x01dcandClaude Sonnet 5
fbc76b4fb1
CI for csaxs_bec / test (push) Successful in 1m57s
_oshield_is_ST_open() reads a digital switch (@IN[8014]) on otransx's Galil controller to confirm the sample-stage thermal shield reached its physical "open" limit -- but oshield is a Smaract stage, simulated by a completely separate simulator (sim_smaract.py), so that switch had no connection to oshield's actual simulated position and always read a stale default. sim_galil.py's @IN[8014] handler now computes the switch value live from oshield's real position via SimStateRegistry (cross-simulator lookup), instead of a disconnected default -- 1.0 within tolerance of the "open" target (-11.88, _oshield_ST_open()'s own umv() target), 0.0 otherwise. Also fixes oshield's simulated starting position: it started at 0 (neither the "open" -11.88 nor "closed" 15.5), so _otransfer_stage_to_ST()'s oshield_current < 15 closed-check always failed fresh. Now starts at 15.5, matching the real idle/closed resting state. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_018Mupip8x7Hean6E3FFvpbj
119 lines
3.8 KiB
Python
119 lines
3.8 KiB
Python
import pytest
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from bec_server.device_server.tests.utils import DMMock
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from csaxs_bec.devices.omny.galil.ogalil_ophyd import OMNYGalilController
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from csaxs_bec.devices.sim.sim_galil import (
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_OSHIELD_GALIL_HOST,
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_OSHIELD_GALIL_PORT,
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_OSHIELD_OPEN_POSITION_MM,
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_OSHIELD_SMARACT_AXIS,
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_OSHIELD_SMARACT_PORT,
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)
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from csaxs_bec.devices.sim.sim_omny import SimOMNYGalilMotor
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from csaxs_bec.devices.sim.sim_smaract import SimSmaractMotor, SimSmaractState
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from csaxs_bec.devices.sim.sim_socket import SimStateRegistry
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# otransx's own axis letter doesn't matter here -- only its host/port (shared with
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# oshield's "open" limit switch on real hardware, see sim_galil.py's
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# _OSHIELD_GALIL_HOST/_OSHIELD_GALIL_PORT).
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_OTRANSX_AXIS_ID = "D"
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@pytest.fixture(autouse=True)
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def _reset_sim_state():
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OMNYGalilController._reset_controller()
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SimStateRegistry.reset()
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yield
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SimStateRegistry.reset()
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OMNYGalilController._reset_controller()
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def _make_devices(oshield_initial_position):
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otransx = SimOMNYGalilMotor(
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_OTRANSX_AXIS_ID,
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name="otransx",
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host=_OSHIELD_GALIL_HOST,
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port=_OSHIELD_GALIL_PORT,
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sign=1,
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device_manager=DMMock(),
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sim_initial_position=0,
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sim_velocity=10.0,
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)
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otransx.wait_for_connection()
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oshield = SimSmaractMotor(
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"C",
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name="oshield",
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host=_OSHIELD_GALIL_HOST,
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port=_OSHIELD_SMARACT_PORT,
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sign=1,
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device_manager=DMMock(),
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sim_initial_position=oshield_initial_position,
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sim_velocity=10.0,
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)
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oshield.wait_for_connection()
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return otransx, oshield
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def _switch_value(otransx) -> float:
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return float(otransx.controller.socket_put_and_receive("MG @IN[8014]"))
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def test_switch_reads_closed_when_oshield_is_closed():
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"""oshield closed (15.5, _oshield_ST_close()'s own target) -> switch not
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triggered, matching _oshield_is_ST_open()'s real-hardware semantics."""
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otransx, oshield = _make_devices(15.5)
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try:
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assert _switch_value(otransx) == 0.0
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finally:
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otransx.destroy()
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oshield.destroy()
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def test_switch_reads_open_when_oshield_is_at_open_position():
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otransx, oshield = _make_devices(_OSHIELD_OPEN_POSITION_MM)
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try:
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assert _switch_value(otransx) == 1.0
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finally:
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otransx.destroy()
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oshield.destroy()
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def test_switch_tracks_oshield_position_live_not_just_at_startup():
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"""The switch must reflect oshield's *current* simulated position, not
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just whatever it started at -- this is the actual bug being fixed:
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the digital switch and oshield's position are simulated by two
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different simulator classes (Galil vs Smaract) that don't otherwise
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talk to each other."""
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otransx, oshield = _make_devices(15.5)
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try:
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assert _switch_value(otransx) == 0.0
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state = SimStateRegistry.get(SimSmaractState, _OSHIELD_GALIL_HOST, _OSHIELD_SMARACT_PORT)
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state.axis(_OSHIELD_SMARACT_AXIS).pos_nm = _OSHIELD_OPEN_POSITION_MM * 1.0e6
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assert _switch_value(otransx) == 1.0
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finally:
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otransx.destroy()
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oshield.destroy()
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def test_switch_reads_closed_at_an_intermediate_position():
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otransx, oshield = _make_devices(0.0)
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try:
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assert _switch_value(otransx) == 0.0
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finally:
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otransx.destroy()
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oshield.destroy()
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def test_other_channels_unaffected_by_the_oshield_special_case():
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"""A different digital-input channel on the same controller must still
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use the plain seeded/default value, not get swept up in the oshield
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special-case."""
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otransx, oshield = _make_devices(15.5)
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try:
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# channel 14 (light curtain) has its own module-level default (1.0),
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# independent of oshield's position
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assert float(otransx.controller.socket_put_and_receive("MG @IN[14]")) == 1.0
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finally:
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otransx.destroy()
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oshield.destroy()
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