fix gamepad layout and refuse a pad whose axes disagree
An Xbox One S pad over Bluetooth numbers its controls differently from the indices this node shipped with: the right stick is on axes 2 and 3, the triggers on 4 and 5, and the buttons carry gaps at 2 and 5. Against the old layout an untouched pad reported a resting trigger as full right-stick deflection, which asked for 30 deg/s of pitch while lying on the desk, held the lease for ever so GAMEPAD_IDLE_RELEASE_S never fired, and moved a real arm into a controller error. X toggled freedrive and LB was the E-STOP, so the resulting latch could not be released from the pad at all. Layout now carries the swept indices. Each pad is also measured the first time it is seen at rest: a stick must rest near centre and a trigger near the bottom of its travel, and a pad that does not fit reads as absent and is named in the log rather than driving an arm from a numbering nobody checked. The measured rest becomes each axis's zero, so a worn stick's tilt is subtracted rather than deadzoned away and a trigger that reads 0 until it first moves stops reading as half pressed. Rest is never re-measured while the pad is in use, because doing that under a held stick would record the deflection as centre and the arm would move when the operator let go. The probe drives from the same calibration, so what it prints is still what the arm would get, and it shows the mismatch. Tests name their controls through axes_for and buttons_for instead of numbering them; the positional lists are why a wrong index passed a green suite.
This commit is contained in:
+48
-2
@@ -7,6 +7,7 @@ import pytest
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from dora_teleop.config import Config
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from dora_teleop.joy import Sample
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from dora_teleop.mapping import LAYOUT, TRIGGER_REST
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# The shape `dora-joy` publishes. Declared here rather than inferred for the same
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# reason it is declared there: pyarrow reads an empty `axes` list as `list<null>`,
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@@ -66,13 +67,58 @@ def stick(axes=None, buttons=None, present=True):
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values = list(axes or [])
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values += [0.0] * (6 - len(values))
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# A trigger at rest reads -1, and a test that forgot to say so would look
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# like both triggers held down.
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for index in (2, 5):
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# like both triggers held down. Which indices those are comes from the
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# layout, so a test never has to be edited when a pad renumbers them.
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for index in (LAYOUT.left_trigger, LAYOUT.right_trigger):
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if axes is None or index >= len(axes):
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values[index] = -1.0
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return Sample(axes=values, buttons=list(buttons or []), present=present)
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def axes_for(
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left_x=0.0,
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left_y=0.0,
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right_x=0.0,
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right_y=0.0,
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left_trigger=TRIGGER_REST,
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right_trigger=TRIGGER_REST,
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):
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"""Lay out a pad's axes by what each control is rather than by its index.
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A test that numbers its axes says nothing about which control it meant, and
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goes on passing while meaning something else once a pad renumbers them.
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"""
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values = [0.0] * 6
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values[LAYOUT.left_x] = left_x
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values[LAYOUT.left_y] = left_y
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values[LAYOUT.right_x] = right_x
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values[LAYOUT.right_y] = right_y
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values[LAYOUT.left_trigger] = left_trigger
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values[LAYOUT.right_trigger] = right_trigger
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return values
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def buttons_for(
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grasp=False, release=False, clear=False, freedrive=False, yaw_left=False, yaw_right=False, estop=False
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):
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"""Lay out a pad's buttons by what each one does rather than by its index.
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The same reason as :func:`axes_for`, and more pressing: an unpressed button
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reads identically on every pad, so a test that numbers them is the only
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place a wrong index could ever have been caught.
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"""
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wanted = {
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LAYOUT.grasp: grasp,
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LAYOUT.release: release,
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LAYOUT.clear: clear,
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LAYOUT.freedrive: freedrive,
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LAYOUT.yaw_left: yaw_left,
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LAYOUT.yaw_right: yaw_right,
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LAYOUT.estop: estop,
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}
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return [wanted.get(index, False) for index in range(max(wanted) + 1)]
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def joy_message(sample):
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"""Build the Arrow row `dora-joy` would publish for one reading."""
