added test framework (#113)
* added test framework * added toString on motors * enabling logs
This commit is contained in:
Peli de Halleux
GitHub
parent
60bf3a17d3
commit
9e427898ae
@ -1,94 +1,47 @@
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```typescript
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let errors: string[] = [];
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let tachoB = 0;
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let tachoC = 0;
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function assert(name: string, condition: boolean) {
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if (!condition) {
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errors.push(name)
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brick.print("error:" + name, 0, 60)
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}
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}
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function assertClose(name: string, expected: number, actual: number, tolerance = 5) {
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const diff = Math.abs(expected - actual);
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assert(name + ` ${expected}vs${actual}`, diff < tolerance);
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}
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function state(name: string, motor: motors.SingleMotor, line: number) {
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brick.print(`${name}: ${motor.speed()}%,${motor.angle()}deg`, 0, 12 * line)
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}
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function test(name: string, f: () => void, check?: () => void) {
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motors.stopAllMotors();
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motors.largeB.clearCount()
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motors.largeC.clearCount()
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motors.largeB.setBrake(false)
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motors.largeC.setBrake(false)
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motors.largeB.setReversed(false);
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motors.largeC.setReversed(false);
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loops.pause(500);
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tachoB = motors.largeB.angle()
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tachoC = motors.largeC.angle()
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brick.clearScreen()
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brick.print(name, 0, 0)
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state("B", motors.largeB, 1)
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state("C", motors.largeC, 2)
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f();
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loops.pause(3000);
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state("B", motors.largeB, 3)
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state("C", motors.largeC, 4)
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if (check)
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check()
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motors.stopAllMotors();
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loops.pause(1000);
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}
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brick.buttonLeft.onEvent(ButtonEvent.Click, function () {
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test("lgBC set speed 25", () => {
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motors.largeBC.setSpeed(25)
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}, () => {
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assertClose("speedB", 25, motors.largeB.speed());
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assertClose("speedC", 25, motors.largeC.speed());
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tests.test("lgB set speed 10", () => {
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motors.largeB.setSpeed(10);
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loops.pause(100)
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tests.assertClose("speedB", 10, motors.largeB.speed(), 2)
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});
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})
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brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
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test("lgB set speed 10", () => {
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motors.largeB.setSpeed(10)
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}, () => assertClose("speedB", 10, motors.largeB.speed()));
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test("lgB set speed 25 (reversed)", () => {
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tests.test("lgB set speed 25 (reversed)", () => {
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motors.largeB.setReversed(true)
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motors.largeB.setSpeed(25)
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}, () => assertClose("speedB", -25, motors.largeB.speed()));
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test("lgBC set speed 5", () => {
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motors.largeBC.setSpeed(5)
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}, () => {
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assertClose("speedB", 5, motors.largeB.speed());
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assertClose("speedC", 5, motors.largeC.speed());
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loops.pause(100)
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tests.assertClose("speedB", -25, motors.largeB.speed(), 2)
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});
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test("lgBC steer 50% 2x", () => {
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tests.test("lgBC set speed 5", () => {
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motors.largeBC.setSpeed(5)
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loops.pause(100)
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tests.assertClose("speedB", 5, motors.largeB.speed(), 1);
