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| from tests.mechanism_setup import mechanism | ||
| # from tests.mechanism_setup import mechanism |
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| import pytest | ||
| from toolkit.motors.rev_motors import SparkMax | ||
| from phoenix6 import TalonFX, ControlMode | ||
| from toolkit.subsystem import Subsystem as Subsystem_C | ||
| # import pytest | ||
| # from toolkit.motors.rev_motors import SparkMax | ||
| # from phoenix6 import TalonFX, ControlMode | ||
| # from toolkit.subsystem import Subsystem as Subsystem_C | ||
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| # to test a subsystem, you need to create a mechanism | ||
| # # to test a subsystem, you need to create a mechanism | ||
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| # this will override the subsystem's motors and devices with mock versions of them | ||
| # # this will override the subsystem's motors and devices with mock versions of them | ||
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| # this will allow you to test the subsystem without having to worry about the motors and devices, and streamline the process | ||
| # # this will allow you to test the subsystem without having to worry about the motors and devices, and streamline the process | ||
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| # if you need to add more motors or devices, you can create a child class of the device and override the methods you need to test | ||
| # # if you need to add more motors or devices, you can create a child class of the device and override the methods you need to test | ||
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| # examples of this are the MockSparkMotor and MockTalonFX classes below | ||
| # # examples of this are the MockSparkMotor and MockTalonFX classes below | ||
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| # you can also remove motors and devices by using the remove_parent_variables method in the Mechanism_C class | ||
| # # you can also remove motors and devices by using the remove_parent_variables method in the Mechanism_C class | ||
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| def mechanism(selected_subsystem: Subsystem_C): | ||
| # def mechanism(selected_subsystem: Subsystem_C): | ||
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| class MockSparkMotor(SparkMax): | ||
| def __init__(self, motor: SparkMax): | ||
| super().__init__(motor._can_id, motor._inverted, motor._brushless, motor._config) | ||
| self._output = 0 | ||
| self._velocity = 0 | ||
| self._position = 0 | ||
| # class MockSparkMotor(SparkMax): | ||
| # def __init__(self, motor: SparkMax): | ||
| # super().__init__(motor._can_id, motor._inverted, motor._brushless, motor._config) | ||
| # self._output = 0 | ||
| # self._velocity = 0 | ||
| # self._position = 0 | ||
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| def set_target_velocity(self, vel): | ||
| self._velocity = vel | ||
| # def set_target_velocity(self, vel): | ||
| # self._velocity = vel | ||
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| def get_sensor_velocity(self): | ||
| return self._velocity | ||
| # def get_sensor_velocity(self): | ||
| # return self._velocity | ||
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| def get_target_velocity(self): | ||
| return self._velocity | ||
| # def get_target_velocity(self): | ||
| # return self._velocity | ||
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| def set_target_position(self, target): | ||
| self._position = target | ||
| # def set_target_position(self, target): | ||
| # self._position = target | ||
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| def get_sensor_position(self): | ||
| return self._position | ||
| # def get_sensor_position(self): | ||
| # return self._position | ||
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| class MockTalonFX(TalonFX): | ||
| def __init__(self, talon: TalonFX): | ||
| super().__init__(talon.getDeviceID()) | ||
| self._motor_output_percent = 0 | ||
| self._selected_sensor_velocity = 0 | ||
| self._selected_sensor_position = 0 | ||
| # class MockTalonFX(TalonFX): | ||
| # def __init__(self, talon: TalonFX): | ||
| # super().__init__(talon.getDeviceID()) | ||
| # self._motor_output_percent = 0 | ||
| # self._selected_sensor_velocity = 0 | ||
| # self._selected_sensor_position = 0 | ||
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| def getMotorOutputPercent(self): | ||
| return self._motor_output_percent | ||
| # def getMotorOutputPercent(self): | ||
| # return self._motor_output_percent | ||
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| def set(self, mode, value): | ||
| if mode == ControlMode.PercentOutput: | ||
| self._motor_output_percent = value | ||
| elif mode == ControlMode.Velocity: | ||
| self._selected_sensor_velocity = value | ||
| elif mode == ControlMode.Position: | ||
| self._selected_sensor_position = value | ||
| # def set(self, mode, value): | ||
| # if mode == ControlMode.PercentOutput: | ||
| # self._motor_output_percent = value | ||
| # elif mode == ControlMode.Velocity: | ||
| # self._selected_sensor_velocity = value | ||
| # elif mode == ControlMode.Position: | ||
| # self._selected_sensor_position = value | ||
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| def getSelectedSensorVelocity(self): | ||
