test: added tests for fupr and flomni galil

tests/test_galil_flomni.py

@@ -0,0 +1,172 @@
+from unittest import mock
+
+import pytest
+from utils import SocketMock
+
+from ophyd_devices.galil.fgalil_ophyd import FlomniGalilController, FlomniGalilMotor
+
+
+@pytest.fixture(scope="function")
+def leyey():
+    FlomniGalilController._reset_controller()
+    leyey_motor = FlomniGalilMotor(
+        "H", name="leyey", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
+    )
+    leyey_motor.controller.on()
+    yield leyey_motor
+    leyey_motor.controller.off()
+    leyey_motor.controller._reset_controller()
+
+
+@pytest.fixture(scope="function")
+def leyex():
+    FlomniGalilController._reset_controller()
+    leyex_motor = FlomniGalilMotor(
+        "H", name="leyey", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
+    )
+    leyex_motor.controller.on()
+    yield leyex_motor
+    leyex_motor.controller.off()
+    leyex_motor.controller._reset_controller()
+
+
+@pytest.mark.parametrize("pos,msg,sign", [(1, b" -12800\n\r", 1), (-1, b" -12800\n\r", -1)])
+def test_axis_get(leyey, pos, msg, sign):
+    leyey.sign = sign
+    leyey.controller.sock.flush_buffer()
+    leyey.controller.sock.buffer_recv = msg
+    val = leyey.read()
+    assert val["leyey"]["value"] == pos
+    assert leyey.readback.get() == pos
+
+
+@pytest.mark.parametrize(
+    "target_pos,socket_put_messages,socket_get_messages",
+    [
+        (
+            0,
+            [
+                b"MG allaxref\r",
+                b"MG_XQ0\r",
+                b"naxis=7\r",
+                b"ntarget=0.000\r",
+                b"movereq=1\r",
+                b"XQ#NEWPAR\r",
+                b"MG_XQ0\r",
+            ],
+            [b"1.00", b"-1", b":", b":", b":", b":", b"-1"],
+        )
+    ],
+)
+def test_axis_put(leyey, target_pos, socket_put_messages, socket_get_messages):
+    leyey.controller.sock.flush_buffer()
+    leyey.controller.sock.buffer_recv = socket_get_messages
+    leyey.user_setpoint.put(target_pos)
+    assert leyey.controller.sock.buffer_put == socket_put_messages
+
+
+@pytest.mark.parametrize(
+    "axis_nr,direction,socket_put_messages,socket_get_messages",
+    [
+        (
+            0,
+            "forward",
+            [
+                b"naxis=0\r",
+                b"ndir=1\r",
+                b"XQ#NEWPAR\r",
+                b"XQ#FES\r",
+                b"MG_XQ0\r",
+                b"MG _MOA\r",
+                b"MG_XQ0\r",
+                b"MG _MOA\r",
+                b"MG _LRA, _LFA\r",
+            ],
+            [b":", b":", b":", b":", b"0", b"0", b"-1", b"-1", b"1.000 0.000"],
+        ),
+        (
+            1,
+            "reverse",
+            [
+                b"naxis=1\r",
+                b"ndir=-1\r",
+                b"XQ#NEWPAR\r",
+                b"XQ#FES\r",
+                b"MG_XQ0\r",
+                b"MG _MOB\r",
+                b"MG_XQ0\r",
+                b"MG _MOB\r",
+                b"MG _LRB, _LFB\r",
+            ],
+            [b":", b":", b":", b":", b"0", b"0", b"-1", b"-1", b"0.000 1.000"],
+        ),
+    ],
+)
+def test_drive_axis_to_limit(leyex, axis_nr, direction, socket_put_messages, socket_get_messages):
+    leyex.controller.sock.flush_buffer()
+    leyex.controller.sock.buffer_recv = socket_get_messages
+    leyex.controller.drive_axis_to_limit(axis_nr, direction)
+    assert leyex.controller.sock.buffer_put == socket_put_messages
+
+
+@pytest.mark.parametrize(
+    "axis_nr,socket_put_messages,socket_get_messages",
+    [
+        (
+            0,
+            [
+                b"naxis=0\r",
+                b"XQ#NEWPAR\r",
+                b"XQ#FRM\r",
+                b"MG_XQ0\r",
+                b"MG _MOA\r",
+                b"MG_XQ0\r",
+                b"MG _MOA\r",
+                b"MG axisref[0]\r",
+            ],
+            [b":", b":", b":", b"0", b"0", b"-1", b"-1", b"1.00"],
+        ),
+        (
+            1,
+            [
+                b"naxis=1\r",
+                b"XQ#NEWPAR\r",
+                b"XQ#FRM\r",
+                b"MG_XQ0\r",
+                b"MG _MOB\r",
+                b"MG_XQ0\r",
+                b"MG _MOB\r",
+                b"MG axisref[1]\r",
+            ],
+            [b":", b":", b":", b"0", b"0", b"-1", b"-1", b"1.00"],
+        ),
+    ],
+)
+def test_find_reference(leyex, axis_nr, socket_put_messages, socket_get_messages):
+    leyex.controller.sock.flush_buffer()
+    leyex.controller.sock.buffer_recv = socket_get_messages
+    leyex.controller.find_reference(axis_nr)
+    assert leyex.controller.sock.buffer_put == socket_put_messages
+
+
+@pytest.mark.parametrize(
+    "axis_Id,socket_put_messages,socket_get_messages,triggered",
+    [
+        ("A", [b"MG @IN[14]\r"], [b" 1.0000\n"], True),
+        ("B", [b"MG @IN[14]\r"], [b" 0.0000\n"], False),
+    ],
+)
+def test_fosaz_light_curtain_is_triggered(
+    axis_Id, socket_put_messages, socket_get_messages, triggered
+):
+    """test that the light curtain is triggered"""
+    fosaz = FlomniGalilMotor(
+        axis_Id, name="fosaz", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
+    )
+    fosaz.controller.on()
+    fosaz.controller.sock.flush_buffer()
+    fosaz.controller.sock.buffer_recv = socket_get_messages
+    assert fosaz.controller.fosaz_light_curtain_is_triggered() == triggered
+    assert fosaz.controller.sock.buffer_put == socket_put_messages
+    fosaz.controller.off()
+    fosaz.controller._reset_controller()