robot_movement¶

Source code: robot_movement.py

Control a robot to move a device for testing specific sensors.

Description¶

This test controls a robot (arm) to move a device along a predefined trajectory, to verify the functionalities of the sensors on the device.

Test Procedure¶

Robot is moved to the unloaded position.
Ask the operator to mount the device.
Robot is moved to the loaded position.
Robot is moved by the given trajectory.
Robot is moved to the unloaded position.
Verify the data from sensors on the device.
Ask the operator to unmount the device.

Dependency¶

Depend on the class specified by the arguments robot_fixture and algorithm to move the robot, get result from the device, and verify the result.

Examples¶

To use robot.foo to control the robot fixture, and use algo.bar to calculate and verify the sensor data, add this in test list:

{
  "pytest_name": "robot_movement",
  "args": {
    "positions": [0, 1, 2, 3, 4, 5],
    "robot_fixture": "robot.foo",
    "algorithm": "algo.bar"
  }
}

One can also pass parameters to the classes specified in robot_fixture and algorithm:

{
  "pytest_name": "robot_movement",
  "args": {
    "positions": [0, 1, 2, 3, 4, 5],
    "robot_fixture": "robot.foo",
    "robot_fixture_args": {
      "speed": 30
    },
    "algorithm_args": {
      "trajectory_id": "bar1"
    },
    "algorithm": "algo.bar"
  }
}

Test Arguments¶

Name	Type	Description
robot_fixture	str	The class name of the robot fixture under `cros.factory.test.fixture`, should be a subclass of `cros.factory.test.fixture.imu.robot.Robot`.E.g. robot.dummy_robot.DummyRobot
robot_fixture_args	dict	(optional; default: `{}`) A dict of the args used for the constructor of the robot_fixture.
algorithm	str	The class name of the computing method under `cros.factory.test.fixture`, should be a subclass of `cros.factory.test.fixture.robot.algorithm.BaseAlgorithm`.E.g. robot.dummy_algorithm.DummyAlgorithm
algorithm_args	dict	(optional; default: `{}`) A dict of the args used for the constructor of the algorithm.
period_between_movement	float, int	(optional; default: `0.5`) The pause period between two movements.
period_after_movement	float, int	(optional; default: `0.0`) The pause period after the final movements.
positions	list	A list of position index for the robot to move.
upload_to_server	bool	(optional; default: `False`) If true, upload log to factory server after running.