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tests.assertClose("speedC", 5, motors.largeC.speed(), 1);
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});
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tests.test("lgBC steer 50% 2x", () => {
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motors.largeBC.setBrake(true)
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motors.largeBC.steer(50, 50, 2, MoveUnit.Rotations)
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}, () => assertClose("largeB", 720, motors.largeB.angle()));
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test("lgBC steer 50% 500deg", () => {
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motors.largeBC.setBrake(true)
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motors.largeBC.steer(50, 50, 500, MoveUnit.Degrees)
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}, () => assertClose("largeB", 500, motors.largeB.angle()));
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test("lgBC steer 50% 2s", () => {
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motors.largeBC.setBrake(true)
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motors.largeBC.steer(50, 50, 2000, MoveUnit.MilliSeconds)
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motors.largeBC.steer(50, 50, 1, MoveUnit.Rotations)
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loops.pause(1000)
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tests.assertClose("largeB", 360, motors.largeB.angle(), 5)
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motors.largeBC.setBrake(false)
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})
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test("lgBC tank 50% 720deg", () => {
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tests.test("lgBC steer 50% 500deg", () => {
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motors.largeBC.setBrake(true)
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motors.largeBC.tank(50, 50, 720, MoveUnit.Degrees)
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}, () => assertClose("largeB", 720, motors.largeB.angle()));
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brick.clearScreen()
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brick.print(`${errors.length} errors`, 0, 0)
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let l = 1;
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for (const error of errors)
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brick.print(`error: ${error}`, 0, l++ * 12)
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motors.largeBC.steer(50, 50, 135, MoveUnit.Degrees)
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loops.pause(1000)
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tests.assertClose("largeB", 135, motors.largeB.angle(), 5)
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});
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tests.test("lgBC steer 50% 2s", () => {
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motors.largeBC.setBrake(true)
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motors.largeBC.steer(50, 50, 500, MoveUnit.MilliSeconds)
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loops.pause(1000)
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})
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tests.test("lgBC tank 50% 720deg", () => {
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motors.largeBC.setBrake(true)
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motors.largeBC.tank(50, 50, 180, MoveUnit.Degrees)
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loops.pause(1000)
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tests.assertClose("largeB", 180, motors.largeB.angle(), 5)
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});
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```
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```package
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tests
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```
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@ -43,7 +43,7 @@
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"brick.setStatusLight|param|pattern": "the lights pattern to use.",
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"brick.showImage": "Shows an image on screen",
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"brick.showImage|param|image": "image to draw",
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"console": "Reading and writing data to the console output.\r\n\r\nReading and writing data to the console output.",
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"console": "Reading and writing data to the console output.\n\nReading and writing data to the console output.",
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"console.addListener": "Adds a listener for the log messages",
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"console.log": "Write a line of text to the console output.",
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"console.logValue": "Write a name:value pair as a line of text to the console output.",
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@ -58,23 +58,24 @@
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"control.raiseEvent": "Announce that an event happened to registered handlers.",
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"control.raiseEvent|param|src": "ID of the Component that generated the event",
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"control.raiseEvent|param|value": "Component specific code indicating the cause of the event.",
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"motors.Motor.isReady": "Returns a value indicating if the motor is still running a previous command.",
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"motors.Motor.move": "Moves the motor by a number of rotations, degress or seconds",
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"motors.Motor.move|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
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"motors.Motor.move|param|unit": "the meaning of the value",
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"motors.Motor.move|param|value": "the move quantity, eg: 2",
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"motors.Motor.pauseUntilReady": "Pauses the execution until the previous command finished.",
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"motors.Motor.pauseUntilReady|param|timeOut": "optional maximum pausing time in milliseconds",
