How to use get_idle_state method in avocado

Best Python code snippet using avocado_python

VIS.py

Source:VIS.py

...148    return alignment_check_decorator149##################################################150# STATE GENERATORS151##################################################152def get_idle_state():153    class IDLE(GuardState):154        @watchdog_check155        def main(self):156            self.susobj = sustools.Sus(ezca)157            self.ol_shut_off = False158        @watchdog_check159        def run(self):160            if not olDamp_in_use(self.susobj):161                return True162            # OPLEV damping: for optics that have optical levers:163            # Check OpLev Sum and turn off OpLev damping if below164            # threshold (i.e. beam moved off QPD).165            # buffer for last couple of seconds of oplev sums166            # else if servo on167            if olDamp_engaged(self.susobj):168                # read the current values169                [pit, yaw, olsum] = self.susobj.olRead()170                # if sum below threshold...171                if abs(olsum) <= susconst.ol_off_threshold:172                    # shut off the servo173                    log('Optical lever sum dropped below off_threshold of: %d' % susconst.ol_off_threshold)174                    self.susobj.olDampOutputSwitchWrite('OFF')175                    self.ol_shut_off = True176                else:177                    self.ol_shut_off = False178            # notify if the servo was shut off179            elif self.ol_shut_off:180                notify('OPLEV damping shut off, sum fell below threshold')181            return True182    return IDLE183def get_aligning_state(alignment, isc_gain):184    class ALIGNING_STATE(GuardState):185        request = False186        @watchdog_check187        def main(self):188            susobj = sustools.Sus(ezca)189            ramp_align_offsets(susobj, 'ON', susconst.rampTime)190            ramp_isc_gains(susobj, isc_gain, susconst.rampTime)191            # FIXME: use new ezca.is_ramping methods when available,192            # instead of using a timer193            log('Waiting %ds for ramps...' % susconst.rampTime)194            self.timer['ramp'] = susconst.rampTime195        @watchdog_check196        def run(self):197            if not self.timer['ramp']:198                return199            return True200    return ALIGNING_STATE201def get_aligned_state(alignment, isc_gain):202    class ALIGNED_STATE(GuardState):203        @watchdog_check204        @alignment_check(alignment) 205        def main(self):206            susobj = sustools.Sus(ezca)207            # we do this here so that you can re-request this state and208            # reset the alignements if they've changed209            if not is_aligned(susobj, alignment):210                set_alignment(susobj, alignment, susconst.rampTime)211        @watchdog_check212        @alignment_check(alignment)213        def run(self):214            return True215    return ALIGNED_STATE216    217##################################################218# STATES219##################################################220request = 'ALIGNED'221nominal = 'ALIGNED'222class INIT(GuardState):223    @watchdog_check224    def main(self):225        self.susobj = sustools.Sus(ezca)226        # FIXME: this only identifies that the alignment offsets are227        # active, but does not distinguish ALIGNED from MISALIGNED, or228        # check for damping loops already engaged229        if self.susobj.masterSwitchRead():230            if all(self.susobj.dampOutputSwitchRead()):231                if all(self.susobj.alignOffsetSwitchRead()):232                    return 'ALIGNED'233                else:234                    return 'DAMPED'235            else:236                log('Resetting DAMPED...')237                # make sure the alignment offsets aren't on238                ramp_align_offsets(self.susobj, 