125 lines
4.3 KiB
Python
125 lines
4.3 KiB
Python
import unittest
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import cadquery as Cq
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import nhf.touhou.houjuu_nue as M
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import nhf.touhou.houjuu_nue.joints as MJ
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import nhf.touhou.houjuu_nue.electronics as ME
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from nhf.checks import pairwise_intersection
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class TestElectronics(unittest.TestCase):
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def test_actuator_length(self):
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self.assertAlmostEqual(
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ME.LINEAR_ACTUATOR_50.conn_length, 103.9
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)
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self.assertAlmostEqual(
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ME.LINEAR_ACTUATOR_30.conn_length, 83.9
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)
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def test_flexor(self):
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flexor = ME.Flexor(
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motion_span=60,
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)
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self.assertAlmostEqual(
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flexor.target_length_at_angle(0),
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flexor.actuator.stroke_length + flexor.actuator.conn_length)
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self.assertAlmostEqual(
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flexor.target_length_at_angle(flexor.motion_span),
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flexor.actuator.conn_length)
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class TestJoints(unittest.TestCase):
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def test_shoulder_collision_of_torsion_joint(self):
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j = MJ.ShoulderJoint()
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assembly = j.torsion_joint.rider_track_assembly()
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self.assertEqual(pairwise_intersection(assembly), [])
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def test_shoulder_collision_0(self):
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j = MJ.ShoulderJoint()
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assembly = j.assembly()
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self.assertEqual(pairwise_intersection(assembly), [])
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def test_shoulder_align(self):
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j = MJ.ShoulderJoint()
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a = j.assembly()
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l_t_c0 = a.get_abs_location("parent_top/lip?conn0")
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l_b_c0 = a.get_abs_location("parent_bot/lip?conn0")
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v = l_t_c0 - l_b_c0
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self.assertAlmostEqual(v.x, 0)
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self.assertAlmostEqual(v.y, 0)
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def test_shoulder_joint_dist(self):
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"""
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Tests the arm radius
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"""
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j = MJ.ShoulderJoint()
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for deflection in [0, 40, j.angle_max_deflection]:
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with self.subTest(deflection=deflection):
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a = j.assembly(deflection=deflection)
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# Axle
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o = a.get_abs_location("parent_top/track?spring")
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l_c1 = a.get_abs_location("parent_top/lip?conn0")
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l_c2= a.get_abs_location("parent_top/lip?conn1")
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v_c = 0.5 * ((l_c1 - o) + (l_c2 - o))
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v_c.z = 0
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self.assertAlmostEqual(v_c.Length, j.parent_lip_ext)
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def test_disk_collision_0(self):
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j = MJ.DiskJoint()
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assembly = j.assembly(angle=0)
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self.assertEqual(pairwise_intersection(assembly), [])
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def test_disk_collision_mid(self):
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j = MJ.DiskJoint()
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assembly = j.assembly(angle=j.movement_angle / 2)
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self.assertEqual(pairwise_intersection(assembly), [])
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def test_disk_collision_max(self):
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j = MJ.DiskJoint()
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assembly = j.assembly(angle=j.movement_angle)
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self.assertEqual(pairwise_intersection(assembly), [])
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def test_elbow_joint_dist(self):
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"""
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Tests the arm radius
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"""
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j = MJ.ElbowJoint()
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for angle in [0, 10, 20, j.disk_joint.movement_angle]:
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with self.subTest(angle=angle):
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a = j.assembly(angle=angle)
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o = a.get_abs_location("child/disk?mate_bot")
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l_c1 = a.get_abs_location("child/lip?conn_top0")
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l_c2 = a.get_abs_location("child/lip?conn_bot0")
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v_c = 0.5 * ((l_c1 - o) + (l_c2 - o))
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v_c.z = 0
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self.assertAlmostEqual(v_c.Length, j.child_arm_radius)
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l_p1 = a.get_abs_location("parent_upper/lip?conn_top0")
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l_p2 = a.get_abs_location("parent_upper/lip?conn_bot0")
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v_p = 0.5 * ((l_p1 - o) + (l_p2 - o))
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v_p.z = 0
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self.assertAlmostEqual(v_p.Length, j.parent_arm_radius)
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class Test(unittest.TestCase):
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def test_hs_joint_parent(self):
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p = M.Parameters()
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obj = p.harness.hs_joint_parent()
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self.assertIsInstance(obj.val().solids(), Cq.Solid, msg="H-S joint must be in one piece")
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def test_wings_assembly(self):
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p = M.Parameters()
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p.wings_harness_assembly()
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def test_trident_assembly(self):
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p = M.Parameters()
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assembly = p.trident.assembly()
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bbox = assembly.toCompound().BoundingBox()
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length = bbox.zlen
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self.assertGreater(length, 1300)
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self.assertLess(length, 1700)
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#def test_assemblies(self):
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# p = M.Parameters()
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# p.check_all()
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if __name__ == '__main__':
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unittest.main()
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