Fixed unit ttests for -11-ev3dev kernel

- Removed motor_unittest.py - it has been split into smaller
  pieces
- Replaced stop_command with stop_action
- Created unit test for the run-direct command

Author: rhempel

tests/motor/motor_info.py

@@ -1,7 +1,6 @@
 motor_info = {
      'lego-ev3-l-motor': {'motion_type': 'rotation',
                           'count_per_rot': 360,
-                          'encoder_polarity': 'normal',
                           'max_speed': 1050,
                           'position_p': 80000,
                           'position_i': 0,
@@ -12,7 +11,6 @@
                           'speed_d': 0 },
      'lego-ev3-m-motor': {'motion_type': 'rotation',
                           'count_per_rot': 360,
-                          'encoder_polarity': 'normal',
                           'max_speed': 1560,
                           'position_p': 160000,
                           'position_i': 0,
@@ -23,7 +21,6 @@
                           'speed_d': 0 },
      'lego-nxt-motor':   {'motion_type': 'rotation',
                           'count_per_rot': 360,
-                          'encoder_polarity': 'normal',
                           'max_speed': 1020,
                           'position_p': 80000,
                           'position_i': 0,
@@ -35,7 +32,6 @@
      'fi-l12-ev3-50':    {'motion_type': 'linear',
                           'count_per_m': 2000,
                           'full_travel_count': 100,
-                          'encoder_polarity': 'inversed',
                           'max_speed': 24,
                           'position_p': 40000,
                           'position_i': 0,
@@ -48,7 +44,6 @@
      'fi-l12-ev3-100':   {'motion_type': 'linear',
                           'count_per_m': 2000,
                           'full_travel_count': 200,
-                          'encoder_polarity': 'inversed',
                           'max_speed': 24,
                           'position_p': 40000,
                           'position_i': 0,
@@ -58,4 +53,4 @@
                           'speed_i': 60,
                           'speed_d': 0,
                          }
-}
+}

tests/motor/motor_motion_unittest.py

@@ -25,8 +25,8 @@ def tearDownClass(cls):
     def initialize_motor(self):
         self._param['motor'].command = 'reset'
 
-    def run_to_positions(self,stop_command,command,speed_sp,positions,tolerance):
-        self._param['motor'].stop_command = stop_command
+    def run_to_positions(self,stop_action,command,speed_sp,positions,tolerance):
+        self._param['motor'].stop_action = stop_action
         self._param['motor'].speed_sp = speed_sp
 
         target = self._param['motor'].position

tests/motor/motor_param_unittest.py

@@ -6,6 +6,7 @@
 
 import unittest
 import time
+import sys
 import ev3dev.ev3 as ev3
 
 import parameterizedtestcase as ptc
@@ -491,6 +492,16 @@ def test_time_sp_after_reset(self):
         self._param['motor'].command = 'reset'
         self.assertEqual(self._param['motor'].speed_d, 0)
 
+class TestTachoMotorDummy(ptc.ParameterizedTestCase):
+
+    def test_dummy_no_message(self):
+        try:
+            self.assertEqual(self._param['motor'].speed_d, 100, "Some clever error message {0}".format(self._param['motor'].speed_d))
+        except:
+           # Remove traceback info as we don't need it
+           unittest_exception = sys.exc_info()
+           raise unittest_exception[0], unittest_exception[1], unittest_exception[2].tb_next
+
 # Add all the tests to the suite - some tests apply only to certain drivers!
 
 def AddTachoMotorParameterTestsToSuite( suite, driver_name, params ):
@@ -521,6 +532,7 @@ def AddTachoMotorParameterTestsToSuite( suite, driver_name, params ):
     suite.addTest(ptc.ParameterizedTestCase.parameterize(TestTachoMotorStopActionValue, param=params))
     suite.addTest(ptc.ParameterizedTestCase.parameterize(TestTachoMotorStopActionsValue, param=params))
     suite.addTest(ptc.ParameterizedTestCase.parameterize(TestTachoMotorTimeSpValue, param=params))
+    suite.addTest(ptc.ParameterizedTestCase.parameterize(TestTachoMotorDummy, param=params))
 
 if __name__ == '__main__':
      for k in motor_info:

tests/motor/motor_run_direct_unittest.py

@@ -0,0 +1,54 @@
+#!/usr/bin/env python
+
+# Based on the parameterized  test case technique described here:
+#
+# http://eli.thegreenplace.net/2011/08/02/python-unit-testing-parametrized-test-cases
+
+import unittest
+import time
+import ev3dev.ev3 as ev3
+
+import parameterizedtestcase as ptc
+
+from motor_info import motor_info
+
+class TestMotorRunDirect(ptc.ParameterizedTestCase):
+
+    @classmethod
+    def setUpClass(cls):
+        pass
+
+    @classmethod
+    def tearDownClass(cls):
+        pass
+
+    def initialize_motor(self):
+        self._param['motor'].command = 'reset'
+
+    def run_direct_duty_cycles(self,stop_action,duty_cycles):
+        self._param['motor'].stop_action = stop_action
+        self._param['motor'].command = 'run-direct'
+
+        for i in duty_cycles:
+            self._param['motor'].duty_cycle_sp = i 
+            time.sleep(0.5)
+
+        self._param['motor'].command = 'stop'
+
+    def test_stop_coast_duty_cycles(self):
+        self.initialize_motor()
+        self.run_direct_duty_cycles('coast',[0,20,40,60,80,100,66,33,0,-20,-40,-60,-80,-100,-66,-33,0])
+
+# Add all the tests to the suite - some tests apply only to certain drivers!
+
+def AddTachoMotorRunDirectTestsToSuite( suite, driver_name, params ):
+    suite.addTest(ptc.ParameterizedTestCase.parameterize(TestMotorRunDirect, param=params))
+
+if __name__ == '__main__':
+    params = { 'motor': ev3.Motor('outA'), 'port': 'outA', 'driver_name': 'lego-ev3-l-motor' }
+
+    suite = unittest.TestSuite()
+
+    AddTachoMotorRunDirectTestsToSuite( suite, 'lego-ev3-l-motor', params )
+
+    unittest.TextTestRunner(verbosity=1,buffer=True ).run(suite)