45 lines
1.6 KiB
Python
45 lines
1.6 KiB
Python
from line_laser_modbus.constants import (
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ADDR_CALIBRATION_RESERVED_END,
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ADDR_CALIBRATION_RESERVED_START,
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ADDR_CORRECTION,
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ADDR_CURRENT_POSE,
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ADDR_EXTENSION_RESERVED_1_END,
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ADDR_EXTENSION_RESERVED_1_START,
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ADDR_EXTENSION_RESERVED_2_END,
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ADDR_EXTENSION_RESERVED_2_START,
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ADDR_EXTENSION_RESERVED_3_END,
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ADDR_EXTENSION_RESERVED_3_START,
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ADDR_EXTENSION_RESERVED_4_END,
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ADDR_EXTENSION_RESERVED_4_START,
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ADDR_TARGET_POSE,
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REGISTER_COUNT_CALIBRATION_RESERVED,
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REGISTER_COUNT_EXTENSION_RESERVED,
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REGISTER_COUNT_POSE,
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)
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def test_calibration_reserved_range_matches_protocol() -> None:
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assert ADDR_CALIBRATION_RESERVED_START == 0xD04C
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assert ADDR_CALIBRATION_RESERVED_END == 0xD06B
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assert ADDR_CALIBRATION_RESERVED_START + REGISTER_COUNT_CALIBRATION_RESERVED - 1 == 0xD06B
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def test_pose_ranges_match_protocol() -> None:
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assert ADDR_CURRENT_POSE == 0xD00A
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assert ADDR_TARGET_POSE == 0xD020
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assert ADDR_CORRECTION == 0xD036
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assert REGISTER_COUNT_POSE == 14
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def test_extension_reserved_ranges_match_protocol() -> None:
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ranges = [
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(ADDR_EXTENSION_RESERVED_1_START, ADDR_EXTENSION_RESERVED_1_END, 0xD002, 0xD009),
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(ADDR_EXTENSION_RESERVED_2_START, ADDR_EXTENSION_RESERVED_2_END, 0xD018, 0xD01F),
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(ADDR_EXTENSION_RESERVED_3_START, ADDR_EXTENSION_RESERVED_3_END, 0xD02E, 0xD035),
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(ADDR_EXTENSION_RESERVED_4_START, ADDR_EXTENSION_RESERVED_4_END, 0xD044, 0xD04B),
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]
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for start, end, expected_start, expected_end in ranges:
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assert start == expected_start
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assert end == expected_end
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assert end - start + 1 == REGISTER_COUNT_EXTENSION_RESERVED
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