cristhian
eccd9e3c24
Brings across the robot layer from monolitic-littlehand-python, which was written against this same controller. The point of it is that a command either moved the arm or raised: the SDK returns a code for a motion the controller quietly refused, wait_move calls that refusal finished, and arm.error_code is the report stream's stale copy. So errors are read live, arrival is confirmed rather than assumed, and a move whose straight-line path leaves the joint envelope is refused before it is commanded. Failures are typed, because the distinctions decide the response: an unreachable pose is not an unavailable arm, and a joint past its limit needs a motion nobody should start without warning the room. read_report is the deliberate exception to all of it: a report-cache read that costs no round trip and cannot block, which is the only read that works while a motion is in flight.
111 lines
3.2 KiB
Python
111 lines
3.2 KiB
Python
"""Reading the environment, and refusing a setting the node cannot use."""
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import pytest
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from dora_ulite6.config import Config, env_float, env_int
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from dora_ulite6.effectors import (
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EFFECTORS,
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GripperEffector,
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NoEffector,
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VacuumEffector,
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get_effector,
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)
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from dora_ulite6.errors import EffectorUnsupportedError
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@pytest.fixture(autouse=True)
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def clean_env(monkeypatch):
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"""Run every test against a bare environment, whatever the shell set."""
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for name in ("ROBOT_IP", "TOOL_TYPE", "TOOL_OFFSET_MM", "INIT_MODE", "INIT_Z", "DEFAULT_SPEED"):
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monkeypatch.delenv(name, raising=False)
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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.robot_ip == "192.168.1.192"
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assert isinstance(config.effector, NoEffector)
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assert config.tool_offset_mm == 0.0
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assert config.init_mode == "none"
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def test_the_tool_offset_is_the_tools_own_plus_the_extra(monkeypatch):
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monkeypatch.setenv("TOOL_TYPE", "vacuum")
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monkeypatch.setenv("TOOL_OFFSET_MM", "4.5")
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config = Config.from_env()
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assert isinstance(config.effector, VacuumEffector)
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assert config.tool_offset_mm == pytest.approx(VacuumEffector.offset_mm + 4.5)
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def test_an_unknown_tool_is_refused_at_startup(monkeypatch):
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monkeypatch.setenv("TOOL_TYPE", "magnet")
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with pytest.raises(ValueError, match="vacuum"):
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Config.from_env()
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def test_an_unknown_init_mode_is_refused_at_startup(monkeypatch):
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# Caught here rather than at the first motion, so the node never joins the
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# dataflow with a startup move nobody can name.
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monkeypatch.setenv("INIT_MODE", "somewhere")
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with pytest.raises(ValueError, match="INIT_MODE"):
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Config.from_env()
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def test_init_pose_components_are_read(monkeypatch):
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monkeypatch.setenv("INIT_MODE", "pose")
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monkeypatch.setenv("INIT_Z", "180")
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assert Config.from_env().init_pose.z == 180.0
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@pytest.mark.parametrize("value", ["", " "])
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def test_a_blank_variable_falls_back_to_the_default(monkeypatch, value):
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monkeypatch.setenv("DEFAULT_SPEED", value)
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assert env_float("DEFAULT_SPEED", 30.0) == 30.0
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def test_a_number_that_is_not_one_names_itself(monkeypatch):
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monkeypatch.setenv("PATH_SAMPLES", "four")
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with pytest.raises(ValueError, match="PATH_SAMPLES"):
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env_int("PATH_SAMPLES", 4)
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def test_a_bare_flange_refuses_to_grasp():
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with pytest.raises(EffectorUnsupportedError):
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NoEffector().attach(object())
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def test_an_effector_is_refused_by_a_driver_that_cannot_switch_it():
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class ArmWithNoTools:
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pass
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with pytest.raises(EffectorUnsupportedError, match="set_vacuum"):
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VacuumEffector().verify(ArmWithNoTools())
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def test_each_effector_switches_the_driver_method_it_declares():
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switched = []
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class Arm:
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def set_gripper(self, closed):
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switched.append(closed)
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arm = Arm()
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effector = get_effector("gripper")
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effector.verify(arm)
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effector.attach(arm)
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effector.detach(arm)
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assert isinstance(effector, GripperEffector)
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assert switched == [True, False]
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def test_every_registered_effector_declares_a_reach():
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assert all(effector.offset_mm >= 0 for effector in EFFECTORS.values())
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