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python-gpiozero/tests/test_outputs.py
Dave Jones 02f7d20bc3 Fix #248 
Add Servo and AngularServo implementation along with docs and tests.
This is a deliberately minimal implementation designed to be added to as
we agree on new extensions (better than making an all-singing,
all-dancing version in which I get things wrong and then wind up making
backward incompatible changes to get it right :)
2016-08-30 21:33:28 +01:00

1035 lines
32 KiB
Python
Raw Blame History

from __future__ import (
unicode_literals,
absolute_import,
print_function,
division,
)
str = type('')
import sys
from time import sleep, time
try:
from math import isclose
except ImportError:
from gpiozero.compat import isclose
import pytest
from gpiozero.pins.mock import MockPin, MockPWMPin
from gpiozero import *
def teardown_function(function):
MockPin.clear_pins()
def test_output_initial_values():
pin = MockPin(2)
with OutputDevice(pin, initial_value=False) as device:
assert pin.function == 'output'
assert not pin.state
with OutputDevice(pin, initial_value=True) as device:
assert pin.state
state = pin.state
with OutputDevice(pin, initial_value=None) as device:
assert state == pin.state
def test_output_write_active_high():
pin = MockPin(2)
with OutputDevice(pin) as device:
device.on()
assert pin.state
device.off()
assert not pin.state
def test_output_write_active_low():
pin = MockPin(2)
with OutputDevice(pin, active_high=False) as device:
device.on()
assert not pin.state
device.off()
assert pin.state
def test_output_write_closed():
with OutputDevice(MockPin(2)) as device:
device.close()
assert device.closed
device.close()
assert device.closed
with pytest.raises(GPIODeviceClosed):
device.on()
def test_output_write_silly():
pin = MockPin(2)
with OutputDevice(pin) as device:
pin.function = 'input'
with pytest.raises(AttributeError):
device.on()
def test_output_value():
pin = MockPin(2)
with OutputDevice(pin) as device:
assert not device.value
assert not pin.state
device.on()
assert device.value
assert pin.state
device.value = False
assert not device.value
assert not pin.state
def test_output_digital_toggle():
pin = MockPin(2)
with DigitalOutputDevice(pin) as device:
assert not device.value
assert not pin.state
device.toggle()
assert device.value
assert pin.state
device.toggle()
assert not device.value
assert not pin.state
@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
reason='timing is too random on pypy')
def test_output_blink_background():
pin = MockPin(2)
with DigitalOutputDevice(pin) as device:
start = time()
device.blink(0.1, 0.1, n=2)
assert isclose(time() - start, 0, abs_tol=0.05)
device._blink_thread.join() # naughty, but ensures no arbitrary waits in the test
assert isclose(time() - start, 0.4, abs_tol=0.05)
pin.assert_states_and_times([
(0.0, False),
(0.0, True),
(0.1, False),
(0.1, True),
(0.1, False)
])
@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
reason='timing is too random on pypy')
def test_output_blink_foreground():
pin = MockPin(2)
with DigitalOutputDevice(pin) as device:
start = time()
device.blink(0.1, 0.1, n=2, background=False)
assert isclose(time() - start, 0.4, abs_tol=0.05)
pin.assert_states_and_times([
(0.0, False),
(0.0, True),
(0.1, False),
(0.1, True),
(0.1, False)
])
def test_output_blink_interrupt_on():
pin = MockPin(2)
with DigitalOutputDevice(pin) as device:
device.blink(1, 0.1)
sleep(0.2)
device.off() # should interrupt while on
pin.assert_states([False, True, False])
def test_output_blink_interrupt_off():
pin = MockPin(2)
with DigitalOutputDevice(pin) as device:
device.blink(0.1, 1)
sleep(0.2)
device.off() # should interrupt while off
pin.assert_states([False, True, False])
def test_output_pwm_bad_initial_value():
with pytest.raises(ValueError):
PWMOutputDevice(MockPin(2), initial_value=2)
def test_output_pwm_not_supported():
with pytest.raises(AttributeError):
PWMOutputDevice(MockPin(2))
def test_output_pwm_states():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
