mirror of
https://github.com/KevinMidboe/python-gpiozero.git
synced 2025-10-29 09:40:36 +00:00
c820636fcb
This implements the proposal discussed in the re-opened #279 to add a pin_factory argument at the device level and remove the ability to specify a pin instance to device constructors (they now only accept a pin specification). Note: there's still a couple of bits to tidy up (tests on "real" Pis, and pin_factory.release_all needs refinement) but the test suite is now at least capable of passing on a PC.
1096 lines
34 KiB
Python
1096 lines
34 KiB
Python
from __future__ import (
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unicode_literals,
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absolute_import,
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print_function,
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division,
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)
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str = type('')
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import sys
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from time import sleep, time
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try:
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from math import isclose
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except ImportError:
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from gpiozero.compat import isclose
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import pytest
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from gpiozero.pins.mock import MockPin, MockPWMPin
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from gpiozero import *
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def setup_function(function):
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# dirty, but it does the job
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Device.pin_factory.pin_class = MockPWMPin if function.__name__ in (
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'test_output_pwm_states',
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'test_output_pwm_read',
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'test_output_pwm_write',
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'test_output_pwm_toggle',
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'test_output_pwm_active_high_read',
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'test_output_pwm_bad_value',
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'test_output_pwm_write_closed',
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'test_output_pwm_write_silly',
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'test_output_pwm_blink_background',
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'test_output_pwm_blink_foreground',
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'test_output_pwm_fade_background',
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'test_output_pwm_fade_foreground',
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'test_output_pwm_pulse_background',
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'test_output_pwm_pulse_foreground',
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'test_output_pwm_blink_interrupt',
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'test_rgbled_initial_value',
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'test_rgbled_initial_bad_value',
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'test_rgbled_value',
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'test_rgbled_bad_value',
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'test_rgbled_toggle',
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'test_rgbled_blink_background',
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'test_rgbled_blink_foreground',
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'test_rgbled_fade_background',
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'test_rgbled_fade_foreground',
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'test_rgbled_pulse_background',
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'test_rgbled_pulse_foreground',
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'test_rgbled_blink_interrupt',
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'test_rgbled_close',
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'test_motor_pins',
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'test_motor_close',
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'test_motor_value',
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'test_motor_bad_value',
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'test_motor_reverse',
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'test_servo_pins',
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'test_servo_bad_value',
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'test_servo_close',
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'test_servo_pulse_width',
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'test_servo_values',
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'test_angular_servo_range',
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'test_angular_servo_angles',
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) else MockPin
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def teardown_function(function):
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Device.pin_factory.reset()
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def test_output_initial_values():
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pin = Device.pin_factory.pin(2)
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with OutputDevice(2, initial_value=False) as device:
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assert pin.function == 'output'
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assert not pin.state
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with OutputDevice(2, initial_value=True) as device:
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assert pin.state
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state = pin.state
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with OutputDevice(2, initial_value=None) as device:
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assert state == pin.state
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def test_output_write_active_high():
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pin = Device.pin_factory.pin(2)
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with OutputDevice(2) as device:
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device.on()
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assert pin.state
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device.off()
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assert not pin.state
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def test_output_write_active_low():
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pin = Device.pin_factory.pin(2)
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with OutputDevice(2, active_high=False) as device:
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device.on()
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assert not pin.state
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device.off()
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assert pin.state
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def test_output_write_closed():
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with OutputDevice(2) as device:
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device.close()
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assert device.closed
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device.close()
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assert device.closed
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with pytest.raises(GPIODeviceClosed):
