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improve ascii command test coverage

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This commit is contained in:
Samuel Sadok
2020-04-14 14:52:20 +02:00
parent fb4b3ce06a
commit 7988492774
1 changed files with 72 additions and 3 deletions
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tools/odrive/tests/uart_ascii_test.py
+72 -3
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@@ -10,8 +10,8 @@ import functools
import operator
from fibre.utils import Logger
from odrive.enums import errors
from test_runner import ODriveTestContext, test_assert_eq, program_teensy
from odrive.enums import *
from test_runner import ODriveTestContext, test_assert_eq, test_assert_no_error, program_teensy
def append_checksum(command):
@@ -84,8 +84,77 @@ class TestUartAscii():
response = float(ser.readline().strip())
test_assert_eq(response, odrive.handle.axis0.motor.current_control.v_current_control_integral_d, accuracy=0.1)
# Write an attribute
ser.write(b'w test_property 12345\n')
ser.write(b'r test_property\n')
response = int(ser.readline().strip())
test_assert_eq(response, 12345)
# ascii: `r vbus_voltage`
# Test 'c', 'v', 'p', 'q' and 'f' commands
odrive.handle.axis0.controller.input_current = 0
ser.write(b'c 0 12.5\n')
test_assert_eq(ser.readline(), b'')
test_assert_eq(odrive.handle.axis0.controller.input_current, 12.5, accuracy=0.001)
test_assert_eq(odrive.handle.axis0.controller.config.control_mode, CtrlMode.CTRL_MODE_CURRENT_CONTROL)
odrive.handle.axis0.controller.input_vel = 0
odrive.handle.axis0.controller.input_current = 0
ser.write(b'v 0 567.8 12.5\n')
test_assert_eq(ser.readline(), b'')
test_assert_eq(odrive.handle.axis0.controller.input_vel, 567.8, accuracy=0.001)
test_assert_eq(odrive.handle.axis0.controller.input_current, 12.5, accuracy=0.001)
test_assert_eq(odrive.handle.axis0.controller.config.control_mode, CTRL_MODE_VELOCITY_CONTROL)
odrive.handle.axis0.controller.input_pos = 0
odrive.handle.axis0.controller.input_vel = 0
odrive.handle.axis0.controller.input_current = 0
ser.write(b'p 0 123.4 567.8 12.5\n')
test_assert_eq(ser.readline(), b'')
test_assert_eq(odrive.handle.axis0.controller.input_pos, 123.4, accuracy=0.001)
test_assert_eq(odrive.handle.axis0.controller.input_vel, 567.8, accuracy=0.001)
test_assert_eq(odrive.handle.axis0.controller.input_current, 12.5, accuracy=0.001)
test_assert_eq(odrive.handle.axis0.controller.config.control_mode, CTRL_MODE_POSITION_CONTROL)
odrive.handle.axis0.controller.input_pos = 0
odrive.handle.axis0.controller.config.vel_limit = 0
odrive.handle.axis0.motor.config.current_lim = 0
ser.write(b'q 0 123.4 567.8 12.5\n')
test_assert_eq(ser.readline(), b'')
test_assert_eq(odrive.handle.axis0.controller.input_pos, 123.4, accuracy=0.001)
test_assert_eq(odrive.handle.axis0.controller.config.vel_limit, 567.8, accuracy=0.001)
test_assert_eq(odrive.handle.axis0.motor.config.current_lim, 12.5, accuracy=0.001)
test_assert_eq(odrive.handle.axis0.controller.config.control_mode, CTRL_MODE_POSITION_CONTROL)
ser.write(b'f 0\n')
response = ser.readline().strip()
test_assert_eq(float(response.split()[0]), odrive.handle.axis0.encoder.pos_estimate, accuracy=0.001)
test_assert_eq(float(response.split()[1]), odrive.handle.axis0.encoder.vel_estimate, accuracy=0.001)
# Test watchdog (assumes that the testing host has no more than 300ms random delays)
start = time.monotonic()
odrive.handle.axis0.config.enable_watchdog = False
odrive.handle.axis0.error = 0
odrive.handle.axis0.config.watchdog_timeout = 1.0
odrive.handle.axis0.watchdog_feed()
odrive.handle.axis0.config.enable_watchdog = True
test_assert_eq(odrive.handle.axis0.error, 0)
for _ in range(5): # keep the watchdog alive for 3.5 seconds
time.sleep(0.7)
print('feeding watchdog at {}s'.format(time.monotonic() - start))
ser.write(b'u 0\n')
err = odrive.handle.axis0.error
print('checking error at {}s'.format(time.monotonic() - start))
test_assert_eq(err, 0)
time.sleep(1.3) # let the watchdog expire
test_assert_eq(odrive.handle.axis0.error, errors.axis.ERROR_WATCHDOG_TIMER_EXPIRED)
test_assert_eq(ser.readline(), b'') # check if the device remained silent during the test
# TODO: test cases for 't', 'ss', 'se', 'sr' commands