Init test

Tests/test.py

@@ -1,50 +1,175 @@
+import enum
 import sys, os
+
+from vmcu.services.communications.Packets import Packets
+
 sys.path.append(os.path.join(os.path.dirname(__file__), "VirtualMCU", "src"))
 
 from runner import runner
 from vmcu.shared_memory import SharedMemory
-from vmcu.pin import Pinout, DigitalOut
 from vmcu.services.digital_out import DigitalOutService
+from vmcu.pin.pinout import Pinout
 from vmcu.assertions import *
+from vmcu.services.communications.ServerSocket import Server
+from enum import Enum
+from vmcu.services.DualPWM import DualPWM
+
+# @runner.test()
+# def led_toggle():
+#     TOGGLE_PERIOD = milliseconds(100 * 2)
+#     ALLOWED_SLACK = milliseconds(5)
+
+#     shm = SharedMemory("gpio__blinking_led", "state_machine__blinking_led")
+#     led = DigitalOutService(shm, Pinout.PA1)
+
+#     def led_turns_on():
+#         nonlocal led
+#         return led.get_pin_state() is DigitalOut.State.High
+
+#     def led_turns_off():
+#         nonlocal led
+#         return led.get_pin_state() is DigitalOut.State.Low
+
+#     #sync with board
+#     completes(
+#         wait_until_true(led_turns_on),
+#         before=(TOGGLE_PERIOD / 2) + ALLOWED_SLACK,
+#         msg="Sync fails"
+#     )
+
+#     for i in range(150):
+#         completes(
+#             wait_until_true(led_turns_off),
+#             before=(TOGGLE_PERIOD / 2) + ALLOWED_SLACK,
+#             after=(TOGGLE_PERIOD / 2) - ALLOWED_SLACK,
+#             msg="turns off"
+#         )
+#         completes(
+#             wait_until_true(led_turns_on),
+#             before=(TOGGLE_PERIOD / 2) + ALLOWED_SLACK,
+#             after=(TOGGLE_PERIOD / 2) - ALLOWED_SLACK,
+#             msg="turns on"
+#         )
+#         print("toggle", i)
+
+
+class StateMachine(Enum):
+    GENERAL = 0
+    OPERATIONAL = 1
+
+
+class General_SM(Enum):
+    CONNECTING = 0
+    OPERATIONAL = 1
+    FAULT = 2
+
+
+class Operational_SM(Enum):
+    IDLE = 0
+    PWM = 1
+
+
+def is_state(sm: StateMachine, state: int, shm: SharedMemory) -> int:
+    return shm.get_state_machine_state(sm) == state
+
+def check_pwm(pwm: DualPWM, freq: int, duty: float) -> bool:
+    return pwm.get_is_on() and pwm.get_duty_cycle() == duty and pwm.get_frequency() == freq
 
 
 @runner.test()
-def led_toggle():
-    TOGGLE_PERIOD = milliseconds(100 * 2)
-    ALLOWED_SLACK = milliseconds(5)
+def PCU_test():
+    shm = SharedMemory("gpio_PCU", "state_machine_PCU")
+    server = Server("localhost", 50400)
+    mcu = server.get_connected_clients()[0]
+    packet_definitions = {
+        500: [],  # enable_buffer
+        501: [],  # disable_buffer
+        502: [enum("NONE", "U", "V", "W"), "uint32", "float32"],  # send_pwm
+        503: [],  # stop_pwm
+    }
+    packets = Packets(packet_definitions)
+    enable = DigitalOutService(shm, Pinout.PF4)
+    pwmU = DualPWM(Pinout.PE9, Pinout.PE8)
+    pwmV = DualPWM(Pinout.PE11, Pinout.PE10)
+    pwmW = DualPWM(Pinout.PE13, Pinout.PE12)
+
+    check(is_state(StateMachine.GENERAL, General_SM.CONNECTING, shm))
+
+    # Now PCU is on Connecting state
 
-    shm = SharedMemory("gpio__blinking_led", "state_machine__blinking_led")
-    led = DigitalOutService(shm, Pinout.PA1)
+    server.start()
+    completes(
+        wait_until_true(is_state(StateMachine.GENERAL, General_SM.OPERATIONAL, shm)),
+        before=seconds(1),
+    )
+
+    # Now PCU is on Operational state
 
-    def led_turns_on():
-        nonlocal led
-        return led.get_pin_state() is DigitalOut.State.High
+    check(is_state(StateMachine.OPERATIONAL, Operational_SM.IDLE, shm))
 
-    def led_turns_off():
-        nonlocal led
-        return led.get_pin_state() is DigitalOut.State.Low
+    # Now PCU is on Operational - Idle state
+
+    enable_order = packets.serialize_packet(500)
+    server.transmit(enable_order, mcu)
 
-    #sync with board
     completes(
-        wait_until_true(led_turns_on),
-        before=(TOGGLE_PERIOD / 2) + ALLOWED_SLACK,
-        msg="Sync fails"
+        wait_until_true(enable.state),
+        before=seconds(1),
     )
 
-    for i in range(150):
-        completes(
-            wait_until_true(led_turns_off),
-            before=(TOGGLE_PERIOD / 2) + ALLOWED_SLACK,
-            after=(TOGGLE_PERIOD / 2) - ALLOWED_SLACK,
-            msg="turns off"
-        )
-        completes(
-            wait_until_true(led_turns_on),
-            before=(TOGGLE_PERIOD / 2) + ALLOWED_SLACK,
-            after=(TOGGLE_PERIOD / 2) - ALLOWED_SLACK,
-            msg="turns on"
-        )
-        print("toggle", i)
+    disable_order = packets.serialize_packet(501)
+    server.transmit(disable_order, mcu)
+
+    completes(
+        wait_until_true(not enable.state),
+        before=seconds(1),
+    )
+
+    send_pwm_U_order = packets.serialize_packet(502, "U", 1000, 90)
+    server.transmit(send_pwm_U_order, mcu)
+
+    completes(
+        wait_until_true(check_pwm(pwmU, 1000, 90)),
+        before=seconds(1),
+    )
+
+    check(is_state(StateMachine.OPERATIONAL, Operational_SM.PWM, shm))
+
+    # Now PCU is on Operational - PWM state
+
+    send_pwm_V_order = packets.serialize_packet(502, "U", 2000, 80)
+    server.transmit(send_pwm_V_order, mcu)
+
+    completes(
+        wait_until_true(check_pwm(pwmV, 2000, 80)),
+        before=seconds(1),
+    )
+
+    send_pwm_W_order = packets.serialize_packet(502, "U", 3000, 70)
+    server.transmit(send_pwm_W_order, mcu)
+
+    completes(
+        wait_until_true(check_pwm(pwmW, 3000, 70)),
+        before=seconds(1),
+    )
+
+    stop_pwm_order = packets.serialize_packet(504)
+    server.transmit(stop_pwm_order, mcu)
+
+    check(is_state(StateMachine.OPERATIONAL, Operational_SM.IDLE, shm))
+
+    # Now PCU is on Operational - Idle state
+
+    server.stop()
+
+    check(is_state(StateMachine.GENERAL, General_SM.FAULT, shm))
+
+    # Now PCU is on FAULT state
+    check(not enable.state)
+    #TODO check PWMs are off
 
 
-runner.run() # Runs the tests, do not delete!
+
+
+
+runner.run()  # Runs the tests, do not delete!