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return pa.array(
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+24
-17
@@ -6,7 +6,7 @@ from dora_teleop import main as loop
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from dora_teleop.arbiter import GAMEPAD, WEB
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from dora_teleop.config import Config
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from dora_teleop.joy import Sample
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from tests.conftest import RecordingNode, input_event, joy_message, stick
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from tests.conftest import RecordingNode, buttons_for, input_event, joy_message, stick
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STOP = [0.0] * 6
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PUSHED = [0.0, -1.0]
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@@ -47,7 +47,14 @@ def ticks(node, state, count=1):
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def drive(node, state, sample, count=1):
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"""Hold one reading for `count` ticks, the way a real pad and joy node would."""
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"""Hold one reading for `count` ticks, the way a real pad and joy node would.
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A pad this node has not yet seen at rest is sent one resting reading first,
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because a real one is always at rest before a thumb reaches it — and the
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node refuses to drive an arm from a pad it has never seen still.
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"""
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if not state.joy.calibration.known:
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send_joy(node, state, stick())
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for _ in range(count):
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send_joy(node, state, sample)
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loop._tick(node, state)
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@@ -271,7 +278,7 @@ def test_a_latched_estop_keeps_the_arm_still_under_a_pushed_stick(clock):
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drive(node, state, stick(axes=PUSHED))
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node.clear()
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drive(node, state, stick(axes=PUSHED, buttons=[False] * 6 + [True]))
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drive(node, state, stick(axes=PUSHED, buttons=buttons_for(estop=True)))
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node.clear()
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jogs = drive(node, state, stick(axes=PUSHED), count=4)
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@@ -282,11 +289,11 @@ def test_the_pad_can_release_the_latch_it_set(clock):
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# A pad-only dataflow has no console RESET, so a latch nothing on the pad
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# can release would strand the arm until the process was restarted.
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node, state = build()
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drive(node, state, stick(buttons=[False] * 6 + [True]))
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drive(node, state, stick(buttons=buttons_for(estop=True)))
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assert state.view.estop is True
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node.clear()
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drive(node, state, stick(buttons=[False, False, True]))
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drive(node, state, stick(buttons=buttons_for(clear=True)))
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assert state.view.estop is False
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assert "clear" in node.services()
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@@ -296,20 +303,20 @@ def test_the_latch_is_released_without_holding_the_arm(clock):
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# An idle pad hands the lease back two seconds after the stop it just made,
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# so gating the release on the lease would be a trap.
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node, state = build()
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drive(node, state, stick(buttons=[False] * 6 + [True]))
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drive(node, state, stick(buttons=buttons_for(estop=True)))
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state.arbiter.release(GAMEPAD)
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state.arbiter.take(WEB, clock.t)
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node.clear()
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drive(node, state, stick(buttons=[False, False, True]))
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drive(node, state, stick(buttons=buttons_for(clear=True)))
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assert state.view.estop is False
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def test_the_arm_drives_again_once_the_latch_is_released(clock):
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node, state = build()
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drive(node, state, stick(buttons=[False] * 6 + [True]))
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drive(node, state, stick(buttons=[False, False, True]))
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drive(node, state, stick(buttons=buttons_for(estop=True)))
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drive(node, state, stick(buttons=buttons_for(clear=True)))
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node.clear()
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jogs = drive(node, state, stick(axes=PUSHED))
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@@ -322,7 +329,7 @@ def test_a_latched_estop_stops_the_browser_too(clock):
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# through a stop somebody made on the gamepad.
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node, state = build()
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state.clients = 1
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drive(node, state, stick(buttons=[False] * 6 + [True]))
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drive(node, state, stick(buttons=buttons_for(estop=True)))
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state.arbiter.release(GAMEPAD)
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state.arbiter.take(WEB, clock.t)
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node.clear()
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@@ -337,7 +344,7 @@ def test_the_estop_button_works_without_the_pad_holding_the_arm(clock):
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node, state = build()
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state.arbiter.take(WEB, clock.t)
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drive(node, state, stick(buttons=[False] * 6 + [True]))
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drive(node, state, stick(buttons=buttons_for(estop=True)))
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assert "stop" in node.services()
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@@ -402,7 +409,7 @@ def test_a_button_asks_in_verbs_as_well_as_in_services(clock):
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# what dora-ulite6 reads until it does.