'OFF', susconst.rampTime)239                # FIXME: turn on the OLDAMP loops here since we don't240                # have a way to check if they're on already241                if olDamp_in_use(self.susobj):242                    self.susobj.olDampOutputSwitchWrite('ON')243                self.timer['ramp'] = susconst.rampTime244                self.return_state = 'DAMPED'245        else:246            log('Resetting SAFE...')247            reset_safe(self.susobj, susconst.rampTime)248            self.timer['ramp'] = susconst.rampTime249            self.return_state = 'SAFE'250        log("next state: %s" % self.return_state)251    @watchdog_check252    def run(self):253        if not self.timer['ramp']:254            return255        if self.return_state == 'SAFE':256            log('Turning off Master Switch')257            self.susobj.masterSwitchWrite('OFF')258        return self.return_state259class TRIPPED(GuardState):260    index = 1261    redirect = False262    request = False263    def main(self):264        self.susobj = sustools.Sus(ezca)265        # for reporting trip status266        is_tripped(self.susobj)267        reset_safe(self.susobj, susconst.rampTime)268        log('Waiting %ds for ramps...' % susconst.rampTime)269        self.timer['ramp'] = susconst.rampTime270        self.switch_off = False271    def run(self):272        # for reporting trip status273        is_tripped(self.susobj)274pppp        if self.timer['ramp'] and not self.switch_off:275            log('Turning off Master Switch')276            self.susobj.masterSwitchWrite('OFF')277            self.switch_off = True278        # finish the state if we're no longer tripped279        if not is_tripped(self.susobj):280            return True281class RESET(GuardState):282    index = 9283    goto = True284    request = False285    @watchdog_check286    def main(self):287        self.susobj = sustools.Sus(ezca)288        reset_safe(self.susobj, susconst.rampTime)289        # FIXME: use new ezca.is_ramping methods when available,290        # instead of using a timer291        log('Waiting %ds for ramps...' % susconst.rampTime)292        self.timer['ramp'] = susconst.rampTime293    @watchdog_check294    def run(self):295        if not self.timer['ramp']:296            return297        log('Turning off Master Switch')298        self.susobj.masterSwitchWrite('OFF')299        return True300SAFE = get_idle_state()301SAFE.index = 10302class MASTERSWITCH_ON(GuardState):303    index = 15304    request = False305    @watchdog_check306    def main(self):307        log('Turning On Master Switch')308        sustools.Sus(ezca).masterSwitchWrite('ON')309        return True310class ENGAGE_DAMPING(GuardState):311    index = 40312    request = False313    @watchdog_check314    def main(self):315        susobj = sustools.Sus(ezca)316        log('Turning on damping outputs')317        susobj.dampOutputSwitchWrite('ON')318        if olDamp_in_use(susobj):319            log('Turning on OL damping outputs')320            susobj.olDampOutputSwitchWrite('ON')321        return True322DAMPED = get_idle_state()323DAMPED.index = 50324ALIGNING = get_aligning_state('aligned', isc_gain=1)325ALIGNING.index = 90326#ALIGNED = get_aligned_state('aligned', isc_gain=1)327# FIXME: this needs to check that the alignment offset is still on328ALIGNED = get_idle_state()329ALIGNED.index = 100330# MISALIGNING = get_aligning_state('misaligned', isc_gain=0)331# MISALIGNED = get_aligned_state('misaligned', isc_gain=0)332class UNALIGNING(GuardState):333    index = 99334    request = False335    @watchdog_check336    def main(self):337        susobj = sustools.Sus(ezca)338        ramp_align_offsets(susobj, 'OFF', susconst.rampTime)339        ramp_isc_gains(susobj, 0, susconst.rampTime)340        # FIXME: use new ezca.is_ramping methods when available,341        # instead of using a timer342        log('Waiting %ds for ramps...' % susconst.rampTime)...