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device.on()
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def test_output_write_silly():
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pin = Device.pin_factory.pin(2)
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with OutputDevice(2) as device:
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pin.function = 'input'
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with pytest.raises(AttributeError):
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device.on()
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def test_output_value():
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pin = Device.pin_factory.pin(2)
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with OutputDevice(2) as device:
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assert not device.value
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assert not pin.state
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device.on()
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assert device.value
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assert pin.state
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device.value = False
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assert not device.value
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assert not pin.state
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def test_output_digital_toggle():
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pin = Device.pin_factory.pin(2)
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with DigitalOutputDevice(2) as device:
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assert not device.value
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assert not pin.state
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device.toggle()
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assert device.value
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assert pin.state
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device.toggle()
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assert not device.value
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assert not pin.state
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@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
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reason='timing is too random on pypy')
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def test_output_blink_background():
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pin = Device.pin_factory.pin(4)
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with DigitalOutputDevice(4) as device:
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start = time()
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device.blink(0.1, 0.1, n=2)
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assert isclose(time() - start, 0, abs_tol=0.05)
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device._blink_thread.join() # naughty, but ensures no arbitrary waits in the test
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assert isclose(time() - start, 0.4, abs_tol=0.05)
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pin.assert_states_and_times([
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(0.0, False),
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(0.0, True),
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(0.1, False),
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(0.1, True),
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(0.1, False)
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])
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@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
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reason='timing is too random on pypy')
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def test_output_blink_foreground():
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pin = Device.pin_factory.pin(4)
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with DigitalOutputDevice(4) as device:
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start = time()
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device.blink(0.1, 0.1, n=2, background=False)
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assert isclose(time() - start, 0.4, abs_tol=0.05)
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pin.assert_states_and_times([
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(0.0, False),
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(0.0, True),
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(0.1, False),
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(0.1, True),
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(0.1, False)
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])
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def test_output_blink_interrupt_on():
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pin = Device.pin_factory.pin(4)
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with DigitalOutputDevice(4) as device:
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device.blink(1, 0.1)
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sleep(0.2)
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device.off() # should interrupt while on
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pin.assert_states([False, True, False])
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def test_output_blink_interrupt_off():
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pin = Device.pin_factory.pin(4)
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with DigitalOutputDevice(4) as device:
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device.blink(0.1, 1)
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sleep(0.2)
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device.off() # should interrupt while off
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pin.assert_states([False, True, False])
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def test_output_pwm_bad_initial_value():
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with pytest.raises(ValueError):
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PWMOutputDevice(2, initial_value=2)
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def test_output_pwm_not_supported():
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with pytest.raises(AttributeError):
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PWMOutputDevice(2)
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def test_output_pwm_states():
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pin = Device.pin_factory.pin(4)
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with PWMOutputDevice(4) as device:
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device.value = 0.1
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device.value = 0.2
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device.value = 0.0
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pin.assert_states([0.0, 0.1, 0.2, 0.0])
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def test_output_pwm_read():
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pin = Device.pin_factory.pin(2)
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with PWMOutputDevice(2, frequency=100) as device:
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assert device.frequency == 100
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device.value = 0.1
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assert isclose(device.value, 0.1)
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assert isclose(pin.state, 0.1)
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assert device.is_active
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device.frequency = None
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assert not device.value
