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pigpio/x_pigpio.py

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#!/usr/bin/env python
#*** WARNING ************************************************
#* *
#* All the tests make extensive use of gpio 4 (pin P1-7). *
#* Ensure that either nothing or just a LED is connected to *
#* gpio 4 before running any of the tests. *
#************************************************************
import time
import struct
import pigpio
GPIO=4
def CHECK(t, st, got, expect, pc, desc):
if got >= (((1E2-pc)*expect)/1E2) and got <= (((1E2+pc)*expect)/1E2):
print("TEST {:2d}.{:<2d} PASS ({}: {:d})".format(t, st, desc, expect))
else:
print("TEST {:2d}.{:<2d} FAILED got {:d} ({}: {:d})".
format(t, st, got, desc, expect))
def t0():
print("Version.")
print("pigpio version {}.".format(pigpio.get_pigpio_version()))
print("Hardware revision {}.".format(pigpio.get_hardware_revision()))
def t1():
print("Mode/PUD/read/write tests.")
pigpio.set_mode(GPIO, pigpio.INPUT)
v = pigpio.get_mode(GPIO)
CHECK(1, 1, v, 0, 0, "set mode, get mode")
pigpio.set_pull_up_down(GPIO, pigpio.PUD_UP)
v = pigpio.read(GPIO)
CHECK(1, 2, v, 1, 0, "set pull up down, read")
pigpio.set_pull_up_down(GPIO, pigpio.PUD_DOWN)
v = pigpio.read(GPIO)
CHECK(1, 3, v, 0, 0, "set pull up down, read")
pigpio.write(GPIO, pigpio.LOW)
v = pigpio.get_mode(GPIO)
CHECK(1, 4, v, 1, 0, "write, get mode")
v = pigpio.read(GPIO)
CHECK(1, 5, v, 0, 0, "read")
pigpio.write(GPIO, pigpio.HIGH)
v = pigpio.read(GPIO)
CHECK(1, 6, v, 1, 0, "write, read")
t2_count=0
def t2cbf(gpio, level, tick):
global t2_count
t2_count += 1
def t2():
global t2_count
print("PWM dutycycle/range/frequency tests.")
pigpio.set_PWM_range(GPIO, 255)
pigpio.set_PWM_frequency(GPIO,0)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(2, 1, f, 10, 0, "set PWM range, set/get PWM frequency")
t2cb = pigpio.callback(GPIO, pigpio.EITHER_EDGE, t2cbf)
pigpio.set_PWM_dutycycle(GPIO, 0)
time.sleep(0.5) # allow old notifications to flush
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 2, f, 0, 0, "set PWM dutycycle, callback")
pigpio.set_PWM_dutycycle(GPIO, 128)
time.sleep(1)
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 3, f, 40, 5, "set PWM dutycycle, callback")
pigpio.set_PWM_frequency(GPIO,100)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(2, 4, f, 100, 0, "set/get PWM frequency")
time.sleep(1)
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 5, f, 400, 1, "callback")
pigpio.set_PWM_frequency(GPIO,1000)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(2, 6, f, 1000, 0, "set/get PWM frequency")
time.sleep(1)
oc = t2_count
time.sleep(2)
f = t2_count - oc
CHECK(2, 7, f, 4000, 1, "callback")
r = pigpio.get_PWM_range(GPIO)
CHECK(2, 8, r, 255, 0, "get PWM range")
rr = pigpio.get_PWM_real_range(GPIO)
CHECK(2, 9, rr, 200, 0, "get PWM real range")
pigpio.set_PWM_range(GPIO, 2000)
r = pigpio.get_PWM_range(GPIO)
CHECK(2, 10, r, 2000, 0, "set/get PWM range")
rr = pigpio.get_PWM_real_range(GPIO)
CHECK(2, 11, rr, 200, 0, "get PWM real range")
pigpio.set_PWM_dutycycle(GPIO, 0)
t3_reset=True
t3_count=0
t3_tick=0
t3_on=0.0
t3_off=0.0
def t3cbf(gpio, level, tick):
global t3_reset, t3_count, t3_tick, t3_on, t3_off
if t3_reset:
t3_count = 0
t3_on = 0.0
t3_off = 0.0
t3_reset = False
else:
td = pigpio.tickDiff(t3_tick, tick)
if level == 0:
t3_on += td
else:
t3_off += td
t3_count += 1
t3_tick = tick
def t3():
global t3_reset, t3_count, t3_on, t3_off
pw=[500.0, 1500.0, 2500.0]
dc=[0.2, 0.4, 0.6, 0.8]
print("PWM/Servo pulse accuracy tests.")
