HIL test WIP

EBB_firmware/Analysis/RegressionTests/ShortCommandFIFOTestPre300.py

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+#!/usr/bin/env python
+# -*- encoding: utf-8 -#-
+
+'''
+python_send_cmds3.py
+
+Run this demo by calling: python3 python_send_cmds3.py
+
+'''
+
+
+
+import sys
+import time
+
+from pyaxidraw import axidraw
+from plotink import ebb_motion
+from plotink import ebb_serial
+# print("hello")
+
+def query(port_name, cmd):
+    if port_name is not None and cmd is not None:
+        response = ''
+        try:
+            port_name.timeout = 0.1
+            port_name.write(cmd.encode('ascii'))
+            response = port_name.readline()
+            n_retry_count = 0
+            while len(response) == 0 and n_retry_count < 1:
+                # get new response to replace null response if necessary
+                response = port_name.readline()
+                n_retry_count += 1
+        except:
+            print("Error reading serial data.")
+        return response
+
+def block(ad_ref, timeout_ms=None):
+    '''
+    Interactive context: Wait until all motion control commands have finished, or an
+    an optional timeout occurs.
+
+    Polls the EBB immediately and then every 10 ms thereafter until (1) Neither motor is
+    currently in motion and (2) there is no queued motion control command.
+
+    A value for timeout_ms, gives the maximum duration to wait in milliseconds.
+
+    Returns True if the motion queue is empty, and False if timed out.
+
+    Requires EBB version v2.6.2 or newer
+    '''
+
+    if timeout_ms is None:
+        time_left = 60000 # Default 60 second timeout.
+    else:
+        time_left = timeout_ms
+
+    while True:
+        qg_val = bytes.fromhex(ebb_serial.query(ad_ref.plot_status.port, 'QG\r').strip())
+        motion = qg_val[0] & (15).to_bytes(1, byteorder='big')[0] # Motion queue bits
+        if motion == 0:
+            return True
+        if time_left <= 0:
+            return False    # Timed out
+        if time_left < 10:
+            time.sleep(time_left / 1000) # Use up remaining time
+            time_left = 0
+        else:
+            time.sleep(0.01) # Sleep 10 ms
+            if timeout_ms is not None:
+                time_left -= 10
+
+
+ad = axidraw.AxiDraw() # Initialize class
+
+ad.interactive()
+
+if not ad.connect():                # Open serial port to AxiDraw;
+    print("failed to connect")
+    quit()   
+
+the_port = ad.plot_status.port
+if the_port is None:
+    print("failed to connect")
+    sys.exit() # end script
+
+the_port.reset_input_buffer()
+
+
+# This is for v3.0.0 EBB firmwares and above (i.e. ones that have the L3 command and
+# the ability to change it's FIFO depth)
+
+# At first this will just send the command.
+
+# Eventually this code can capture and analyze the result from the Saleae to generate
+# the answers fully automatically.
+
+SM_command_list = [
+#"SM,15,375,375",       # 25K
+#"SM,15,37,37",       # 2.5K
+#"SM,14,350,350",
+#"SM,13,325,325",
+#"SM,12,300,300",
+#"SM,11,275,275",
+#"SM,10,250,250",
+#"SM,9,225,225",
+#"SM,8,200,200",
+#"SM,7,175,175",        # 25K
+"SM,7,17,17",         # 2.5K
+#"SM,6,150,150",
+#"SM,5,125,125",
+#"SM,4,100,100",
+#"SM,3,75,75",
+#"SM,2,50,50",
+#"SM,1,25,25",
+]
+
+LM_command_list = [
+"LM,2147483647,250,-1,2147483647,250",
+"LM,2147483647,225,-1,2147483647,225",
+"LM,2147483647,200,-1,2147483647,200",
+"LM,2147483647,175,-1,2147483647,175",
+"LM,2147483647,150,-1,2147483647,150",
+"LM,2147483647,125,-1,2147483647,125",
+"LM,2147483647,100,-1,2147483647,100",
+"LM,2147483647,75,-1,2147483647,75",
+"LM,2147483647,50,-1,2147483647,50",
+"LM,2147483647,25,-1,2147483647,25",
+]
+
+# CU,4 sets new FIFO length
+# QU,2 reads back max FIFO length
+
+print("connected")
+
+response = query(the_port, 'V\r')
+print(response)
+# response = query(the_port, 'CU,250,1\r')    # Turn on ISR GPIO debug bits
+# print(response)
+#response = query(the_port, 'CU,1,0\r')      # Turn off 'ack'/OK
+#print(response)
+response = query(the_port, 'CU,2,0\r')      # Turn off limit checking
+print(response)
+# response = query(the_port, 'CU,10,1\r')     # Turn on standardized command format replies
+# print(response)
+
+last_command = ""
+
+for command in SM_command_list:
+    #block(ad)
+    for i in range(100):
+        response = str(query(the_port, command + '\r'))
+        print(last_command + " :: " + response.strip())
+        last_command = command
+    
+    time.sleep(.25)
+
+print(last_command + " :: ")
+
+time.sleep(1.0)
+
+#for command in LM_command_list:
+#    #block(ad)
+#    for i in range(100):
+#        response = str(query(the_port, command + '\r'))
+#        print(last_command + " :: " + response.strip())
+#        last_command = command
+    
+#    time.sleep(.25)
+
+#print(last_command + " :: ")
+
+time.sleep(1.0)
+
+
+ad.disconnect()             # Close serial port to AxiDraw
+
+print("Test complete")
+
+
+
+
+
+
+
+
+