test_ripple.py

Source:test_ripple.py

...50    # elements for all the servos.51    command_dict = state.command_dict()52    assert len(command_dict) == 1253def get_steady_state(gait, command):54    idle = gait.get_idle_state()55    gait.set_state(idle, command)56    for x in range(100):57        last = gait.advance_phase(0.01)58    assert abs(last.phase) < 0.0159    last.phase = 0.060    return last61def run_cycle(gait, start_state, command, total_time_s, time_step_s):62    old_state = gait.set_state(start_state, command).copy()63    # Things we will want to verify.64    #65    #  * The robot moves at the expected rate/rotation66    stance_bearings = {}67    cur_time_s = 0.068    while cur_time_s < total_time_s:69        this_state = gait.advance_time(time_step_s)70        cur_time_s += time_step_s71        sanity_check_state(this_state)72        for leg_num in this_state.legs.keys():73            this_leg = this_state.legs[leg_num]74            old_leg = old_state.legs[leg_num]75            current_world_point = this_state.world_frame.map_from_frame(76                this_leg.frame, this_leg.point)77            old_world_point = old_state.world_frame.map_from_frame(78                old_leg.frame, old_leg.point)79            #  Legs identified as in stance do not move in the world frame.80            if this_leg.mode == STANCE and old_leg.mode == STANCE:81                check_vectors_close(current_world_point, old_world_point)82            # No leg moves faster than X in the world frame.83            world_speed_mm_s = (current_world_point -84                                old_world_point).length() / time_step_s85            assert world_speed_mm_s < 1000.086            # No Leg moves faster than Y in the body frame.87            current_body_point = this_state.body_frame.map_from_frame(88                this_leg.frame, this_leg.point)89            old_body_point = old_state.body_frame.map_from_frame(90                old_leg.frame, old_leg.point)91            body_speed_mm_s = (current_body_point -92                               old_body_point).length() / time_step_s93            assert body_speed_mm_s < 600.094            if this_leg.mode == STANCE:95                shoulder_point = this_leg.shoulder_frame.map_from_frame(96                    this_leg.frame, this_leg.point)97                bearing_deg = math.degrees(98                    math.atan2(shoulder_point.x, shoulder_point.y))99                if not leg_num in stance_bearings:100                    stance_bearings[leg_num] = {}101                bearing_deg_rounded = int(bearing_deg + 0.5)102                my_dict = stance_bearings[leg_num]103                my_dict[bearing_deg_rounded] = \104                    my_dict.get(bearing_deg_rounded, 0.0) + time_step_s105        old_state = this_state.copy()106    return { 'stance_bearings' : stance_bearings }107def verify_symmetric_result(result):108    stance_bearings = result['stance_bearings']109    def verify_symmetric_stance(stance):110        leg_num, data = stance111        smallest = min(data.keys())112        biggest = max(data.keys())113        assert abs(abs(smallest) - abs(biggest)) <= 2.0114        less_than_zero = sum([val for key, val in data.iteritems()115                              if key < 0.0])116        greater_than_zero = sum([val for key, val in data.iteritems()117                                 if key > 0.0])118        # TODO jpieper: Why shouldn't this be much smaller?119        assert abs(less_than_zero - greater_than_zero) < 0.45120    for stance in stance_bearings.items():121        verify_symmetric_stance(stance)122def test_ripple_basic():123    config = ripple.RippleConfig()124    mounts = [(90., 90.), (90., -90.), (-90., -90.), (-90., 90.)]125    ik_config = leg_ik.Configuration()126    ik_config.coxa_min_deg = -120.0127    ik_config.coxa_idle_deg = 0.0128    ik_config.coxa_max_deg = 120.0129    ik_config.coxa_length_mm = 60.0130    ik_config.femur_min_deg = -120.0131    