t3cb = pigpio.callback(GPIO, pigpio.EITHER_EDGE, t3cbf)
t = 0
for x in pw:
t += 1
pigpio.set_servo_pulsewidth(GPIO, x)
time.sleep(1)
t3_reset = True
time.sleep(4)
c = t3_count
on = t3_on
off = t3_off
CHECK(3, t, int((1E3*(on+off))/on), int(2E7/x), 1, "set servo pulsewidth")
pigpio.set_servo_pulsewidth(GPIO, 0)
pigpio.set_PWM_frequency(GPIO, 1000)
f = pigpio.get_PWM_frequency(GPIO)
CHECK(3, 4, f, 1000, 0, "set/get PWM frequency")
rr = pigpio.set_PWM_range(GPIO, 100)
CHECK(3, 5, rr, 200, 0, "set PWM range")
t = 5
for x in dc:
t += 1
pigpio.set_PWM_dutycycle(GPIO, x*100)
time.sleep(1)
t3_reset = True
time.sleep(2)
c = t3_count
on = t3_on
off = t3_off
CHECK(3, t, int((1E3*on)/(on+off)), int(1E3*x), 1, "set PWM dutycycle")
pigpio.set_PWM_dutycycle(GPIO, 0)
def t4():
print("Pipe notification tests.")
pigpio.set_PWM_frequency(GPIO, 0)
pigpio.set_PWM_dutycycle(GPIO, 0)
pigpio.set_PWM_range(GPIO, 100)
h = pigpio.notify_open()
e = pigpio.notify_begin(h, (1<<4))
CHECK(4, 1, e, 0, 0, "notify open/begin")
time.sleep(1)
with open("/dev/pigpio"+ str(h), "rb") as f:
pigpio.set_PWM_dutycycle(GPIO, 50)
time.sleep(4)
pigpio.set_PWM_dutycycle(GPIO, 0)
e = pigpio.notify_pause(h)
CHECK(4, 2, e, 0, 0, "notify pause")
e = pigpio.notify_close(h)
CHECK(4, 3, e, 0, 0, "notify close")
n = 0
s = 0
seq_ok = 1
toggle_ok = 1
while True:
chunk = f.read(12)
if len(chunk) == 12:
S, fl, t, v = struct.unpack('HHII', chunk)
if s != S:
seq_ok = 0
L = v & (1<<4)
if n:
if l != L:
toggle_ok = 0
if L:
l = 0
else:
l = (1<<4)
s += 1
n += 1
# print(S, fl, t, hex(v))
else:
break
f.close()
CHECK(4, 4, seq_ok, 1, 0, "sequence numbers ok")
CHECK(4, 5, toggle_ok, 1, 0, "gpio toggled ok")
CHECK(4, 6, n, 80, 10, "number of notifications")
t5_count = 0
def t5cbf(gpio, level, tick):
global t5_count
t5_count += 1
def t5():
global t5_count
BAUD=4800
TEXT="""
Now is the winter of our discontent
Made glorious summer by this sun of York;
And all the clouds that lour'd upon our house
In the deep bosom of the ocean buried.
Now are our brows bound with victorious wreaths;
Our bruised arms hung up for monuments;
Our stern alarums changed to merry meetings,
Our dreadful marches to delightful measures.
Grim-visaged war hath smooth'd his wrinkled front;
And now, instead of mounting barded steeds
To fright the souls of fearful adversaries,
He capers nimbly in a lady's chamber
To the lascivious pleasing of a lute.
"""
print("Waveforms & serial read/write tests.")
