- Started regression test suite for SICS.
- The framework is there and testing motors works now
This commit is contained in:
koennecke
260
test/mottest.tcl
Normal file
260
test/mottest.tcl
Normal file
@ -0,0 +1,260 @@
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#------------------------------------------------------------------------------
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# Regression tests fo a motor. It is assumed that the motors name is
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# brumm and that it has been initialized with the regress motor
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# driver. Moreover, this has to be loaded after tcltest.tcl, testutil.tcl
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# and sicstcldebug.tcl
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#
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# The regression motor has various errortypes which can be simulated:
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# 0 = none
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# 1 = failed start
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# 2 = position fault
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# 3 = hardware failure
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# 4 = off position, without explicit position fault
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# 5 = failed read
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# 6 = keep running (for testing interupting)
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# Moreover there is a recover flag which causes the motor to recover when it is
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# 1
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#
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# copyright: see file COPYRIGHT
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#
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# Mark Koennecke, July 2006
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#------------------------------------------------------------------------------
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puts stdout "Testing motor code"
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test motorpar-1.0 {Test sll} -body {
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testPar "brumm softlowerlim" -175 User } -result OK
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test motorpar-1.1 {Test slu} -body {
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testPar "brumm softupperlim" 175 User } -result OK
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test motorpar-1.2 {Test ss} -body {
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testPar "brumm softzero" 5 User } -result OK
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test motorpar-1.3 {Test interrupt} -body {
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testPar "brumm interruptmode" 2 Mugger } -result OK
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test motorpar-1.4 {Test accesscode} -body {
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testPar "brumm accesscode" 3 Mugger } -result OK
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test motorpar-1.5 {Test precision} -body {
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testPar "brumm precision" .5 Mugger } -result OK
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test motorpar-1.6 {Test fail} -body {
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testPar "brumm failafter" 5 Mugger } -result OK
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test motorpar-1.7 {Test retry} -body {
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testPar "brumm maxretry" 5 Mugger } -result OK
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test motorpar-1.8 {Test ignorefault} -body {
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testPar "brumm ignorefault" 1 Mugger } -result OK
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test motorpar-1.9 {Test movecount} -body {
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testPar "brumm movecount" 12 Mugger } -result OK
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test motorpar-1.10 {Test hardupper} -body {
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testROPar "brumm hardupperlim" 180 } -result OK
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test motorpar-1.11 {Test hardlower} -body {
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testROPar "brumm hardlowerlim" -180 } -result OK
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brumm recover 0
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brumm errortype 0
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test motor-1.0 {Test Normal Driving} -body {
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testDrive brumm 10 User } -result OK
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brumm errortype 6
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test motor-1.1 {Test Interrupting} -body {
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testDriveInterrupt brumm 0 } -result OK
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brumm errortype 1
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config rights User User
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test motor-1.2 {Test Start Failure} -body {
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set ans [drive brumm 20.3]
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if { [string first "Failed to start motor" $ans] < 0} {
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error "Failed to trigger motor start failure: $ans"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return from start failure"
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}
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return OK
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} -result OK
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brumm recover 1
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test motor-1.3 {Test Recover from start problem} -body {
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set ans [drive brumm 20.3]
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if { [string first "Failed to start motor" $ans] < 0} {
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error "Failed to trigger motor start failure"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return from start failure"
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}
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compareValue [SICSValue brumm] 20.3
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} -result OK
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brumm recover 0
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brumm errortype 2
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test motor-1.4 {Test Position Failure} -body {
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set ans [drive brumm -20.3]
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if { [string first "Position not reached" $ans] < 0} {
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error "Failed to trigger motor position fault: $ans"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return from position failure"
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}
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set ans [SICSValue brumm]
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if {abs($ans - -20.3) < .01} {
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error "Motor positioned OK inspite of position fault"
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}
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return OK
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} -result OK
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brumm recover 1
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test motor-1.6 {Test Position Failure Recover} -body {
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set ans [drive brumm 20.3]
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if { [string first "Position not reached" $ans] < 0} {
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error "Failed to trigger motor position fault: $ans"
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}
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if { [string first "restarting" $ans] < 0} {
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error "Restarting message not received"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return from position failure"
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}
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compareValue [SICSValue brumm] 20.3
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return OK
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} -result OK
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brumm errortype 3
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brumm recover 0
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test motor-1.7 {Test Hardware Failure} -body {
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set ans [drive brumm 20.3]
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if { [string first "Hardware is mad" $ans] < 0} {