device.value = 0.1
device.value = 0.2
device.value = 0.0
pin.assert_states([0.0, 0.1, 0.2, 0.0])
def test_output_pwm_read():
pin = MockPWMPin(2)
with PWMOutputDevice(pin, frequency=100) as device:
assert device.frequency == 100
device.value = 0.1
assert isclose(device.value, 0.1)
assert isclose(pin.state, 0.1)
assert device.is_active
device.frequency = None
assert not device.value
assert not device.is_active
assert device.frequency is None
def test_output_pwm_write():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
device.on()
device.off()
pin.assert_states([False, True, False])
def test_output_pwm_toggle():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
device.toggle()
device.value = 0.5
device.value = 0.1
device.toggle()
device.off()
pin.assert_states([False, True, 0.5, 0.1, 0.9, False])
def test_output_pwm_active_high_read():
pin = MockPWMPin(2)
with PWMOutputDevice(pin, active_high=False) as device:
device.value = 0.1
assert isclose(device.value, 0.1)
assert isclose(pin.state, 0.9)
device.frequency = None
assert device.value
def test_output_pwm_bad_value():
with pytest.raises(ValueError):
PWMOutputDevice(MockPWMPin(2)).value = 2
def test_output_pwm_write_closed():
device = PWMOutputDevice(MockPWMPin(2))
device.close()
with pytest.raises(GPIODeviceClosed):
device.on()
def test_output_pwm_write_silly():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
pin.function = 'input'
with pytest.raises(AttributeError):
device.off()
@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
reason='timing is too random on pypy')
def test_output_pwm_blink_background():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
start = time()
device.blink(0.1, 0.1, n=2)
assert isclose(time() - start, 0, abs_tol=0.05)
device._blink_thread.join()
assert isclose(time() - start, 0.4, abs_tol=0.05)
pin.assert_states_and_times([
(0.0, 0),
(0.0, 1),
(0.1, 0),
(0.1, 1),
(0.1, 0)
])
@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
reason='timing is too random on pypy')
def test_output_pwm_blink_foreground():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
start = time()
device.blink(0.1, 0.1, n=2, background=False)
assert isclose(time() - start, 0.4, abs_tol=0.05)
pin.assert_states_and_times([
(0.0, 0),
(0.0, 1),
(0.1, 0),
(0.1, 1),
(0.1, 0)
])
@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
reason='timing is too random on pypy')
def test_output_pwm_fade_background():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
start = time()
device.blink(0, 0, 0.2, 0.2, n=2)
assert isclose(time() - start, 0, abs_tol=0.05)
device._blink_thread.join()
assert isclose(time() - start, 0.8, abs_tol=0.05)
pin.assert_states_and_times([
(0.0, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
])
@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
reason='timing is too random on pypy')
def test_output_pwm_fade_foreground():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
start = time()
device.blink(0, 0, 0.2, 0.2, n=2, background=False)
assert isclose(time() - start, 0.8, abs_tol=0.05)
pin.assert_states_and_times([
(0.0, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
])
@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
reason='timing is too random on pypy')
def test_output_pwm_pulse_background():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
start = time()
device.pulse(0.2, 0.2, n=2)
assert isclose(time() - start, 0, abs_tol=0.05)
device._blink_thread.join()
assert isclose(time() - start, 0.8, abs_tol=0.05)
pin.assert_states_and_times([
(0.0, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
])
@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
reason='timing is too random on pypy')
def test_output_pwm_pulse_foreground():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
start = time()
device.pulse(0.2, 0.2, n=2, background=False)
assert isclose(time() - start, 0.8, abs_tol=0.05)
pin.assert_states_and_times([
(0.0, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
])