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node, state = build()
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drive(node, state, stick(buttons=[True]))
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drive(node, state, stick(buttons=buttons_for(grasp=True)))
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assert node.actions() == ["gripper_close"]
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assert "grasp" in node.services()
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@@ -410,10 +417,10 @@ def test_a_button_asks_in_verbs_as_well_as_in_services(clock):
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def test_every_verb_the_pad_can_ask_for_is_robot_agnostic(clock):
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node, state = build()
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drive(node, state, stick(buttons=[False, True]))
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drive(node, state, stick(buttons=[False] * 3 + [True]))
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drive(node, state, stick(buttons=[False] * 6 + [True]))
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drive(node, state, stick(buttons=[False, False, True]))
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drive(node, state, stick(buttons=buttons_for(release=True)))
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drive(node, state, stick(buttons=buttons_for(freedrive=True)))
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drive(node, state, stick(buttons=buttons_for(estop=True)))
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drive(node, state, stick(buttons=buttons_for(clear=True)))
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assert node.actions() == ["gripper_open", "freedrive", "stop", "clear"]
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@@ -426,6 +433,6 @@ def test_the_first_press_after_the_pad_has_been_idle_is_not_dropped(clock):
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node, state = build()
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assert state.arbiter.owner is None
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drive(node, state, stick(buttons=[True]), count=3)
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drive(node, state, stick(buttons=buttons_for(grasp=True)), count=3)
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assert node.actions() == ["gripper_close"]
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+93
-4
@@ -1,9 +1,12 @@
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"""The pad as it arrives on the wire, and what silence on that wire means."""
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import pyarrow as pa
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import pytest
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from dora_teleop import mapping
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from dora_teleop.joy import ABSENT, JoyInput, Sample, decode
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from tests.conftest import input_event, joy_message, stick
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from dora_teleop.mapping import LAYOUT
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from tests.conftest import axes_for, input_event, joy_message, stick
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def joy_event(sample):
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@@ -41,21 +44,107 @@ def test_a_message_with_no_rows_reads_as_absent():
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def test_a_fresh_reading_is_handed_back():
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joy = JoyInput(ttl_s=0.2)
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sample = stick(axes=[0.5])
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joy.accept(sample, 100.0)
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joy.accept(stick(), 100.0)
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joy.accept(stick(axes=[0.5]), 100.0)
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assert joy.read(100.1) is sample
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assert joy.read(100.1).axes[0] == 0.5
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def test_a_reading_nobody_is_refreshing_reads_as_absent():
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# dora-joy publishes every tick, so silence means it died — and a dead pad
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# node is indistinguishable from an unplugged pad as far as the arm cares.
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joy = JoyInput(ttl_s=0.2)
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joy.accept(stick(), 100.0)
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joy.accept(stick(axes=[0.5]), 100.0)
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assert joy.read(100.5) is ABSENT
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# --- the pad this node is actually holding ---
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def test_a_pad_is_measured_where_it_rests_and_the_tilt_is_subtracted():
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# A stick that no longer centres is the ordinary kind of worn pad. Its rest
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# becomes zero, so it asks for nothing until it is actually pushed.
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joy = JoyInput(ttl_s=0.2)
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tilted = axes_for(left_x=0.2, left_y=-0.15)
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joy.accept(stick(axes=tilted), 100.0)
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reading = joy.read(100.1)
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assert reading.present is True
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assert reading.axes[LAYOUT.left_x] == pytest.approx(0.0)
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assert reading.axes[LAYOUT.left_y] == pytest.approx(0.0)
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assert mapping.is_active(reading) is False
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def test_the_tilt_is_subtracted_rather_than_deadzoned_so_full_travel_remains():
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joy = JoyInput(ttl_s=0.2)
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joy.accept(stick(axes=axes_for(left_x=0.2)), 100.0)
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joy.accept(stick(axes=axes_for(left_x=1.0)), 100.0)
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assert joy.read(100.1).axes[LAYOUT.left_x] == pytest.approx(0.8)
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def test_a_trigger_that_rests_at_zero_does_not_read_as_half_pressed():
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# Some pads report a trigger as 0 until it first moves. Read as SDL's -1..1
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# that is half travel, which would lift the arm on its own.