| return self._selected_sensor_velocity | ||
| # def getSelectedSensorVelocity(self): | ||
| # return self._selected_sensor_velocity | ||
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| def getSelectedSensorPosition(self, pidIdx: int = 0) -> float: | ||
| return self._selected_sensor_position | ||
| # def getSelectedSensorPosition(self, pidIdx: int = 0) -> float: | ||
| # return self._selected_sensor_position | ||
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| # add any extra motors or devices below | ||
| # # add any extra motors or devices below | ||
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| # this is the class that will be returned | ||
| # this creates a child class of the selected subsystem | ||
| # Its identical to the parent, except any methods or variables that the class overrides | ||
| class Mechanism_C(selected_subsystem): | ||
| # # this is the class that will be returned | ||
| # # this creates a child class of the selected subsystem | ||
| # # Its identical to the parent, except any methods or variables that the class overrides | ||
| # class Mechanism_C(selected_subsystem): | ||
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| def __init__(self): | ||
| super().__init__() | ||
| # def __init__(self): | ||
| # super().__init__() | ||
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| def init(self): | ||
| # def init(self): | ||
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| self.replace_parent_variables(SparkMax, MockSparkMotor) | ||
| self.replace_parent_variables(TalonFX, MockTalonFX) | ||
| # replace any motors or devices here | ||
| # self.replace_parent_variables(SparkMax, MockSparkMotor) | ||
| # self.replace_parent_variables(TalonFX, MockTalonFX) | ||
| # # replace any motors or devices here | ||
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| super().init() | ||
| # super().init() | ||
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| def get_parent_variables_by_type(self, type): | ||
| ''' | ||
| Returns a list of all the variable names of the parent class that are of the specified type | ||
| ''' | ||
| return [attr for attr in dir(selected_subsystem) if not callable(getattr(selected_subsystem, attr)) and not attr.startswith("__") and isinstance(getattr(selected_subsystem, attr), type)] | ||
| # def get_parent_variables_by_type(self, type): | ||
| # ''' | ||
| # Returns a list of all the variable names of the parent class that are of the specified type | ||
| # ''' | ||
| # return [attr for attr in dir(selected_subsystem) if not callable(getattr(selected_subsystem, attr)) and not attr.startswith("__") and isinstance(getattr(selected_subsystem, attr), type)] | ||
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| def replace_parent_variables(self, type, new_type): | ||
| ''' | ||
| Replaces all the variables of the parent class that are of the specified type with the new type | ||
| ''' | ||
| for attr in self.get_parent_variables_by_type(type): | ||
| super().__setattr__(attr, new_type(getattr(selected_subsystem, attr))) | ||
| # def replace_parent_variables(self, type, new_type): | ||
| # ''' | ||
| # Replaces all the variables of the parent class that are of the specified type with the new type | ||
| # ''' | ||
| # for attr in self.get_parent_variables_by_type(type): | ||
| # super().__setattr__(attr, new_type(getattr(selected_subsystem, attr))) | ||
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| def set_parent_variables(self, type, value): | ||
| ''' | ||
| Sets all the variables of the parent class that are of the specified type to the specified value | ||
| # def set_parent_variables(self, type, value): | ||
| # ''' | ||
| # Sets all the variables of the parent class that are of the specified type to the specified value | ||
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| NOTE: This is setting the value to a primitive type, so it will not work for objects | ||
| ''' | ||
| for attr in self.get_parent_variables_by_type(type): | ||
| super().__setattr__(attr, value) | ||
| # NOTE: This is setting the value to a primitive type, so it will not work for objects | ||
| # ''' | ||
| # for attr in self.get_parent_variables_by_type(type): | ||
| # super().__setattr__(attr, value) | ||
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| def remove_parent_variables(self, type): | ||
| ''' | ||
| Removes all the variables of the parent class that are of the specified type | ||
| ''' | ||
| for attr in self.get_parent_variables_by_type(type): | ||
| delattr(self, attr) | ||
| # def remove_parent_variables(self, type): | ||
| # ''' | ||
| # Removes all the variables of the parent class that are of the specified type | ||
| # ''' | ||
| # for attr in self.get_parent_variables_by_type(type): | ||
| # delattr(self, attr) | ||
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| def deconstruct(self): | ||
| self.remove_parent_variables(SparkMax) | ||
| self.remove_parent_variables(TalonFX) | ||
| # remove any motors or devices here | ||
| # def deconstruct(self): | ||
| # self.remove_parent_variables(SparkMax) | ||
| # self.remove_parent_variables(TalonFX) | ||
| # # remove any motors or devices here | ||
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| return Mechanism_C() | ||
| # return Mechanism_C() | ||
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