def test_output_pwm_blink_interrupt():
pin = MockPWMPin(2)
with PWMOutputDevice(pin) as device:
device.blink(1, 0.1)
sleep(0.2)
device.off() # should interrupt while on
pin.assert_states([0, 1, 0])
def test_rgbled_missing_pins():
with pytest.raises(ValueError):
RGBLED()
def test_rgbled_initial_value():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b, initial_value=(0.1, 0.2, 0)) as device:
assert r.frequency
assert g.frequency
assert b.frequency
assert isclose(r.state, 0.1)
assert isclose(g.state, 0.2)
assert isclose(b.state, 0.0)
def test_rgbled_initial_value_nonpwm():
r, g, b = (MockPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b, pwm=False, initial_value=(0, 1, 1)) as device:
assert r.state == 0
assert g.state == 1
assert b.state == 1
def test_rgbled_initial_bad_value():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
with pytest.raises(ValueError):
RGBLED(r, g, b, initial_value=(0.1, 0.2, 1.2))
def test_rgbled_initial_bad_value_nonpwm():
r, g, b = (MockPin(i) for i in (1, 2, 3))
with pytest.raises(ValueError):
RGBLED(r, g, b, pwm=False, initial_value=(0.1, 0.2, 0))
def test_rgbled_value():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b) as device:
assert isinstance(device._leds[0], PWMLED)
assert isinstance(device._leds[1], PWMLED)
assert isinstance(device._leds[2], PWMLED)
assert not device.is_active
assert device.value == (0, 0, 0)
device.on()
assert device.is_active
assert device.value == (1, 1, 1)
device.off()
assert not device.is_active
assert device.value == (0, 0, 0)
device.value = (0.5, 0.5, 0.5)
assert device.is_active
assert device.value == (0.5, 0.5, 0.5)
def test_rgbled_value_nonpwm():
r, g, b = (MockPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b, pwm=False) as device:
assert isinstance(device._leds[0], LED)
assert isinstance(device._leds[1], LED)
assert isinstance(device._leds[2], LED)
assert not device.is_active
assert device.value == (0, 0, 0)
device.on()
assert device.is_active
assert device.value == (1, 1, 1)
device.off()
assert not device.is_active
assert device.value == (0, 0, 0)
def test_rgbled_bad_value():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b) as device:
with pytest.raises(ValueError):
device.value = (2, 0, 0)
with RGBLED(r, g, b) as device:
with pytest.raises(ValueError):
device.value = (0, -1, 0)
def test_rgbled_bad_value_nonpwm():
r, g, b = (MockPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b, pwm=False) as device:
with pytest.raises(ValueError):
device.value = (2, 0, 0)
with RGBLED(r, g, b, pwm=False) as device:
with pytest.raises(ValueError):
device.value = (0, -1, 0)
with RGBLED(r, g, b, pwm=False) as device:
with pytest.raises(ValueError):
device.value = (0.5, 0, 0)
with RGBLED(r, g, b, pwm=False) as device:
with pytest.raises(ValueError):
device.value = (0, 0.5, 0)
with RGBLED(r, g, b, pwm=False) as device:
with pytest.raises(ValueError):
device.value = (0, 0, 0.5)
def test_rgbled_toggle():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b) as device:
assert not device.is_active
assert device.value == (0, 0, 0)
device.toggle()
assert device.is_active
assert device.value == (1, 1, 1)
device.toggle()
assert not device.is_active
assert device.value == (0, 0, 0)
def test_rgbled_toggle_nonpwm():
r, g, b = (MockPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b, pwm=False) as device:
assert not device.is_active
assert device.value == (0, 0, 0)
device.toggle()
assert device.is_active
assert device.value == (1, 1, 1)
device.toggle()
assert not device.is_active
assert device.value == (0, 0, 0)
@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
reason='timing is too random on pypy')
def test_rgbled_blink_background():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b) as device:
start = time()
device.blink(0.1, 0.1, n=2)
assert isclose(time() - start, 0, abs_tol=0.05)
device._blink_thread.join()
assert isclose(time() - start, 0.4, abs_tol=0.05)
expected = [
(0.0, 0),
(0.0, 1),
(0.1, 0),
(0.1, 1),
(0.1, 0)
]
