("Bias reading: {}".format(bias_readings))
print("Measurement: {}".format(input_floats))
print("Result: {}".format(forcetorqueValues))
print("Stored Result: {}".format(ftSensor01.ft_vector))
return 0
