Adds a test file for the PreciseFlex backend

Author: miikee

pylabrobot/arms/precise_flex/precise_flex_backend_tests.py

@@ -0,0 +1,123 @@
+import unittest
+
+from pylabrobot.arms.precise_flex.precise_flex_backend import PreciseFlexBackend
+import asyncio
+
+
+class PreciseFlexBackendHardwareTests(unittest.IsolatedAsyncioTestCase):
+  """Integration tests for PreciseFlex robot - RUNS ON ACTUAL HARDWARE"""
+
+  async def asyncSetUp(self):
+    """Connect to actual PreciseFlex robot"""
+    self.robot = PreciseFlexBackend("192.168.0.1", 10100)
+    await self.robot.setup()
+
+  async def asyncTearDown(self):
+    """Cleanup robot connection"""
+    if hasattr(self, 'robot'):
+      await self.robot.stop()
+
+  async def test_set_speed(self):
+    await self.robot.set_speed(50)
+    speed = await self.robot.get_speed()
+    self.assertEqual(speed, 50)
+
+  async def test_open_close_gripper(self):
+    await self.robot.close_gripper()
+    closed = await self.robot.is_gripper_closed()
+    self.assertTrue(closed)
+
+    await self.robot.open_gripper()
+    closed = await self.robot.is_gripper_closed()
+    self.assertFalse(closed)
+
+  async def test_home(self):
+    await self.robot.home()
+
+  async def test_move_to_safe(self):
+    await self.robot.move_to_safe()
+
+  async def test_approach_j(self):
+    current_c = await self.robot.get_position_c()
+    # create a position that is very close to current position for each dimension
+    target_c = (
+        current_c[0] + 0.01, current_c[1] + 0.01, current_c[2] + 0.01,
+        current_c[3] + 0.01, current_c[4] + 0.01, current_c[5] + 0.01
+    )
+    await self.robot.approach_c(target_c, 10, current_c[-1])
+
+  async def test_pick_plate_j(self):
+    current_c = await self.robot.get_position_c()
+    # create a position that is very close to current position for each dimension
+    target_c = (
+        current_c[0] + 0.01, current_c[1] + 0.01, current_c[2] + 0.01,
+        current_c[3] + 0.01, current_c[4] + 0.01, current_c[5] + 0.01
+    )
+    await self.robot.pick_plate_c(target_c, 10, current_c[-1])
+
+  async def test_place_plate_j(self):
+    current_c = await self.robot.get_position_c()
+    # create a position that is very close to current position for each dimension
+    target_c = (
+        current_c[0] + 0.01, current_c[1] + 0.01, current_c[2] + 0.01,
+        current_c[3] + 0.01, current_c[4] + 0.01, current_c[5] + 0.01
+    )
+    await self.robot.place_plate_c(target_c, 10, current_c[-1])
+
+  async def test_move_to_j(self):
+    current_c = await self.robot.get_position_c()
+    # create a position that is very close to current position for each dimension
+    target_c = (
+        current_c[0] + 0.01, current_c[1] + 0.01, current_c[2] + 0.01,
+        current_c[3] + 0.01, current_c[4] + 0.01, current_c[5] + 0.01
+    )
+    await self.robot.move_to_c(target_c, current_c[-1])
+
+  async def test_get_position_j(self):
+    """Test getting joint position"""
+    position_j = await self.robot.get_position_j()
+    self.assertIsInstance(position_j, tuple)
+    self.assertEqual(len(position_j), 6)
+
+  async def test_get_position_c(self):
+    """Test getting cartesian position"""
+    position_c = await self.robot.get_position_c()
+    self.assertIsInstance(position_c, tuple)
+    self.assertEqual(len(position_c), 6)
+
+  async def test_move_to_j_joints(self):
+    """Test joint movement"""
+    current_j = await self.robot.get_position_j()
+    # Small joint movements
+    target_j = (
+      current_j[0] + 0.1, current_j[1] + 0.1, current_j[2] + 0.1,
+      current_j[3] + 0.1, current_j[4] + 0.1, current_j[5] + 0.1, current_j[6] + 0.1
+    )
+    await self.robot.move_to_j(target_j)
+
+  async def test_approach_j_joints(self):
+    """Test joint approach movement"""
+    current_j = await self.robot.get_position_j()
+    target_j = (
+      current_j[0] + 0.1, current_j[1] + 0.1, current_j[2] + 0.1,
+      current_j[3] + 0.1, current_j[4] + 0.1, current_j[5] + 0.1, current_j[6] + 0.1
+    )
+    await self.robot.approach_j(target_j, 10)
+
+  async def test_pick_plate_j_joints(self):
+    """Test joint pick plate movement"""
+    current_j = await self.robot.get_position_j()
+    target_j = (
+      current_j[0] + 0.1, current_j[1] + 0.1, current_j[2] + 0.1,
+      current_j[3] + 0.1, current_j[4] + 0.1, current_j[5] + 0.1, current_j[6] + 0.1
+    )
+    await self.robot.pick_plate_j(target_j, 10)
+
+  async def test_place_plate_j_joints(self):
+    """Test joint place plate movement"""
+    current_j = await self.robot.get_position_j()
+    target_j = (
+      current_j[0] + 0.1, current_j[1] + 0.1, current_j[2] + 0.1,
+      current_j[3] + 0.1, current_j[4] + 0.1, current_j[5] + 0.1, current_j[6] + 0.1
+    )
+    await self.robot.place_plate_j(target_j, 10)