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error "Failed to trigger motor hardware fault: $ans"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return from position failure"
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}
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set ans [SICSValue brumm]
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if {abs($ans - 20.3) < .01} {
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error "Motor positioned OK inspite of hardware fault"
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}
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return OK
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} -result OK
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brumm recover 1
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test motor-1.8 {Test Hardware Failure Recover} -body {
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set ans [drive brumm 20.3]
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if { [string first "Hardware is mad" $ans] < 0} {
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error "Failed to trigger motor hardware fault: $ans"
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}
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if { [string first "restarting" $ans] < 0} {
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error "Restarting message not received"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return from hardware failure"
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}
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compareValue [SICSValue brumm] 20.3
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return OK
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} -result OK
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brumm errortype 4
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test motor-1.9 {Test Consistent mispositioning} -body {
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set ans [drive brumm -20.3]
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if { [string first "off position" $ans] < 0} {
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error "Failed to trigger motor off position"
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}
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if { [string first "restarting" $ans] < 0} {
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error "Restarting message not received"
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}
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if { [string first "aborting" $ans] < 0} {
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error "Aborting message not received"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return after consistent position problem"
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}
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set ans [SICSValue brumm]
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if {abs($ans - -20.3) < .01} {
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error "Motor positioned OK inspite of mispositioning"
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}
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return OK
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} -result OK
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brumm errortype 0
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drive brumm 27.
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brumm errortype 5
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brumm recover 0
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test motor-1.10 {Failed read} -body {
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set ans [brumm]
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if { [string first "Failed to read" $ans] < 0} {
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error "Failed to trigger motor failed read"
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}
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if { [string first "Error obtaining position" $ans] < 0} {
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error "Failed to abort reading"
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}
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if { [string first "cannot fix" $ans] < 0} {
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error "Missing cannot fix message"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return after failed read"
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}
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return OK
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} -result OK
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brumm recover 1
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test motor-1.11 {Failed read recover} -body {
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set ans [brumm]
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if { [string first "Failed to read" $ans] < 0} {
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error "Failed to trigger motor failed read"
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}
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if { [string first "brumm =" $ans] < 0} {
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error "Motor did not return value after fixing failed read"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return after failed read"
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}
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return OK
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} -result OK
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brumm errortype 0
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drive brumm 27.
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brumm recover 0
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brumm errortype 3
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test motor-1.12 {Motor Alarm} -body {
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drive brumm -27
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drive brumm -27
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drive brumm -27
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drive brumm -27
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set ans [drive brumm -27]
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if { [string first "MOTOR ALARM" $ans] < 0} {
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error "Motor did not stop with Alarm"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return after Alarm"
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}
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brumm errortype 0
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set ans [drive brumm -27]
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if { [string first "sucessfully" $ans] < 0} {
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error "Motor did not recover after Alarm"
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}
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return OK
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} -result OK
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13
test/sicsstat.tcl
Normal file
13
test/sicsstat.tcl
Normal file
@ -0,0 +1,13 @@
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exe batchpath ./
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exe syspath ./
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# Motor brumm
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brumm sign 1.000000
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brumm SoftZero 0.000000
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brumm SoftLowerLim -180.000000
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brumm SoftUpperLim 180.000000
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brumm Fixed -1.000000
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brumm InterruptMode 0.000000
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brumm precision 0.100000
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brumm ignorefault 0.000000
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brumm AccessCode 2.000000
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brumm movecount 10.000000
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40
test/sicstcldebug.tcl
Normal file
40
test/sicstcldebug.tcl
Normal file
@ -0,0 +1,40 @@
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#------------------------------------------------------------------
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# This is a helper file in order to debug SICS Tcl scripts. The idea
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# is that a connection to a SICS interpreter at localhost:2911 is opened.
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# Then unknown is reimplemented to send unknown commands (which must be
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# SICS commands) to the SICS interpreter for evaluation. This is done
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# with transact in order to figure out when SICS finished processing.
