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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,75 @@ | ||
| import pytest | ||
| from sim._tsdz2 import ffi, lib as ebike # module generated from c-code | ||
| import numpy as np | ||
| from hypothesis import given, assume, strategies as st | ||
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| @pytest.mark.parametrize( | ||
| "x, in_min, in_max, out_min, out_max, expected", [ | ||
| ( 4, 0, 16, 16, 0, 12), | ||
| ( 1, 0, 2, 3, 0, 1), | ||
| ( 1, 0, 3, 0, 2, 1), | ||
| ]) | ||
| def test_maps_simple(x, in_min, in_max, out_min, out_max, expected): | ||
| map_ui8_result = ebike.map_ui8(x, in_min, in_max, out_min, out_max) | ||
| map_ui16_result = ebike.map_ui16(x, in_min, in_max, out_min, out_max) | ||
| assert map_ui8_result == pytest.approx(expected, abs=1), f'Expected map_ui8_result {expected}, got {map_ui8_result}' | ||
| assert map_ui16_result == expected, f'Expected map_ui16_result {expected}, got {map_ui16_result}' | ||
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| # Parameterized test function with different ticks values | ||
| @pytest.mark.parametrize("x", range(20, 45)) | ||
| def test_compare_ui8_ui16_map_input_smaller_than_output(x): | ||
| in_min = 23 | ||
| in_max = 43 | ||
| out_min = 5 | ||
| out_max = 250 | ||
| map_ui8_result = ebike.map_ui8(x, in_min, in_max, out_min, out_max) | ||
| map_ui16_result = ebike.map_ui16(x, in_min, in_max, out_min, out_max) | ||
| # ! map_ui8 has lower precision so allow for an error of 1 | ||
| assert map_ui16_result == pytest.approx(map_ui8_result, abs=1), f'Expected map_ui8_result {map_ui8_result} == map_ui16_result {map_ui16_result}' | ||
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| @pytest.mark.parametrize("x", range(20, 90)) | ||
| def test_compare_ui8_ui16_map_input_greater_than_output(x): | ||
| in_min = 23 | ||
| in_max = 87 | ||
| out_min = 5 | ||
| out_max = 50 | ||
| map_ui8_result = ebike.map_ui8(x, in_min, in_max, out_min, out_max) | ||
| map_ui16_result = ebike.map_ui16(x, in_min, in_max, out_min, out_max) | ||
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| # ! map_ui8 has lower precision so allow for an error of 1 | ||
| assert map_ui16_result == pytest.approx(map_ui8_result, abs=1), f'Expected map_ui8_result {map_ui8_result} == map_ui16_result {map_ui16_result}' | ||
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| # Define the hypothesis test for map_ui8 | ||
| @given( | ||
| x=st.integers(min_value=0, max_value=65535), | ||
| in_min=st.integers(min_value=0, max_value=65535), | ||
| in_max=st.integers(min_value=0, max_value=65535), | ||
| out_min=st.integers(min_value=0, max_value=65535), | ||
| out_max=st.integers(min_value=0, max_value=65535)) | ||
| def test_maps_full_ranges(x, in_min, in_max, out_min, out_max): | ||
| assume(in_min <= in_max) | ||
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| expected = np.interp(x, [in_min, in_max], [out_min, out_max]) | ||
| # !test map_ui8 only for 8 bit ranges | ||
| if max(x, in_min, in_max, out_min, out_max) < 2^8: | ||
| map_ui8_result = ebike.map_ui8(x, in_min, in_max, out_min, out_max) | ||
| # ! map_ui8 lowest precision is 1 | ||
| assert map_ui8_result == pytest.approx(expected, abs=1), \ | ||
| f"map_ui8({x}, {in_min}, {in_max}, {out_min}, {out_max}) returned {map_ui8_result}, expected {expected}" | ||
| else: | ||
| print(f'x={x}, in_min={in_min}, in_max={in_max}, out_min={out_min}, out_max={out_max}') | ||
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| map_ui16_result = ebike.map_ui16(x, in_min, in_max, out_min, out_max) | ||
| # ! map_ui16 lowest precision is 0.5 (thanks to nearest rounding) | ||
| assert map_ui16_result == pytest.approx(expected, abs=.5), \ | ||
| f"map_ui16({x}, {in_min}, {in_max}, {out_min}, {out_max}) returned {map_ui16_result}, expected {expected}" | ||
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| # Run the tests | ||
| if __name__ == '__main__': | ||
| pytest.main() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| import pytest | ||
| from sim._tsdz2 import ffi, lib as ebike # module generated from c-code | ||
| import numpy as np | ||
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| BATTERY_CURRENT_PER_10_BIT_ADC_STEP_X100 = 16 | ||
| mA_to_ADC = 100/BATTERY_CURRENT_PER_10_BIT_ADC_STEP_X100 / 1000 | ||
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| # Set up initial values before each test | ||
| @pytest.fixture(autouse=True) | ||
| def setup_ebike(): | ||
| # Set up initial values before each test | ||
| ebike.m_configuration_variables.ui8_wheel_speed_max = 25 | ||
| ebike.ui8_duty_cycle_target = 255 # set by assistance function | ||
| ebike.ui8_adc_battery_current_target = int(5000 * mA_to_ADC) # 5000mA set by assistance function | ||
| yield | ||
| # Teardown after each test (optional) | ||
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| def apply_speed_limit_float(speed): | ||
| speed_max = ebike.m_configuration_variables.ui8_wheel_speed_max | ||
| speed_lo = speed_max - 2 | ||
| speed_hi = speed_max + 2 | ||
| curr_target = ebike.ui8_adc_battery_current_target | ||
| current_lim = np.interp(speed, [speed_lo, speed_hi], [curr_target, 0]) | ||
| return current_lim | ||
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| # Parameterized test function with different ticks values | ||
| @pytest.mark.parametrize("speed", [0, 22.9, 23, 23.5, 24, 24.5, 25, 25.5, 26, 26.5, 27, 27.1, 30]) | ||
| def test_apply_speed_limit(speed): | ||
| ebike.ui16_wheel_speed_x10 = int(speed * 10) | ||
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| expected = apply_speed_limit_float(speed) # this has to run first | ||
| ebike.apply_speed_limit() | ||
| result = ebike.ui8_adc_battery_current_target | ||
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| assert result ==pytest.approx(expected, rel=1e-1, abs=0.1), f'Expected target {expected/mA_to_ADC}mA, got {result/mA_to_ADC}mA' | ||
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| # Run the tests | ||
| if __name__ == '__main__': | ||
| pytest.main() |