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.
78 lines
2.4 KiB
Python
78 lines
2.4 KiB
Python
"""Settings: parsed once at startup, and refused there rather than mid-motion."""
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import pytest
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from dora_teleop.config import Config
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def test_the_defaults_need_no_environment():
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config = Config.from_env()
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assert config.speed_mm_s == 60.0
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assert config.speed_deg_s == 30.0
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def test_the_deadman_is_shorter_than_the_arms_own_expiry():
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# The arm node's VELOCITY_COMMAND_TTL_S defaults to 0.5 s and is the
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# backstop. Ours has to fire first, or the backstop backs up nothing.
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assert Config.from_env().deadman.jog_ttl_s < 0.5
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def test_the_layers_fire_innermost_first():
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# A stale pad reading has to be noticed before the jog deadline it feeds.
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deadman = Config.from_env().deadman
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assert deadman.joy_ttl_s < deadman.jog_ttl_s
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def test_a_blank_variable_falls_back_to_the_default(monkeypatch):
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monkeypatch.setenv("SPEED_MM_S", " ")
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assert Config.from_env().speed_mm_s == 60.0
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def test_a_speed_that_is_not_a_number_names_itself(monkeypatch):
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monkeypatch.setenv("SPEED_MM_S", "brisk")
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with pytest.raises(ValueError, match="SPEED_MM_S"):
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Config.from_env()
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def test_a_joy_ttl_at_or_above_the_jog_ttl_is_refused_at_startup(monkeypatch):
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# Layers out of order means a backstop firing before the thing it backs up,
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# which is invisible until the day something actually goes wrong.
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monkeypatch.setenv("JOY_TTL_S", "0.4")
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with pytest.raises(ValueError, match="JOY_TTL_S"):
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Config.from_env()
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@pytest.mark.parametrize("value", ["1.0", "-0.1", "2"])
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def test_a_deadzone_outside_the_stick_is_refused_at_startup(monkeypatch, value):
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# A deadzone of 1 would silently make the pad inert; catching it here beats
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# finding out when somebody picks it up.
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monkeypatch.setenv("DEADZONE", value)
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with pytest.raises(ValueError, match="DEADZONE"):
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Config.from_env()
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@pytest.mark.parametrize("value", ["-0.1", "1.1"])
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def test_an_expo_outside_the_curve_is_refused_at_startup(monkeypatch, value):
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monkeypatch.setenv("EXPO", value)
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with pytest.raises(ValueError, match="EXPO"):
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Config.from_env()
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def test_the_timings_can_be_tuned_without_touching_the_speeds(monkeypatch):
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monkeypatch.setenv("JOG_TTL_S", "0.25")
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monkeypatch.setenv("JOY_TTL_S", "0.1")
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monkeypatch.setenv("GAMEPAD_IDLE_RELEASE_S", "5")
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config = Config.from_env()
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assert config.deadman.jog_ttl_s == 0.25
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assert config.deadman.joy_ttl_s == 0.1
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assert config.deadman.gamepad_idle_release_s == 5.0
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