mbed-os
Dependents: cobaLCDJoyMotor_Thread odometry_omni_3roda_v3 odometry_omni_3roda_v1 odometry_omni_3roda_v2 ... more
tools/host_tests/wait_us_auto.py@0:b74591d5ab33, 2017-12-11 (annotated)
- Committer:
- be_bryan
- Date:
- Mon Dec 11 17:54:04 2017 +0000
- Revision:
- 0:b74591d5ab33
motor ++
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
be_bryan | 0:b74591d5ab33 | 1 | """ |
be_bryan | 0:b74591d5ab33 | 2 | mbed SDK |
be_bryan | 0:b74591d5ab33 | 3 | Copyright (c) 2011-2013 ARM Limited |
be_bryan | 0:b74591d5ab33 | 4 | |
be_bryan | 0:b74591d5ab33 | 5 | Licensed under the Apache License, Version 2.0 (the "License"); |
be_bryan | 0:b74591d5ab33 | 6 | you may not use this file except in compliance with the License. |
be_bryan | 0:b74591d5ab33 | 7 | You may obtain a copy of the License at |
be_bryan | 0:b74591d5ab33 | 8 | |
be_bryan | 0:b74591d5ab33 | 9 | http://www.apache.org/licenses/LICENSE-2.0 |
be_bryan | 0:b74591d5ab33 | 10 | |
be_bryan | 0:b74591d5ab33 | 11 | Unless required by applicable law or agreed to in writing, software |
be_bryan | 0:b74591d5ab33 | 12 | distributed under the License is distributed on an "AS IS" BASIS, |
be_bryan | 0:b74591d5ab33 | 13 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
be_bryan | 0:b74591d5ab33 | 14 | See the License for the specific language governing permissions and |
be_bryan | 0:b74591d5ab33 | 15 | limitations under the License. |
be_bryan | 0:b74591d5ab33 | 16 | """ |
be_bryan | 0:b74591d5ab33 | 17 | |
be_bryan | 0:b74591d5ab33 | 18 | from time import time |
be_bryan | 0:b74591d5ab33 | 19 | |
be_bryan | 0:b74591d5ab33 | 20 | class WaitusTest(): |
be_bryan | 0:b74591d5ab33 | 21 | """ This test is reading single characters from stdio |
be_bryan | 0:b74591d5ab33 | 22 | and measures time between their occurrences. |
be_bryan | 0:b74591d5ab33 | 23 | """ |
be_bryan | 0:b74591d5ab33 | 24 | TICK_LOOP_COUNTER = 13 |
be_bryan | 0:b74591d5ab33 | 25 | TICK_LOOP_SUCCESSFUL_COUNTS = 10 |
be_bryan | 0:b74591d5ab33 | 26 | DEVIATION = 0.10 # +/-10% |
be_bryan | 0:b74591d5ab33 | 27 | |
be_bryan | 0:b74591d5ab33 | 28 | def test(self, selftest): |
be_bryan | 0:b74591d5ab33 | 29 | test_result = True |
be_bryan | 0:b74591d5ab33 | 30 | # First character to start test (to know after reset when test starts) |
be_bryan | 0:b74591d5ab33 | 31 | if selftest.mbed.set_serial_timeout(None) is None: |
be_bryan | 0:b74591d5ab33 | 32 | return selftest.RESULT_IO_SERIAL |
be_bryan | 0:b74591d5ab33 | 33 | c = selftest.mbed.serial_read(1) |
be_bryan | 0:b74591d5ab33 | 34 | if c is None: |
be_bryan | 0:b74591d5ab33 | 35 | return selftest.RESULT_IO_SERIAL |
be_bryan | 0:b74591d5ab33 | 36 | if c == '$': # target will printout TargetID e.g.: $$$$1040e649d5c09a09a3f6bc568adef61375c6 |
be_bryan | 0:b74591d5ab33 | 37 | #Read additional 39 bytes of TargetID |
be_bryan | 0:b74591d5ab33 | 38 | if selftest.mbed.serial_read(39) is None: |
be_bryan | 0:b74591d5ab33 | 39 | return selftest.RESULT_IO_SERIAL |
be_bryan | 0:b74591d5ab33 | 40 | c = selftest.mbed.serial_read(1) # Re-read first 'tick' |
be_bryan | 0:b74591d5ab33 | 41 | if c is None: |
be_bryan | 0:b74591d5ab33 | 42 | return selftest.RESULT_IO_SERIAL |
be_bryan | 0:b74591d5ab33 | 43 | start_serial_pool = time() |
be_bryan | 0:b74591d5ab33 | 44 | start = time() |
be_bryan | 0:b74591d5ab33 | 45 | |
be_bryan | 0:b74591d5ab33 | 46 | success_counter = 0 |
be_bryan | 0:b74591d5ab33 | 47 | |
be_bryan | 0:b74591d5ab33 | 48 | for i in range(0, self.TICK_LOOP_COUNTER): |
be_bryan | 0:b74591d5ab33 | 49 | c = selftest.mbed.serial_read(1) |
be_bryan | 0:b74591d5ab33 | 50 | if c is None: |
be_bryan | 0:b74591d5ab33 | 51 | return selftest.RESULT_IO_SERIAL |
be_bryan | 0:b74591d5ab33 | 52 | delta = time() - start |
be_bryan | 0:b74591d5ab33 | 53 | deviation = abs(delta - 1) |
be_bryan | 0:b74591d5ab33 | 54 | # Round values |
be_bryan | 0:b74591d5ab33 | 55 | delta = round(delta, 2) |
be_bryan | 0:b74591d5ab33 | 56 | deviation = round(deviation, 2) |
be_bryan | 0:b74591d5ab33 | 57 | # Check if time measurements are in given range |
be_bryan | 0:b74591d5ab33 | 58 | deviation_ok = True if delta > 0 and deviation <= self.DEVIATION else False |
be_bryan | 0:b74591d5ab33 | 59 | success_counter = success_counter+1 if deviation_ok else 0 |
be_bryan | 0:b74591d5ab33 | 60 | msg = "OK" if deviation_ok else "FAIL" |
be_bryan | 0:b74591d5ab33 | 61 | selftest.notify("%s in %.2f sec (%.2f) [%s]"% (c, delta, deviation, msg)) |
be_bryan | 0:b74591d5ab33 | 62 | start = time() |
be_bryan | 0:b74591d5ab33 | 63 | if success_counter >= self.TICK_LOOP_SUCCESSFUL_COUNTS: |
be_bryan | 0:b74591d5ab33 | 64 | break |
be_bryan | 0:b74591d5ab33 | 65 | measurement_time = time() - start_serial_pool |
be_bryan | 0:b74591d5ab33 | 66 | selftest.notify("Consecutive OK timer reads: %d"% success_counter) |
be_bryan | 0:b74591d5ab33 | 67 | selftest.notify("Completed in %.2f sec" % (measurement_time)) |
be_bryan | 0:b74591d5ab33 | 68 | test_result = True if success_counter >= self.TICK_LOOP_SUCCESSFUL_COUNTS else False |
be_bryan | 0:b74591d5ab33 | 69 | return selftest.RESULT_SUCCESS if test_result else selftest.RESULT_FAILURE |