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fix: adapt SimPositioner, make tolerance changeable signal

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appel_c
2024-06-04 10:58:29 +02:00
parent c1e977f639
commit 3606a2fc5a
2 changed files with 8 additions and 6 deletions
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6
ophyd_devices/sim/sim.py
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@ -372,7 +372,6 @@ class SimPositioner(Device, PositionerBase):
delay (int) : If 0, execution of move will be instant. If 1, exectution will depend on motor velocity. Default is 1. delay (int) : If 0, execution of move will be instant. If 1, exectution will depend on motor velocity. Default is 1.
update_frequency (int) : Frequency in Hz of the update of the simulated state during a move. Default is 2 Hz. update_frequency (int) : Frequency in Hz of the update of the simulated state during a move. Default is 2 Hz.
precision (integer) : Precision of the readback in digits, written to .describe(). Default is 3 digits. precision (integer) : Precision of the readback in digits, written to .describe(). Default is 3 digits.
tolerance (float) : Tolerance of the positioner to accept reaching target positions. Default is 0.5.
limits (tuple) : Tuple of the low and high limits of the positioner. Overrides low/high_limit_travel is specified. Default is None. limits (tuple) : Tuple of the low and high limits of the positioner. Overrides low/high_limit_travel is specified. Default is None.
parent : Parent device, optional, is used internally if this signal/device is part of a larger device. parent : Parent device, optional, is used internally if this signal/device is part of a larger device.
kind : A member the Kind IntEnum (or equivalent integer), optional. Default is Kind.normal. See Kind for options. kind : A member the Kind IntEnum (or equivalent integer), optional. Default is Kind.normal. See Kind for options.
@ -394,6 +393,7 @@ class SimPositioner(Device, PositionerBase):
# Config signals # Config signals
velocity = Cpt(SetableSignal, value=100, kind=Kind.config) velocity = Cpt(SetableSignal, value=100, kind=Kind.config)
acceleration = Cpt(SetableSignal, value=1, kind=Kind.config) acceleration = Cpt(SetableSignal, value=1, kind=Kind.config)
tolerance = Cpt(SetableSignal, value=0.5, kind=Kind.config)
# Ommitted signals # Ommitted signals
high_limit_travel = Cpt(SetableSignal, value=0, kind=Kind.omitted) high_limit_travel = Cpt(SetableSignal, value=0, kind=Kind.omitted)
@ -411,7 +411,6 @@ class SimPositioner(Device, PositionerBase):
delay: int = 1, delay: int = 1,
update_frequency=2, update_frequency=2,
precision=3, precision=3,
tolerance: float = 0.5,
limits=None, limits=None,
parent=None, parent=None,
kind=None, kind=None,
@ -422,7 +421,6 @@ class SimPositioner(Device, PositionerBase):
self.delay = delay self.delay = delay
self.device_manager = device_manager self.device_manager = device_manager
self.precision = precision self.precision = precision
self.tolerance = tolerance
self.init_sim_params = sim_init self.init_sim_params = sim_init
self._registered_proxies = {} self._registered_proxies = {}
@ -517,7 +515,7 @@ class SimPositioner(Device, PositionerBase):
try: try:
move_val = self._get_sim_state( move_val = self._get_sim_state(
self.setpoint.name self.setpoint.name
) + self.tolerance * np.random.uniform(-1, 1) ) + self.tolerance.get() * np.random.uniform(-1, 1)
updates = np.ceil( updates = np.ceil(
np.abs(old_setpoint - move_val) np.abs(old_setpoint - move_val)

8
tests/test_simulation.py
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@ -185,9 +185,13 @@ def test_camera_readback(camera, amplitude, noise_multiplier):
def test_positioner_move(positioner): def test_positioner_move(positioner):
"""Test the move method of SimPositioner.""" """Test the move method of SimPositioner."""
positioner.move(0).wait() positioner.move(0).wait()
assert np.isclose(positioner.read()[positioner.name]["value"], 0, atol=positioner.tolerance) assert np.isclose(
positioner.read()[positioner.name]["value"], 0, atol=positioner.tolerance.get()
)
positioner.move(10).wait() positioner.move(10).wait()
assert np.isclose(positioner.read()[positioner.name]["value"], 10, atol=positioner.tolerance) assert np.isclose(
positioner.read()[positioner.name]["value"], 10, atol=positioner.tolerance.get()
)
@pytest.mark.parametrize("proxy_active", [True, False]) @pytest.mark.parametrize("proxy_active", [True, False])