tinymovr 2.3.4__tar.gz → 2.5.0__tar.gz

{tinymovr-2.3.4 → tinymovr-2.5.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: tinymovr
-Version: 2.3.4
+Version: 2.5.0
 Summary: Tinymovr Studio
 Home-page: https://github.com/yconst/Tinymovr
 Author: Yannis Chatzikonstantinou

{tinymovr-2.3.4 → tinymovr-2.5.0}/tests/test_amt22.py

@@ -40,7 +40,7 @@ class TestAMT22(TMTestCase):
         WARNING: This will perform one NVRAM write and two erase cycles.
         """
         self.check_state(0)
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
         self.configure_sensors(self.tm.sensors.setup.external_spi.type.AMT22)
@@ -70,7 +70,7 @@ class TestAMT22(TMTestCase):
 
         time.sleep(0.1)
 
-        self.tm.save_config()
+        self.save_config()
         
         time.sleep(0.2)
 
@@ -89,7 +89,7 @@ class TestAMT22(TMTestCase):
                 delta=200 * tick,
             )
 
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
     @pytest.mark.sensor_amt22
@@ -100,7 +100,7 @@ class TestAMT22(TMTestCase):
         to an onboard connection, and verify if the position control maintains accuracy.
         """
         self.check_state(0)
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
         # Initially configure with external SPI sensor
@@ -151,7 +151,7 @@ class TestAMT22(TMTestCase):
                 delta=2000 * tick,
             )
 
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
 

{tinymovr-2.3.4 → tinymovr-2.5.0}/tests/test_as5047.py

@@ -40,7 +40,7 @@ class TestAS5047(TMTestCase):
         WARNING: This will perform one NVRAM write and two erase cycles.
         """
         self.check_state(0)
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
         self.configure_sensors(self.tm.sensors.setup.external_spi.type.AS5047)
@@ -69,7 +69,7 @@ class TestAS5047(TMTestCase):
 
         time.sleep(0.1)
 
-        self.tm.save_config()
+        self.save_config()
         
         time.sleep(0.2)
 
@@ -88,7 +88,7 @@ class TestAS5047(TMTestCase):
                 delta=2000 * tick,
             )
 
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
     @pytest.mark.sensor_as5047
@@ -99,7 +99,7 @@ class TestAS5047(TMTestCase):
         to an onboard connection, and verify if the position control maintains accuracy.
         """
         self.check_state(0)
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
         # Initially configure with external SPI sensor
@@ -150,7 +150,7 @@ class TestAS5047(TMTestCase):
                 delta=2000 * tick,
             )
 
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
     @pytest.mark.sensor_as5047
@@ -160,7 +160,7 @@ class TestAS5047(TMTestCase):
         different baud rates.
         """
         self.check_state(0)
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
         self.configure_sensors(self.tm.sensors.setup.external_spi.type.AS5047)

