112 lines
3.3 KiB
Python
112 lines
3.3 KiB
Python
"""Unit conversion: linear mm and rotary degrees.
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Bench notes::
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# 轴0(X)/轴1(Y) 实测: UNITS=10 时 1000用户单位 = 2mm → 每毫米 5000 脉冲
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# 当量5 → 1000单位=1mm，不是100单位=1mm
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# 轴2: 12500 用户单位 = 90°
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# 轴3: 29500 用户单位 = 90°
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These are the assertions that keep those notes honest.
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"""
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from __future__ import annotations
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import math
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import pytest
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from orisys_autocal.motion.units import (
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PULSES_PER_MM,
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ROTARY_UNITS_PER_90_DEG,
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deg_to_user_units,
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mm_to_user_units,
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safe_float,
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units_per_degree,
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user_units_to_deg,
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user_units_to_mm,
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)
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@pytest.mark.parametrize(
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("units", "user_units", "expected_mm"),
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[
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(10.0, 1000.0, 2.0), # the measured case from the vendor comment
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(5.0, 1000.0, 1.0), # ...and the second one
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(10.0, 0.0, 0.0),
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(10.0, 5000.0, 10.0),
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(10.0, -1000.0, -2.0), # negative travel must stay negative
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],
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)
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def test_conversion_matches_the_bench_measurement(units, user_units, expected_mm):
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assert user_units_to_mm(user_units, units=units) == pytest.approx(expected_mm)
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def test_default_units_is_the_platform_value():
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assert user_units_to_mm(1000.0) == pytest.approx(2.0)
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assert PULSES_PER_MM == 5000.0
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def test_conversion_round_trips():
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for units in (1.0, 5.0, 10.0, 37.5):
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millimetres = user_units_to_mm(1234.5, units=units)
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assert mm_to_user_units(millimetres, units=units) == pytest.approx(1234.5)
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def test_a_zero_or_negative_scale_is_not_a_number():
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"""A bad constant must be visibly unusable, not a plausible number."""
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assert math.isnan(user_units_to_mm(1000.0, pulses_per_mm=0.0))
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assert math.isnan(user_units_to_mm(1000.0, pulses_per_mm=-1.0))
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assert math.isnan(mm_to_user_units(1.0, units=0.0))
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@pytest.mark.parametrize(
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"text",
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["", " ", "abc", "1,5", None, "nan", "inf", "-inf"],
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)
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def test_unusable_entries_fall_back(text):
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assert safe_float(text, 42.0) == 42.0
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@pytest.mark.parametrize("text", ["0", "0.0", " 0 "])
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def test_zero_falls_back_because_it_would_divide(text):
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"""A pulse equivalent of zero must never reach the controller."""
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assert safe_float(text, 7.0) == 7.0
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@pytest.mark.parametrize(("text", "expected"), [("5", 5.0), (" 2.5 ", 2.5), ("-3", -3.0)])
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def test_usable_entries_are_parsed(text, expected):
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assert safe_float(text, 42.0) == expected
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def test_rotary_bench_constants():
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assert ROTARY_UNITS_PER_90_DEG[2] == 12500.0
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assert ROTARY_UNITS_PER_90_DEG[3] == 29500.0
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@pytest.mark.parametrize(
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("axis", "user_units", "expected_deg"),
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[
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(2, 12500.0, 90.0),
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(2, 25000.0, 180.0),
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(3, 29500.0, 90.0),
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(3, 14750.0, 45.0),
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(2, 0.0, 0.0),
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(3, -29500.0, -90.0),
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],
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)
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def test_rotary_conversion_matches_the_bench(axis, user_units, expected_deg):
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assert user_units_to_deg(axis, user_units) == pytest.approx(expected_deg)
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assert deg_to_user_units(axis, expected_deg) == pytest.approx(user_units)
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def test_units_per_degree_is_units_over_ninety():
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assert units_per_degree(2) == pytest.approx(12500.0 / 90.0)
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assert units_per_degree(3) == pytest.approx(29500.0 / 90.0)
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def test_uncalibrated_rotary_axis_is_not_a_number():
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assert math.isnan(units_per_degree(0))
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assert math.isnan(user_units_to_deg(1, 1000.0))
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assert math.isnan(deg_to_user_units(4, 90.0))
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