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‎tests/test_calibration_check_bug.py‎

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"""Test for calibration check bug after calibrating.
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Reproduces issue where check_calibration_quality() returns None after calibration.
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"""
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import unittest
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import sys
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# Mock hardware before importing SensorManager
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class MockI2C:
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def __init__(self, bus_id, sda=None, scl=None):
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self.bus_id = bus_id
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self.sda = sda
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self.scl = scl
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self.memory = {}
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def readfrom_mem(self, addr, reg, nbytes):
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if addr not in self.memory:
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raise OSError("I2C device not found")
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if reg not in self.memory[addr]:
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return bytes([0] * nbytes)
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return bytes(self.memory[addr][reg])
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def writeto_mem(self, addr, reg, data):
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if addr not in self.memory:
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self.memory[addr] = {}
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self.memory[addr][reg] = list(data)
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class MockQMI8658:
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def __init__(self, i2c_bus, address=0x6B, accel_scale=0b10, gyro_scale=0b100):
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self.i2c = i2c_bus
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self.address = address
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self.accel_scale = accel_scale
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self.gyro_scale = gyro_scale
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@property
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def temperature(self):
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return 25.5
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@property
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def acceleration(self):
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return (0.0, 0.0, 1.0) # At rest, Z-axis = 1G
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@property
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def gyro(self):
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return (0.0, 0.0, 0.0) # Stationary
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# Mock constants
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_QMI8685_PARTID = 0x05
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_REG_PARTID = 0x00
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_ACCELSCALE_RANGE_8G = 0b10
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_GYROSCALE_RANGE_256DPS = 0b100
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# Create mock modules
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mock_machine = type('module', (), {
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'I2C': MockI2C,
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'Pin': type('Pin', (), {})
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})()
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mock_qmi8658 = type('module', (), {
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'QMI8658': MockQMI8658,
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'_QMI8685_PARTID': _QMI8685_PARTID,
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'_REG_PARTID': _REG_PARTID,
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'_ACCELSCALE_RANGE_8G': _ACCELSCALE_RANGE_8G,
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'_GYROSCALE_RANGE_256DPS': _GYROSCALE_RANGE_256DPS
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})()
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def _mock_mcu_temperature(*args, **kwargs):
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return 42.0
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mock_esp32 = type('module', (), {
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'mcu_temperature': _mock_mcu_temperature
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})()
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# Inject mocks
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sys.modules['machine'] = mock_machine
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sys.modules['mpos.hardware.drivers.qmi8658'] = mock_qmi8658
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sys.modules['esp32'] = mock_esp32
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try:
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import _thread
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except ImportError:
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mock_thread = type('module', (), {
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'allocate_lock': lambda: type('lock', (), {
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'acquire': lambda self: None,
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'release': lambda self: None
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})()
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})()
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sys.modules['_thread'] = mock_thread
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# Now import the module to test
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import mpos.sensor_manager as SensorManager
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class TestCalibrationCheckBug(unittest.TestCase):
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"""Test case for calibration check bug."""
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def setUp(self):
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"""Set up test fixtures before each test."""
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# Reset SensorManager state
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SensorManager._initialized = False
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SensorManager._imu_driver = None
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SensorManager._sensor_list = []
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SensorManager._has_mcu_temperature = False
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# Create mock I2C bus with QMI8658
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self.i2c_bus = MockI2C(0, sda=48, scl=47)
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self.i2c_bus.memory[0x6B] = {_REG_PARTID: [_QMI8685_PARTID]}
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def test_check_quality_after_calibration(self):
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"""Test that check_calibration_quality() works after calibration.
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This reproduces the bug where check_calibration_quality() returns
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None or shows "--" after performing calibration.