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# Thus is should be possible to debug SICS Tcl scripts in a normal
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# standalone interpreter without the overhead of restarting SICS
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# all the time. It may even be possible to use one of the normal
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# Tcl debuggers then....
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#
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# Mark Koennecke, February 2006
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#------------------------------------------------------------------
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set socke [socket localhost 2911]
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gets $socke
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puts $socke "Spy Spy"
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flush $socke
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gets $socke
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#------------------------------------------------------------------
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proc unknown args {
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global socke
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append com "transact " [join $args]
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puts $socke $com
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flush $socke
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set reply ""
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while {1} {
|
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set line [gets $socke]
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if {[string first TRANSACTIONFINISHED $line] >= 0} {
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return $reply
|
||||
} else {
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||||
append reply $line "\n"
|
||||
}
|
||||
}
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||||
}
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#------------------------------------------------------------------
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proc clientput args {
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puts stdout [join $args]
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}
|
||||
#------------------------------------------------------------------
|
||||
3354
test/tcltest.tcl
Normal file
3354
test/tcltest.tcl
Normal file
File diff suppressed because it is too large
Load Diff
10
test/testinc.tcl
Normal file
10
test/testinc.tcl
Normal file
@ -0,0 +1,10 @@
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#------------------------------------------------------------------------------
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||||
# This is a prelude to source into tcl for testing regression tests.
|
||||
# copyright: see file COPYRIGHT
|
||||
#
|
||||
# Mark Koennecke, July 2006
|
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#------------------------------------------------------------------------------
