def test_logic_execution(self):
stepper = Stepper()
logic = AsteriskLogic(stepper)
logic.execute = MagicMock()
thread = Thread(target=logic.run)
thread.start()
time.sleep(0.01)
logic.execute.assert_called()
stepper.interrupt()
def test_rotate_by_angle(self):
stepper = Stepper(base_time=0.00001)
# rotate 180 degrees
steps = stepper.rotate_by_angle(1.0)
assert steps == 800
assert stepper.current_step == 800
# rotate -270 degrees
steps = stepper.rotate_by_angle(-1.5)
assert steps == -1200
assert stepper.current_step == 1200
def test_rotate_by_steps(self):
stepper = Stepper(base_time=0.0001)
# rotate 100 steps
steps = stepper.rotate_by_steps(100, 10)
assert steps == 100
assert stepper.current_step == 100
# rotate -50 steps
steps = stepper.rotate_by_steps(-50, 10)
assert steps == -50
assert stepper.current_step == 50
def test_set_angle(self):
stepper = Stepper(base_time=0.00001)
# 180 degrees
steps = stepper.set_angle(1.0)
assert steps == 800
assert stepper.current_step == 800
# 45 degrees
steps = stepper.set_angle(0.25)
assert steps == -600
assert stepper.current_step == 200
# -90 degrees
steps = stepper.set_angle(-0.5)
assert steps == -600
assert stepper.current_step == 1200
def __init__(self):
# configurations
config = AsteriskConfig()
self.stop_event = Event()
self.main_thread = None
self.timer_thread = None
self.stepper = Stepper([config.get('System.step_pin', int), config.get('System.direction_pin', int), config.get('System.enable_pin', int)])
self.transition = config.get('System.transition', int)
self.logics = []
self.logic_index = -1
# load and append logics
module = import_module('asterisk_mirror.logics')
for logic_str in config.get('System.logics').split(','):
logic_cls = getattr(module, logic_str.strip())
logic = logic_cls(self.stepper)
self.logics.append(logic)
print("AsteriskMirror [", "transition:", self.transition, "]")
def test_reset(self):
stepper = Stepper(base_time=0.00001)
# rotate 10steps -> reset -10steps
steps = stepper.rotate_by_steps(10)
assert stepper.current_step == 10
steps = stepper.reset()
assert stepper.current_step == 0
assert steps == -10
# rotate 1200steps -> reset 400steps
test_steps = int(stepper.number_of_steps * 3 / 4)
steps = stepper.rotate_by_steps(test_steps)
assert stepper.current_step == test_steps
steps = stepper.reset()
assert stepper.current_step == 0
assert steps == stepper.number_of_steps - test_steps
# rotate -400steps -> reset 400steps
test_steps = int(-stepper.number_of_steps / 4)
steps = stepper.rotate_by_steps(test_steps)
assert stepper.current_step == stepper.number_of_steps + test_steps
steps = stepper.reset()
#print("steps=", steps, ", current=", stepper.current_step)
assert stepper.current_step == 0
assert steps == -test_steps
def test_interrupt(self):
stepper = Stepper()
def interrupt():
# interrupt stepper thread after 50ms
time.sleep(0.005)
stepper.interrupt()
# 1st test
thread = Thread(target=interrupt)
thread.start()
steps = stepper.rotate_by_steps(100)
#print("steps=", steps, ", current=", stepper.current_step)
assert steps in range(4, 7)
assert stepper.current_step == steps
# 2nd test
stepper.reset()
thread = Thread(target=interrupt)
thread.start()
steps = stepper.rotate_by_steps(-100)
#print("steps=", steps, ", current=", stepper.current_step)
assert steps in range(-6, -3)
assert stepper.current_step == stepper.number_of_steps + steps
class AsteriskMirror:
def __init__(self):
# configurations
config = AsteriskConfig()
self.stop_event = Event()
self.main_thread = None
self.timer_thread = None
self.stepper = Stepper([config.get('System.step_pin', int), config.get('System.direction_pin', int), config.get('System.enable_pin', int)])
self.transition = config.get('System.transition', int)
self.logics = []
self.logic_index = -1
# load and append logics
module = import_module('asterisk_mirror.logics')
for logic_str in config.get('System.logics').split(','):
logic_cls = getattr(module, logic_str.strip())
logic = logic_cls(self.stepper)
self.logics.append(logic)
print("AsteriskMirror [", "transition:", self.transition, "]")
def start(self):
if self.main_thread is not None:
print("AsteriskMirror: already started.")
return
print ("AsteriskMirror: starting...")
# renew threads
if self.timer_thread is not None:
self.stop_event.set()
self.timer_thread = Thread(target=self.timer_run)
self.stop_event.clear()
self.main_thread = Thread(target=self.run)
# start threads
self.main_thread.start()
self.timer_thread.start()
def stop(self):
print("AsteriskMirror: stopping...")
self.stop_event.set()
self.stepper.exit()
self.timer_thread = None
self.main_thread = None
def timer_run(self):
while not self.stop_event.is_set():
# set a new index of logics
self.logic_index = (self.logic_index+1)%len(self.logics)
print("AsteriskMirror: changes logic:", self.logics[self.logic_index])
# interrupt stepper thread and main thread
self.stepper.interrupt()
self.stop_event.wait(self.transition)
def run(self):
#print("AsteriskMirror.run starting...")
while not self.stop_event.is_set():
if self.logic_index >= 0 and len(self.logics) > 0:
logic = self.logics[self.logic_index]
logic.run()
else:
# wait until a right logic-index will be set
self.stop_event.wait(1)
def test_init(self):
stepper = Stepper([1, 2, 3])
assert stepper.step_pin == 1
assert stepper.direction_pin == 2
assert stepper.enable_pin == 3
def test_encode_morse(self):
for message, morse in self.test_morses.items():
logic = MorseLogic(Stepper())
logic.set_message(message)
assert logic.morse == morse