tinymovr-2.5.0/tests/test_export_import.py

@@ -0,0 +1,371 @@
+"""
+Tinymovr Export/Import Tests
+Copyright Ioannis Chatzikonstantinou 2020-2023
+
+Tests for export/import functionality:
+- YAML spec consistency (all settable config attrs have export: True)
+- HITL round-trip (export -> reset -> import -> verify)
+- HITL export completeness (all export-tagged attrs appear in output)
+
+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 os
+import time
+import json
+import unittest
+
+import yaml
+import pytest
+from importlib.resources import files as importlib_files
+
+from avlos.unit_field import get_registry
+from avlos.json_codec import AvlosEncoder
+from avlos.definitions import RemoteAttribute, RemoteEnum, RemoteBitmask
+
+from tinymovr.config import export_config, import_config
+from tests import TMTestCase
+
+ureg = get_registry()
+A = ureg.ampere
+Hz = ureg.hertz
+tick = ureg.ticks
+s = ureg.second
+
+# ---------------------------------------------------------------------------
+# Helpers for YAML spec walking
+# ---------------------------------------------------------------------------
+
+SPECS_DIR = str(importlib_files("tinymovr").joinpath("specs"))
+
+# Attributes that have setters but should NOT have export: True.
+# Includes runtime controls and dangerous-to-import parameters.
+EXCLUDED_SETTER_PATHS = {
+    "controller.state",
+    "controller.mode",
+    "comms.can.rate",  # importing a mismatched CAN rate kills communication
+    "comms.can.id",    # importing CAN ID mid-batch disrupts addressing
+}
+
+# Meta keys that indicate a runtime setpoint rather than a config parameter.
+RUNTIME_META_KEYS = {"jog_step"}
+
+
+def _walk_spec_attrs(attrs, path_prefix=""):
+    """
+    Recursively yield (dotted_path, attr_dict) for every leaf attribute
+    in a YAML spec attribute tree.
+    """
+    for attr in attrs:
+        name = attr["name"]
+        dotted = f"{path_prefix}.{name}" if path_prefix else name
+        if "remote_attributes" in attr:
+            yield from _walk_spec_attrs(attr["remote_attributes"], dotted)
+        else:
+            yield dotted, attr
+
+
+def _is_excluded_setter(dotted_path, attr):
+    """
+    Return True if this attribute has a setter but should NOT
+    be expected to have export: True (e.g. runtime controls,
+    dangerous-to-import parameters).
+    """
+    if dotted_path in EXCLUDED_SETTER_PATHS:
+        return True
+    meta = attr.get("meta", {})
+    if any(k in meta for k in RUNTIME_META_KEYS):
+        return True
+    return False
+
+
+# ---------------------------------------------------------------------------
+# 4a. YAML Spec Consistency Test (no hardware required)
+# ---------------------------------------------------------------------------
+
+class TestSpecExportConsistency(unittest.TestCase):
+    """
+    Verify that every settable config attribute in the latest YAML spec
+    has meta: {export: True}.  This is a pure-Python test with no hardware
+    dependency.
+    """
+
+    def _load_spec(self, filename):
+        path = os.path.join(SPECS_DIR, filename)
+        with open(path, "r") as f:
+            return yaml.safe_load(f)
+
+    def _check_spec(self, filename):
+        spec = self._load_spec(filename)
+        missing = []
+        for dotted, attr in _walk_spec_attrs(spec.get("remote_attributes", [])):
+            if "setter_name" not in attr:
+                continue
+            if _is_excluded_setter(dotted, attr):
+                continue
+            # Also skip void callers masquerading as setters (arguments list)
+            if "arguments" in attr:
+                continue
+            meta = attr.get("meta", {})
+            if not meta.get("export"):
+                missing.append(dotted)
+        return missing
+
+    def test_latest_spec_export_tags(self):
+        """
+        All settable config attributes in tinymovr_2_5_x.yaml must have
+        meta: {export: True}.
+        """
+        missing = self._check_spec("tinymovr_2_5_x.yaml")
+        self.assertEqual(
+            missing,
+            [],
+            "The following settable config attributes are missing "
+            "meta: {export: True} in tinymovr_2_5_x.yaml:\n  "
+            + "\n  ".join(missing),
+        )
+
+
+# ---------------------------------------------------------------------------
+# 4b. HITL Export/Import Round-Trip Test
+# ---------------------------------------------------------------------------
+
+@pytest.mark.hitl_default
+class TestExportImportRoundTrip(TMTestCase):
+    """
+    Hardware-in-the-loop test: modify values, export, reset to defaults,
+    import, then verify the values were restored.
+    """
+
+    def test_a_export_import_round_trip(self):
+        """
+        Set non-default values on key attributes, export, reset, import,
+        and verify each value is correctly restored.
