def test_scan_ids(self):
istream = MockStream()
iface = dynamixel_network.DynamixelInterface(istream)
iface.dynamixel_error += self.error_handler
# test for no response
self.reset()
# verify ping failed
istream.append(make_packet(1, 0, []))
self.assertTrue(iface.scan_ids(1, 10) == [1])
def test_action(self):
istream = MockStream()
iface = dynamixel_network.DynamixelInterface(istream)
iface.dynamixel_error += self.error_handler
self.reset()
# verify outgoing action command
iface.action()
self.assertEqual(
istream.obuffer, ''.join(
(map(chr, [0xff, 0xff, 0xfe, 0x2, 0x5, 0xfa]))))
def test_write_register(self):
istream = MockStream()
iface = dynamixel_network.DynamixelInterface(istream)
iface.dynamixel_error += self.error_handler
self.reset()
# verify write as per variant of spec
iface.write_register(0x1, 0x3, 0x1, True)
self.assertEqual(
istream.obuffer, ''.join(
(map(chr, [0xff, 0xff, 0x1, 0x4, 0x4, 0x3, 0x1, 0xf2]))))
def test_read_registers(self):
""" Full range test for read registers"""
istream = MockStream()
iface = dynamixel_network.DynamixelInterface(istream)
iface.dynamixel_error += self.error_handler
self.reset()
istream.append(make_packet(1, 0, [0x20]))
# dummy packet full range of eeprom
istream.append(make_packet(1, 0, range(0, 50)))
result = iface.read_registers(1, AX12.ModelNumber, AX12.Punch)
# assert only the number of registers are returned
self.assertEqual(len(result), len(AX12.values()))
def test_write_data(self):
""" Test writing data to eeprom """
istream = MockStream()
iface = dynamixel_network.DynamixelInterface(istream)
iface.dynamixel_error += self.error_handler
self.reset()
# verify write as per Spec
iface.write_data(dynamixel_network.DynamixelInterface.BROADCAST_ID,
0x3, [0x1], False)
self.assertEqual(
istream.obuffer, ''.join(
(map(chr, [0xff, 0xff, 0xfe, 0x4, 0x3, 0x3, 0x1, 0xf6]))))
def test_read_register(self):
istream = MockStream()
iface = dynamixel_network.DynamixelInterface(istream)
iface.dynamixel_error += self.error_handler
# test for no response
self.reset()
# verify read data
istream.append(make_packet(1, 0, [0x20]))
result = iface.read_register(1, 0x2b)
self.assertEqual(
istream.obuffer, ''.join(
(map(chr, [0xff, 0xff, 0x1, 0x4, 0x2, 0x2b, 0x1, 0xcc]))))
self.assertEqual(result, 0x20)
def test_sync_write(self):
istream = MockStream()
iface = dynamixel_network.DynamixelInterface(istream)
iface.dynamixel_error += self.error_handler
self.reset()
# verify outgoing action command
iface.sync_write(0x1e, 4, [
0X00, 0X10, 0X00, 0X50, 0X01, 0X01, 0X20, 0X02, 0X60, 0X03, 0X02,
0X30, 0X00, 0X70, 0X01, 0X03, 0X20, 0X02, 0X80, 0X03
])
expected = ''.join((map(chr, [
0XFF, 0XFF, 0XFE, 0X18, 0X83, 0X1E, 0X04, 0X00, 0X10, 0X00, 0X50,
0X01, 0X01, 0X20, 0X02, 0X60, 0X03, 0X02, 0X30, 0X00, 0X70, 0X01,
0X03, 0X20, 0X02, 0X80, 0X03, 0X12
])))
self.assertEqual(istream.obuffer, expected)
def test_read_ping(self):
"Test ping also tests await packet and write instruction"
istream = MockStream()
iface = dynamixel_network.DynamixelInterface(istream)
iface.dynamixel_error += self.error_handler
# test for no response
self.reset()
# verify ping failed
self.assertFalse(iface.ping(1))
chksum = (~(1 + 2 + 1)) & 0xFF
# verify outgoing packet is well formed
self.assertEqual(istream.obuffer, "\xFF\xFF\x01\x02\x01\xfb")
# create mock ping response
# create an ignored packet
istream.append(make_packet(0, 0, []))
# create the ping response
istream.append(make_packet(1, 0, []))
# ping again and verify ping came back
self.assertTrue(iface.ping(1))
def test_read_packet(self):
"Ensure read packet reads the appropriate data"
istream = MockStream()
iface = dynamixel_network.DynamixelInterface(istream)
iface.dynamixel_error += self.error_handler
self.reset()
# verify packet w/o errors
packet = make_packet(1, 0, [0, 1, 2, 3])
istream.append(packet)
(ident, data) = iface.read_packet()
self.assertTrue(ident == 1)
self.assertTrue(data == [0, 1, 2, 3])
self.assertTrue(self.has_errors == False)
# verify packet w/ errors
self.reset()
packet = make_packet(1, defs.ERROR_STATUS.InputVoltage, [0, 1, 2, 3])
istream.append(packet)
(ident, data) = iface.read_packet()
self.assertTrue(ident == 1)
self.assertTrue(data == [0, 1, 2, 3])
self.assertTrue(self.has_errors == True)