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"motors.Motor.reset": "Resets the motor(s).",
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"motors.Motor.setBrake": "Sets the automatic brake on or off when the motor is off",
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"motors.Motor.setBrake|param|brake": "a value indicating if the motor should break when off",
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"motors.Motor.setReversed": "Reverses the motor polarity",
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"motors.Motor.setSpeed": "Sets the speed of the motor.",
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"motors.Motor.setSpeed|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
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"motors.Motor.stop": "Stops the motor(s).",
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"motors.SingleMotor.angle": "Gets motor ration angle.",
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"motors.SingleMotor.clearCount": "Clears the motor count",
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"motors.SingleMotor.speed": "Gets motor actual speed.",
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"motors.Motor.angle": "Gets motor ration angle.",
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"motors.Motor.clearCount": "Clears the motor count",
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"motors.Motor.speed": "Gets motor actual speed.",
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"motors.Motor.toString": "Returns the status of the motor",
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"motors.MotorBase.isReady": "Returns a value indicating if the motor is still running a previous command.",
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"motors.MotorBase.move": "Moves the motor by a number of rotations, degress or seconds",
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"motors.MotorBase.move|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
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"motors.MotorBase.move|param|unit": "the meaning of the value",
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"motors.MotorBase.move|param|value": "the move quantity, eg: 2",
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"motors.MotorBase.pauseUntilReady": "Pauses the execution until the previous command finished.",
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"motors.MotorBase.pauseUntilReady|param|timeOut": "optional maximum pausing time in milliseconds",
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"motors.MotorBase.reset": "Resets the motor(s).",
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"motors.MotorBase.setBrake": "Sets the automatic brake on or off when the motor is off",
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"motors.MotorBase.setBrake|param|brake": "a value indicating if the motor should break when off",
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"motors.MotorBase.setReversed": "Reverses the motor polarity",
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"motors.MotorBase.setSpeed": "Sets the speed of the motor.",
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"motors.MotorBase.setSpeed|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
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"motors.MotorBase.stop": "Stops the motor(s).",
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"motors.SynchedMotorPair.steer": "Turns the motor and the follower motor by a number of rotations",
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"motors.SynchedMotorPair.steer|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
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"motors.SynchedMotorPair.steer|param|steering": "the ratio of power sent to the follower motor, from ``-100`` to ``100``",
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@ -84,7 +85,17 @@
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"motors.SynchedMotorPair.tank|param|speedRight": "the speed on the right motor, eg: 50",
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"motors.SynchedMotorPair.tank|param|unit": "@param speedLeft the speed on the left motor, eg: 50",
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"motors.SynchedMotorPair.tank|param|value": "the amount of movement, eg: 2",
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"motors.SynchedMotorPair.toString": "Returns the name(s) of the motor",
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"motors.mkCmd": "Allocates a message buffer",
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"motors.mkCmd|param|addSize": "required additional bytes",
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"motors.mkCmd|param|cmd": "command id",
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"motors.mkCmd|param|out": "ports",
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"motors.readPWM": "Sends and receives a message from the motors device",
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"motors.readPWM|param|buf": "message buffer",
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"motors.resetAllMotors": "Resets all motors",
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"motors.stopAllMotors": "Stops all motors",
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"motors.writePWM": "Sends a command to the motors device",
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"motors.writePWM|param|buf": "the command buffer",
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"output.createBuffer": "Create a new zero-initialized buffer.",
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"output.createBuffer|param|size": "number of bytes in the buffer",
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"screen.clear": "Clear screen and reset font to normal.",
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@ -47,13 +47,13 @@
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"console|block": "console",
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"control.raiseEvent|block": "raise event|from %src|with value %value",
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"control|block": "control",
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"motors.Motor.move|block": "move `icons.motorLarge` %motor|for %value|%unit|at %speed|%",
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"motors.Motor.pauseUntilReady|block": "%motor|pause until ready",