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joy = JoyInput(ttl_s=0.2)
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joy.accept(stick(axes=axes_for(right_trigger=0.0)), 100.0)
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reading = joy.read(100.1)
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assert mapping.trigger(reading.axes[LAYOUT.right_trigger]) == pytest.approx(0.0)
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assert mapping.is_active(reading) is False
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def test_a_pad_that_does_not_fit_the_layout_reads_as_absent():
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# The bug this exists for: a trigger on an index the layout calls a stick
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# rests at -1.0, which is full deflection — an untouched pad on the desk
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# asking for full speed, and holding the lease so nothing can take it back.
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joy = JoyInput(ttl_s=0.2)
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wrong = list(axes_for())
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wrong[LAYOUT.right_y] = -1.0
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joy.accept(stick(axes=wrong), 100.0)
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assert joy.read(100.1) is ABSENT
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assert "right stick Y" in joy.calibration.mismatch
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def test_a_pad_held_when_it_appears_is_refused_until_it_is_let_go():
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# A stick held at startup and a wrongly numbered axis look identical in one
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# reading, so the safe answer is the same for both: no arm until it rests.
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joy = JoyInput(ttl_s=0.2)
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joy.accept(stick(axes=axes_for(left_y=-1.0)), 100.0)
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assert joy.read(100.1) is ABSENT
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joy.accept(stick(), 100.2)
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assert joy.read(100.3).present is True
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def test_rest_is_not_re_measured_while_the_pad_is_in_use():
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# Re-measuring under a held stick would record that deflection as centre,
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# and the arm would then move the moment the operator let go.
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joy = JoyInput(ttl_s=0.2)
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joy.accept(stick(), 100.0)
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joy.accept(stick(axes=axes_for(left_y=-1.0)), 100.1)
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joy.accept(stick(axes=axes_for(left_y=-1.0)), 100.2)
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assert joy.read(100.3).axes[LAYOUT.left_y] == pytest.approx(-1.0)
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def test_a_pad_that_goes_away_is_measured_again_when_it_comes_back():
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# The second pad is not the first one, and may not rest where it did.
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joy = JoyInput(ttl_s=0.2)
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joy.accept(stick(axes=axes_for(left_x=0.2)), 100.0)
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joy.accept(Sample(present=False), 100.1)
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joy.accept(stick(axes=axes_for(left_x=-0.2)), 100.2)
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assert joy.read(100.3).axes[LAYOUT.left_x] == pytest.approx(0.0)
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def test_nothing_ever_arriving_reads_as_absent():
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# A dataflow with no `joy` wired at all, which is a browser-only console.
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assert JoyInput(ttl_s=0.2).read(100.0) is ABSENT
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+88
-12
@@ -3,8 +3,8 @@
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import pytest
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from dora_teleop import mapping
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from dora_teleop.mapping import VX, VY, VZ, WX, WY, WZ
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from tests.conftest import stick
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from dora_teleop.mapping import LAYOUT, VX, VY, VZ, WX, WY, WZ
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from tests.conftest import axes_for, buttons_for, stick
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def test_a_stick_at_rest_asks_for_nothing(config):
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@@ -29,15 +29,15 @@ def test_pushing_the_stick_right_moves_the_arm_along_positive_y(config):
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def test_the_right_trigger_lifts_and_the_left_one_lowers(config):
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up = mapping.velocity(stick(axes=[0, 0, -1.0, 0, 0, 1.0]).axes, [], config)
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down = mapping.velocity(stick(axes=[0, 0, 1.0, 0, 0, -1.0]).axes, [], config)
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up = mapping.velocity(axes_for(right_trigger=1.0), [], config)
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down = mapping.velocity(axes_for(left_trigger=1.0), [], config)
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assert up[VZ] == pytest.approx(config.speed_mm_s)
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assert down[VZ] == pytest.approx(-config.speed_mm_s)
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def test_both_triggers_together_cancel(config):
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velocity = mapping.velocity(stick(axes=[0, 0, 1.0, 0, 0, 1.0]).axes, [], config)
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velocity = mapping.velocity(axes_for(left_trigger=1.0, right_trigger=1.0), [], config)
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assert velocity[VZ] == 0.0
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@@ -51,15 +51,15 @@ def test_an_untouched_trigger_does_not_read_as_half_pressed(config):
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def test_the_right_stick_turns_the_tool_in_degrees_per_second(config):
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velocity = mapping.velocity(stick(axes=[0, 0, -1, 1.0, -1.0, -1]).axes, [], config)
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velocity = mapping.velocity(axes_for(right_x=1.0, right_y=-1.0), [], config)
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assert velocity[WX] == pytest.approx(config.speed_deg_s)
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assert velocity[WY] == pytest.approx(config.speed_deg_s)
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def test_the_bumpers_yaw_in_opposite_directions(config):
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right = mapping.velocity(stick().axes, [False] * 5 + [True], config)
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left = mapping.velocity(stick().axes, [False] * 4 + [True, False], config)
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right = mapping.velocity(stick().axes, buttons_for(yaw_right=True), config)
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left = mapping.velocity(stick().axes, buttons_for(yaw_left=True), config)
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assert right[WZ] == pytest.approx(config.speed_deg_s)
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assert left[WZ] == pytest.approx(-config.speed_deg_s)
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@@ -68,7 +68,7 @@ def test_the_bumpers_yaw_in_opposite_directions(config):
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def test_several_axes_move_at_once(config):
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# The whole reason a pad beats the console's four-sector dial: the dial can
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# only ever ask for one axis.
