def test_wrong_params_items_type(self):
"""Check that the instanciation of InstructionPacket fails when the
"parameters" items type is wrong."""
# Check with None
dynamixel_id = 1
instruction = ip.READ_DATA
params = (pk.PRESENT_TEMPERATURE, None) # wrong value
with self.assertRaises(TypeError):
ip.InstructionPacket(dynamixel_id, instruction, params)
# Check with float
dynamixel_id = 1
instruction = ip.READ_DATA
params = (pk.PRESENT_TEMPERATURE, 1.0) # wrong value
with self.assertRaises(TypeError):
ip.InstructionPacket(dynamixel_id, instruction, params)
# Check with string
dynamixel_id = 1
instruction = ip.READ_DATA
params = (pk.PRESENT_TEMPERATURE, "hi") # wrong value
with self.assertRaises(TypeError):
ip.InstructionPacket(dynamixel_id, instruction, params)
# Check with tuple
dynamixel_id = 1
instruction = ip.READ_DATA
params = (pk.PRESENT_TEMPERATURE, ()) # wrong value
with self.assertRaises(TypeError):
ip.InstructionPacket(dynamixel_id, instruction, params)
def test_wrong_id_type(self):
"""Check that the instanciation of InstructionPacket fails when the
argument "dynamixel_id" has a wrong type."""
# Check with None
dynamixel_id = None # wrong id
instruction = ip.READ_DATA
params = (pk.PRESENT_TEMPERATURE, 0x01)
with self.assertRaises(TypeError):
ip.InstructionPacket(dynamixel_id, instruction, params)
# Check with float
dynamixel_id = 1.0 # wrong id
instruction = ip.READ_DATA
params = (pk.PRESENT_TEMPERATURE, 0x01)
with self.assertRaises(TypeError):
ip.InstructionPacket(dynamixel_id, instruction, params)
# Check with string
dynamixel_id = "hi" # wrong id
instruction = ip.READ_DATA
params = (pk.PRESENT_TEMPERATURE, 0x01)
with self.assertRaises(TypeError):
ip.InstructionPacket(dynamixel_id, instruction, params)
# Check with tuple
dynamixel_id = () # wrong id
instruction = ip.READ_DATA
params = (pk.PRESENT_TEMPERATURE, 0x01)
with self.assertRaises(TypeError):
ip.InstructionPacket(dynamixel_id, instruction, params)
def test_wrong_num_params_sync_write(self):
"""Check that the instanciation of InstructionPacket fails when the
number of paramaters is wrong (for the SYNC_WRITE instruction)."""
# Too low (1)
dynamixel_id = 0xfe
instruction = ip.SYNC_WRITE
params = (pk.LED, ) # wrong nb of params
with self.assertRaises(ValueError):
ip.InstructionPacket(dynamixel_id, instruction, params)
# Too low (2)
dynamixel_id = 0xfe
instruction = ip.SYNC_WRITE
params = (pk.LED, 1) # wrong nb of params
with self.assertRaises(ValueError):
ip.InstructionPacket(dynamixel_id, instruction, params)
# Too low (3)
dynamixel_id = 0xfe
instruction = ip.SYNC_WRITE
params = (pk.LED, 1, 1) # wrong nb of params
with self.assertRaises(ValueError):
ip.InstructionPacket(dynamixel_id, instruction, params)
def test_wrong_params_type(self):
"""Check that the instanciation of InstructionPacket fails when the
argument "parameters" has a wrong type."""
# Check with a float.
dynamixel_id = 1
instruction = ip.READ_DATA
params = 1.0 # wrong type
with self.assertRaises(TypeError):
ip.InstructionPacket(dynamixel_id, instruction, params)
# Check with a string.
dynamixel_id = 1
instruction = ip.READ_DATA
params = "hello world" # wrong type
with self.assertRaises(TypeError):
ip.InstructionPacket(dynamixel_id, instruction, params)
# Check with an integer.
# There is no instruction which take only one parameter (some take 0
# parameters, some take 2 or more parameters but none take 1
# parameter).
dynamixel_id = 1
instruction = ip.PING
params = 1
with self.assertRaises(TypeError):
ip.InstructionPacket(dynamixel_id, instruction, params)
def test_good_params_type(self):
"""Check that the instanciation of InstructionPacket doesn't fail when
the argument "parameters" has a right type."""
# Check with None (some instructions like "PING" doesn't take any
# parameter)
dynamixel_id = 1
instruction = ip.PING
params = None # wrong type
try:
ip.InstructionPacket(dynamixel_id, instruction, params)
except (TypeError, ValueError):
self.fail("Encountered an unexpected exception.")
# Check with a tuple
dynamixel_id = 1
instruction = ip.READ_DATA
params = (pk.PRESENT_TEMPERATURE, 0x01)
try:
ip.InstructionPacket(dynamixel_id, instruction, params)
except (TypeError, ValueError):
self.fail("Encountered an unexpected exception.")
# Check with a list
dynamixel_id = 1
instruction = ip.READ_DATA
params = [pk.PRESENT_TEMPERATURE, 0x01]
try:
ip.InstructionPacket(dynamixel_id, instruction, params)
except (TypeError, ValueError):
self.fail("Encountered an unexpected exception.")