+        """
+        self.check_state(0)
+        self.erase_config()
+        time.sleep(0.2)
+
+        self.try_calibrate()
+        self.assertEqual(self.tm.motor.calibrated, True)
+
+        # --- Define test values (non-default) ---
+        test_values = {
+            "controller.position.p_gain": 35.0,
+            "controller.velocity.p_gain": 5e-5,
+            "controller.velocity.i_gain": 1.5e-2,
+            "controller.velocity.limit": 80000,
+            "controller.velocity.deadband": 300,
+            "controller.velocity.increment": 150.0,
+            "controller.current.bandwidth": 1500.0,
+            "controller.current.max_Ibrake": 2.0,
+            "traj_planner.max_vel": 90000,
+            "traj_planner.max_accel": 400000,
+            "traj_planner.max_decel": 400000,
+        }
+
+        # Conditionally add attrs that may exist in newer specs
+        if hasattr(self.tm.controller.current, "Iq_limit"):
+            test_values["controller.current.Iq_limit"] = 6.0
+        if hasattr(self.tm.controller.current, "max_Ibus_regen"):
+            test_values["controller.current.max_Ibus_regen"] = 1.5
+
+        # --- Set values ---
+        self.tm.controller.position.p_gain = test_values["controller.position.p_gain"]
+        self.tm.controller.velocity.p_gain = test_values["controller.velocity.p_gain"]
+        self.tm.controller.velocity.i_gain = test_values["controller.velocity.i_gain"]
+        self.tm.controller.velocity.limit = test_values["controller.velocity.limit"] * tick / s
+        self.tm.controller.velocity.deadband = test_values["controller.velocity.deadband"] * tick
+        self.tm.controller.velocity.increment = test_values["controller.velocity.increment"]
+        self.tm.controller.current.bandwidth = test_values["controller.current.bandwidth"]
+        self.tm.controller.current.max_Ibrake = test_values["controller.current.max_Ibrake"] * A
+        self.tm.traj_planner.max_vel = test_values["traj_planner.max_vel"] * tick / s
+        self.tm.traj_planner.max_accel = test_values["traj_planner.max_accel"] * tick / s
+        self.tm.traj_planner.max_decel = test_values["traj_planner.max_decel"] * tick / (s * s)
+
+        if "controller.current.Iq_limit" in test_values:
+            self.tm.controller.current.Iq_limit = test_values["controller.current.Iq_limit"]
+        if "controller.current.max_Ibus_regen" in test_values:
+            self.tm.controller.current.max_Ibus_regen = test_values["controller.current.max_Ibus_regen"]
+
+        time.sleep(0.1)
+
+        # --- Export ---
+        exported = export_config(self.tm)
+        self.assertIsNotNone(exported, "export_config() returned None")
+        self.assertIsInstance(exported, dict, "export_config() should return a dict")
+
+        # Verify JSON round-trip (mimics what the GUI does)
+        json_str = json.dumps(exported, cls=AvlosEncoder)
+        reimported = json.loads(json_str)
+        self.assertIsInstance(reimported, dict)
+
+        # --- Verify exported contains key sections ---
+        self.assertIn("controller", exported)
+        self.assertIn("traj_planner", exported)
+
+        # --- Reset to defaults ---
+        self.tm.controller.idle()
+        time.sleep(0.1)
+        self.erase_config()
+        time.sleep(0.2)
+        self.reset_and_wait()
+
+        # --- Import ---
+        import_config(self.tm, reimported)
+        time.sleep(0.2)
+
+        # --- Verify values restored ---
+        self.assertAlmostEqual(
+            self.tm.controller.position.p_gain,
+            test_values["controller.position.p_gain"],
+            places=1,
+            msg="p_gain not restored after import",
+        )
+        self.assertAlmostEqual(
+            self.tm.controller.velocity.p_gain,
+            test_values["controller.velocity.p_gain"],
+            places=8,
+            msg="velocity p_gain not restored after import",
+        )
+        self.assertAlmostEqual(
+            self.tm.controller.velocity.i_gain,
+            test_values["controller.velocity.i_gain"],
+            places=5,
+            msg="velocity i_gain not restored after import",
+        )
+        self.assertAlmostEqual(
+            self.tm.controller.velocity.limit,
+            test_values["controller.velocity.limit"] * tick / s,
+            msg="velocity limit not restored after import",
+        )
+        self.assertAlmostEqual(
+            self.tm.controller.velocity.deadband,
+            test_values["controller.velocity.deadband"] * tick,
+            msg="velocity deadband not restored after import",
+        )
+        self.assertAlmostEqual(
+            self.tm.controller.current.bandwidth,
+            test_values["controller.current.bandwidth"] * Hz,
+            delta=50 * Hz,
+            msg="current bandwidth not restored after import",
+        )
+        self.assertAlmostEqual(