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velocity = mapping.velocity(stick(axes=[1.0, -1.0, -1, 0, 0, 1.0]).axes, [], config)
|
||||
velocity = mapping.velocity(axes_for(left_x=1.0, left_y=-1.0, right_trigger=1.0), [], config)
|
||||
|
||||
assert velocity[VX] > 0
|
||||
assert velocity[VY] > 0
|
||||
@@ -129,14 +129,90 @@ def test_a_nudged_stick_is_asking_for_the_arm():
|
||||
|
||||
|
||||
def test_a_held_trigger_is_asking_for_the_arm():
|
||||
assert mapping.is_active(stick(axes=[0.0, 0.0, 1.0])) is True
|
||||
assert mapping.is_active(stick(axes=axes_for(left_trigger=1.0))) is True
|
||||
|
||||
|
||||
def test_a_held_button_is_asking_for_the_arm():
|
||||
assert mapping.is_active(stick(buttons=[True])) is True
|
||||
assert mapping.is_active(stick(buttons=buttons_for(grasp=True))) is True
|
||||
|
||||
|
||||
def test_an_axis_the_layout_does_not_use_still_counts():
|
||||
# A pad reporting its d-pad as two extra axes is asking for the arm when
|
||||
# somebody presses it, whether or not this node maps it to anything.
|
||||
assert mapping.is_active(stick(axes=[0.0, 0.0, -1.0, 0.0, 0.0, -1.0, 1.0])) is True
|
||||
assert mapping.is_active(stick(axes=axes_for() + [1.0])) is True
|
||||
|
||||
|
||||
# --- reading a pad that is not the layout's ideal one ---
|
||||
|
||||
|
||||
def test_a_resting_pad_measures_as_resting():
|
||||
zeros = mapping.rest_zeros(axes_for())
|
||||
|
||||
assert zeros == axes_for()
|
||||
|
||||
|
||||
def test_a_small_tilt_is_accepted_as_rest():
|
||||
# A worn stick is an ordinary pad, not a broken one.
|
||||
assert mapping.rest_zeros(axes_for(left_x=0.2, right_y=-0.2))
|
||||
|
||||
|
||||
def test_an_axis_resting_where_the_layout_says_it_cannot_is_refused():
|
||||
wrong = axes_for()
|
||||
wrong[LAYOUT.right_y] = -1.0
|
||||
|
||||
with pytest.raises(ValueError, match="right stick Y"):
|
||||
mapping.rest_zeros(wrong)
|
||||
|
||||
|
||||
def test_the_refusal_names_the_index_and_what_it_read():
|
||||
# It is read off a terminal by somebody deciding what to put in `Layout`.
|
||||
wrong = axes_for()
|
||||
wrong[LAYOUT.right_x] = 0.9
|
||||
|
||||
with pytest.raises(ValueError, match=r"axis 2 rests at \+0.900"):
|
||||
mapping.rest_zeros(wrong)
|
||||
|
||||
|
||||
def test_a_trigger_resting_at_either_end_is_accepted():