# Check with a bytes string
dynamixel_id = 1
instruction = ip.READ_DATA
params = bytes((pk.PRESENT_TEMPERATURE, 0x01))
try:
ip.InstructionPacket(dynamixel_id, instruction, params)
except (TypeError, ValueError):
self.fail("Encountered an unexpected exception.")
# Check with a bytearray
dynamixel_id = 1
instruction = ip.READ_DATA
params = bytearray((pk.PRESENT_TEMPERATURE, 0x01))
try:
ip.InstructionPacket(dynamixel_id, instruction, params)
except (TypeError, ValueError):
self.fail("Encountered an unexpected exception.")
def test_wrong_id_value(self):
"""Check that the instanciation of InstructionPacket fails when the
argument "dynamixel_id" has a wrong value (too low or too high)."""
# Too high
dynamixel_id = 0xff # wrong id
instruction = ip.READ_DATA
params = (pk.PRESENT_TEMPERATURE, 0x01)
with self.assertRaises(ValueError):
ip.InstructionPacket(dynamixel_id, instruction, params)
# Too low
dynamixel_id = -1 # wrong id
instruction = ip.READ_DATA
params = (pk.PRESENT_TEMPERATURE, 0x01)
with self.assertRaises(ValueError):
ip.InstructionPacket(dynamixel_id, instruction, params)
def test_wrong_num_params_read(self):
"""Check that the instanciation of InstructionPacket fails when the
number of paramaters is wrong (for the READ_DATA instruction)."""
# Too high
dynamixel_id = 1
instruction = ip.READ_DATA
params = (pk.PRESENT_TEMPERATURE, 0x01, 0x00) # wrong nb of params
with self.assertRaises(ValueError):
ip.InstructionPacket(dynamixel_id, instruction, params)
# Too low
dynamixel_id = 1
instruction = ip.READ_DATA
params = (pk.PRESENT_TEMPERATURE, ) # wrong nb of params
with self.assertRaises(ValueError):
ip.InstructionPacket(dynamixel_id, instruction, params)
def test_wrong_params_items_value(self):
"""Check that the instanciation of InstructionPacket fails when the
"parameters" items type is value."""
# Too high value
dynamixel_id = 1
instruction = ip.READ_DATA
params = (pk.PRESENT_TEMPERATURE, 0xffff) # wrong value
with self.assertRaises(ValueError):
ip.InstructionPacket(dynamixel_id, instruction, params)
# Too low value
dynamixel_id = 1
instruction = ip.READ_DATA
params = (pk.PRESENT_TEMPERATURE, -1) # wrong value
with self.assertRaises(ValueError):
ip.InstructionPacket(dynamixel_id, instruction, params)
def test_wrong_instruction_value(self):
"""Check that the instanciation of InstructionPacket fails when the
argument "instruction" has a wrong value."""
dynamixel_id = 1
instruction = 1000 # wrong instruction
params = (pk.PRESENT_TEMPERATURE, 0x01)
with self.assertRaises(ValueError):
ip.InstructionPacket(dynamixel_id, instruction, params)
def test_wrong_num_params_reg_write(self):
"""Check that the instanciation of InstructionPacket fails when the
number of paramaters is wrong (for the REG_WRITE instruction)."""
# Too low
dynamixel_id = 1
instruction = ip.REG_WRITE
params = (pk.LED, ) # wrong nb of params
with self.assertRaises(ValueError):
ip.InstructionPacket(dynamixel_id, instruction, params)
def test_wrong_num_params_reset(self):
"""Check that the instanciation of InstructionPacket fails when the
number of paramaters is wrong (greater than 0 for the RESET
instruction)."""
# Too high
dynamixel_id = 1
instruction = ip.RESET
params = (0x00, ) # wrong nb of params
with self.assertRaises(ValueError):
ip.InstructionPacket(dynamixel_id, instruction, params)
def test_example1(self):
"""Check the example 1 from the Dynamixel user guide: "Setting the ID
of a connected Dynamixel actuator to 1" (p.20)."""
dxl_id = pk.BROADCAST_ID
instruction = ip.WRITE_DATA
params = (pk.ID, 1)
instruction_packet = ip.InstructionPacket(dxl_id, instruction, params)
expected_str = "ff ff fe 04 03 03 01 f6"
self.assertEqual(instruction_packet.to_printable_string(),
expected_str)
def test_example3(self):
"""Check the example 3 from the Dynamixel user guide: "Obtaining the
status packet of the Dynamixel actuator with an ID of 1" (p.22) i.e.
PING the Dynamixel #1."""
dxl_id = 1
instruction = ip.PING
params = ()
instruction_packet = ip.InstructionPacket(dxl_id, instruction, params)
expected_str = "ff ff 01 02 01 fb"
self.assertEqual(instruction_packet.to_printable_string(),
expected_str)
def test_example2(self):
"""Check the example 2 from the Dynamixel user guide: "Reading the
internal temperature of the Dynamixel actuator with an ID of 1"
(p.20)."""
dxl_id = 1
instruction = ip.READ_DATA
params = (pk.PRESENT_TEMPERATURE, 1)
instruction_packet = ip.InstructionPacket(dxl_id, instruction, params)
expected_str = "ff ff 01 04 02 2b 01 cc"
self.assertEqual(instruction_packet.to_printable_string(),
expected_str)