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test(psi-motor): cleanup integration, add tests for psi-motors.

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This commit is contained in:
appel_c
2025-08-11 15:30:09 +02:00
committed by Christian Appel
parent 2bb37ba395
commit 66fe9e217c
2 changed files with 172 additions and 4 deletions
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8
ophyd_devices/devices/psi_motor.py
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@@ -55,7 +55,7 @@ class EpicsMotor(OphydEpicsMotor):
doc="Enable control. Either 0 (disabled) or 1 (enabled).",
)
def move(self, position, wait=True, **kwargs) -> MoveStatus:
def move(self, position, wait=False, **kwargs) -> MoveStatus:
"""Extended move function with a few sanity checks
Note that the default EpicsMotor only supports the 'GO' movement mode.
@@ -63,7 +63,7 @@ class EpicsMotor(OphydEpicsMotor):
"""
# Reset SPMG before move
if self.motor_mode.get() != SpmgStates.GO:
self.motor_mode.set(SpmgStates.GO).wait()
self.motor_mode.set(SpmgStates.GO).wait(timeout=5)
# Warn if EPIC motorRecord claims an error (it's not easy to reset)
status = self.motor_status.get()
if status:
@@ -166,7 +166,7 @@ class EpicsMotorEC(EpicsMotor):
high_limit_travel = Cpt(TravelLimitsECMC, ".HLM", kind="omitted", auto_monitor=True)
low_limit_travel = Cpt(TravelLimitsECMC, ".LLM", kind="omitted", auto_monitor=True)
def move(self, position, wait=True, **kwargs) -> MoveStatus:
def move(self, position, wait=False, **kwargs) -> MoveStatus:
"""Extended move function with a few sanity checks
Check ECMC error and interlocks. They may get cleared by the move command. If not, exception
@@ -180,7 +180,7 @@ class EpicsMotorEC(EpicsMotor):
# Warn if trying to move beyond an active limit
if self.high_interlock.get(use_monitor=False) and position > self.position:
self.log.warning("Attempting to move above active HLS or Ilock")
if self.high_interlock.get(use_monitor=False) and position < self.position:
if self.low_interlock.get(use_monitor=False) and position < self.position:
self.log.warning("Attempting to move below active LLS or Ilock")
return super().move(position, wait, **kwargs)