|
||||
# -1 is what SDL reports; 0 is what some pads report until it first moves.
|
||||
assert mapping.rest_zeros(axes_for(left_trigger=-1.0, right_trigger=0.0))
|
||||
|
||||
|
||||
def test_an_axis_the_layout_does_not_use_still_has_to_rest():
|
||||
# A d-pad reported as two extra axes counts towards `is_active`, so one
|
||||
# stuck at an extreme would hold the arm as surely as a named one.
|
||||
with pytest.raises(ValueError, match="axis 6"):
|
||||
mapping.rest_zeros(axes_for() + [1.0])
|
||||
|
||||
|
||||
def test_canonical_puts_a_tilted_stick_back_at_centre():
|
||||
tilted = axes_for(left_x=0.2)
|
||||
|
||||
canonical = mapping.canonical(tilted, mapping.rest_zeros(tilted))
|
||||
|
||||
assert canonical[LAYOUT.left_x] == pytest.approx(0.0)
|
||||
|
||||
|
||||
def test_canonical_puts_a_trigger_back_at_its_own_rest():
|
||||
zeroed = axes_for(left_trigger=0.0, right_trigger=0.0)
|
||||
|
||||
canonical = mapping.canonical(zeroed, mapping.rest_zeros(zeroed))
|
||||
|
||||
assert canonical[LAYOUT.left_trigger] == pytest.approx(mapping.TRIGGER_REST)
|
||||
assert canonical[LAYOUT.right_trigger] == pytest.approx(mapping.TRIGGER_REST)
|
||||
|
||||
|
||||
def test_a_trigger_measured_from_zero_still_reaches_full_travel():
|
||||
zeros = mapping.rest_zeros(axes_for(right_trigger=0.0))
|
||||
|
||||
canonical = mapping.canonical(axes_for(right_trigger=1.0), zeros)
|
||||
|
||||
assert mapping.trigger(canonical[LAYOUT.right_trigger]) == pytest.approx(1.0)
|
||||
|
||||
|
||||
def test_a_calibrated_pad_at_rest_asks_for_nothing(config):
|
||||
tilted = axes_for(left_x=0.2, left_y=-0.15, right_trigger=0.0)
|
||||
|
||||
canonical = mapping.canonical(tilted, mapping.rest_zeros(tilted))
|
||||
|
||||
assert mapping.velocity(canonical, [], config) == [0.0] * 6
|
||||
|
||||
+39
-12
@@ -2,7 +2,7 @@
|
||||
|
||||
from dora_teleop import mapping, probe
|
||||
from dora_teleop.joy import Sample
|
||||
from tests.conftest import stick
|
||||
from tests.conftest import buttons_for, stick
|
||||
|
||||
|
||||
def test_a_centred_stick_puts_the_marker_in_the_middle():
|
||||
@@ -28,7 +28,7 @@ def test_a_reading_beyond_full_deflection_stays_on_the_bar():
|
||||
def test_no_gamepad_says_so_and_says_the_arm_is_being_held_still(config):
|
||||
# Absence covers both "no pad" and "dora-joy stopped sending", and the probe
|
||||
# must not imply the arm is waiting on something it is not.
|
||||
drawn = probe.render(Sample(present=False), [0.0] * 6, config)
|
||||
drawn = probe.render(Sample(present=False), Sample(present=False), [0.0] * 6, config)
|
||||
|
||||
assert "no gamepad" in drawn
|
||||
assert "hold still" in drawn
|
||||
@@ -39,30 +39,31 @@ def test_every_axis_the_pad_reports_is_shown_even_the_unused_ones(config):