|
||||
source tcltest.tcl
|
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namespace import tcltest::*
|
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source testutil.tcl
|
||||
source sicstcldebug.tcl
|
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45
test/testini.tcl
Normal file
45
test/testini.tcl
Normal file
@ -0,0 +1,45 @@
|
||||
# --------------------------------------------------------------------------
|
||||
# Initialization script for testing SICS
|
||||
#
|
||||
# Started: Dr. Mark Koennecke, July 2006
|
||||
#---------------------------------------------------------------------------
|
||||
# O P T I O N S
|
||||
|
||||
# --------------- Initialize Tcl internals --------------------------------
|
||||
|
||||
# first all the server options are set
|
||||
|
||||
ServerOption ReadTimeOut 10
|
||||
# timeout when checking for commands. In the main loop SICS checks for
|
||||
# pending commands on each connection with the above timeout, has
|
||||
# PERFORMANCE impact!
|
||||
|
||||
ServerOption AcceptTimeOut 10
|
||||
# timeout when checking for connection req.
|
||||
# Similar to above, but for connections
|
||||
|
||||
ServerOption ReadUserPasswdTimeout 500000
|
||||
# time to wiat for a user/passwd to be sent from a client. Increase this
|
||||
# if there is a problem connecting to a server due to network overload\
|
||||
|
||||
ServerOption ServerPort 2911
|
||||
# the port number the server is going to listen at. The client MUST know
|
||||
# this number in order to connect. It is in client.ini
|
||||
|
||||
ServerOption InterruptPort 2913
|
||||
# The UDP port where the server will wait for Interrupts from clients.
|
||||
# Obviously, clients wishing to interrupt need to know this number.
|
||||
|
||||
|
||||
#---------------------------------------------------------------------------
|
||||
# U S E R S
|
||||
|
||||
# than the SICS users are specified
|
||||
# Syntax: SicsUser name password userRightsCode
|
||||
SicsUser Mugger Mugger 1
|
||||
SicsUser User User 2
|
||||
SicsUser Spy Spy 3
|
||||
#SicsUser Spy 007 1
|
||||
|
||||
Motor brumm regress
|
||||
MakeDrive
|
||||
26
test/testsics
Executable file
26
test/testsics
Executable file
@ -0,0 +1,26 @@
|
||||
#!/usr/bin/tclsh
|
||||
#------------------------------------------------------------------------------
|
||||
# This is a regression test for SICS. Before this can be used a SICServer must
|
||||
# have been started with: SICServer testini.tcl. This file uses the
|
||||
# tcltest package which comes with SICS for tests.
|
||||
#
|
||||
# copyright: see file COPYRIGHT
|
||||
#
|
||||
# Started: Mark Koennecke, July 2006
|
||||
#------------------------------------------------------------------------------
|
||||
# as of now we have tcl8.3 which has an outdated version of tcltest. We use
|
||||
# a better version in a local file. Once tcl8.4 has made it into the distro
|
||||
# I use, use the line below. We need tcltest 2.+
|
||||
# package require tcltest
|
||||
source tcltest.tcl
|
||||
namespace import tcltest::*
|
||||
source testutil.tcl
|
||||
source sicstcldebug.tcl
|
||||
|
||||
#-------------- Test for motors
|
||||
source mottest.tcl
|
||||
|
||||
#------------ print test summary
|
||||
cleanupTests
|
||||
exit 1
|
||||
|
||||
89
test/testutil.tcl
Normal file
89
test/testutil.tcl
Normal file
@ -0,0 +1,89 @@
|
||||
#------------------------------------------------------------------------------
|
||||
# utility routines for testing SICS
|
||||
#
|
||||
# copyright: see file COPYRIGHT
|
||||
#
|
||||
# Mark Koennecke, July 2006
|
||||
#------------------------------------------------------------------------------
|
||||
proc SICSValue {command} {
|
||||
set txt [eval $command]
|
||||
set l [split $txt =]
|
||||
return [string trim [lindex $l 1]]
|
||||
}
|
||||
#-----------------------------------------------------------------------------
|
||||
proc compareValue {is should} {
|
||||
if {[string is double $is] == 1} {
|
||||
if {abs($should - $is) > .01} {
|
||||
error "Bad compare is: $is, should $should"
|
||||
}
|
||||
} else {
|
||||
if {[string compare $is $rhould] != 0} {
|
||||
error "Bad compare is: $is, should $should"
|
||||
}
|
||||
}
|
||||
return OK
|
||||
}
|
||||
#------------------------------------------------------------------------------
|
||||
proc testPar {name testval priv } {
|
||||
config rights Spy Spy
|
||||
set value [SICSValue $name]
|
||||
set res [eval $name $testval]
|
||||
if {[string first ERROR $res] < 0} {
|
||||
error "Managed to set parameter even if not allowed"
|
||||
}
|
||||
config rights $priv $priv
|
||||
set res [eval $name $testval]
|
||||
if {[string first ERROR $res] >= 0} {
|
||||
error "Setting parameter failed with $res"
|
||||
}
|
||||
set readback [SICSValue $name]
|
||||
compareValue $readback $testval
|
||||
eval $name $value
|
||||
return "OK"
|
||||
}
|
||||
#-------------------------------------------------------------------------------
|
||||
proc testROPar {name val} {
|
||||
config rights Mugger Mugger
|
||||
set value [SICSValue $name]
|
||||
compareValue $value $val
|
||||
catch {$name [expr $val + 1]} msg
|
||||
set value [SICSValue $name]
|
||||
compareValue $value $val
|
||||
config rights Spy Spy
|
||||
return OK
|
||||
}
|
||||
#------------------------------------------------------------------------------
|
||||
proc testDrive {name value priv} {
|
||||
config rights Spy Spy
|
||||
set ans [eval drive $name $value]
|
||||
if {[string first ERROR $ans] < 0} {
|
||||
error "Protection on drivable does not work"
|
||||
}
|
||||
config rights $priv $priv
|
||||
set ans [eval drive $name $value]
|
||||
if { [string first sucessfully $ans] < 0} {
|
||||
error "Driving $name failed: $ans"
|
||||
}
|
||||
set readback [SICSValue $name]
|
||||
compareValue $readback $value
|
||||
config rights Spy Spy
|
||||
return OK
|
||||
}
|
||||
#------------------------------------------------------------------------------
|
||||
proc testDriveInterrupt {name value} {
|
||||
global socke
|
||||
config rights Mugger Mugger
|
||||
run $name $value
|
||||
puts $socke "INT1712 3"
|
||||
flush $socke
|
||||
set ans [eval status]
|
||||
config rights Spy Spy
|
||||
if {[string first Interrupt $ans] < 0} {
|
||||
puts stdout $ans
|
||||
error "Failed to abort driving"
|
||||
}
|
||||
if { [string first Eager $ans] < 0} {
|
||||
error "Failed to finish driving"
|
||||
}
|
||||
return OK
|
||||
}
|
||||
Reference in New Issue
Block a user