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assert not device.is_active
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assert device.frequency is None
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def test_output_pwm_write():
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pin = Device.pin_factory.pin(4)
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with PWMOutputDevice(4) as device:
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device.on()
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device.off()
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pin.assert_states([False, True, False])
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def test_output_pwm_toggle():
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pin = Device.pin_factory.pin(4)
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with PWMOutputDevice(4) as device:
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device.toggle()
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device.value = 0.5
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device.value = 0.1
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device.toggle()
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device.off()
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pin.assert_states([False, True, 0.5, 0.1, 0.9, False])
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def test_output_pwm_active_high_read():
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pin = Device.pin_factory.pin(2)
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with PWMOutputDevice(2, active_high=False) as device:
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device.value = 0.1
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assert isclose(device.value, 0.1)
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assert isclose(pin.state, 0.9)
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device.frequency = None
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assert device.value
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def test_output_pwm_bad_value():
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pin = Device.pin_factory.pin(2)
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with PWMOutputDevice(2) as device:
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with pytest.raises(ValueError):
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device.value = 2
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def test_output_pwm_write_closed():
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pin = Device.pin_factory.pin(2)
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with PWMOutputDevice(2) as device:
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device.close()
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with pytest.raises(GPIODeviceClosed):
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device.on()
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def test_output_pwm_write_silly():
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pin = Device.pin_factory.pin(2)
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with PWMOutputDevice(2) as device:
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pin.function = 'input'
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with pytest.raises(AttributeError):
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device.off()
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@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
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reason='timing is too random on pypy')
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def test_output_pwm_blink_background():
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pin = Device.pin_factory.pin(4)
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with PWMOutputDevice(4) as device:
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start = time()
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device.blink(0.1, 0.1, n=2)
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assert isclose(time() - start, 0, abs_tol=0.05)
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device._blink_thread.join()
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assert isclose(time() - start, 0.4, abs_tol=0.05)
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pin.assert_states_and_times([
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(0.0, 0),
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(0.0, 1),
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(0.1, 0),
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(0.1, 1),
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(0.1, 0)
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])
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@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
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reason='timing is too random on pypy')
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def test_output_pwm_blink_foreground():
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pin = Device.pin_factory.pin(4)
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with PWMOutputDevice(4) as device:
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start = time()
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device.blink(0.1, 0.1, n=2, background=False)
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assert isclose(time() - start, 0.4, abs_tol=0.05)
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pin.assert_states_and_times([
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(0.0, 0),
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(0.0, 1),
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(0.1, 0),
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(0.1, 1),
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(0.1, 0)
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])
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@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
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reason='timing is too random on pypy')
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def test_output_pwm_fade_background():
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pin = Device.pin_factory.pin(4)
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with PWMOutputDevice(4) as device:
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start = time()
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device.blink(0, 0, 0.2, 0.2, n=2)
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assert isclose(time() - start, 0, abs_tol=0.05)
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device._blink_thread.join()
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assert isclose(time() - start, 0.8, abs_tol=0.05)
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pin.assert_states_and_times([
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(0.0, 0),
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(0.04, 0.2),
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(0.04, 0.4),
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(0.04, 0.6),
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(0.04, 0.8),
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(0.04, 1),
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(0.04, 0.8),
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(0.04, 0.6),
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(0.04, 0.4),
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(0.04, 0.2),
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(0.04, 0),
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(0.04, 0.2),
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(0.04, 0.4),
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(0.04, 0.6),