|
||||
# for, so nothing may be hidden.
|
||||
sample = Sample(axes=[0.0] * 8, buttons=[], present=True)
|
||||
|
||||
drawn = probe.render(sample, [0.0] * 6, config)
|
||||
drawn = probe.render(sample, sample, [0.0] * 6, config)
|
||||
|
||||
assert "unused" in drawn
|
||||
assert "axes (8 reported)" in drawn
|
||||
|
||||
|
||||
def test_a_pressed_button_is_named(config):
|
||||
sample = stick(buttons=[True])
|
||||
sample = stick(buttons=buttons_for(grasp=True))
|
||||
|
||||
drawn = probe.render(sample, [0.0] * 6, config)
|
||||
drawn = probe.render(sample, sample, [0.0] * 6, config)
|
||||
|
||||
assert "grasp" in drawn
|
||||
|
||||
|
||||
def test_nothing_pressed_says_so_rather_than_showing_an_empty_line(config):
|
||||
drawn = probe.render(stick(), [0.0] * 6, config)
|
||||
drawn = probe.render(stick(), stick(), [0.0] * 6, config)
|
||||
|
||||
assert "none pressed" in drawn
|
||||
|
||||
|
||||
def test_the_velocity_is_shown_in_the_units_the_arm_takes(config):
|
||||
velocity = mapping.velocity(stick(axes=[0.0, -1.0]).axes, [], config)
|
||||
pushed = stick(axes=[0.0, -1.0])
|
||||
velocity = mapping.velocity(pushed.axes, [], config)
|
||||
|
||||
drawn = probe.render(stick(axes=[0.0, -1.0]), velocity, config)
|
||||
drawn = probe.render(pushed, pushed, velocity, config)
|
||||
|
||||
assert "mm/s" in drawn
|
||||
assert "deg/s" in drawn
|
||||
@@ -70,13 +71,14 @@ def test_the_velocity_is_shown_in_the_units_the_arm_takes(config):
|
||||
|
||||
|
||||
def test_a_still_arm_is_reported_as_still(config):
|
||||
drawn = probe.render(stick(), [0.0] * 6, config)
|
||||
drawn = probe.render(stick(), stick(), [0.0] * 6, config)
|
||||
|
||||
assert "told to hold still" in drawn
|
||||
|
||||
|
||||
def test_a_moving_arm_is_reported_as_moving(config):
|
||||
drawn = probe.render(stick(axes=[0.0, -1.0]), [10.0, 0, 0, 0, 0, 0], config)
|
||||
pushed = stick(axes=[0.0, -1.0])
|
||||
drawn = probe.render(pushed, pushed, [10.0, 0, 0, 0, 0, 0], config)
|
||||
|
||||
assert "moving: yes" in drawn
|
||||
|
||||
@@ -84,5 +86,30 @@ def test_a_moving_arm_is_reported_as_moving(config):
|
||||
def test_whether_the_pad_is_asking_for_the_arm_is_shown(config):
|
||||
# The probe is where a resting trigger claiming the arm would have been
|
||||
# visible, so it says what `is_active` thinks rather than leaving it implied.
|
||||
assert "asking for the arm: no" in probe.render(stick(), [0.0] * 6, config)
|
||||
assert "asking for the arm: yes" in probe.render(stick(axes=[0.0, -1.0]), [0.0] * 6, config)
|
||||
rest, pushed = stick(), stick(axes=[0.0, -1.0])
|
||||
|
||||
assert "asking for the arm: no" in probe.render(rest, rest, [0.0] * 6, config)
|
||||
assert "asking for the arm: yes" in probe.render(pushed, pushed, [0.0] * 6, config)
|
||||
|
||||
|
||||
def test_a_pad_that_does_not_fit_the_layout_is_called_out(config):
|
||||
# This is the tool for exactly that pad, so the reason goes on the screen
|
||||
# rather than only in the node's log.
|
||||
wrong = stick(axes=[0.0, 0.0, 0.0, -1.0, -1.0, -1.0])
|
||||
mismatch = "axis 3 rests at -1.000, which is not where right stick Y sits"
|
||||
|
||||
drawn = probe.render(wrong, Sample(present=False), [0.0] * 6, config, mismatch)
|
||||
|
||||
assert "does not match the layout" in drawn
|
||||
assert mismatch in drawn
|
||||
assert "asking for the arm: no" in drawn
|
||||
|
||||
|
||||
def test_the_raw_axes_are_still_shown_for_a_pad_that_does_not_fit(config):
|
||||
# The numbers are the evidence: they are what `Layout` gets corrected from.
|
||||
wrong = stick(axes=[0.0, 0.0, 0.0, -1.0, -1.0, -1.0])
|
||||
|
||||
drawn = probe.render(wrong, Sample(present=False), [0.0] * 6, config, "axis 3")
|
||||
|
||||
assert "-1.000" in drawn
|
||||
assert "axes (6 reported)" in drawn
|
||||
|
||||
Reference in New Issue
Block a user