def __init__(self, yaml: dict, logger: Logger):
# Contains all components (including subcomponents).
# Ports are components too.
self.components_by_name = {} # {'name': object, ...}
self.names_by_component = {} # {'name': object, ...}
def add_component(name, component):
self.components_by_name[name] = component
self.names_by_component[component] = name
if hasattr(component, 'get_subcomponents'):
for subname, subcomponent in component.get_subcomponents():
add_component(name + '.' + subname, subcomponent)
for component_yaml in yaml['components']:
if component_yaml['type'] == 'odrive':
add_component(component_yaml['name'],
ODriveComponent(component_yaml))
elif component_yaml['type'] == 'generalpurpose':
add_component(component_yaml['name'],
GeneralPurposeComponent(component_yaml))
elif component_yaml['type'] == 'teensy':
add_component(component_yaml['name'],
TeensyComponent(self, component_yaml))
elif component_yaml['type'] == 'motor':
add_component(component_yaml['name'],
MotorComponent(component_yaml))
elif component_yaml['type'] == 'encoder':
add_component(component_yaml['name'],
EncoderComponent(self, component_yaml))
elif component_yaml['type'] == 'lpf':
add_component(component_yaml['name'],
LowPassFilterComponent(self))
else:
logger.warn('test rig has unsupported component ' +
component_yaml['type'])
continue
# List of disjunct sets, where each set holds references of the mutually connected components
self.connections = []
for connection_yaml in yaml['connections']:
self.connections.append(
set(self.components_by_name[name] for name in connection_yaml))
self.connections = list(disjoint_sets(self.connections))
# Dict for fast lookup of the connection sets for each port
self.net_by_component = {}
for s in self.connections:
for port in s:
self.net_by_component[port] = s
def __init__(self, name, serial_no):
self.name = name
self.serial_no = serial_no
self.shutdown_token = Event()
self.logger = Logger(verbose=False)
self.device = None
odrive.find_all("usb", self.serial_no,
lambda device: self.did_discover_device(device),
self.shutdown_token, self.shutdown_token, self.logger)
def prepare(self, logger: Logger):
"""
Connects to the ODrive
"""
if not self.handle is None:
return
logger.debug('waiting for {} ({})'.format(self.yaml['name'],
self.yaml['serial-number']))
self.handle = odrive.find_any(path="usb",
serial_number=self.yaml['serial-number'],
timeout=60) #, printer=print)
assert (self.handle)
#for axis_idx, axis_ctx in enumerate(self.axes):
# axis_ctx.handle = self.handle.__dict__['axis{}'.format(axis_idx)]
for encoder_idx, encoder_ctx in enumerate(self.encoders):
encoder_ctx.handle = self.handle.__dict__['axis{}'.format(
encoder_idx)].encoder
# TODO: distinguish between axis and motor context
for axis_idx, axis_ctx in enumerate(self.axes):
axis_ctx.handle = self.handle.__dict__['axis{}'.format(axis_idx)]
def prepare(self, logger: Logger):
"""
Connects to the ODrive
"""
if not self.handle is None:
return
logger.debug('waiting for {} ({})'.format(self.yaml['name'],
self.yaml['serial-number']))
self.handle = odrive.find_any(channel_termination_token=shutdown_token,
serial_number=self.yaml['serial-number'],
timeout=60) #, printer=print)
assert (self.handle)
#for axis_idx, axis_ctx in enumerate(self.axes):
# axis_ctx.handle = getattr(self.handle, f'axis{axis_idx}')
for encoder_idx, encoder_ctx in enumerate(self.encoders):
encoder_ctx.handle = getattr(self.handle,
f'axis{encoder_idx}').encoder
# TODO: distinguish between axis and motor context
for axis_idx, axis_ctx in enumerate(self.axes):
axis_ctx.handle = getattr(self.handle, f'axis{axis_idx}')
def prepare(self, logger: Logger):
# Make sure no funny configuration is active
logger.debug('Setting up clean configuration...')
self.axis_ctx.parent.erase_config_and_reboot()
# Set motor calibration values
self.axis_ctx.handle.motor.config.phase_resistance = float(
self.motor_ctx.yaml['phase-resistance'])
self.axis_ctx.handle.motor.config.phase_inductance = float(
self.motor_ctx.yaml['phase-inductance'])
self.axis_ctx.handle.motor.config.pre_calibrated = True
# Set brake resistor settings
if 'brake-resistance' in self.axis_ctx.parent.yaml:
logger.debug(
f"brake resistor set to {self.axis_ctx.parent.yaml['brake-resistance']} Ohm"
)
self.axis_ctx.parent.handle.config.brake_resistance = float(
self.axis_ctx.parent.yaml['brake-resistance'])