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"""
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# Initialize
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SensorManager.init(self.i2c_bus, address=0x6B)
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# Step 1: Check calibration quality BEFORE calibration (should work)
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print("\n=== Step 1: Check quality BEFORE calibration ===")
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quality_before = SensorManager.check_calibration_quality(samples=10)
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self.assertIsNotNone(quality_before, "Quality check BEFORE calibration should return data")
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self.assertIn('quality_score', quality_before)
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print(f"Quality before: {quality_before['quality_rating']} ({quality_before['quality_score']:.2f})")
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# Step 2: Calibrate sensors
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print("\n=== Step 2: Calibrate sensors ===")
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accel = SensorManager.get_default_sensor(SensorManager.TYPE_ACCELEROMETER)
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gyro = SensorManager.get_default_sensor(SensorManager.TYPE_GYROSCOPE)
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self.assertIsNotNone(accel, "Accelerometer should be available")
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self.assertIsNotNone(gyro, "Gyroscope should be available")
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accel_offsets = SensorManager.calibrate_sensor(accel, samples=10)
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print(f"Accel offsets: {accel_offsets}")
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self.assertIsNotNone(accel_offsets, "Accelerometer calibration should succeed")
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gyro_offsets = SensorManager.calibrate_sensor(gyro, samples=10)
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print(f"Gyro offsets: {gyro_offsets}")
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self.assertIsNotNone(gyro_offsets, "Gyroscope calibration should succeed")
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# Step 3: Check calibration quality AFTER calibration (BUG: returns None)
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print("\n=== Step 3: Check quality AFTER calibration ===")
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quality_after = SensorManager.check_calibration_quality(samples=10)
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self.assertIsNotNone(quality_after, "Quality check AFTER calibration should return data (BUG: returns None)")
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self.assertIn('quality_score', quality_after)
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print(f"Quality after: {quality_after['quality_rating']} ({quality_after['quality_score']:.2f})")
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# Verify sensor reads still work
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print("\n=== Step 4: Verify sensor reads still work ===")
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accel_data = SensorManager.read_sensor(accel)
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self.assertIsNotNone(accel_data, "Accelerometer should still be readable")
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print(f"Accel data: {accel_data}")
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gyro_data = SensorManager.read_sensor(gyro)
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self.assertIsNotNone(gyro_data, "Gyroscope should still be readable")
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print(f"Gyro data: {gyro_data}")
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if __name__ == '__main__':
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unittest.main()

‎tests/test_imu_calibration_ui_bug.py‎

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#!/usr/bin/env python3
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"""Automated UI test for IMU calibration bug.
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Tests the complete flow:
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1. Open Settings → IMU → Check Calibration
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2. Verify values are shown
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3. Click "Calibrate" → Calibrate IMU
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4. Click "Calibrate Now"
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5. Go back to Check Calibration
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6. BUG: Verify values are shown (not "--")
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"""
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import sys
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import time
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# Import graphical test infrastructure
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import lvgl as lv
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from mpos.ui.testing import (
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wait_for_render,
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simulate_click,
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find_button_with_text,
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find_label_with_text,
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get_widget_coords,
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print_screen_labels,
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capture_screenshot
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)
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def click_button(button_text, timeout=5):
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"""Find and click a button with given text."""
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start = time.time()
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while time.time() - start < timeout:
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button = find_button_with_text(lv.screen_active(), button_text)
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if button:
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coords = get_widget_coords(button)
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if coords:
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print(f"Clicking button '{button_text}' at ({coords['center_x']}, {coords['center_y']})")
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simulate_click(coords['center_x'], coords['center_y'])
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wait_for_render(iterations=20)
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return True
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wait_for_render(iterations=5)
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print(f"ERROR: Button '{button_text}' not found after {timeout}s")
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return False
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def click_label(label_text, timeout=5):
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"""Find a label with given text and click on it (or its clickable parent)."""
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start = time.time()
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while time.time() - start < timeout:
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label = find_label_with_text(lv.screen_active(), label_text)
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if label:
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coords = get_widget_coords(label)
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if coords:
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print(f"Clicking label '{label_text}' at ({coords['center_x']}, {coords['center_y']})")
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simulate_click(coords['center_x'], coords['center_y'])
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wait_for_render(iterations=20)
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return True
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wait_for_render(iterations=5)
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print(f"ERROR: Label '{label_text}' not found after {timeout}s")
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return False
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def find_text_on_screen(text):
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"""Check if text is present on screen."""
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return find_label_with_text(lv.screen_active(), text) is not None
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def main():
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print("=== IMU Calibration UI Bug Test ===\n")
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# Initialize the OS (boot.py and main.py)
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print("Step 1: Initializing MicroPythonOS...")
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import mpos.main
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wait_for_render(iterations=30)
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print("OS initialized\n")
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# Step 2: Open Settings app
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print("Step 2: Opening Settings app...")
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import mpos.apps
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# Start Settings app by name
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mpos.apps.start_app("com.micropythonos.settings")
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wait_for_render(iterations=30)
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print("Settings app opened\n")
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print("Current screen content:")
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print_screen_labels(lv.screen_active())
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print()
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# Check if we're on the main Settings screen (should see multiple settings options)
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# The Settings app shows a list with items like "Calibrate IMU", "Check IMU Calibration", "Theme Color", etc.
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on_settings_main = (find_text_on_screen("Calibrate IMU") and
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find_text_on_screen("Check IMU Calibration") and
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find_text_on_screen("Theme Color"))
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# If we're on a sub-screen (like Calibrate IMU or Check IMU Calibration screens),
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# we need to go back to Settings main. We can detect this by looking for screen titles.
