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|
# test_motor -- Test nxt.motor module
# Copyright (C) 2021 Nicolas Schodet
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
from unittest.mock import MagicMock, call
import pytest
import nxt.motor
from nxt.motor import Mode, Port, RegulationMode, RunState
@pytest.fixture
def mmotor_factory(mbrick):
def factory(port):
mbrick.get_output_state.return_value = (
port,
0,
Mode.IDLE,
RegulationMode.IDLE,
0,
RunState.IDLE,
0,
0,
0,
0,
)
m = mbrick.get_motor(port)
assert mbrick.mock_calls == [call.get_output_state(port)]
mbrick.reset_mock()
return m
return factory
@pytest.fixture
def mmotor(mmotor_factory):
return mmotor_factory(Port.A)
@pytest.fixture
def mmotorb(mmotor_factory):
return mmotor_factory(Port.B)
@pytest.fixture
def msyncmotor(mmotor, mmotorb):
m = nxt.motor.SynchronizedMotors(mmotor, mmotorb, 50)
return m
def test_reset_position(mbrick, mmotor):
mmotor.reset_position(True)
mmotor.reset_position(False)
assert mbrick.mock_calls == [
call.reset_motor_position(Port.A, True),
call.reset_motor_position(Port.A, False),
]
def test_run(mbrick, mmotor):
mmotor.run()
assert mbrick.mock_calls == [
# TODO: should be RegulationMode.IDLE.
call.set_output_state(
Port.A, 100, Mode.ON, RegulationMode.SPEED, 0, RunState.RUNNING, 0
),
]
def test_run_regulated(mbrick, mmotor):
mmotor.run(50, regulated=True)
assert mbrick.mock_calls == [
call.set_output_state(
Port.A,
50,
Mode.ON | Mode.REGULATED,
RegulationMode.SPEED,
0,
RunState.RUNNING,
0,
),
]
def test_brake(mbrick, mmotor):
mmotor.brake()
assert mbrick.mock_calls == [
call.set_output_state(
Port.A,
0,
Mode.ON | Mode.BRAKE | Mode.REGULATED,
RegulationMode.SPEED,
0,
RunState.RUNNING,
0,
),
]
def test_idle(mbrick, mmotor):
mmotor.idle()
assert mbrick.mock_calls == [
call.set_output_state(
Port.A, 0, Mode.IDLE, RegulationMode.IDLE, 0, RunState.IDLE, 0
),
]
def test_weak_turn(mbrick, mmotor):
mmotor.weak_turn(50, 360)
assert mbrick.mock_calls == [
call.set_output_state(
Port.A, 50, Mode.ON, RegulationMode.IDLE, 0, RunState.RUNNING, 360
),
]
def test_turn(mbrick, mmotor, mtime):
mbrick.get_output_state.side_effect = [
(Port.A, 0, Mode.IDLE, RegulationMode.IDLE, 0, RunState.IDLE, 0, 0, 0, 0),
# Test overshoot.
(
Port.A,
50,
Mode.ON | Mode.REGULATED,
RegulationMode.SPEED,
0,
RunState.RUNNING,
0,
720,
720,
720,
),
]
mmotor.turn(50, 360)
assert mbrick.mock_calls == [
call.get_output_state(Port.A),
call.set_output_state(
Port.A,
50,
Mode.ON | Mode.REGULATED,
RegulationMode.SPEED,
0,
RunState.RUNNING,
0,
),
call.get_output_state(Port.A),
call.set_output_state(
Port.A,
0,
Mode.ON | Mode.REGULATED | Mode.BRAKE,
RegulationMode.SPEED,
0,
RunState.RUNNING,
0,
),
]
def test_turn_blocked(mbrick, mmotor, mtime):
mtime.time.side_effect = [0, 0, 1, 2]
with pytest.raises(nxt.motor.BlockedException):
mmotor.turn(50, 360, brake=False, timeout=0.1, emulate=False)
assert mbrick.mock_calls == [
call.get_output_state(Port.A),
call.set_output_state(
Port.A,
50,
Mode.ON | Mode.REGULATED,
RegulationMode.SPEED,
0,
RunState.RUNNING,
360,
),
call.get_output_state(Port.A),
call.set_output_state(
Port.A, 0, Mode.IDLE, RegulationMode.IDLE, 0, RunState.IDLE, 0
),
]
def test_turn_stopped(mbrick, mmotor, mtime):
# Test if skipping get_tacho() while not "slept enough"
# Test motor gets stopped once stop_turn is set to True
mbrick.get_output_state.side_effect = [
(Port.A, 0, Mode.IDLE, RegulationMode.IDLE, 0, RunState.IDLE, 0, 0, 0, 0),
(
Port.A,
50,
Mode.ON | Mode.REGULATED,
RegulationMode.SPEED,
0,
RunState.RUNNING,
0,
90,
90,
90,
),
]
mtime.time.side_effect = [0, 0, 0.1, 0.2, 0.8, 0.9]
stop_motor_mock = MagicMock(side_effect=lambda: False)
stop_motor_mock.side_effect = [False, False, False, False, True]
mmotor.turn(50, 360, stop_turn=stop_motor_mock)
assert mbrick.mock_calls == [
call.get_output_state(Port.A),
call.set_output_state(
Port.A,
50,
Mode.ON | Mode.REGULATED,
RegulationMode.SPEED,
0,
RunState.RUNNING,
0,
),
call.get_output_state(Port.A),
call.set_output_state(
Port.A,
0,
Mode.ON | Mode.REGULATED | Mode.BRAKE,
RegulationMode.SPEED,
0,
RunState.RUNNING,
0,
),
]
def test_sync_run(mbrick, msyncmotor):
msyncmotor.run(50)