r.assert_states_and_times(expected)
g.assert_states_and_times(expected)
b.assert_states_and_times(expected)
@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
reason='timing is too random on pypy')
def test_rgbled_blink_background_nonpwm():
r, g, b = (MockPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b, pwm=False) as device:
start = time()
device.blink(0.1, 0.1, n=2)
assert isclose(time() - start, 0, abs_tol=0.05)
device._blink_thread.join()
assert isclose(time() - start, 0.4, abs_tol=0.05)
expected = [
(0.0, 0),
(0.0, 1),
(0.1, 0),
(0.1, 1),
(0.1, 0)
]
r.assert_states_and_times(expected)
g.assert_states_and_times(expected)
b.assert_states_and_times(expected)
@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
reason='timing is too random on pypy')
def test_rgbled_blink_foreground():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b) as device:
start = time()
device.blink(0.1, 0.1, n=2, background=False)
assert isclose(time() - start, 0.4, abs_tol=0.05)
expected = [
(0.0, 0),
(0.0, 1),
(0.1, 0),
(0.1, 1),
(0.1, 0)
]
r.assert_states_and_times(expected)
g.assert_states_and_times(expected)
b.assert_states_and_times(expected)
@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
reason='timing is too random on pypy')
def test_rgbled_blink_foreground_nonpwm():
r, g, b = (MockPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b, pwm=False) as device:
start = time()
device.blink(0.1, 0.1, n=2, background=False)
assert isclose(time() - start, 0.4, abs_tol=0.05)
expected = [
(0.0, 0),
(0.0, 1),
(0.1, 0),
(0.1, 1),
(0.1, 0)
]
r.assert_states_and_times(expected)
g.assert_states_and_times(expected)
b.assert_states_and_times(expected)
@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
reason='timing is too random on pypy')
def test_rgbled_fade_background():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b) as device:
start = time()
device.blink(0, 0, 0.2, 0.2, n=2)
assert isclose(time() - start, 0, abs_tol=0.05)
device._blink_thread.join()
assert isclose(time() - start, 0.8, abs_tol=0.05)
expected = [
(0.0, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
]
r.assert_states_and_times(expected)
g.assert_states_and_times(expected)
b.assert_states_and_times(expected)
def test_rgbled_fade_background_nonpwm():
r, g, b = (MockPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b, pwm=False) as device:
with pytest.raises(ValueError):
device.blink(0, 0, 0.2, 0.2, n=2)
@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
reason='timing is too random on pypy')
def test_rgbled_fade_foreground():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b) as device:
start = time()
device.blink(0, 0, 0.2, 0.2, n=2, background=False)
assert isclose(time() - start, 0.8, abs_tol=0.05)
expected = [
(0.0, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
]
r.assert_states_and_times(expected)
g.assert_states_and_times(expected)
b.assert_states_and_times(expected)
def test_rgbled_fade_foreground_nonpwm():
r, g, b = (MockPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b, pwm=False) as device:
with pytest.raises(ValueError):
device.blink(0, 0, 0.2, 0.2, n=2, background=False)
@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
reason='timing is too random on pypy')
def test_rgbled_pulse_background():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b) as device:
start = time()
device.pulse(0.2, 0.2, n=2)
assert isclose(time() - start, 0, abs_tol=0.05)
device._blink_thread.join()
assert isclose(time() - start, 0.8, abs_tol=0.05)
expected = [
(0.0, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
]
r.assert_states_and_times(expected)
g.assert_states_and_times(expected)
b.assert_states_and_times(expected)
def test_rgbled_pulse_background_nonpwm():
r, g, b = (MockPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b, pwm=False) as device:
with pytest.raises(ValueError):
device.pulse(0.2, 0.2, n=2)
@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
reason='timing is too random on pypy')
