def test_connection(self):
"""Test that connection to the network is successful when connected, and unsuccessful when disconnected."""
if not TEST_NOHW:
# If the network scanner sees a node at index 0x10, the focus tracker is connected.
self.assertTrue(0x10 in self.focus_tracker.network.scanner.nodes)
# When the node_idx is incorrect an empty node is added to the network, this then results in an
# SDOCommunicationError when we try to send a message to an object in the object dictionary.
with self.assertRaises(SdoCommunicationError):
FocusTrackerCO(name="Focus Tracker", role="focus_tracker", channel=self.kwargs['channel'],
node_idx=0x12)
# If a fake channel name is entered, an IOError should be raised.
with self.assertRaises(IOError):
FocusTrackerCO(name="Focus Tracker", role="focus_tracker", channel='not a channel',
node_idx=self.kwargs['node_idx'])
def test_connection(self):
"""Test that connection to the network is unsuccessful when disconnected."""
if not TEST_NOHW:
# If the node_idx is not found, maybe the device is disconnected => raise HwError
with self.assertRaises(model.HwError):
FocusTrackerCO(name="Focus Tracker",
role="focus_tracker",
channel=KWARGS['channel'],
node_idx=KWARGS['node_idx'] + 10)
# If channel not found, maybe the CAN adapter is disconnected => raise HwError
with self.assertRaises(model.HwError):
FocusTrackerCO(name="Focus Tracker",
role="focus_tracker",
channel='not a channel',
node_idx=KWARGS['node_idx'])
def setUp(self):
self.focus_tracker = FocusTrackerCO(**KWARGS)
self.kwargs = KWARGS
class TestFocusTrackerCO(unittest.TestCase):
"""Test the focus tracker functionality with the CANopen network."""
def setUp(self):
self.focus_tracker = FocusTrackerCO(**KWARGS)
self.kwargs = KWARGS
def test_connection(self):
"""Test that connection to the network is successful when connected, and unsuccessful when disconnected."""
if not TEST_NOHW:
# If the network scanner sees a node at index 0x10, the focus tracker is connected.
self.assertTrue(0x10 in self.focus_tracker.network.scanner.nodes)
# When the node_idx is incorrect an empty node is added to the network, this then results in an
# SDOCommunicationError when we try to send a message to an object in the object dictionary.
with self.assertRaises(SdoCommunicationError):
FocusTrackerCO(name="Focus Tracker", role="focus_tracker", channel=self.kwargs['channel'],
node_idx=0x12)
# If a fake channel name is entered, an IOError should be raised.
with self.assertRaises(IOError):
FocusTrackerCO(name="Focus Tracker", role="focus_tracker", channel='not a channel',
node_idx=self.kwargs['node_idx'])
def test_position(self):
"""Verify that the current position can be read and not written."""
self.assertIsInstance(self.focus_tracker.position.value, float)
with self.assertRaises(NotSettableError):
self.focus_tracker.position.value = 10
def test_target_pos(self):
"""Verify that the target position can be read and not written."""
self.assertIsInstance(self.focus_tracker.targetPosition.value, float)
self.focus_tracker.targetPosition.value = 10e-6
self.assertAlmostEqual(self.focus_tracker.targetPosition.value, 10e-6)
with self.assertRaises(IndexError):
self.focus_tracker.targetPosition.value = -10e-6
def test_switch_tracking(self):
"""Verify that the focus tracker can switch between tracking and untracking."""
self.focus_tracker.tracking.value = True
self.assertTrue(self.focus_tracker.tracking.value)
self.focus_tracker.tracking.value = False
self.assertFalse(self.focus_tracker.tracking.value)
def test_pid_gains(self):
"""Test that PID gains are set when within range and remain unchanged when new gain is out of range."""
# Test setting all 3 values at the same time.
new_p = 0
new_i = 15.8
new_d = 3
self.focus_tracker.updateMetadata({model.MD_GAIN_P: new_p, model.MD_GAIN_I: new_i, model.MD_GAIN_D: new_d})
set_p = self.focus_tracker._get_proportional()
self.assertEqual(numpy.floor(new_p), numpy.floor(set_p))
set_i = self.focus_tracker._get_integral()
self.assertEqual(numpy.floor(new_i), numpy.floor(set_i))
set_d = self.focus_tracker._get_derivative()
self.assertEqual(numpy.floor(new_d), numpy.floor(set_d))
# Test setting a single value.
self.focus_tracker.updateMetadata({model.MD_GAIN_I: 10})
self.assertEqual(10, self.focus_tracker._get_integral())
# check that a ValueError is raised when trying to set a negative value.
with self.assertRaises(ValueError):
self.focus_tracker.updateMetadata({model.MD_GAIN_P: -10})
def setUpClass(cls):
cls.focus_tracker = FocusTrackerCO(**KWARGS)