cristhian
7a0847893c
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.
116 lines
3.8 KiB
Python
116 lines
3.8 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 buttons_for, 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), 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, 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=buttons_for(grasp=True))
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drawn = probe.render(sample, 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(), 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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pushed = stick(axes=[0.0, -1.0])
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velocity = mapping.velocity(pushed.axes, [], config)
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drawn = probe.render(pushed, pushed, 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(), 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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pushed = stick(axes=[0.0, -1.0])
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drawn = probe.render(pushed, pushed, [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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rest, pushed = stick(), stick(axes=[0.0, -1.0])
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assert "asking for the arm: no" in probe.render(rest, rest, [0.0] * 6, config)
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assert "asking for the arm: yes" in probe.render(pushed, pushed, [0.0] * 6, config)
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def test_a_pad_that_does_not_fit_the_layout_is_called_out(config):
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# This is the tool for exactly that pad, so the reason goes on the screen
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# rather than only in the node's log.
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wrong = stick(axes=[0.0, 0.0, 0.0, -1.0, -1.0, -1.0])
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mismatch = "axis 3 rests at -1.000, which is not where right stick Y sits"
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drawn = probe.render(wrong, Sample(present=False), [0.0] * 6, config, mismatch)
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assert "does not match the layout" in drawn
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assert mismatch in drawn
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assert "asking for the arm: no" in drawn
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def test_the_raw_axes_are_still_shown_for_a_pad_that_does_not_fit(config):
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# The numbers are the evidence: they are what `Layout` gets corrected from.
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wrong = stick(axes=[0.0, 0.0, 0.0, -1.0, -1.0, -1.0])
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drawn = probe.render(wrong, Sample(present=False), [0.0] * 6, config, "axis 3")
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assert "-1.000" in drawn
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assert "axes (6 reported)" in drawn
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