def test_new_deck_points():
# Checks that the correct deck calibration points are being used
# if feature_flag is set (or not)
advs.set_adv_setting('deckCalibrationDots', True)
calibration_points = get_calibration_points()
expected_points1 = expected_points()
# Check that old calibration points are used in cli
assert calibration_points[1] == (12.13, 6.0)
assert calibration_points[2] == (380.87, 6.0)
assert calibration_points[3] == (12.13, 351.5)
# Check that endpoints are now using slot 7 for dots
assert expected_points1['1'] == (12.13, 6.0)
assert expected_points1['2'] == (380.87, 6.0)
assert expected_points1['3'] == (12.13, 261.0)
advs.set_adv_setting('deckCalibrationDots', False)
calibration_points2 = get_calibration_points()
expected_points2 = expected_points()
# Check that new calibration points are used
assert calibration_points2[1] == (12.13, 9.0)
assert calibration_points2[2] == (380.87, 9.0)
assert calibration_points2[3] == (12.13, 348.5)
# Check that endpoints are now using slot 7 for crosses
assert expected_points2['1'] == (12.13, 9.0)
assert expected_points2['2'] == (380.87, 9.0)
assert expected_points2['3'] == (12.13, 258.0)
async def test_save_calibration_file(dc_session, monkeypatch):
hardware = dc_session.adapter
hardware.reset()
expected_pos = endpoints.expected_points()
dc_session.points = {
k: (v[0], v[1] + 0.3)
for k, v in expected_pos.items()
}
dc_session.z_value = 0.2
persisted_data = []
def dummy_save(config, filename=None, tag=None):
nonlocal persisted_data
persisted_data.append((config, filename, tag))
monkeypatch.setattr(robot_configs, 'save_deck_calibration', dummy_save)
await endpoints.save_transform({})
in_memory = hardware.config.gantry_calibration
assert len(persisted_data) == 1 # back up now happens at beginning of sess
assert persisted_data[0][0].gantry_calibration == in_memory
expected = [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.3],
[0.0, 0.0, 1.0, 0.2], [0.0, 0.0, 0.0, 1.0]]
assert np.allclose(in_memory, expected)