+            self.tm.controller.current.max_Ibrake,
+            test_values["controller.current.max_Ibrake"] * A,
+            msg="max_Ibrake not restored after import",
+        )
+        self.assertAlmostEqual(
+            self.tm.traj_planner.max_vel,
+            test_values["traj_planner.max_vel"] * tick / s,
+            msg="traj_planner max_vel not restored after import",
+        )
+        self.assertAlmostEqual(
+            self.tm.traj_planner.max_accel,
+            test_values["traj_planner.max_accel"] * tick / s,
+            msg="traj_planner max_accel not restored after import",
+        )
+
+        if "controller.current.Iq_limit" in test_values:
+            self.assertAlmostEqual(
+                self.tm.controller.current.Iq_limit,
+                test_values["controller.current.Iq_limit"] * A,
+                msg="Iq_limit not restored after import",
+            )
+        if "controller.current.max_Ibus_regen" in test_values:
+            self.assertAlmostEqual(
+                self.tm.controller.current.max_Ibus_regen,
+                test_values["controller.current.max_Ibus_regen"] * A,
+                msg="max_Ibus_regen not restored after import",
+            )
+
+        # --- Clean up ---
+        self.erase_config()
+        time.sleep(0.2)
+
+
+# ---------------------------------------------------------------------------
+# 4c. HITL Export Completeness Test
+# ---------------------------------------------------------------------------
+
+@pytest.mark.hitl_default
+class TestExportCompleteness(TMTestCase):
+    """
+    Verify every attribute with meta: {export: True} on the *connected
+    device* actually appears in the output of export_values().
+
+    Uses the live device attribute tree (not a YAML file) so the test
+    is accurate regardless of which firmware/spec version is running.
+    """
+
+    def _collect_device_export_paths(self, node, prefix=""):
+        """
+        Walk the live Avlos node tree and collect dotted paths of all
+        attributes that have meta["export"] == True.
+        """
+        paths = []
+        if hasattr(node, "remote_attributes"):
+            for name, child in node.remote_attributes.items():
+                dotted = f"{prefix}.{name}" if prefix else name
+                paths.extend(self._collect_device_export_paths(child, dotted))
+        else:
+            if isinstance(node, (RemoteAttribute, RemoteEnum, RemoteBitmask)):
+                if node.meta.get("export"):
+                    paths.append(prefix)
+        return paths
+
+    def _lookup_nested(self, data, dotted_path):
+        """
+        Look up a dotted path like 'controller.position.p_gain' in a
+        nested dict.  Returns (True, value) or (False, None).
+        """
+        keys = dotted_path.split(".")
+        current = data
+        for key in keys:
+            if not isinstance(current, dict) or key not in current:
+                return False, None
+            current = current[key]
+        return True, current
+
+    def test_a_all_export_tagged_attrs_present(self):
+        """
+        Every attribute with export: True on the connected device must
+        appear in export_values() output.
+        """
+        self.check_state(0)
+        self.try_calibrate()
+
+        exported = export_config(self.tm)
+        self.assertIsNotNone(exported, "export_config() returned None")
+
+        expected_paths = self._collect_device_export_paths(self.tm)
+        self.assertGreater(len(expected_paths), 0,
+                           "No export-tagged attributes found on device")
+
+        missing = []
+        for path in expected_paths:
+            found, _ = self._lookup_nested(exported, path)
+            if not found:
+                missing.append(path)
+
+        self.assertEqual(
+            missing,
+            [],
+            "The following export-tagged attributes are missing from "
+            "export_values() output:\n  " + "\n  ".join(missing),
+        )
+
+        self.erase_config()
+        time.sleep(0.2)
+
+
+if __name__ == "__main__":
+    unittest.main()

{tinymovr-2.3.4 → tinymovr-2.5.0}/tests/test_hall.py

@@ -43,7 +43,7 @@ class TestHall(TMTestCase):
         WARNING: This will perform one NVRAM write and two erase cycles.
         """
         self.check_state(0)
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)
 
         self.tm.sensors.select.position_sensor.connection = self.tm.sensors.select.position_sensor.connection.HALL
@@ -78,7 +78,7 @@ class TestHall(TMTestCase):
 
         time.sleep(0.1)
 
-        self.tm.save_config()
+        self.save_config()
         
         time.sleep(0.2)
 
@@ -97,7 +97,7 @@ class TestHall(TMTestCase):
                 delta=30000 * tick,
             )
 
-        self.tm.erase_config()
+        self.erase_config()
         time.sleep(0.2)