Merge branch 'nakano16180-feature/add-tests'

Author: anla-xu

pymycobot/common.py

@@ -87,7 +87,10 @@ def _encode_int8(self, data):
         return struct.pack("b", data)
 
     def _encode_int16(self, data):
-        return list(struct.pack(">h", data))
+        if isinstance(data, int):
+            return list(struct.pack(">h", data))
+        else:
+            return sum([list(struct.pack('>h', elem)) for elem in data], [])
 
     def _decode_int8(self, data):
         return struct.unpack("b", data)[0]

pymycobot/generate.py

@@ -185,7 +185,7 @@ def send_angle(self, id, degree, speed):
             degree (float): angle value.
             speed (int): 0 ~ 100
         """
-        self.calibration_parameters(id=id, degree=degree, speed=speed)
+        calibration_parameters(id=id, degree=degree, speed=speed)
         return self._mesg(ProtocolCode.SEND_ANGLE, id, [self._angle2int(degree)], speed)
 
     # @check_parameters(Command.SEND_ANGLES)
@@ -198,7 +198,7 @@ def send_angles(self, degrees, speed):
                 example for mypalletizer [0.0, 0.0, 0.0, 0.0]
             speed (int): 0 ~ 100
         """
-        self.calibration_parameters(degrees=degrees, speed=speed)
+        calibration_parameters(degrees=degrees, speed=speed)
         degrees = [self._angle2int(degree) for degree in degrees]
         return self._mesg(ProtocolCode.SEND_ANGLES, degrees, speed)
 
@@ -220,7 +220,7 @@ def send_coord(self, id, coord, speed):
             coord(float): mm
             speed(int): 0 ~ 100
         """
-        self.calibration_parameters(id=id, speed=speed)
+        calibration_parameters(id=id, speed=speed)
         value = self._coord2int(coord) if id <= 3 else self._angle2int(coord)
         return self._mesg(ProtocolCode.SEND_COORD, id, [value], speed)
 
@@ -234,7 +234,7 @@ def send_coords(self, coords, speed, mode):
             speed(int);
             mode(int): 0 - angluar, 1 - linear
         """
-        self.calibration_parameters(coords=coords, speed=speed)
+        calibration_parameters(coords=coords, speed=speed)
         coord_list = []
         for idx in range(3):
             coord_list.append(self._coord2int(coords[idx]))
@@ -255,14 +255,14 @@ def is_in_position(self, data, id=0):
             -1: error data
         """
         if id == 1:
-            self.calibration_parameters(coords=data)
+            calibration_parameters(coords=data)
             data_list = []
             for idx in range(3):
                 data_list.append(self._coord2int(data[idx]))
             for idx in range(3, 6):
                 data_list.append(self._angle2int(data[idx]))
         elif id == 0:
-            self.calibration_parameters(degrees=data)
+            calibration_parameters(degrees=data)
             data_list = [self._angle2int(i) for i in data]
         else:
             raise Exception("id is not right, please input 0 or 1")
@@ -363,7 +363,7 @@ def set_speed(self, speed):
         Args:
             speed (int): 0 - 100
         """
-        self.calibration_parameters(speed=speed)
+        calibration_parameters(speed=speed)
         return self._mesg(ProtocolCode.SET_SPEED, speed)
 
     """
@@ -379,11 +379,11 @@ def get_acceleration(self):
     """
 
     def get_joint_min_angle(self, joint_id):
-        self.calibration_parameters(id=joint_id)
+        calibration_parameters(id=joint_id)
         return self._mesg(ProtocolCode.GET_JOINT_MIN_ANGLE, joint_id, has_reply=True)
 
     def get_joint_max_angle(self, joint_id):
-        self.calibration_parameters(id=joint_id)
+        calibration_parameters(id=joint_id)
         return self._mesg(ProtocolCode.GET_JOINT_MAX_ANGLE, joint_id, has_reply=True)
 
     # Servo control
@@ -437,7 +437,7 @@ def set_color(self, r=0, g=0, b=0):
             b (int): 0 ~ 255
 
         """
-        self.calibration_parameters(rgb=[r, g, b])
+        calibration_parameters(rgb=[r, g, b])
         return self._mesg(ProtocolCode.SET_COLOR, r, g, b)
 
     def set_pin_mode(self, pin_no, pin_mode):
@@ -489,7 +489,7 @@ def set_gripper_value(self, value, speed):
             value (int): 0 ~ 100
             speed (int): 0 ~ 100
         """
-        self.calibration_parameters(speed=speed)
+        calibration_parameters(speed=speed)
         return self._mesg(ProtocolCode.SET_GRIPPER_VALUE, value, speed)
 
     def set_gripper_ini(self):

requirements.txt

@@ -1,4 +1,3 @@
 pyserial
-pytext
-flask8
-black
+pytest
+flake8

setup.py

@@ -8,89 +8,71 @@
 
 from pymycobot import MyCobotCommandGenerator
 
-mg: MyCobotCommandGenerator
-
 
 @pytest.fixture(scope="module")
-def setup():
-    global mg
+def mcg():
     print("")
     DEBUG = False
     mg = MyCobotCommandGenerator(debug=DEBUG)
     print("")
+    return mg
 
+def test_flatten1(mcg):
+    assert mcg._flatten([1,2,3,4,5,6]) == [1,2,3,4,5,6]
 
