cristhian
d336f8d499
The pad moves to dora-joy, so this node keeps no hardware dependency and the pad becomes reusable. It arrives on `joy` as a plain reading; `JoyInput.read` treats silence past JOY_TTL_S as absence, because that node dying looks like silence rather than like an unplugged pad and the arm cannot tell them apart. Both control sources are now normalised to a [-1, 1] six-vector before anything is scaled, and the scaling happens in one function. The web path used to pass a velocity straight through without going near mapping, which is why the console had to speak the arm's units. It no longer does. `twist` (SI) and `command` (robot-agnostic verbs) are the standard ports. `jog` and `request` still carry the same intent in dora-ulite6's units and service names so the two repositories can move independently; LEGACY_REQUEST is the only place that knows what that node calls a verb. Wire one or the other, never both. `joint_jog` is specified in the manifest and deliberately not built. Schemas are declared rather than inferred: pyarrow reads a null `value` as its own type, so an inferred `command` would change its port's type between one verb and the next. Three bugs found while moving this code, each with a test: - `Sample.active` compared raw axes against a threshold, but SDL rests a trigger at -1.0, so every connected pad read as in use for ever: the pad took the lease on plug-in and GAMEPAD_IDLE_RELEASE_S never fired. - The e-stop latch was never consulted when deciding a velocity, so Back stopped the arm for one tick and the next stick nudge drove it again. Nothing on the pad could clear it either. It is now checked above the lease, and X releases it and clears the controller's error, as the console's RESET does. - Buttons were read before the arbiter granted the lease, so the first press after the pad had been idle was swallowed: not owned yet when read, and no longer a rising edge by the next tick.
89 lines
2.7 KiB
Python
89 lines
2.7 KiB
Python
"""The probe: what it draws, without a pad or a terminal."""
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from dora_teleop import mapping, probe
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from dora_teleop.joy import Sample
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from tests.conftest import stick
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def test_a_centred_stick_puts_the_marker_in_the_middle():
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drawn = probe.bar(0.0)
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assert drawn[len(drawn) // 2] == "#"
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def test_the_bar_leans_the_way_the_stick_is_pushed():
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left = probe.bar(-1.0)
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right = probe.bar(1.0)
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assert left.index("#") < left.index("|")
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assert right.index("#") > right.index("|")
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def test_a_reading_beyond_full_deflection_stays_on_the_bar():
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# SDL has been known to report slightly outside -1..1 on a worn stick.
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assert "#" in probe.bar(-4.0)
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assert "#" in probe.bar(4.0)
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def test_no_gamepad_says_so_and_says_the_arm_is_being_held_still(config):
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# Absence covers both "no pad" and "dora-joy stopped sending", and the probe
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# must not imply the arm is waiting on something it is not.
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drawn = probe.render(Sample(present=False), [0.0] * 6, config)
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assert "no gamepad" in drawn
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assert "hold still" in drawn
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def test_every_axis_the_pad_reports_is_shown_even_the_unused_ones(config):
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# A pad whose sticks land on indices we do not use is exactly what this is
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# for, so nothing may be hidden.
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sample = Sample(axes=[0.0] * 8, buttons=[], present=True)
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drawn = probe.render(sample, [0.0] * 6, config)
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assert "unused" in drawn
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assert "axes (8 reported)" in drawn
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def test_a_pressed_button_is_named(config):
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sample = stick(buttons=[True])
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drawn = probe.render(sample, [0.0] * 6, config)
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assert "grasp" in drawn
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def test_nothing_pressed_says_so_rather_than_showing_an_empty_line(config):
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drawn = probe.render(stick(), [0.0] * 6, config)
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assert "none pressed" in drawn
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def test_the_velocity_is_shown_in_the_units_the_arm_takes(config):
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velocity = mapping.velocity(stick(axes=[0.0, -1.0]).axes, [], config)
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drawn = probe.render(stick(axes=[0.0, -1.0]), velocity, config)
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assert "mm/s" in drawn
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assert "deg/s" in drawn
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assert f"{config.speed_mm_s:+8.2f}" in drawn
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def test_a_still_arm_is_reported_as_still(config):
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drawn = probe.render(stick(), [0.0] * 6, config)
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assert "told to hold still" in drawn
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def test_a_moving_arm_is_reported_as_moving(config):
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drawn = probe.render(stick(axes=[0.0, -1.0]), [10.0, 0, 0, 0, 0, 0], config)
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assert "moving: yes" in drawn
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def test_whether_the_pad_is_asking_for_the_arm_is_shown(config):
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# The probe is where a resting trigger claiming the arm would have been
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# visible, so it says what `is_active` thinks rather than leaving it implied.
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assert "asking for the arm: no" in probe.render(stick(), [0.0] * 6, config)
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assert "asking for the arm: yes" in probe.render(stick(axes=[0.0, -1.0]), [0.0] * 6, config)
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