def test_reload_config(self):
cfg="""
<config>
<controller class='mockup'>
<axis name="m0">
<velocity value="1000"/>
<acceleration value="100"/>
<low_limit value="-5"/>
<high_limit value="5"/>
</axis>
</controller>
</config>
"""
f = tempfile.NamedTemporaryFile()
filename = f.name
try:
f.write(cfg)
f.flush()
emotion.load_cfg(f.name)
m = emotion.get_axis("m0")
self.assertEquals(m.config.config_dict.config_file, f.name)
finally:
f.close()
self.assertEquals(m.limits(), (-5,5))
self.assertEquals(m.backlash, 0)
self.assertEquals(m.steps_per_unit, 1)
cfg2 = """
<config>
<controller class='mockup'>
<axis name="m0">
<steps_per_unit value="5"/>
<velocity value="1000"/>
<acceleration value="100"/>
<low_limit value="-5"/>
<high_limit value="10"/>
<backlash value="4"/>
</axis>
</controller>
</config>
"""
with open(filename, "w") as f:
f.write(cfg2)
try:
m.config.reload()
self.assertEquals(m.config.config_dict['high_limit']['value'], '10')
self.assertEquals(m.backlash, 4)
self.assertEquals(m.steps_per_unit, 5)
m.apply_config()
self.assertEquals(m.limits(), (-5,10))
finally:
os.unlink(filename)
def load_config(config_file):
emotion.load_cfg(config_file,clear=False)
def load_config(config_file):
emotion.load_cfg(config_file, clear=False)
def setUp(self):
self.cfg_file = tempfile.NamedTemporaryFile(delete=False)
self.cfg_file.write(config_xml)
self.cfg_file.close()
emotion.load_cfg(self.cfg_file.name)