- Started regression test suite for SICS.

- The framework is there and testing motors works now

test/mottest.tcl

@@ -0,0 +1,260 @@
+#------------------------------------------------------------------------------
+# Regression tests fo a motor. It is assumed that the motors name is 
+# brumm and that it has been initialized with the regress motor 
+# driver. Moreover, this has to be loaded after tcltest.tcl, testutil.tcl
+# and sicstcldebug.tcl
+#
+# The regression motor has various errortypes which can be simulated:
+#  0   = none
+#  1   = failed start
+#  2   = position fault
+#  3   = hardware failure
+#  4   = off position, without explicit position fault
+#  5   = failed read
+#  6   = keep running (for testing interupting)
+# Moreover there is a recover flag which causes the motor to recover when it is
+# 1
+# 
+# copyright: see file COPYRIGHT
+#
+# Mark Koennecke, July 2006
+#------------------------------------------------------------------------------
+puts stdout "Testing motor code"
+
+test motorpar-1.0 {Test sll} -body {
+  testPar "brumm softlowerlim" -175 User } -result OK
+
+test motorpar-1.1 {Test slu} -body {
+  testPar "brumm softupperlim" 175 User } -result OK
+
+test motorpar-1.2 {Test ss} -body {
+  testPar "brumm softzero" 5 User } -result OK
+ 
+test motorpar-1.3 {Test interrupt} -body {
+  testPar "brumm interruptmode" 2 Mugger } -result OK
+
+test motorpar-1.4 {Test accesscode} -body {
+  testPar "brumm accesscode" 3 Mugger } -result OK
+ 
+test motorpar-1.5 {Test precision} -body {
+  testPar "brumm precision" .5 Mugger } -result OK
+
+test motorpar-1.6 {Test fail} -body {
+  testPar "brumm failafter" 5 Mugger } -result OK
+
+test motorpar-1.7 {Test retry} -body {
+  testPar "brumm maxretry" 5 Mugger } -result OK
+
+test motorpar-1.8 {Test ignorefault} -body {
+  testPar "brumm ignorefault" 1 Mugger } -result OK
+ 
+test motorpar-1.9 {Test movecount} -body {
+  testPar "brumm movecount" 12 Mugger } -result OK
+
+test motorpar-1.10 {Test hardupper} -body {
+  testROPar "brumm hardupperlim" 180 } -result OK
+
+test motorpar-1.11 {Test hardlower} -body {
+  testROPar "brumm hardlowerlim" -180 } -result OK
+
+brumm recover 0
+brumm errortype 0
+test motor-1.0 {Test Normal Driving} -body {
+	testDrive brumm 10 User } -result OK
+	
+brumm errortype 6
+test motor-1.1 {Test Interrupting} -body {
+	testDriveInterrupt brumm 0 } -result OK
+	
+brumm errortype 1
+config rights User User
+
+test motor-1.2 {Test Start Failure} -body {
+	set ans [drive brumm 20.3]
+	if { [string first "Failed to start motor" $ans] < 0} {
+		error "Failed to trigger motor start failure: $ans"
+	}
+	set ans [status]
+	if { [string first "Eager" $ans] < 0} {
+		error "Motor did not return from start failure"
+	}
+	return OK
+} -result OK	
+
+brumm recover 1
+test motor-1.3 {Test Recover from start problem} -body {
+	set ans [drive brumm 20.3]
+	if { [string first "Failed to start motor" $ans] < 0} {
+		error "Failed to trigger motor start failure"
+	}
+	set ans [status]
+	if { [string first "Eager" $ans] < 0} {
+		error "Motor did not return from start failure"
+	}
+	compareValue [SICSValue brumm] 20.3
+} -result OK
+
+brumm recover 0
+brumm errortype 2
+
+test motor-1.4 {Test Position Failure} -body {
+	set ans [drive brumm -20.3]
+	if { [string first "Position not reached" $ans] < 0} {
+		error "Failed to trigger motor position fault: $ans"
+	}
+	set ans [status]
+	if { [string first "Eager" $ans] < 0} {
+		error "Motor did not return from position failure"
+	}
+	set ans [SICSValue brumm]
+	if {abs($ans - -20.3) < .01} {
+		error "Motor positioned OK inspite of position fault"
+	}
+	return OK
+} -result OK	
+			
+brumm recover 1
+
+test motor-1.6 {Test Position Failure Recover} -body {