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(0.04, 0.8),
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(0.04, 1),
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(0.04, 0.8),
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(0.04, 0.6),
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(0.04, 0.4),
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(0.04, 0.2),
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(0.04, 0),
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])
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@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
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reason='timing is too random on pypy')
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def test_output_pwm_fade_foreground():
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pin = Device.pin_factory.pin(4)
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with PWMOutputDevice(4) as device:
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start = time()
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device.blink(0, 0, 0.2, 0.2, n=2, background=False)
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assert isclose(time() - start, 0.8, abs_tol=0.05)
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pin.assert_states_and_times([
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(0.0, 0),
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(0.04, 0.2),
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(0.04, 0.4),
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(0.04, 0.6),
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(0.04, 0.8),
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(0.04, 1),
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(0.04, 0.8),
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(0.04, 0.6),
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(0.04, 0.4),
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(0.04, 0.2),
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(0.04, 0),
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(0.04, 0.2),
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(0.04, 0.4),
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(0.04, 0.6),
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(0.04, 0.8),
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(0.04, 1),
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(0.04, 0.8),
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(0.04, 0.6),
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(0.04, 0.4),
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(0.04, 0.2),
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(0.04, 0),
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])
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@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
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reason='timing is too random on pypy')
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def test_output_pwm_pulse_background():
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pin = Device.pin_factory.pin(4)
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with PWMOutputDevice(4) as device:
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start = time()
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device.pulse(0.2, 0.2, n=2)
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assert isclose(time() - start, 0, abs_tol=0.05)
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device._blink_thread.join()
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assert isclose(time() - start, 0.8, abs_tol=0.05)
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pin.assert_states_and_times([
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(0.0, 0),
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(0.04, 0.2),
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(0.04, 0.4),
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(0.04, 0.6),
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(0.04, 0.8),
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(0.04, 1),
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(0.04, 0.8),
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(0.04, 0.6),
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(0.04, 0.4),
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(0.04, 0.2),
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(0.04, 0),
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(0.04, 0.2),
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(0.04, 0.4),
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(0.04, 0.6),
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(0.04, 0.8),
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(0.04, 1),
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(0.04, 0.8),
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(0.04, 0.6),
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(0.04, 0.4),
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(0.04, 0.2),
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(0.04, 0),
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])
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@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
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reason='timing is too random on pypy')
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def test_output_pwm_pulse_foreground():
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pin = Device.pin_factory.pin(4)
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with PWMOutputDevice(4) as device:
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start = time()
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device.pulse(0.2, 0.2, n=2, background=False)
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assert isclose(time() - start, 0.8, abs_tol=0.05)
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pin.assert_states_and_times([
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(0.0, 0),
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|
(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),
|
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(0.04, 0.2),
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(0.04, 0),
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|
])
|
|
|
|
def test_output_pwm_blink_interrupt():
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pin = Device.pin_factory.pin(4)
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with PWMOutputDevice(4) as device:
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device.blink(1, 0.1)
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sleep(0.2)
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device.off() # should interrupt while on
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pin.assert_states([0, 1, 0])
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|
|
|
def test_rgbled_missing_pins():
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with pytest.raises(ValueError):
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RGBLED()
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|
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def test_rgbled_initial_value():
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r, g, b = (Device.pin_factory.pin(i) for i in (1, 2, 3))
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with RGBLED(1, 2, 3, initial_value=(0.1, 0.2, 0)) as device:
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assert r.frequency
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|
assert g.frequency
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|
assert b.frequency
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assert isclose(r.state, 0.1)
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assert isclose(g.state, 0.2)
|
|
assert isclose(b.state, 0.0)
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|