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if not on_settings_main:
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print("Step 3: Not on Settings main screen, clicking Back to return...")
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if not click_button("Back"):
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print("WARNING: Could not find Back button, trying Cancel...")
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if not click_button("Cancel"):
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print("FAILED: Could not navigate back to Settings main")
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return False
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wait_for_render(iterations=20)
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print("Current screen content:")
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print_screen_labels(lv.screen_active())
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print()
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# Step 4: Click "Check IMU Calibration" (it's a clickable label/container, not a button)
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print("Step 4: Clicking 'Check IMU Calibration' menu item...")
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if not click_label("Check IMU Calibration"):
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print("FAILED: Could not find Check IMU Calibration menu item")
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return False
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print("Check IMU Calibration opened\n")
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# Wait for quality check to complete
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time.sleep(0.5)
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wait_for_render(iterations=30)
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print("Step 5: Checking BEFORE calibration...")
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print("Current screen content:")
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print_screen_labels(lv.screen_active())
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print()
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# Capture screenshot before
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capture_screenshot("../tests/screenshots/check_imu_before_calib.raw")
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# Look for actual values (not "--")
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has_values_before = False
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widgets = []
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from mpos.ui.testing import get_all_widgets_with_text
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for widget in get_all_widgets_with_text(lv.screen_active()):
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text = widget.get_text()
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# Look for patterns like "X: 0.00" or "Quality: Good"
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if ":" in text and "--" not in text:
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if any(char.isdigit() for char in text):
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print(f"Found value: {text}")
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has_values_before = True
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if not has_values_before:
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print("WARNING: No values found before calibration (all showing '--')")
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else:
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print("GOOD: Values are showing before calibration")
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print()
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# Step 6: Click "Calibrate" button to go to calibration screen
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print("Step 6: Finding 'Calibrate' button...")
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calibrate_btn = find_button_with_text(lv.screen_active(), "Calibrate")
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if not calibrate_btn:
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print("FAILED: Could not find Calibrate button")
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return False
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print(f"Found Calibrate button: {calibrate_btn}")
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print("Manually sending CLICKED event to button...")
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# Instead of using simulate_click, manually send the event
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calibrate_btn.send_event(lv.EVENT.CLICKED, None)
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wait_for_render(iterations=20)
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# Wait for navigation to complete (activity transition can take some time)
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time.sleep(0.5)
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wait_for_render(iterations=50)
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print("Calibrate IMU screen should be open now\n")
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print("Current screen content:")
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print_screen_labels(lv.screen_active())
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print()
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# Step 7: Click "Calibrate Now" button
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print("Step 7: Clicking 'Calibrate Now' button...")
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if not click_button("Calibrate Now"):
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print("FAILED: Could not find 'Calibrate Now' button")
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return False
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print("Calibration started...\n")
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# Wait for calibration to complete (~2 seconds + UI updates)
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time.sleep(3)
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wait_for_render(iterations=50)
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print("Current screen content after calibration:")
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print_screen_labels(lv.screen_active())
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print()
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# Step 8: Click "Done" to go back
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print("Step 8: Clicking 'Done' button...")
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if not click_button("Done"):
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print("FAILED: Could not find Done button")
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return False
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print("Going back to Check Calibration\n")
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# Wait for screen to load
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time.sleep(0.5)
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wait_for_render(iterations=30)
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# Step 9: Check AFTER calibration (BUG: should show values, not "--")
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print("Step 9: Checking AFTER calibration (testing for bug)...")
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print("Current screen content:")
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print_screen_labels(lv.screen_active())
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print()
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# Capture screenshot after
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capture_screenshot("../tests/screenshots/check_imu_after_calib.raw")
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# Look for actual values (not "--")
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has_values_after = False
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for widget in get_all_widgets_with_text(lv.screen_active()):
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text = widget.get_text()
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# Look for patterns like "X: 0.00" or "Quality: Good"
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if ":" in text and "--" not in text:
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if any(char.isdigit() for char in text):
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print(f"Found value: {text}")
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has_values_after = True
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print()
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print("="*60)
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print("TEST RESULTS:")
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print(f" Values shown BEFORE calibration: {has_values_before}")
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print(f" Values shown AFTER calibration: {has_values_after}")
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if has_values_before and not has_values_after:
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print("\n ❌ BUG REPRODUCED: Values disappeared after calibration!")
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print(" Expected: Values should still be shown")
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print(" Actual: All showing '--'")
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return False
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elif has_values_after:
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print("\n ✅ PASS: Values are showing correctly after calibration")
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return True
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else:
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print("\n ⚠️ WARNING: No values shown before or after (might be desktop mock issue)")
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return True
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if __name__ == '__main__':
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success = main()
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sys.exit(0 if success else 1)

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