Merge pull request #354 from sourcebots/control-loop-optimisation

Remove mode check on analog read

sbot/arduino.py

@@ -44,11 +44,6 @@ class AnalogPins(IntEnum):
     A5 = 19
 
 
-DIGITAL_READ_MODES = {GPIOPinMode.INPUT, GPIOPinMode.INPUT_PULLUP, GPIOPinMode.OUTPUT}
-DIGITAL_WRITE_MODES = {GPIOPinMode.OUTPUT}
-ANALOG_READ_MODES = {GPIOPinMode.INPUT}
-
-
 class Arduino(Board):
     """
     The Arduino board interface.
@@ -319,8 +314,6 @@ def digital_value(self) -> bool:
         :return: The digital value of the pin.
         """
         self._check_if_disabled()
-        if self.mode not in DIGITAL_READ_MODES:
-            raise IOError(f'Digital read is not supported in {self.mode}')
         response = self._serial.query(f'PIN:{self._index}:DIGITAL:GET?')
         return (response == '1')
 
@@ -335,12 +328,14 @@ def digital_value(self, value: bool) -> None:
         :raises IOError: If this pin cannot be controlled.
         """
         self._check_if_disabled()
-        if self.mode not in DIGITAL_WRITE_MODES:
-            raise IOError(f'Digital write is not supported in {self.mode}')
-        if value:
-            self._serial.write(f'PIN:{self._index}:DIGITAL:SET:1')
-        else:
-            self._serial.write(f'PIN:{self._index}:DIGITAL:SET:0')
+        try:
+            if value:
+                self._serial.write(f'PIN:{self._index}:DIGITAL:SET:1')
+            else:
+                self._serial.write(f'PIN:{self._index}:DIGITAL:SET:0')
+        except RuntimeError as e:
+            if 'is not supported in' in str(e):
+                raise IOError(str(e))
 
     @property
     @log_to_debug
@@ -358,11 +353,14 @@ def analog_value(self) -> float:
         ADC_MIN = 0
 
         self._check_if_disabled()
-        if self.mode not in ANALOG_READ_MODES:
-            raise IOError(f'Analog read is not supported in {self.mode}')
         if not self._supports_analog:
             raise IOError('Pin does not support analog read')
-        response = self._serial.query(f'PIN:{self._index}:ANALOG:GET?')
+        try:
+            response = self._serial.query(f'PIN:{self._index}:ANALOG:GET?')
+        except RuntimeError as e:
+            # The firmware returns a NACK if the pin is not in INPUT mode
+            if 'is not supported in' in str(e):
+                raise IOError(str(e))
         # map the response from the ADC range to the voltage range
         return map_to_float(int(response), ADC_MIN, ADC_MAX, 0.0, 5.0)
 

tests/conftest.py

@@ -65,7 +65,7 @@ def query(self, request: str) -> str:
         """
         # Assert that we have not run out of responses
         # and that the request is the next one we expect
-        assert self.request_index < len(self.responses)
+        assert self.request_index < len(self.responses), f"Unexpected request: {request}"
         assert request == self.responses[self.request_index][0]
 
         # Fetch the response and increment the request index

tests/test_arduino.py

@@ -116,11 +116,8 @@ def test_arduino_pins(arduino_serial: MockArduino) -> None:
 
     # Test that we can get the digital value of a pin
     arduino_serial.serial_wrapper._add_responses([
-        ("PIN:2:MODE:GET?", "OUTPUT"),  # mode is read before digital value
         ("PIN:2:DIGITAL:GET?", "1"),
-        ("PIN:10:MODE:GET?", "INPUT_PULLUP"),
         ("PIN:10:DIGITAL:GET?", "0"),
-        ("PIN:14:MODE:GET?", "INPUT"),
         ("PIN:14:DIGITAL:GET?", "1"),
     ])
     assert arduino.pins[2].digital_value is True
@@ -129,32 +126,16 @@ def test_arduino_pins(arduino_serial: MockArduino) -> None:
 
     # Test that we can set the digital value of a pin
     arduino_serial.serial_wrapper._add_responses([
-        ("PIN:2:MODE:GET?", "OUTPUT"),  # mode is read before digital value
         ("PIN:2:DIGITAL:SET:1", "ACK"),
-        ("PIN:2:MODE:GET?", "OUTPUT"),
         ("PIN:2:DIGITAL:SET:0", "ACK"),
-        ("PIN:10:MODE:GET?", "INPUT_PULLUP"),
-        ("PIN:10:MODE:GET?", "INPUT_PULLUP"),
-        ("PIN:14:MODE:GET?", "INPUT"),
-        ("PIN:14:MODE:GET?", "INPUT"),
     ])
     arduino.pins[2].digital_value = True
     arduino.pins[2].digital_value = False
-    with pytest.raises(IOError, match=r"Digital write is not supported.*"):
-        arduino.pins[10].digital_value = False
-    with pytest.raises(IOError, match=r"Digital write is not supported.*"):
-        arduino.pins[AnalogPins.A0].digital_value = True
 
     # Test that we can get the analog value of a pin
     arduino_serial.serial_wrapper._add_responses([
-        ("PIN:2:MODE:GET?", "OUTPUT"),  # mode is read before analog value
-        ("PIN:2:MODE:GET?", "OUTPUT"),
-        ("PIN:10:MODE:GET?", "INPUT"),
-        ("PIN:14:MODE:GET?", "INPUT"),
         ("PIN:14:ANALOG:GET?", "1000"),
     ])
-    with pytest.raises(IOError, match=r"Analog read is not supported.*"):
-        arduino.pins[2].analog_value
     with pytest.raises(IOError, match=r"Pin does not support analog read"):
         arduino.pins[10].analog_value
     # 4.888 = round((5 / 1023) * 1000, 3)