-def test_generator(setup):
-    print("")
-    pprint(mg.send_coords([-160, 160, 160, 0, 0, 0], 7, 2))
-    print("")
-    pprint(mg.version())
-    print("")
-    pprint(mg.power_on())
-    print("")
-    pprint(mg.power_off())
-    print("")
-    pprint(mg.release_all_servos())
-    print("")
-    pprint(mg.is_controller_connected())
-    print("")
-    pprint(mg.get_angles())
-    print("")
-    pprint(mg.send_angle(1, 0, 10))
-    print("")
-    pprint(mg.send_angles([0, 0, 0, 0, 0, 0], 5))
-    print("")
-    pprint(mg.get_coords())
-    print("")
-    pprint(mg.send_coord(1, 110.5, 8))
-    print("pause")
-    pprint(mg.pause())
-    print("is_paused")
-    pprint(mg.is_paused())
-    print("resume")
-    pprint(mg.resume())
-    print("stop")
-    pprint(mg.stop())
-    print("is_in_position")
-    pprint(mg.is_in_position([0, 0, 0, 0, 0, 0], 0))
-    print("")
-    pprint(mg.is_moving())
-    print("")
-    pprint(mg.jog_angle(1, 0, 1))
-    print("")
-    pprint(mg.jog_coord(2, 1, 3))
-    print("")
-    pprint(mg.jog_stop())
-    print("set_encoder")
-    pprint(mg.set_encoder(1, 1024))
-    print("get_encoder")
-    pprint(mg.get_encoder(2))
-    print("get_speed")
-    pprint(mg.get_speed())
-    print("set_speed")
-    pprint(mg.set_speed(100))
-    print("get_joint_min_angle")
-    pprint(mg.get_joint_min_angle(1))
-    print("get_joint_max_angle")
-    pprint(mg.get_joint_max_angle(2))
-    print("is_servo_enable")
-    pprint(mg.is_servo_enable(6))
-    print("is_all_servo_enable")
-    pprint(mg.is_all_servo_enable())
-    print("set_servo_data")
-    pprint(mg.set_servo_data(0, 1, 2))
-    print("get_servo_data")
-    pprint(mg.get_servo_data(1, 2))
-    print("set_servo_calibration")
-    pprint(mg.set_servo_calibration(1))
-    print("release_servo")
-    pprint(mg.release_servo(1))
-    print("focus_servo")
-    pprint(mg.focus_servo(1))
-    print("set_color")
-    pprint(mg.set_color(255, 255, 0))
-    print("set_pin_mode")
-    pprint(mg.set_pin_mode(1, 0))
-    print("set_digital_output")
-    pprint(mg.set_digital_output(0, 1))
-    pprint(mg)
+def test_flatten2(mcg):
+    assert mcg._flatten([1,2,3,4,[],5]) == [1,2,3,4,5]
+
+def test_flatten3(mcg):
+    assert mcg._flatten([1,2,3,4,[5,6],7]) == [1,2,3,4,5,6,7]
+
+def test_encode_int16(mcg):
+    assert mcg._encode_int16([0, 1]) == sum([mcg._encode_int16(0), mcg._encode_int16(1)], [])
+
+def test_process_data_command1(mcg):
+    assert mcg._process_data_command(()) == []
+
+def test_process_data_command2(mcg):
+    assert mcg._process_data_command((1, 2, 3)) == [1, 2, 3]
+
+def test_process_data_command3(mcg):
+    assert mcg._process_data_command((1, 2, [1, 2])) == mcg._flatten([1, 2, mcg._encode_int16([1, 2])])
+
+def test_version(mcg):
+    assert mcg.version() == ([0xFE, 0xFE, 2, 0x00, 0xFA], True)
+
+def test_power_on(mcg):
+    assert mcg.power_on() == ([0xFE, 0xFE, 2, 0x10, 0xFA], False)
+
+def test_power_off(mcg):
+    assert mcg.power_off() == ([0xFE, 0xFE, 2, 0x11, 0xFA], False)
+
+def test_release_all_servos(mcg):
+    assert mcg.release_all_servos() == ([0xFE, 0xFE, 2, 0x13, 0xFA], False)
+
+def test_is_controller_connected(mcg):
+    assert mcg.is_controller_connected() == ([0xFE, 0xFE, 2, 0x14, 0xFA], True)
+
+def test_get_angles(mcg):
+    assert mcg.get_angles() == ([0xFE, 0xFE, 2, 0x20, 0xFA], True)
+
+def test_get_coords(mcg):
+    assert mcg.get_coords() == ([0xFE, 0xFE, 2, 0x23, 0xFA], True)
+
+def test_is_in_position(mcg):
+    assert mcg.is_in_position([0, 0, 0, 0, 0, 0], 0) == (mcg._flatten([0xFE, 0xFE, 15, 0x2A, mcg._flatten([mcg._encode_int16([0, 0, 0, 0, 0, 0]), 0]), 0xFA]), True)
+
+def test_pause(mcg):
+    assert mcg.pause() == ([0xFE, 0xFE, 2, 0x26, 0xFA], False)
+
+def test_resume(mcg):
+    assert mcg.resume() == ([0xFE, 0xFE, 2, 0x28, 0xFA], False)
+
+def test_stop(mcg):
+    assert mcg.stop() == ([0xFE, 0xFE, 2, 0x29, 0xFA], False)
+
+def test_set_pin_mode(mcg):
+    assert mcg.set_pin_mode(1, 0) == ([0xFE, 0xFE, 4, 0x60, 1, 0, 0xFA], False)
+
+def test_set_digital_output(mcg):
+    assert mcg.set_digital_output(0, 1) == ([0xFE, 0xFE, 4, 0x61, 0, 1, 0xFA], False)