jerk_test.py

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
#
# Copyright 2019-2021 by Murray Altheim. All rights reserved. This file is part
# of the K-Series Robot Operating System (KROS) project, released under the MIT
# License. Please see the LICENSE file included as part of this package.
#
# author:   Murray Altheim
# created:  2020-01-14
# modified: 2021-07-20
#

import pytest, unittest
import sys, traceback
import numpy
from colorama import init, Fore, Style
init()

from core.logger import Logger, Level
from core.config_loader import ConfigLoader
from core.orientation import Orientation
from hardware.jerk import JerkLimiter

# ━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
class TestJerk(unittest.TestCase):

    # ┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈
    @pytest.mark.unit
    def test_jerk(self):

        _log = Logger("test", Level.INFO)

        # read YAML configuration
        _config = ConfigLoader().configure()

        _jerk = JerkLimiter(_config, orientation=Orientation.PORT, level=Level.INFO)

        _log.info('specific results ........................')
        _jerk.print_test_result(-0.3, 0.1)
        _jerk.print_test_result(-0.2, 0.1)
        _jerk.print_test_result(-0.1, 0.2)
        _jerk.print_test_result(0.5, 0.8)

        _neg  =  -0.90
        _zero =   0.0
        _min  =  -0.90
        _max  =   0.90
        _over =   1.2
        _step =   0.1
        _last_value = _neg
        print('')
        _log.info('ramp up!   ..............................')
        for _power in numpy.arange(_neg, _over, _step, float):
            _value = _jerk.print_test_result(_last_value, _power)
            if _value >= _min and _value <= _max:
                _log.info('+ VALUE: {:<5.2f}'.format(_value))
                self.assertTrue(_value >= _min)
                self.assertTrue(_value <= _max)
#               self.assertTrue(abs(round( _value - _last_value, 3)) <= _step)
            _last_value = _power

        print('')
        _log.info('ramp down!   ............................')
        for _power in numpy.arange(_max, _neg, -1 * _step, float):
            _value = _jerk.print_test_result(_last_value, _power)
            if _value >= _min and _value <= _max:
                _log.info('- VALUE: {:<5.2f}'.format(_value))
                self.assertTrue(_value >= _min)
                self.assertTrue(_value <= _max)
#               self.assertTrue(abs(round( _value - _last_value, 3)) <= _step)
            _last_value = _power

        print('')
        _log.info('complete.')

#   raise Exception('error message.')

# ┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈┈
def main():
    try:
        _test = TestJerk()
        _test.test_jerk()
    except KeyboardInterrupt:
        print('Ctrl-C caught: test interrupted.')
        sys.exit(0)
    except Exception as e:
        print(Fore.RED + 'Error in test: {} / {}'.format(e, traceback.format_exc()) + Style.RESET_ALL)
        sys.exit(1)
    finally:
        pass

if __name__ == "__main__":
    main()

#EOF