+	set ans [drive brumm 20.3]
+	if { [string first "Position not reached" $ans] < 0} {
+		error "Failed to trigger motor position fault: $ans"
+	}
+	if { [string first "restarting" $ans] < 0} {
+		error "Restarting message not received"
+	}
+	set ans [status]
+	if { [string first "Eager" $ans] < 0} {
+		error "Motor did not return from position failure"
+	}
+	compareValue [SICSValue brumm] 20.3
+	return OK
+} -result OK	
+
+brumm errortype 3
+brumm recover 0
+test motor-1.7 {Test Hardware Failure} -body {
+	set ans [drive brumm 20.3]
+	if { [string first "Hardware is mad" $ans] < 0} {
+		error "Failed to trigger motor hardware fault: $ans"
+	}
+	set ans [status]
+	if { [string first "Eager" $ans] < 0} {
+		error "Motor did not return from position failure"
+	}
+	set ans [SICSValue brumm]
+	if {abs($ans - 20.3) < .01} {
+		error "Motor positioned OK inspite of hardware fault"
+	}
+	return OK
+} -result OK	
+			
+brumm recover 1
+
+test motor-1.8 {Test Hardware Failure Recover} -body {
+	set ans [drive brumm 20.3]
+	if { [string first "Hardware is mad" $ans] < 0} {
+		error "Failed to trigger motor hardware fault: $ans"
+	}
+	if { [string first "restarting" $ans] < 0} {
+		error "Restarting message not received"
+	}
+	set ans [status]
+	if { [string first "Eager" $ans] < 0} {
+		error "Motor did not return from hardware failure"
+	}
+	compareValue [SICSValue brumm] 20.3
+	return OK
+} -result OK	
+
+brumm errortype 4
+
+test motor-1.9 {Test Consistent mispositioning} -body {
+	set ans [drive brumm -20.3]
+	if { [string first "off position" $ans] < 0} {
+		error "Failed to trigger motor off position"
+	}
+	if { [string first "restarting" $ans] < 0} {
+		error "Restarting message not received"
+	}
+	if { [string first "aborting" $ans] < 0} {
+		error "Aborting message not received"
+	}
+	set ans [status]
+	if { [string first "Eager" $ans] < 0} {
+		error "Motor did not return after consistent position problem"
+	}
+	set ans [SICSValue brumm]
+	if {abs($ans - -20.3) < .01} {
+		error "Motor positioned OK inspite of mispositioning"
+	}
+	return OK
+} -result OK	
+
+brumm errortype 0 
+drive brumm 27.
+			
+brumm errortype 5
+brumm recover 0
+			
+test motor-1.10 {Failed read} -body {
+	set ans [brumm]
+	if { [string first "Failed to read" $ans] < 0} {
+		error "Failed to trigger motor failed read"
+	}
+	if { [string first "Error obtaining position" $ans] < 0} {
+		error "Failed to abort reading"
+	}
+	if { [string first "cannot fix" $ans] < 0} {
+		error "Missing cannot fix message"
+	}
+	set ans [status]
+	if { [string first "Eager" $ans] < 0} {
+		error "Motor did not return after failed read"
+	}
+	return OK
+} -result OK	
+brumm  recover 1
+
+test motor-1.11 {Failed read recover} -body {
+	set ans [brumm]
+	if { [string first "Failed to read" $ans] < 0} {
+		error "Failed to trigger motor failed read"
+	}
+	if { [string first "brumm =" $ans] < 0} {
+		error "Motor did not return value after fixing failed read"
+	}
+	set ans [status]
+	if { [string first "Eager" $ans] < 0} {
+		error "Motor did not return after failed read"
+	}
+	return OK
+} -result OK	
+
+brumm errortype 0
+drive brumm 27.
+brumm recover 0
+brumm errortype 3
+
+test motor-1.12 {Motor Alarm} -body {
+	drive brumm -27
+	drive brumm -27
+	drive brumm -27
+	drive brumm -27
+	set ans [drive brumm -27]
+	if { [string first "MOTOR ALARM" $ans] < 0} {
+		error "Motor did not stop with Alarm"
+	}
+	set ans [status]
+	if { [string first "Eager" $ans] < 0} {
+		error "Motor did not return after Alarm"
+	}
+	brumm errortype 0
+	set ans [drive brumm  -27]
+	if { [string first "sucessfully" $ans] < 0} {
+		error "Motor did not recover after Alarm"
+	}
+	return OK
+} -result OK
+		
+