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"motors.Motor.setBrake|block": "set `icons.motorLarge` %motor|brake %brake",
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"motors.Motor.setReversed|block": "set `icons.motorLarge` %motor|reversed %reversed",
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"motors.Motor.setSpeed|block": "set speed of `icons.motorLarge` %motor|to %speed|%",
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"motors.SingleMotor.angle|block": "`icons.motorLarge` %motor|angle",
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"motors.SingleMotor.speed|block": "`icons.motorLarge` %motor|speed",
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"motors.Motor.angle|block": "`icons.motorLarge` %motor|angle",
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"motors.Motor.speed|block": "`icons.motorLarge` %motor|speed",
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"motors.MotorBase.move|block": "move `icons.motorLarge` %motor|for %value|%unit|at %speed|%",
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"motors.MotorBase.pauseUntilReady|block": "%motor|pause until ready",
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"motors.MotorBase.setBrake|block": "set `icons.motorLarge` %motor|brake %brake",
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"motors.MotorBase.setReversed|block": "set `icons.motorLarge` %motor|reversed %reversed",
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"motors.MotorBase.setSpeed|block": "set speed of `icons.motorLarge` %motor|to %speed|%",
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"motors.SynchedMotorPair.steer|block": "steer %chassis|%steering|%|at speed %speed|%|by %value|%unit",
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"motors.SynchedMotorPair.tank|block": "tank %chassis|left %speedLeft|%|right %speedRight|%|by %value|%unit",
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"motors.largeAB|block": "large A+B",
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@ -53,32 +53,56 @@ namespace motors {
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motorMM = control.mmap("/dev/lms_motor", MotorDataOff.Size * DAL.NUM_OUTPUTS, 0)
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if (!motorMM) control.fail("no motor file")
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resetMotors()
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resetAllMotors()
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let buf = output.createBuffer(1)
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const buf = output.createBuffer(1)
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buf[0] = DAL.opProgramStart
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writePWM(buf)
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}
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function writePWM(buf: Buffer): void {
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/**
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* Sends a command to the motors device
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* @param buf the command buffer
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*/
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//%
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export function writePWM(buf: Buffer): void {
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init()
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pwmMM.write(buf)
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}
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function readPWM(buf: Buffer): number {
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/**
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* Sends and receives a message from the motors device
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* @param buf message buffer
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*/
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//%
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export function readPWM(buf: Buffer): number {
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init()
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return pwmMM.read(buf);
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}
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function mkCmd(out: Output, cmd: number, addSize: number) {
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/**
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* Allocates a message buffer
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* @param out ports
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* @param cmd command id
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* @param addSize required additional bytes
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*/
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//%
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export function mkCmd(out: Output, cmd: number, addSize: number) {
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const b = output.createBuffer(2 + addSize)
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b.setNumber(NumberFormat.UInt8LE, 0, cmd)
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b.setNumber(NumberFormat.UInt8LE, 1, out)
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return b
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}
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function resetMotors() {
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reset(Output.ALL)
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function outputToName(out: Output): string {
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let r = "";
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for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
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if (out & (1 << i)) {
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if (r.length > 0) r += "+";
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r += "ABCD"[i];
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}
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}
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return r;
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}
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/**
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@ -92,9 +116,18 @@ namespace motors {
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writePWM(b)
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}
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/**