assert mbrick.mock_calls == [
call.reset_motor_position(Port.A, True),
call.reset_motor_position(Port.B, True),
call.set_output_state(
Port.A,
50,
Mode.ON | Mode.REGULATED,
RegulationMode.SYNC,
# TODO: why reversed? This does not seems right.
-50,
RunState.RUNNING,
0,
),
call.set_output_state(
Port.B,
50,
Mode.ON | Mode.REGULATED,
RegulationMode.SYNC,
-50,
RunState.RUNNING,
0,
),
]
def test_sync_brake(mbrick, msyncmotor):
msyncmotor.brake()
assert mbrick.mock_calls == [
# TODO: this should be possible to make it simpler.
call.set_output_state(
Port.A, 0, Mode.IDLE, RegulationMode.IDLE, 0, RunState.IDLE, 0
),
call.set_output_state(
Port.B, 0, Mode.IDLE, RegulationMode.IDLE, 0, RunState.IDLE, 0
),
call.reset_motor_position(Port.A, True),
call.reset_motor_position(Port.B, True),
call.set_output_state(
Port.A,
0,
Mode.ON | Mode.BRAKE | Mode.REGULATED,
RegulationMode.SYNC,
-50,
RunState.RUNNING,
0,
),
call.set_output_state(
Port.B,
0,
Mode.ON | Mode.BRAKE | Mode.REGULATED,
RegulationMode.SYNC,
-50,
RunState.RUNNING,
0,
),
call.set_output_state(
Port.A, 0, Mode.IDLE, RegulationMode.IDLE, -50, RunState.IDLE, 0
),
call.set_output_state(
Port.B, 0, Mode.IDLE, RegulationMode.IDLE, -50, RunState.IDLE, 0
),
call.set_output_state(
Port.A,
0,
Mode.ON | Mode.BRAKE | Mode.REGULATED,
RegulationMode.SPEED,
-50,
RunState.RUNNING,
0,
),
call.set_output_state(
Port.B,
0,
Mode.ON | Mode.BRAKE | Mode.REGULATED,
RegulationMode.SPEED,
-50,
RunState.RUNNING,
0,
),
]
def test_sync_idle(mbrick, msyncmotor):
msyncmotor.idle()
assert mbrick.mock_calls == [
call.set_output_state(
Port.A, 0, Mode.IDLE, RegulationMode.IDLE, 0, RunState.IDLE, 0
),
call.set_output_state(
Port.B, 0, Mode.IDLE, RegulationMode.IDLE, 0, RunState.IDLE, 0
),
]
def test_sync_turn(mbrick, msyncmotor):
mbrick.get_output_state.side_effect = [
(Port.A, 0, Mode.IDLE, RegulationMode.IDLE, 0, RunState.IDLE, 0, 0, 0, 0),
(Port.B, 0, Mode.IDLE, RegulationMode.IDLE, 0, RunState.IDLE, 0, 0, 0, 0),
# Test overshoot.
(
Port.A,
50,
Mode.ON | Mode.REGULATED,
RegulationMode.SYNC,
0,
RunState.RUNNING,
0,
720,
720,
720,
),
(
Port.B,
0,
Mode.ON | Mode.REGULATED,
RegulationMode.SYNC,
0,
RunState.RUNNING,
0,
0,
0,
0,
),
]
msyncmotor.turn(50, 360, brake=False)
assert mbrick.mock_calls == [
call.reset_motor_position(Port.A, True),
call.reset_motor_position(Port.B, True),
call.get_output_state(Port.A),
call.get_output_state(Port.B),
call.set_output_state(
Port.A,
50,
Mode.ON | Mode.REGULATED,
RegulationMode.SYNC,
-50,
RunState.RUNNING,
0,
),
call.set_output_state(
Port.B,
50,
Mode.ON | Mode.REGULATED,
RegulationMode.SYNC,
-50,
RunState.RUNNING,
0,
),
call.get_output_state(Port.A),
call.get_output_state(Port.B),
call.set_output_state(
Port.A, 0, Mode.IDLE, RegulationMode.IDLE, 0, RunState.IDLE, 0
),
call.set_output_state(
Port.B, 0, Mode.IDLE, RegulationMode.IDLE, 0, RunState.IDLE, 0
),
]
|
