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https://github.com/wpilibsuite/allwpilib
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90 lines
3.4 KiB
Python
90 lines
3.4 KiB
Python
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import pytest
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from ntcore import NetworkTableInstance
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from wpilib import Mechanism2d, MechanismLigament2d, MechanismRoot2d, SmartDashboard
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from wpiutil import Color8Bit
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def test_create_mechanism():
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m = Mechanism2d(100, 100)
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r1 = m.getRoot("r1", 10, 10)
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l1 = r1.appendLigament("l1", 4, 3)
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l2 = l1.appendLigament("l2", 4, 3)
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assert l2 is not None
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def test_canvas(nt: NetworkTableInstance):
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mechanism = Mechanism2d(5, 10)
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dims_entry = nt.getEntry("/SmartDashboard/mechanism/dims")
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color_entry = nt.getEntry("/SmartDashboard/mechanism/backgroundColor")
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SmartDashboard.putData("mechanism", mechanism)
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SmartDashboard.updateValues()
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dims = dims_entry.getDoubleArray([])
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assert dims[0] == pytest.approx(5.0)
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assert dims[1] == pytest.approx(10.0)
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assert color_entry.getString("") == "#000020"
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mechanism.setBackgroundColor(Color8Bit(255, 255, 255))
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SmartDashboard.updateValues()
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assert color_entry.getString("") == "#FFFFFF"
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def test_root(nt: NetworkTableInstance):
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mechanism = Mechanism2d(5, 10)
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x_entry = nt.getEntry("/SmartDashboard/mechanism/root/x")
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y_entry = nt.getEntry("/SmartDashboard/mechanism/root/y")
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root = mechanism.getRoot("root", 1, 2)
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SmartDashboard.putData("mechanism", mechanism)
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SmartDashboard.updateValues()
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assert x_entry.getDouble(0.0) == pytest.approx(1.0)
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assert y_entry.getDouble(0.0) == pytest.approx(2.0)
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root.setPosition(2, 4)
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SmartDashboard.updateValues()
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assert x_entry.getDouble(0.0) == pytest.approx(2.0)
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assert y_entry.getDouble(0.0) == pytest.approx(4.0)
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def test_ligament(nt: NetworkTableInstance):
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mechanism = Mechanism2d(5, 10)
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angle_entry = nt.getEntry("/SmartDashboard/mechanism/root/ligament/angle")
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color_entry = nt.getEntry("/SmartDashboard/mechanism/root/ligament/color")
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length_entry = nt.getEntry("/SmartDashboard/mechanism/root/ligament/length")
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weight_entry = nt.getEntry("/SmartDashboard/mechanism/root/ligament/weight")
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root = mechanism.getRoot("root", 1, 2)
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ligament = root.appendLigament("ligament", 3, 90, 1, Color8Bit(255, 255, 255))
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SmartDashboard.putData("mechanism", mechanism)
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assert ligament.getAngle() == pytest.approx(angle_entry.getDouble(0.0))
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assert ligament.getColor().hexString() == color_entry.getString("")
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assert ligament.getLength() == pytest.approx(length_entry.getDouble(0.0))
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assert ligament.getLineWeight() == pytest.approx(weight_entry.getDouble(0.0))
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ligament.setAngle(45)
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ligament.setColor(Color8Bit(0, 0, 0))
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ligament.setLength(2)
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ligament.setLineWeight(4)
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SmartDashboard.updateValues()
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assert ligament.getAngle() == pytest.approx(angle_entry.getDouble(0.0))
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assert ligament.getColor().hexString() == color_entry.getString("")
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assert ligament.getLength() == pytest.approx(length_entry.getDouble(0.0))
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assert ligament.getLineWeight() == pytest.approx(weight_entry.getDouble(0.0))
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angle_entry.setDouble(22.5)
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color_entry.setString("#FF00FF")
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length_entry.setDouble(4.0)
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weight_entry.setDouble(6.0)
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SmartDashboard.updateValues()
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assert ligament.getAngle() == pytest.approx(angle_entry.getDouble(0.0))
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assert ligament.getColor().hexString() == color_entry.getString("")
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assert ligament.getLength() == pytest.approx(length_entry.getDouble(0.0))
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assert ligament.getLineWeight() == pytest.approx(weight_entry.getDouble(0.0))
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