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* Resets all motors
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*/
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//% group="Motion"
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export function resetAllMotors() {
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reset(Output.ALL)
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}
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//% fixedInstances
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export class Motor extends control.Component {
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export class MotorBase extends control.Component {
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protected _port: Output;
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protected _portName: string;
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protected _brake: boolean;
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private _initialized: boolean;
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private _init: () => void;
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@ -104,6 +137,7 @@ namespace motors {
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constructor(port: Output, init: () => void, setSpeed: (speed: number) => void, move: (steps: boolean, stepsOrTime: number, speed: number) => void) {
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super();
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this._port = port;
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this._portName = outputToName(this._port);
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this._brake = false;
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this._initialized = false;
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this._init = init;
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@ -244,7 +278,7 @@ namespace motors {
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}
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//% fixedInstances
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export class SingleMotor extends Motor {
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export class Motor extends MotorBase {
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private _large: boolean;
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constructor(port: Output, large: boolean) {
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@ -322,34 +356,42 @@ namespace motors {
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}
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}
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}
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/**
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* Returns the status of the motor
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*/
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//%
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toString(): string {
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return `${this._large ? "" : "M"}${this._portName} ${this.speed()}% ${this.angle()}>`;
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}
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}
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//% whenUsed fixedInstance block="large A"
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export const largeA = new SingleMotor(Output.A, true);
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export const largeA = new Motor(Output.A, true);
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//% whenUsed fixedInstance block="large B"
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export const largeB = new SingleMotor(Output.B, true);
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export const largeB = new Motor(Output.B, true);
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//% whenUsed fixedInstance block="large C"
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export const largeC = new SingleMotor(Output.C, true);
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export const largeC = new Motor(Output.C, true);
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//% whenUsed fixedInstance block="large D"
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export const largeD = new SingleMotor(Output.D, true);
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export const largeD = new Motor(Output.D, true);
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//% whenUsed fixedInstance block="medium A"
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export const mediumA = new SingleMotor(Output.A, false);
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export const mediumA = new Motor(Output.A, false);
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//% whenUsed fixedInstance block="medium B"
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export const mediumB = new SingleMotor(Output.B, false);
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export const mediumB = new Motor(Output.B, false);
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//% whenUsed fixedInstance block="medium C"
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export const mediumC = new SingleMotor(Output.C, false);
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export const mediumC = new Motor(Output.C, false);
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//% whenUsed fixedInstance block="medium D"
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export const mediumD = new SingleMotor(Output.D, false);
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export const mediumD = new Motor(Output.D, false);
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//% fixedInstances
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export class SynchedMotorPair extends Motor {
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export class SynchedMotorPair extends MotorBase {
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constructor(ports: Output) {
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super(ports, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
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@ -458,6 +500,20 @@ namespace motors {
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const steering = (speedRight * 100 / speedLeft) >> 0;
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this.steer(speedLeft, steering, value, unit);
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}