|
|
def test_rgbled_initial_value_nonpwm():
|
|
r, g, b = (Device.pin_factory.pin(i) for i in (1, 2, 3))
|
|
with RGBLED(1, 2, 3, pwm=False, initial_value=(0, 1, 1)) as device:
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assert r.state == 0
|
|
assert g.state == 1
|
|
assert b.state == 1
|
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|
|
def test_rgbled_initial_bad_value():
|
|
r, g, b = (Device.pin_factory.pin(i) for i in (1, 2, 3))
|
|
with pytest.raises(ValueError):
|
|
RGBLED(1, 2, 3, initial_value=(0.1, 0.2, 1.2))
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|
|
|
def test_rgbled_initial_bad_value_nonpwm():
|
|
r, g, b = (Device.pin_factory.pin(i) for i in (1, 2, 3))
|
|
with pytest.raises(ValueError):
|
|
RGBLED(1, 2, 3, pwm=False, initial_value=(0.1, 0.2, 0))
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|
|
|
def test_rgbled_value():
|
|
r, g, b = (Device.pin_factory.pin(i) for i in (1, 2, 3))
|
|
with RGBLED(1, 2, 3) as device:
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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 = (Device.pin_factory.pin(i) for i in (1, 2, 3))
|
|
with RGBLED(1, 2, 3, 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 = (Device.pin_factory.pin(i) for i in (1, 2, 3))
|
|
with RGBLED(1, 2, 3) as device:
|
|
with pytest.raises(ValueError):
|
|
device.value = (2, 0, 0)
|
|
with RGBLED(1, 2, 3) as device:
|
|
with pytest.raises(ValueError):
|
|
device.value = (0, -1, 0)
|
|
|
|
def test_rgbled_bad_value_nonpwm():
|
|
r, g, b = (Device.pin_factory.pin(i) for i in (1, 2, 3))
|
|
with RGBLED(1, 2, 3, pwm=False) as device:
|
|
with pytest.raises(ValueError):
|
|
device.value = (2, 0, 0)
|
|
with RGBLED(1, 2, 3, pwm=False) as device:
|
|
with pytest.raises(ValueError):
|
|
device.value = (0, -1, 0)
|
|
with RGBLED(1, 2, 3, pwm=False) as device:
|
|
with pytest.raises(ValueError):
|
|
device.value = (0.5, 0, 0)
|
|
with RGBLED(1, 2, 3, pwm=False) as device:
|
|
with pytest.raises(ValueError):
|
|
device.value = (0, 0.5, 0)
|
|
with RGBLED(1, 2, 3, pwm=False) as device:
|
|
with pytest.raises(ValueError):
|
|
device.value = (0, 0, 0.5)
|
|
|
|
def test_rgbled_toggle():
|
|
r, g, b = (Device.pin_factory.pin(i) for i in (1, 2, 3))
|
|
with RGBLED(1, 2, 3) 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 = (Device.pin_factory.pin(i) for i in (1, 2, 3))
|
|
with RGBLED(1, 2, 3, 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)
|
|
|
|
def test_rgbled_blink_nonpwm():
|
|
r, g, b = (Device.pin_factory.pin(i) for i in (1, 2, 3))
|
|
with RGBLED(1, 2, 3, pwm=False) as device:
|
|
with pytest.raises(ValueError):
|
|
device.blink(fade_in_time=1)
|
|
with pytest.raises(ValueError):
|
|
device.blink(fade_out_time=1)
|
|
|
|
@pytest.mark.skipif(hasattr(sys, 'pypy_version_info'),
|
|
reason='timing is too random on pypy')
|
|
def test_rgbled_blink_background():
|
|
r, g, b = (Device.pin_factory.pin(i) for i in (4, 5, 6))
|
|
with RGBLED(1, 2, 3) 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 = (Device.pin_factory.pin(i) for i in (4, 5, 6))
|
|
with RGBLED(1, 2, 3, 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 = (Device.pin_factory.pin(i) for i in (4, 5, 6))
|
|
with RGBLED(1, 2, 3) 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 = (Device.pin_factory.pin(i) for i in (4, 5, 6))
|
|
with RGBLED(1, 2, 3, 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 = (Device.pin_factory.pin(i) for i in (4, 5, 6))
|
|
with RGBLED(1, 2, 3) 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 = (Device.pin_factory.pin(i) for i in (1, 2, 3))
|
|
with RGBLED(1, 2, 3, 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 = (Device.pin_factory.pin(i) for i in (4, 5, 6))
|
|
with RGBLED(1, 2, 3) 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 = (Device.pin_factory.pin(i) for i in (1, 2, 3))
|
|
with RGBLED(1, 2, 3, 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 = (Device.pin_factory.pin(i) for i in (4, 5, 6))
|
|
with RGBLED(1, 2, 3) 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 = (Device.pin_factory.pin(i) for i in (1, 2, 3))
|
|
with RGBLED(1, 2, 3, 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 = (Device.pin_factory.pin(i) for i in (4, 5, 6))
|
|
with RGBLED(1, 2, 3) 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 = (Device.pin_factory.pin(i) for i in (1, 2, 3))
|
|
with RGBLED(1, 2, 3, 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 = (Device.pin_factory.pin(i) for i in (4, 5, 6))
|
|
with RGBLED(1, 2, 3) 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 = (Device.pin_factory.pin(i) for i in (4, 5, 6))
|
|
with RGBLED(1, 2, 3, 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 = (Device.pin_factory.pin(i) for i in (1, 2, 3))
|
|
with RGBLED(1, 2, 3) as device:
|
|
assert not device.closed
|
|
device.close()
|
|
assert device.closed
|
|
device.close()
|
|
assert device.closed
|
|
|
|
def test_rgbled_close_nonpwm():
|
|
r, g, b = (Device.pin_factory.pin(i) for i in (1, 2, 3))
|
|
with RGBLED(1, 2, 3, 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 = Device.pin_factory.pin(1)
|
|
b = Device.pin_factory.pin(2)
|
|
with Motor(1, 2) 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 = Device.pin_factory.pin(1)
|
|
b = Device.pin_factory.pin(2)
|
|
with Motor(1, 2, 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 = Device.pin_factory.pin(1)
|
|
b = Device.pin_factory.pin(2)
|
|
with Motor(1, 2) 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 = Device.pin_factory.pin(1)
|
|
b = Device.pin_factory.pin(2)
|
|
with Motor(1, 2, 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 = Device.pin_factory.pin(1)
|
|
b = Device.pin_factory.pin(2)
|
|
with Motor(1, 2) 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 = Device.pin_factory.pin(1)
|
|
b = Device.pin_factory.pin(2)
|
|
with Motor(1, 2, 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 = Device.pin_factory.pin(1)
|
|
b = Device.pin_factory.pin(2)
|
|
with Motor(1, 2) as device:
|
|
with pytest.raises(ValueError):
|
|
device.value = -2
|
|
with pytest.raises(ValueError):
|
|
device.value = 2
|
|
with pytest.raises(ValueError):
|
|
device.forward(2)
|
|
with pytest.raises(ValueError):
|
|
device.backward(2)
|
|
|
|
def test_motor_bad_value_nonpwm():
|
|
f = Device.pin_factory.pin(1)
|
|
b = Device.pin_factory.pin(2)
|
|
with Motor(1, 2, 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 = Device.pin_factory.pin(1)
|
|
b = Device.pin_factory.pin(2)
|
|
with Motor(1, 2) 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 = Device.pin_factory.pin(1)
|
|
b = Device.pin_factory.pin(2)
|
|
with Motor(1, 2, 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 = Device.pin_factory.pin(1)
|
|
with Servo(1) as device:
|
|
assert device.pwm_device.pin is p
|
|
assert isinstance(device.pwm_device, PWMOutputDevice)
|
|
|
|
def test_servo_bad_value():
|
|
p = Device.pin_factory.pin(1)
|
|
with pytest.raises(ValueError):
|
|
Servo(1, initial_value=2)
|
|
with pytest.raises(ValueError):
|
|
Servo(1, min_pulse_width=30/1000)
|
|
with pytest.raises(ValueError):
|
|
Servo(1, max_pulse_width=30/1000)
|
|
|
|
def test_servo_pins_nonpwm():
|
|
p = Device.pin_factory.pin(2)
|
|
with pytest.raises(PinPWMUnsupported):
|
|
Servo(1)
|
|
|
|
def test_servo_close():
|
|
p = Device.pin_factory.pin(2)
|
|
with Servo(1) 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 = Device.pin_factory.pin(2)
|
|
with Servo(1, 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 = Device.pin_factory.pin(1)
|
|
with Servo(1) 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 = Device.pin_factory.pin(1)
|
|
with AngularServo(1, 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 = Device.pin_factory.pin(1)
|
|
with AngularServo(1) 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(1, 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(1, 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)
|
|
|