t5cb = pigpio.callback(GPIO, pigpio.FALLING_EDGE, t5cbf)
pigpio.set_mode(GPIO, pigpio.OUTPUT)
e = pigpio.wave_clear()
CHECK(5, 1, e, 0, 0, "callback, set mode, wave clear")
wf = []
wf.append(pigpio.pulse(1<<GPIO, 0, 10000))
wf.append(pigpio.pulse(0, 1<<GPIO, 30000))
wf.append(pigpio.pulse(1<<GPIO, 0, 60000))
wf.append(pigpio.pulse(0, 1<<GPIO, 100000))
e = pigpio.wave_add_generic(wf)
CHECK(5, 2, e, 4, 0, "pulse, wave add generic")
e = pigpio.wave_tx_repeat()
CHECK(5, 3, e, 9, 0, "wave tx repeat")
oc = t5_count
time.sleep(5)
c = t5_count - oc
CHECK(5, 4, c, 50, 1, "callback")
e = pigpio.wave_tx_stop()
CHECK(5, 5, e, 0, 0, "wave tx stop")
e = pigpio.serial_read_open(GPIO, BAUD)
CHECK(5, 6, e, 0, 0, "serial read open")
pigpio.wave_clear()
e = pigpio.wave_add_serial(GPIO, BAUD, 5000000, TEXT)
CHECK(5, 7, e, 3405, 0, "wave clear, wave add serial")
e = pigpio.wave_tx_start()
CHECK(5, 8, e, 6811, 0, "wave tx start")
oc = t5_count
time.sleep(3)
c = t5_count - oc
CHECK(5, 9, c, 0, 0, "callback")
oc = t5_count
while pigpio.wave_tx_busy():
time.sleep(0.1)
time.sleep(0.1)
c = t5_count - oc
CHECK(5, 10, c, 1702, 0, "wave tx busy, callback")
c, text = pigpio.serial_read(GPIO)
CHECK(5, 11, TEXT == text, True, 0, "wave tx busy, serial read");
e = pigpio.serial_read_close(GPIO)
CHECK(5, 12, e, 0, 0, "serial read close")
c = pigpio.wave_get_micros()
CHECK(5, 13, c, 6158704, 0, "wave get micros")
CHECK(5, 14, 0, 0, 0, "NOT APPLICABLE")
c = pigpio.wave_get_max_micros()
CHECK(5, 15, c, 1800000000, 0, "wave get max micros")
c = pigpio.wave_get_pulses()
CHECK(5, 16, c, 3405, 0, "wave get pulses")
CHECK(5, 17, 0, 0, 0, "NOT APPLICABLE")
c = pigpio.wave_get_max_pulses()
CHECK(5, 18, c, 12000, 0, "wave get max pulses")
c = pigpio.wave_get_cbs()
CHECK(5, 19, c, 6810, 0, "wave get cbs")
CHECK(5, 20, 0, 0, 0, "NOT APPLICABLE")
c = pigpio.wave_get_max_cbs()
CHECK(5, 21, c, 25016, 0, "wave get max cbs")
e = pigpio.wave_clear()
CHECK(5, 22, e, 0, 0, "wave clear")
e = pigpio.wave_add_generic(wf)
CHECK(5, 23, e, 4, 0, "pulse, wave add generic")
w1 = pigpio.wave_create()
CHECK(5, 24, w1, 0, 0, "wave create")
e = pigpio.wave_send_repeat(w1)
CHECK(5, 25, e, 9, 0, "wave send repeat")
oc = t5_count
time.sleep(5)
c = t5_count - oc
CHECK(5, 26, c, 50, 1, "callback")
e = pigpio.wave_tx_stop()
CHECK(5, 27, e, 0, 0, "wave tx stop")
e = pigpio.wave_add_serial(GPIO, BAUD, 5000000, TEXT)
CHECK(5, 28, e, 3405, 0, "wave add serial")
w2 = pigpio.wave_create()
CHECK(5, 29, w2, 1, 0, "wave create")
e = pigpio.wave_send_once(w2)
CHECK(5, 30, e, 6811, 0, "wave send once")
oc = t5_count
time.sleep(3)
c = t5_count - oc
CHECK(5, 31, c, 0, 0, "callback")
oc = t5_count
while pigpio.wave_tx_busy():
time.sleep(0.1)
time.sleep(0.1)
c = t5_count - oc
CHECK(5, 32, c, 1702, 0, "wave tx busy, callback")
e = pigpio.wave_delete(0)
CHECK(5, 33, e, 0, 0, "wave delete")
t6_count=0
t6_on=0
t6_on_tick=None
def t6cbf(gpio, level, tick):
global t6_count, t6_on, t6_on_tick
if level == 1:
t6_on_tick = tick
t6_count += 1
else:
if t6_on_tick is not None:
t6_on += pigpio.tickDiff(t6_on_tick, tick)
def t6():
global t6_count, t6_on
print("Trigger tests.")
pigpio.write(GPIO, pigpio.LOW)
tp = 0
t6cb = pigpio.callback(GPIO, pigpio.EITHER_EDGE, t6cbf)
for t in range(5):
time.sleep(0.1)
p = 10 + (t*10)
tp += p;
pigpio.gpio_trigger(GPIO, p, 1)
time.sleep(0.5)
CHECK(6, 1, t6_count, 5, 0, "gpio trigger count")
CHECK(6, 2, t6_on, tp, 25, "gpio trigger pulse length")
t7_count=0
def t7cbf(gpio, level, tick):
global t7_count
if level == pigpio.TIMEOUT:
t7_count += 1
def t7():
global t7_count
print("Watchdog tests.")