def test_rgbled_pulse_foreground():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b) as device:
start = time()
device.pulse(0.2, 0.2, n=2, background=False)
assert isclose(time() - start, 0.8, abs_tol=0.05)
expected = [
(0.0, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
(0.04, 0.2),
(0.04, 0.4),
(0.04, 0.6),
(0.04, 0.8),
(0.04, 1),
(0.04, 0.8),
(0.04, 0.6),
(0.04, 0.4),
(0.04, 0.2),
(0.04, 0),
]
r.assert_states_and_times(expected)
g.assert_states_and_times(expected)
b.assert_states_and_times(expected)
def test_rgbled_pulse_foreground_nonpwm():
r, g, b = (MockPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b, pwm=False) as device:
with pytest.raises(ValueError):
device.pulse(0.2, 0.2, n=2, background=False)
def test_rgbled_blink_interrupt():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b) as device:
device.blink(1, 0.1)
sleep(0.2)
device.off() # should interrupt while on
r.assert_states([0, 1, 0])
g.assert_states([0, 1, 0])
b.assert_states([0, 1, 0])
def test_rgbled_blink_interrupt_nonpwm():
r, g, b = (MockPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b, pwm=False) as device:
device.blink(1, 0.1)
sleep(0.2)
device.off() # should interrupt while on
r.assert_states([0, 1, 0])
g.assert_states([0, 1, 0])
b.assert_states([0, 1, 0])
def test_rgbled_close():
r, g, b = (MockPWMPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b) as device:
assert not device.closed
device.close()
assert device.closed
device.close()
assert device.closed
def test_rgbled_close_nonpwm():
r, g, b = (MockPin(i) for i in (1, 2, 3))
with RGBLED(r, g, b, pwm=False) as device:
assert not device.closed
device.close()
assert device.closed
device.close()
assert device.closed
def test_motor_missing_pins():
with pytest.raises(ValueError):
Motor()
def test_motor_pins():
f = MockPWMPin(1)
b = MockPWMPin(2)
with Motor(f, b) as device:
assert device.forward_device.pin is f
assert isinstance(device.forward_device, PWMOutputDevice)
assert device.backward_device.pin is b
assert isinstance(device.backward_device, PWMOutputDevice)
def test_motor_pins_nonpwm():
f = MockPin(1)
b = MockPin(2)
with Motor(f, b, pwm=False) as device:
assert device.forward_device.pin is f
assert isinstance(device.forward_device, DigitalOutputDevice)
assert device.backward_device.pin is b
assert isinstance(device.backward_device, DigitalOutputDevice)
def test_motor_close():
f = MockPWMPin(1)
b = MockPWMPin(2)
with Motor(f, b) as device:
device.close()
assert device.closed
assert device.forward_device.pin is None
assert device.backward_device.pin is None
device.close()
assert device.closed
def test_motor_close_nonpwm():
f = MockPin(1)
b = MockPin(2)
with Motor(f, b, pwm=False) as device:
device.close()
assert device.closed
assert device.forward_device.pin is None
assert device.backward_device.pin is None
def test_motor_value():
f = MockPWMPin(1)
b = MockPWMPin(2)
with Motor(f, b) as device:
device.value = -1
assert device.is_active
assert device.value == -1
assert b.state == 1 and f.state == 0
device.value = 1
assert device.is_active
assert device.value == 1
assert b.state == 0 and f.state == 1
device.value = 0.5
assert device.is_active
assert device.value == 0.5
assert b.state == 0 and f.state == 0.5
device.value = -0.5
assert device.is_active
assert device.value == -0.5
assert b.state == 0.5 and f.state == 0
device.value = 0
assert not device.is_active
assert not device.value
assert b.state == 0 and f.state == 0
def test_motor_value_nonpwm():
f = MockPin(1)
b = MockPin(2)
with Motor(f, b, pwm=False) as device:
device.value = -1
assert device.is_active
assert device.value == -1
assert b.state == 1 and f.state == 0
device.value = 1
assert device.is_active
assert device.value == 1
assert b.state == 0 and f.state == 1
device.value = 0
assert not device.is_active
assert not device.value
assert b.state == 0 and f.state == 0
def test_motor_bad_value():
f = MockPWMPin(1)
b = MockPWMPin(2)
with Motor(f, b) as device:
with pytest.raises(ValueError):
device.value = -2