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/**
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* Returns the name(s) of the motor
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*/
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//%
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toString(): string {
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let r = outputToName(this._port);
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for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
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if (this._port & (1 << i)) {
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r += ` ${getMotorData(1 << i).actualSpeed}%`
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}
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}
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return r;
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}
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||||
}
|
||||
|
||||
//% whenUsed fixedInstance block="large B+C"
|
||||
|
||||
35
libs/tests/README.md
Normal file
35
libs/tests/README.md
Normal file
@ -0,0 +1,35 @@
|
||||
# tests
|
||||
|
||||
A unit test framework
|
||||
|
||||
## Defining tests
|
||||
|
||||
Tests are registered as event handlers. They will automatically run once ``on start`` is finished.
|
||||
|
||||
```blocks
|
||||
tests.test("lgB set speed 10", () => {
|
||||
motors.largeB.setSpeed(10);
|
||||
loops.pause(100)
|
||||
tests.assertClose("speedB", 10, motors.largeB.speed(), 2)
|
||||
});
|
||||
```
|
||||
|
||||
## Assertions
|
||||
|
||||
The library has various asserts that will register fault. Note that since exceptions are not available, assertion failure **do not** stop the program execution.
|
||||
|
||||
* **assert** checks a boolean condition
|
||||
|
||||
```blocks
|
||||
tests.assert("speed positive", motors.largeB.speed() > 0)
|
||||
```
|
||||
|
||||
* **assert close** checks that a numberical value is within a particular range
|
||||
|
||||
```blocks
|
||||
tests.assertClose("speed", motors.largeB.speed(), 10, 2)
|
||||
```
|
||||
|
||||
```package
|
||||
tests
|
||||
```
|
||||
9
libs/tests/_locales/tests-jsdoc-strings.json
Normal file
9
libs/tests/_locales/tests-jsdoc-strings.json
Normal file
@ -0,0 +1,9 @@
|
||||
{
|
||||
"tests": "Unit tests framework",
|
||||
"tests.assert": "Checks a boolean condition",
|
||||
"tests.assertClose": "Checks that 2 values are close to each other",
|
||||
"tests.assertClose|param|actual": "what the value was",
|
||||
"tests.assertClose|param|expected": "what the value should be",
|
||||
"tests.assertClose|param|tolerance": "the acceptable error margin",
|
||||
"tests.test": "Registers a test to run"
|
||||
}
|
||||
6
libs/tests/_locales/tests-strings.json
Normal file
6
libs/tests/_locales/tests-strings.json
Normal file
@ -0,0 +1,6 @@
|
||||
{
|
||||
"tests.assert|block": "assert %message|%condition",
|
||||
"tests.test|block": "test %name",
|
||||
"tests|block": "tests",
|
||||
"{id:category}Tests": "Tests"
|
||||
}
|
||||
14
libs/tests/pxt.json
Normal file
14
libs/tests/pxt.json
Normal file
@ -0,0 +1,14 @@
|
||||
{
|
||||
"name": "tests",
|
||||
"description": "A unit test library",
|
||||
"files": [
|
||||
"README.md",
|
||||
"tests.ts"
|
||||
],
|
||||
"testFiles": [
|
||||
],
|
||||
"public": true,
|
||||
"dependencies": {
|
||||
"core": "file:../core"
|
||||
}
|
||||
}
|
||||
89
libs/tests/tests.ts
Normal file
89
libs/tests/tests.ts
Normal file
@ -0,0 +1,89 @@
|
||||
/**
|
||||
* Unit tests framework
|
||||
*/
|
||||
//% weight=100 color=#0fbc11 icon=""
|
||||
namespace tests {
|
||||
class Test {
|
||||
name: string;
|
||||
handler: () => void;
|
||||
errors: string[];
|
||||
|
||||
constructor(name: string, handler: () => void) {
|
||||
this.name = name;
|
||||
this.handler = handler;
|
||||
this.errors = [];
|
||||
}
|
||||
|
||||
reset() {
|
||||
motors.stopAllMotors();
|
||||
motors.resetAllMotors();
|
||||
}
|
||||
|
||||
run() {
|
||||
// clear state
|
||||
this.reset();
|
||||
|
||||
console.log(`# ${this.name}`)
|
||||
this.handler()
|
||||
|
||||
// ensure clean state after test
|
||||
this.reset();
|
||||
}
|
||||
}
|
||||
|
||||
let _tests: Test[] = undefined;
|
||||
let _currentTest: Test = undefined;
|
||||
|
||||
function run() {
|
||||
if (!_tests) return;
|
||||
|
||||
const start = control.millis();
|
||||
console.sendToScreen();
|
||||
console.log(`${_tests.length} tests`)
|
||||
for (let i = 0; i < _tests.length; ++i) {
|
||||
const t = _currentTest = _tests[i];
|
||||
t.run();
|
||||
_currentTest = undefined;
|
||||
}
|
||||
console.log(`${_tests.map(t => t.errors.length).reduce((p, c) => p + c, 0)} X, ${Math.ceil((control.millis() - start) / 1000)}s`)
|
||||
}
|
||||
|
||||
/**
|
||||
* Registers a test to run
|
||||
*/
|
||||
//% blockId=testtest block="test %name"
|
||||
export function test(name: string, handler: () => void): void {
|
||||
if (!name || !handler) return;
|
||||
if (!_tests) {
|
||||
_tests = [];
|
||||
control.runInBackground(function () {
|
||||
// should run after on start
|
||||
loops.pause(100)
|
||||
run()
|
||||
})
|
||||
}
|
||||
_tests.push(new Test(name, handler));
|
||||
}
|
||||
|
||||
/**
|
||||
* Checks a boolean condition
|
||||
*/
|
||||
//% blockId=testAssert block="assert %message|%condition"
|
||||
export function assert(message: string, condition: boolean) {
|
||||
if (!condition) {
|
||||
console.log(` X ${message || ''}`)
|
||||
if (_currentTest)
|
||||
_currentTest.errors.push(message);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Checks that 2 values are close to each other
|
||||
* @param expected what the value should be
|
||||
* @param actual what the value was
|
||||
* @param tolerance the acceptable error margin
|
||||
*/
|
||||
export function assertClose(name: string, expected: number, actual: number, tolerance: number) {
|
||||
assert(`${name} ${expected} != ${actual} +-${tolerance}`, Math.abs(expected - actual) <= tolerance);
|
||||
}
|
||||
}
|
||||
@ -15,7 +15,8 @@
|
||||
"libs/ultrasonic-sensor",
|
||||
"libs/infrared-sensor",
|
||||
"libs/gyro-sensor",
|
||||
"libs/ev3"
|
||||
"libs/ev3",
|
||||
"libs/tests"
|
||||
],
|
||||
"simulator": {
|
||||
"autoRun": true,
|
||||
@ -52,7 +53,9 @@
|
||||
"serial": {
|
||||
"vendorId": "0x0694",
|
||||
"productId": "0x0005",
|
||||
"rawHID": true
|
||||
"rawHID": true,
|
||||
"useEditor": true,
|
||||
"log": true
|
||||
},
|
||||
"runtime": {
|
||||
"mathBlocks": true,
|
||||
|
||||
Loading…
Reference in New Issue
Block a user