def spawn_shell():
"""
Spawns the Tinymovr Studio IPython shell.
"""
version: str = pkg_resources.require("tinymovr")[0].version
arguments: Dict[str, str] = docopt(__doc__,
version=shell_name + " " + str(version))
logger = configure_logging()
num_parser = pynumparser.NumberSequence(limits=(0, 16))
node_ids = num_parser(arguments["--ids"])
bustype: str = arguments["--bustype"]
channel: str = arguments["--chan"]
bitrate: int = int(arguments["--bitrate"])
do_version_check: bool = not arguments["--no-version-check"]
if channel == "auto":
channel = guess_channel(bustype_hint=bustype)
can_bus: can.Bus = can.Bus(bustype=bustype,
channel=channel,
bitrate=bitrate)
iface: IFace = CANBus(can_bus)
tms: Dict = {}
for node_id in node_ids:
try:
tm: UserWrapper = UserWrapper(node_id=node_id,
iface=iface,
version_check=do_version_check)
tm_name: str = base_name + str(node_id)
logger.info("Connected to " + tm_name)
tms[tm_name] = tm
except TimeoutError:
logger.info("Node " + str(node_id) + " timed out")
except IOError:
logger.error("Node " + str(node_id) +
" received abnormal message (possibly wrong ID?)")
if len(tms) == 0:
logger.error("No Tinymovr instances detected. Exiting shell...")
else:
tms_discovered: str = ", ".join(list(tms.keys()))
user_ns: Dict = {}
user_ns.update(tms)
user_ns["tms"] = list(tms.values())
user_ns["plot"] = plot
user_ns["ureg"] = get_registry()
print(shell_name + " " + str(version))
print("Discovered instances: " + tms_discovered)
print("Access Tinymovr instances as tmx, where x \
is the index starting from 1")
print("e.g. the first Tinymovr instance will be tm1.")
print("Instances are also available by index in the tms list.")
c = Config()
c.InteractiveShellApp.gui = "tk"
c.TerminalIPythonApp.display_banner = False
IPython.start_ipython(argv=[], config=c, user_ns=user_ns)
logger.debug("Exiting shell...")
This unit test suite tests functionality
of Tinymovr boards.
'''
import random
import time
import statistics as st
import tinymovr
from tinymovr import Tinymovr
from tinymovr.constants import ErrorIDs
from tinymovr.units import get_registry
import unittest
from tests import TMTestCase
ureg = get_registry()
A = ureg.ampere
ticks = ureg.ticks
s = ureg.second
class TestBoard(TMTestCase):
def test_a_encoder(self):
'''
Test encoder readings
'''
pos_estimates = []
for _ in range(500):
pos_estimates.append(self.tm.encoder_estimates.position)
time.sleep(0.001)
# apparently the statistics lib works with quantities only
