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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,92 @@ | ||
| import time | ||
| import unittest | ||
|
|
||
| import numpy as np | ||
| from numpy import testing | ||
|
|
||
| from rcb4.rcb4interface import RCB4Interface | ||
|
|
||
|
|
||
| class TestRCB4Interface(unittest.TestCase): | ||
|
|
||
| interface = None | ||
|
|
||
| @classmethod | ||
| def setUpClass(cls): | ||
| cls.interface = RCB4Interface() | ||
| if cls.interface.auto_open() is not True: | ||
| raise unittest.SkipTest( | ||
| "auto_open failed, skipping all tests in {}." | ||
| .format(cls.__class__.__name__)) | ||
|
|
||
| def test_reference_angle_vector(self): | ||
| self.interface.reference_angle_vector([]) | ||
|
|
||
| def test_sequentialized_servo_ids(self): | ||
| self.interface.sequentialized_servo_ids([]) | ||
|
|
||
| testing.assert_array_equal( | ||
| self.interface.sequentialized_servo_ids([32, 34]), | ||
| [0, 1]) | ||
| testing.assert_array_equal( | ||
| self.interface.sequentialized_servo_ids([34, 32]), | ||
| [1, 0]) | ||
|
|
||
| def test_angle_vector_to_servo_angle_vector(self): | ||
| sv = self.interface.angle_vector_to_servo_angle_vector( | ||
| [0, 0]) | ||
| testing.assert_array_almost_equal( | ||
| sv, [7500, 7500]) | ||
|
|
||
| sv = self.interface.angle_vector_to_servo_angle_vector( | ||
| [30, 60], [32, 34]) | ||
| testing.assert_array_almost_equal( | ||
| sv, [8400, 9300]) | ||
|
|
||
| sv = self.interface.angle_vector_to_servo_angle_vector( | ||
| [30, 60], [34, 32]) | ||
| testing.assert_array_almost_equal( | ||
| sv, [8400, 9300]) | ||
|
|
||
| def test_angle_vector(self): | ||
| self.interface.hold() | ||
| self.interface.neutral() | ||
| time.sleep(4.0) | ||
| reference = [60, 30] | ||
| self.interface.angle_vector( | ||
| reference, | ||
| velocity=127) | ||
| time.sleep(4.0) | ||
| testing.assert_array_almost_equal( | ||
| self.interface.angle_vector(), reference, | ||
| decimal=0) | ||
| self.interface.neutral() | ||
| time.sleep(4.0) | ||
| self.interface.free() | ||
|
|
||
| self.interface.angle_vector([], []) | ||
|
|
||
| def test_servo_angle_vector(self): | ||
| self.interface.hold() | ||
| self.interface.neutral() | ||
| reference = [8000, ] | ||
| target_servo_ids = [32, ] | ||
|
|
||
| self.interface.servo_angle_vector( | ||
| target_servo_ids, | ||
| reference, | ||
| velocity=1) | ||
| time.sleep(1.0) | ||
| testing.assert_array_almost_equal( | ||
| self.interface.reference_angle_vector(target_servo_ids), | ||
| reference) | ||
| time.sleep(4.0) | ||
| if np.any(np.abs(self.interface.angle_vector( | ||
| servo_ids=target_servo_ids) - 16) > 2.0): | ||
| raise AssertionError( | ||
| "Servo angles are beyond the acceptable range.") | ||
|
|
||
| time.sleep(1.0) | ||
| self.interface.neutral() | ||
| time.sleep(4.0) | ||
| self.interface.free() |