# The docs say this requires a reboot but here's a small secret:
# Since the brake resistor is also started in clear_errors() this
# circumvents the need for a reboot.
self.axis_ctx.parent.handle.config.enable_brake_resistor = True
else:
logger.debug("brake resistor disabled")
# TODO: set vbus voltage trip level based on yaml
self.axis_ctx.parent.handle.config.dc_max_negative_current = -1
self.axis_ctx.parent.handle.config.enable_brake_resistor = False
# Set calibration settings
self.axis_ctx.handle.encoder.config.direction = 0
self.axis_ctx.handle.encoder.config.use_index = False
self.axis_ctx.handle.encoder.config.calib_scan_omega = 12.566 # 2 electrical revolutions per second
self.axis_ctx.handle.encoder.config.calib_scan_distance = 50.265 # 8 revolutions
self.axis_ctx.handle.encoder.config.bandwidth = 1000
self.axis_ctx.parent.handle.clear_errors()
logger.debug('Calibrating encoder offset...')
request_state(self.axis_ctx, AXIS_STATE_ENCODER_OFFSET_CALIBRATION)
time.sleep(9) # actual calibration takes 8 seconds
test_assert_eq(self.axis_ctx.handle.current_state, AXIS_STATE_IDLE)
test_assert_no_error(self.axis_ctx)
def test_watchdog(axis, feed_func, logger: Logger):
"""
Tests the watchdog of one axis, using the provided function to feed the watchdog.
This test assumes that the testing host has no more than 300ms random delays.
"""
start = time.monotonic()
axis.config.enable_watchdog = False
axis.error = 0
axis.config.watchdog_timeout = 1.0
axis.watchdog_feed()
axis.config.enable_watchdog = True
test_assert_eq(axis.error, 0)
for _ in range(5): # keep the watchdog alive for 3.5 seconds
time.sleep(0.7)
logger.debug('feeding watchdog at {}s'.format(time.monotonic() -
start))
feed_func()
err = axis.error
logger.debug('checking error at {}s'.format(time.monotonic() - start))
test_assert_eq(err, 0)
logger.debug('letting watchdog expire...')
time.sleep(1.3) # let the watchdog expire
test_assert_eq(axis.error, errors.axis.ERROR_WATCHDOG_TIMER_EXPIRED)
parser.add_argument("--test-rig-yaml",
type=argparse.FileType('r'),
required=True,
help="test rig YAML file")
parser.add_argument(
"--setup-host",
action='store_true',
default=False,
help="configure operating system functions such as GPIOs (requires root)")
parser.set_defaults(ignore=[])
args = parser.parse_args()
# Load objects
test_rig_yaml = yaml.load(args.test_rig_yaml, Loader=yaml.BaseLoader)
logger = Logger()
testrig = TestRig(test_rig_yaml, logger)
if args.setup_host:
for gpio in testrig.get_components(LinuxGpioComponent):
num = gpio.num
logger.debug('exporting GPIO ' + str(num) + ' to user space...')
if not os.path.isdir("/sys/class/gpio/gpio{}".format(num)):
with open("/sys/class/gpio/export", "w") as fp:
fp.write(str(num))
os.chmod("/sys/class/gpio/gpio{}/value".format(num),
stat.S_IROTH | stat.S_IWOTH)
os.chmod("/sys/class/gpio/gpio{}/direction".format(num),
stat.S_IROTH | stat.S_IWOTH)
if args.test_rig_yaml is None:
test_rig_name = os.environ.get('ODRIVE_TEST_RIG_NAME', '')
if test_rig_name == '':
print(
"You must either provide a --test-rig-yaml argument or set the environment variable ODRIVE_TEST_RIG_NAME."
)
sys.exit(1)
path = os.path.join(
os.path.dirname(
os.path.dirname(os.path.dirname(os.path.realpath(__file__)))),
test_rig_name + '.yaml')
args.test_rig_yaml = open(path, 'r')
# Load objects
test_rig_yaml = yaml.load(args.test_rig_yaml, Loader=yaml.BaseLoader)
logger = Logger()
testrig = TestRig(test_rig_yaml, logger)
shutdown_token = fibre.Event()
if args.setup_host:
for gpio in testrig.get_components(LinuxGpioComponent):
num = gpio.num
logger.debug('exporting GPIO ' + str(num) + ' to user space...')
if not os.path.isdir("/sys/class/gpio/gpio{}".format(num)):
with open("/sys/class/gpio/export", "w") as fp:
fp.write(str(num))
os.chmod("/sys/class/gpio/gpio{}/value".format(num),
stat.S_IRWXU | stat.S_IRWXG | stat.S_IRWXO)
os.chmod("/sys/class/gpio/gpio{}/direction".format(num),
stat.S_IRWXU | stat.S_IRWXG | stat.S_IRWXO)