python: reminder to add tests
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@ -526,3 +526,8 @@ class ImagerProcess(multiprocessing.Process):
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# self.streaming_thread.kill()
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logger.success("Imager process shut down! See you!")
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# This is called if this script is launched directly
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if __name__ == "__main__":
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# TODO This should be a test suite for this library
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pass
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@ -90,6 +90,7 @@ def light(state):
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# This is called if this script is launched directly
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if __name__ == "__main__":
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# TODO This should be a test suite for this library
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import RPi.GPIO as GPIO
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import sys
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@ -164,4 +164,10 @@ class MQTT_Client:
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def shutdown(self, topic="", message=""):
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logger.info(f"Shutting down mqtt client {self.name}")
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self.client.loop_stop()
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logger.debug(f"Mqtt client {self.name} shut down")
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logger.debug(f"Mqtt client {self.name} shut down")
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# This is called if this script is launched directly
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if __name__ == "__main__":
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# TODO This should be a test suite for this library
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pass
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@ -361,3 +361,8 @@ class SegmenterProcess(multiprocessing.Process):
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self.segmenter_client.shutdown()
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logger.success("Segmenter process shut down! See you!")
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# This is called if this script is launched directly
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if __name__ == "__main__":
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# TODO This should be a test suite for this library
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pass
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@ -209,15 +209,15 @@ class StepperProcess(multiprocessing.Process):
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# define the names for the 2 exsting steppers
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if self.stepper_type == "adafruit":
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logger.info("Loading the adafruit configuration")
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kit = adafruit_motorkit.MotorKit()
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if reverse:
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self.pump_stepper = stepper(kit.stepper2, adafruit_motor.stepper.DOUBLE)
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self.focus_stepper = stepper(
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kit = adafruit_motorkit.MotorKit()
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if reverse:
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self.pump_stepper = stepper(kit.stepper2, adafruit_motor.stepper.DOUBLE)
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self.focus_stepper = stepper(
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kit.stepper1, adafruit_motor.stepper.MICROSTEP, size=45
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)
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else:
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self.pump_stepper = stepper(kit.stepper1, adafruit_motor.stepper.DOUBLE)
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self.focus_stepper = stepper(
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)
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else:
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self.pump_stepper = stepper(kit.stepper1, adafruit_motor.stepper.DOUBLE)
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self.focus_stepper = stepper(
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kit.stepper2, adafruit_motor.stepper.MICROSTEP, size=45
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)
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elif self.stepper_type == "waveshare":
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@ -237,7 +237,7 @@ class StepperProcess(multiprocessing.Process):
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self.focus_stepper = stepper(
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StepperWaveshare(dir_pin=24, step_pin=18, enable_pin=4),
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size=45,
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)
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)
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else:
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logger.error(
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"The stepper control type is not recognized. Should be 'adafruit' or 'waveshare'"
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@ -398,7 +398,7 @@ class StepperProcess(multiprocessing.Process):
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# However we have a fixed delay of at least 2.5ms per step due to the library
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# Our maximum speed is thus about 400 pulses per second or 0.5mm/sec of stage speed
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if self.stepper_type == "adafruit":
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delay = max((1 / steps_per_second) - 0.0025, 0)
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delay = max((1 / steps_per_second) - 0.0025, 0)
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else:
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delay = 1 / steps_per_second
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logger.debug(f"The delay between two steps is {delay}s")
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@ -459,7 +459,7 @@ class StepperProcess(multiprocessing.Process):
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# nb_steps = 5200 * 15 = 78000
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# sps = 3mL/min * 5200s/mL = 15600s/min / 60 => 260sps
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if self.stepper_type == "adafruit":
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delay = max((1 / steps_per_second) - 0.0025, 0)
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delay = max((1 / steps_per_second) - 0.0025, 0)
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else:
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delay = 1 / steps_per_second
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logger.debug(f"The delay between two steps is {delay}s")
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@ -523,6 +523,7 @@ class StepperProcess(multiprocessing.Process):
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# This is called if this script is launched directly
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if __name__ == "__main__":
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# TODO This should be a test suite for this library
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# Starts the stepper thread for actuators
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# This needs to be in a threading or multiprocessing wrapper
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stepper_thread = StepperProcess()
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