with pytest.raises(ValueError):
device.value = 2
def test_motor_bad_value_nonpwm():
f = MockPin(1)
b = MockPin(2)
with Motor(f, b, pwm=False) as device:
with pytest.raises(ValueError):
device.value = -2
with pytest.raises(ValueError):
device.value = 2
with pytest.raises(ValueError):
device.value = 0.5
with pytest.raises(ValueError):
device.value = -0.5
def test_motor_reverse():
f = MockPWMPin(1)
b = MockPWMPin(2)
with Motor(f, b) as device:
device.forward()
assert device.value == 1
assert b.state == 0 and f.state == 1
device.reverse()
assert device.value == -1
assert b.state == 1 and f.state == 0
device.backward(0.5)
assert device.value == -0.5
assert b.state == 0.5 and f.state == 0
device.reverse()
assert device.value == 0.5
assert b.state == 0 and f.state == 0.5
def test_motor_reverse_nonpwm():
f = MockPin(1)
b = MockPin(2)
with Motor(f, b, pwm=False) as device:
device.forward()
assert device.value == 1
assert b.state == 0 and f.state == 1
device.reverse()
assert device.value == -1
assert b.state == 1 and f.state == 0
def test_servo_pins():
p = MockPWMPin(1)
with Servo(p) as device:
assert device.pwm_device.pin is p
assert isinstance(device.pwm_device, PWMOutputDevice)
def test_servo_bad_value():
p = MockPWMPin(1)
with pytest.raises(ValueError):
Servo(p, initial_value=2)
with pytest.raises(ValueError):
Servo(p, min_pulse_width=30/1000)
with pytest.raises(ValueError):
Servo(p, max_pulse_width=30/1000)
def test_servo_pins_nonpwm():
p = MockPin(2)
with pytest.raises(PinPWMUnsupported):
Servo(p)
def test_servo_close():
p = MockPWMPin(2)
with Servo(p) as device:
device.close()
assert device.closed
assert device.pwm_device.pin is None
device.close()
assert device.closed
def test_servo_pulse_width():
p = MockPWMPin(2)
with Servo(p, min_pulse_width=5/10000, max_pulse_width=25/10000) as device:
assert isclose(device.min_pulse_width, 5/10000)
assert isclose(device.max_pulse_width, 25/10000)
assert isclose(device.frame_width, 20/1000)
assert isclose(device.pulse_width, 15/10000)
device.value = -1
assert isclose(device.pulse_width, 5/10000)
device.value = 1
assert isclose(device.pulse_width, 25/10000)
device.value = None
assert device.pulse_width is None
def test_servo_values():
p = MockPWMPin(1)
with Servo(p) as device:
device.min()
assert device.is_active
assert device.value == -1
assert isclose(p.state, 0.05)
device.max()
assert device.is_active
assert device.value == 1
assert isclose(p.state, 0.1)
device.mid()
assert device.is_active
assert device.value == 0.0
assert isclose(p.state, 0.075)
device.value = 0.5
assert device.is_active
assert device.value == 0.5
assert isclose(p.state, 0.0875)
device.detach()
assert not device.is_active
assert device.value is None
device.value = 0
assert device.value == 0
device.value = None
assert device.value is None
def test_angular_servo_range():
p = MockPWMPin(1)
with AngularServo(p, initial_angle=15, min_angle=0, max_angle=90) as device:
assert device.min_angle == 0
assert device.max_angle == 90
def test_angular_servo_angles():
p = MockPWMPin(1)
with AngularServo(p) as device:
device.angle = 0
assert device.angle == 0
assert isclose(device.value, 0)
device.max()
assert device.angle == 90
assert isclose(device.value, 1)
device.min()
assert device.angle == -90
assert isclose(device.value, -1)
device.detach()
assert device.angle is None
with AngularServo(p, initial_angle=15, min_angle=0, max_angle=90) as device:
assert device.angle == 15
assert isclose(device.value, -2/3)
device.angle = 0
assert device.angle == 0
assert isclose(device.value, -1)
device.angle = 90
assert device.angle == 90
assert isclose(device.value, 1)
device.angle = None
assert device.angle is None
with AngularServo(p, min_angle=45, max_angle=-45) as device:
assert device.angle == 0
assert isclose(device.value, 0)
device.angle = -45
assert device.angle == -45
assert isclose(device.value, 1)
device.angle = -15
assert device.angle == -15
assert isclose(device.value, 1/3)
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