# type of edge shouldn't matter for watchdogs
t7cb = pigpio.callback(GPIO, pigpio.FALLING_EDGE, t7cbf)
pigpio.set_watchdog(GPIO, 10) # 10 ms, 100 per second
time.sleep(0.5)
oc = t7_count
time.sleep(2)
c = t7_count - oc
CHECK(7, 1, c, 200, 1, "set watchdog on count")
pigpio.set_watchdog(GPIO, 0) # 0 switches watchdog off
time.sleep(0.5)
oc = t7_count
time.sleep(2)
c = t7_count - oc
CHECK(7, 2, c, 0, 1, "set watchdog off count")
def t8():
print("Bank read/write tests.")
pigpio.write(GPIO, 0)
v = pigpio.read_bank_1() & (1<<GPIO)
CHECK(8, 1, v, 0, 0, "read bank 1")
pigpio.write(GPIO, 1)
v = pigpio.read_bank_1() & (1<<GPIO)
CHECK(8, 2, v, (1<<GPIO), 0, "read bank 1")
pigpio.clear_bank_1(1<<GPIO)
v = pigpio.read(GPIO)
CHECK(8, 3, v, 0, 0, "clear bank 1")
pigpio.set_bank_1(1<<GPIO)
v = pigpio.read(GPIO)
CHECK(8, 4, v, 1, 0, "set bank 1")
t = 0
v = (1<<16)
for i in range(100):
if pigpio.read_bank_2() & v:
t += 1
CHECK(8, 5, t, 60, 75, "read bank 2")
v = pigpio.clear_bank_2(0)
CHECK(8, 6, v, 0, 0, "clear bank 2")
pigpio.exceptions = False
v = pigpio.clear_bank_2(0xffffff)
pigpio.exceptions = True
CHECK(8, 7, v, pigpio.PI_SOME_PERMITTED, 0, "clear bank 2")
v = pigpio.set_bank_2(0)
CHECK(8, 8, v, 0, 0, "set bank 2")
pigpio.exceptions = False
v = pigpio.set_bank_2(0xffffff)
pigpio.exceptions = True
CHECK(8, 9, v, pigpio.PI_SOME_PERMITTED, 0, "set bank 2")
def t9():
print("Script store/run/status/stop/delete tests.")
pigpio.write(GPIO, 0) # need known state
# 100 loops per second
# p0 number of loops
# p1 GPIO
script="""
lda p0
sta v0
tag 0
w p1 1
mils 5
w p1 0
mils 5
dcr v0
lda v0
sta p9
jp 0"""
t9cb = pigpio.callback(GPIO)
s = pigpio.store_script(script)
oc = t9cb.tally()
pigpio.run_script(s, [99, GPIO])
time.sleep(2)
c = t9cb.tally() - oc
CHECK(9, 1, c, 100, 0, "store/run script")
oc = t9cb.tally()
pigpio.run_script(s, [200, GPIO])
while True:
e, p = pigpio.script_status(s)
if e != pigpio.PI_SCRIPT_RUNNING:
break
time.sleep(0.5)
c = t9cb.tally() - oc
time.sleep(0.1)
CHECK(9, 2, c, 201, 0, "run script/script status")
oc = t9cb.tally()
pigpio.run_script(s, [2000, GPIO])
while True:
e, p = pigpio.script_status(s)
if e != pigpio.PI_SCRIPT_RUNNING:
break
if p[9] < 1900:
pigpio.stop_script(s)
time.sleep(0.1)
c = t9cb.tally() - oc
time.sleep(0.1)
CHECK(9, 3, c, 110, 10, "run/stop script/script status")
e = pigpio.delete_script(s)
CHECK(9, 4, e, 0, 0, "delete script")
if pigpio.start(''): # must run notification test on localhost
print("Connected to pigpio daemon.")
test = [t0, t1, t2, t3, t4, t5, t6, t7, t8, t9]
for t in test:
t();
pigpio.stop()
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