ik_config.femur_idle_deg = 0.0132    ik_config.femur_max_deg = 120.0133    ik_config.femur_length_mm = 60.0134    ik_config.tibia_min_deg = -120.0135    ik_config.tibia_idle_deg = 0.0136    ik_config.tibia_max_deg = 120.0137    ik_config.tibia_length_mm = 60.0138    for leg_num in range(4):139        leg = ripple.LegConfig()140        leg.mount_x_mm = mounts[leg_num][0]141        leg.mount_y_mm = mounts[leg_num][1]142        leg.mount_z_mm = 0.0143        leg.idle_x_mm = 100.0144        leg.idle_y_mm = 0.0145        leg.idle_z_mm = 0.0146        this_ik_config = copy.copy(ik_config)147        this_ik_config.coxa_ident = leg_num * 3 + 0148        this_ik_config.femur_ident = leg_num * 3 + 1149        this_ik_config.tibia_ident = leg_num * 3 + 2150        leg.leg_ik = leg_ik.LizardIk(this_ik_config)151        config.mechanical.leg_config[leg_num] = leg152    config.mechanical.body_cog_x_mm = 0.0153    config.mechanical.body_cog_y_mm = 0.0154    config.mechanical.body_cog_z_mm = 0.0155    config.max_cycle_time_s = 4.0156    config.lift_height_mm = 20.0157    config.min_swing_percent = 50.0158    config.max_swing_percent = 100.0159    config.leg_order = [0, 2, 1, 3]160    config.body_z_offset_mm = 60.0161    gait = ripple.RippleGait(config)162    # We want to:163    #  1. get the idle state164    #  2. initialize ourselves to that165    #166    # then,167    #  a) command no motion... verify stepping in place168    #  b) command forward motion169    #  c) command rotation170    #  d) do all of the above with each of the other 6 degrees of171    #     freedom altered172    # Also, we will want to test changes in command, and coming to a173    # stop.174    idle_state = gait.get_idle_state()175    assert len(idle_state.legs) == 4176    assert idle_state.legs[0].point == leg_ik.Point3D(190, 90, 0)177    assert idle_state.legs[1].point == leg_ik.Point3D(190, -90, 0)178    assert idle_state.legs[2].point == leg_ik.Point3D(-190, -90, 0)179    assert idle_state.legs[3].point == leg_ik.Point3D(-190, 90, 0)180    gait_graph = gait.get_gait_graph()181    assert len(gait_graph.leg) == 4182    sanity_check_state(idle_state)183    command = ripple.Command()184    run_cycle(gait, idle_state, command, 10.0, 0.01)185    run_cycle(gait, idle_state, command, 10.0, 0.0073)186    config.max_cycle_time_s = 1.7187    gait = ripple.RippleGait(config)188    run_cycle(gait, idle_state, command, 5.0, 0.01)189    command.translate_y_mm_s = 50.0190    steady_state = get_steady_state(gait, command)191    result = run_cycle(gait, steady_state, command, 7.0, 0.005)192    verify_symmetric_result(result)193    result = run_cycle(gait, steady_state, command, 7.0, 0.03)194    verify_symmetric_result(result)195    result = run_cycle(gait, steady_state, command, 7.0, 0.04)196    verify_symmetric_result(result)197    config.statically_stable = True198    gait = ripple.RippleGait(config)199    idle_state = gait.get_idle_state()200    command = ripple.Command()201    run_cycle(gait, idle_state, command, 10.0, 0.01)202def test_leg_order_parse():203    parse = ripple.RippleConfig.parse_leg_order204    assert parse('0,3,1,2') == [0, 3, 1, 2]205    assert parse('5,4,3,2,1') == [5, 4, 3, 2, 1]206    assert parse('(1,2),0,1') == [(1, 2), 0, 1]207    assert parse('0,(4,1),3,(2,5)') == [0, (4, 1), 3, (2, 5)]208    assert parse('( 1,  2), 0, 1  ') == [(1, 2), 0, 1]209    # Strings that should result in fractional results.210    assert parse('7,') == [7]211    assert parse('(7,') == []212    assert parse('3,),8,6') == [3]213    assert parse('2,3,(7,(8,6),1),0') == [2, 3]...

Automation Testing Tutorials

Learn to execute automation testing from scratch with LambdaTest Learning Hub. Right from setting up the prerequisites to run your first automation test, to following best practices and diving deeper into advanced test scenarios. LambdaTest Learning Hubs compile a list of step-by-step guides to help you be proficient with different test automation frameworks i.e. Selenium, Cypress, TestNG etc.