Add checksum tests, fix sync chars, add tests for actuator packets

SubjuGator/drivers/sub_actuator_board/sub_actuator_board/packets.py

@@ -9,8 +9,8 @@ class ActuatorPacketId(IntEnum):
     Enumerator representing each controllable actuator.
     """
 
-    #: The dropper actuator.
-    DROPPER = 0
+    #: The gripper actuator.
+    GRIPPER = 0
     #: The torpedo launcher actuator.
     TORPEDO_LAUNCHER = 1
     #: The ball drop actuator. Only one actuator is used for both balls.
@@ -60,3 +60,24 @@ class ActuatorPollResponsePacket(
     """
 
     values: int
+
+    @property
+    def gripper_opened(self) -> bool:
+        """
+        Whether the gripper is opened.
+        """
+        return bool(self.values & (0b0001 << ActuatorPacketId.GRIPPER))
+
+    @property
+    def torpedo_launcher_opened(self) -> bool:
+        """
+        Whether the torpedo launcher is opened.
+        """
+        return bool(self.values & (0b0001 << ActuatorPacketId.TORPEDO_LAUNCHER))
+
+    @property
+    def ball_drop_opened(self) -> bool:
+        """
+        Whether the ball drop is opened.
+        """
+        return bool(self.values & (0b0001 << ActuatorPacketId.BALL_DROP))

SubjuGator/drivers/sub_actuator_board/test/simulated_board_test.py

@@ -2,6 +2,12 @@
 import unittest
 
 import rospy
+from sub_actuator_board.packets import (
+    ActuatorPacketId,
+    ActuatorPollRequestPacket,
+    ActuatorPollResponsePacket,
+    ActuatorSetPacket,
+)
 from sub_actuator_board.srv import GetValve, GetValveRequest, SetValve, SetValveRequest
 
 
@@ -35,6 +41,23 @@ def test_correct_response(self):
         self.assertFalse(self.get_srv(GetValveRequest(2)).opened)
         self.assertFalse(self.get_srv(GetValveRequest(0)).opened)
 
+    def test_packet(self):
+        """
+        Test that the bytes representation of all packets is correct.
+        """
+        # ActuatorPollRequestPacket
+        packet = ActuatorPollRequestPacket()
+        self.assertEqual(bytes(packet), b"7\x01\x03\x01\x00\x00\x04\x0f")
+        # ActuatorPollResponsePacket
+        packet = ActuatorPollResponsePacket(0b00111)
+        self.assertEqual(packet.ball_drop_opened, True)
+        self.assertEqual(packet.gripper_opened, True)
+        self.assertEqual(packet.torpedo_launcher_opened, True)
+        self.assertEqual(bytes(packet), b"7\x01\x03\x02\x01\x00\x07\r!")
+        # ActuatorSetPacket
+        packet = ActuatorSetPacket(ActuatorPacketId.TORPEDO_LAUNCHER, True)
+        self.assertEqual(bytes(packet), b"7\x01\x03\x00\x02\x00\x01\x01\x07\x1d")
+
 
 if __name__ == "__main__":
     rospy.init_node("simulated_board_test", anonymous=True)

mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/packet.py

@@ -6,8 +6,8 @@
 from functools import lru_cache
 from typing import ClassVar, get_type_hints
 
-SYNC_CHAR_1 = ord("3")
-SYNC_CHAR_2 = ord("7")
+SYNC_CHAR_1 = 0x37
+SYNC_CHAR_2 = 0x01
 
 _packet_registry: dict[int, dict[int, type[Packet]]] = {}
 

mil_common/drivers/mil_usb_to_can/test/test_packets_sub9.py

@@ -16,7 +16,7 @@ class TestPacket(Packet, msg_id=0x47, subclass_id=0x44, payload_format="?Hd"):
 
 class BasicApplicationPacketTest(unittest.IsolatedAsyncioTestCase):
     """
-    Tests basic application packt functionality.
+    Tests basic application packet functionality.
     """
 
     def test_simple_packet(self):
@@ -52,6 +52,14 @@ def test_comparisons(self):
         with self.assertRaises(TypeError):
             packet > packet_two
 
+    def test_checksum(self):
+        self.assertEqual(Packet._calculate_checksum(b"abcde"), 0xF0C8)
+        self.assertEqual(Packet._calculate_checksum(b"abcdefgh"), 0x2706)
+        self.assertEqual(
+            Packet._calculate_checksum(b"abcdeabcdeabcdeabcdeabcde"),
+            0xBAF4,
+        )
+
 
 if __name__ == "__main__":
     packet = TestPacket(False, 42, 3.14)