Tinymovr

"""
Tinymovr Board Config Tests
Copyright Ioannis Chatzikonstantinou 2020-2023

Tests saving and loading Tinymovr configuration to/from NVRAM.

This program is free software: you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation, either version 3 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with
this program. If not, see <http://www.gnu.org/licenses/>.
"""

import random
import time

from avlos.unit_field import get_registry

import unittest
from tests import TMTestCase

ureg = get_registry()
A = ureg.ampere
tick = ureg.ticks
s = ureg.second


class TestBoardConfig(TMTestCase):
    def test_a_state_errors(self):
        """
        Test state transitions
        WARNING: This may perform one NVRAM erase cycle.
        """
        if self.tm.motor.calibrated:
            self.tm.erase_config()
            time.sleep(0.2)

        self.reset_and_wait()
        self.check_state(0)
        self.assertEqual(self.tm.motor.calibrated, False)
        self.tm.controller.position_mode()
        self.check_state(0)
        self.reset_and_wait()
        self.check_state(0)
        self.assertEqual(self.tm.motor.calibrated, False)
        self.try_calibrate()
        self.assertEqual(self.tm.motor.calibrated, True)
        self.check_state(0)
        time.sleep(0.2)
        self.tm.controller.position_mode()
        self.check_state(2)
        time.sleep(0.2)
        self.tm.controller.calibrate()
        self.check_state(0)

        self.reset_and_wait()

    def test_b_save_load_config(self):
        """
        Test erasing, saving and loading of config.
        WARNING: This will perform one NVRAM write and two erase cycles.
        """
        self.check_state(0)
        self.tm.erase_config()
        time.sleep(0.2)
        self.assertEqual(self.tm.motor.calibrated, False)
        self.try_calibrate()
        self.assertEqual(self.tm.motor.calibrated, True)
        R = self.tm.motor.R
        L = self.tm.motor.L
        pole_pairs = self.tm.motor.pole_pairs
        self.tm.save_config()
        time.sleep(0.2)
        self.reset_and_wait()
        self.assertEqual(self.tm.motor.calibrated, True)
        self.assertAlmostEqual(R, self.tm.motor.R)
        self.assertAlmostEqual(L, self.tm.motor.L)
        self.assertAlmostEqual(pole_pairs, self.tm.motor.pole_pairs)
        self.tm.erase_config()
        time.sleep(0.2)

    def test_c_parameter_persistence(self):
        """
        Test persisting parameters across config saves.
        WARNING: This will perform one NVRAM write and two erase cycles.
        """
        self.check_state(0)
        self.tm.erase_config()
        time.sleep(0.2)

        self.tm.controller.position.p_gain = 30
        self.tm.controller.velocity.p_gain = 3e-5
        self.tm.controller.velocity.i_gain = 2e-2
        self.tm.controller.velocity.deadband = 100
        self.tm.controller.velocity.limit = 120000
        self.tm.controller.current.Iq_limit = 18
        self.tm.save_config()
        
        time.sleep(0.2)
        self.reset_and_wait()
        self.assertAlmostEqual(self.tm.controller.position.p_gain, 30) #  * 1 / s
        self.assertAlmostEqual(self.tm.controller.velocity.p_gain, 3e-5) #  * A * s / tick
        self.assertAlmostEqual(self.tm.controller.velocity.i_gain, 2e-2) #  * A * s / tick
        self.assertAlmostEqual(self.tm.controller.velocity.deadband, 100 * tick) 
        self.assertAlmostEqual(self.tm.controller.velocity.limit, 120000 * tick / s)
        self.assertAlmostEqual(self.tm.controller.current.Iq_limit, 18 * A)
        self.tm.erase_config()
        time.sleep(0.2)


if __name__ == "__main__":
    unittest.main()