Mirrors_Framework/ODrive
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improve error detection

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This commit is contained in:
Samuel Sadok
2018-04-09 19:35:56 -07:00
parent 09f361de61
commit 282d824545
2 changed files with 13 additions and 5 deletions
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tools/odrive/tests.py
+10 -2
View File
@@ -64,6 +64,8 @@ def test_assert_no_error(axis_ctx: AxisTestContext):
errors.append("sensorless_estimator failed with error {:04X}".format(axis_ctx.handle.sensorless_estimator.error))
if axis_ctx.handle.error != 0:
errors.append("axis failed with error {:04X}".format(axis_ctx.handle.error))
elif len(errors) > 0:
errors.append("and by the way: axis reports no error even though there is one")
if len(errors) > 0:
raise TestFailed("\n".join(errors))
@@ -175,6 +177,12 @@ class TestFlashAndErase(ODriveTest):
def __init__(self):
ODriveTest.__init__(self, exclusive=True)
def run_test(self, odrv_ctx: ODriveTestContext, logger):
# Set board-version and compile
with open("tup.config", mode="w") as tup_config:
tup_config.write("CONFIG_STRICT=true\n")
tup_config.write("CONFIG_BOARD_VERSION={}\n".format(odrv_ctx.yaml['board-version']))
#exit(1)
run("make", logger, timeout=10)
run("make flash PROGRAMMER='" + odrv_ctx.yaml['programmer'] + "'", logger, timeout=20)
# FIXME: device does not reboot correctly after erasing config this way
#run("make erase_config PROGRAMMER='" + test_rig.programmer + "'", timeout=10)
@@ -248,7 +256,7 @@ class TestMotorCalibration(AxisTest):
request_state(axis_ctx, AXIS_STATE_MOTOR_CALIBRATION)
time.sleep(6)
test_assert_eq(axis_ctx.handle.current_state, AXIS_STATE_IDLE)
test_assert_eq(axis_ctx.handle.error, AXIS_ERROR_NO_ERROR)
test_assert_no_error(axis_ctx)
test_assert_eq(axis_ctx.handle.motor.config.phase_resistance, axis_ctx.yaml['motor-phase-resistance'], accuracy=0.2)
test_assert_eq(axis_ctx.handle.motor.config.phase_inductance, axis_ctx.yaml['motor-phase-inductance'], accuracy=0.5)
axis_ctx.handle.motor.config.pre_calibrated = True
@@ -282,7 +290,7 @@ class TestEncoderOffsetCalibration(AxisTest):
# TODO: ensure the encoder calibration doesn't do crap
time.sleep(11)
test_assert_eq(axis_ctx.handle.current_state, AXIS_STATE_IDLE)
test_assert_eq(axis_ctx.handle.error, AXIS_ERROR_NO_ERROR)
test_assert_no_error(axis_ctx)
test_assert_eq(axis_ctx.handle.motor.config.direction, axis_ctx.yaml['motor-direction'])
axis_ctx.handle.encoder.config.pre_calibrated = True
tools/run_tests.py
+3 -3
View File
@@ -84,7 +84,7 @@ try:
for odrv in odrives_by_name:
odrv_test_thread(odrv)
else:
for_all_parallel(odrives_by_name, lambda x: x, odrv_test_thread)
for_all_parallel(odrives_by_name, lambda x: type(test).__name__ + " on " + x, odrv_test_thread)
elif isinstance(test, AxisTest):
def axis_test_thread(axis_name):
@@ -112,7 +112,7 @@ try:
for conflicting_axis in conflicting_axes:
conflicting_axis.lock.release()
for_all_parallel(axes_by_name, lambda x: x, axis_test_thread)
for_all_parallel(axes_by_name, lambda x: type(test).__name__ + " on " + x, axis_test_thread)
elif isinstance(test, DualAxisTest):
def dual_axis_test_thread(coupling):
@@ -138,7 +138,7 @@ try:
for axis_ctx in coupled_axes:
axis_ctx.lock.release()
for_all_parallel(couplings, lambda x: "..".join([a.name for a in x]), dual_axis_test_thread)
for_all_parallel(couplings, lambda x: type(test).__name__ + " on " + "..".join([a.name for a in x]), dual_axis_test_thread)
else:
logger.warn("ignoring unknown test type {}".format(type(test)))