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refactor: cleanup and unifying galil classes

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This commit is contained in:
wakonig_k
2023-11-08 14:01:20 +01:00
parent 89cf412551
commit 981b877038
10 changed files with 242 additions and 532 deletions
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128
tests/test_galil.py
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@ -1,3 +1,5 @@
from unittest import mock
import pytest
from utils import SocketMock
@ -61,3 +63,129 @@ def test_axis_put(target_pos, socket_put_messages, socket_get_messages):
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_BGA\r",
b"MGbcklact[axis]\r",
b"MG_XQ0\r",
b"MG_XQ2\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_BGB\r",
b"MGbcklact[axis]\r",
b"MG_XQ0\r",
b"MG_XQ2\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(axis_nr, direction, socket_put_messages, socket_get_messages):
leyey = GalilMotor("A", name="leyey", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock)
leyey.controller.on()
leyey.controller.sock.flush_buffer()
leyey.controller.sock.buffer_recv = socket_get_messages
leyey.controller.drive_axis_to_limit(axis_nr, direction)
assert leyey.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_BGA\r",
b"MGbcklact[axis]\r",
b"MG_XQ0\r",
b"MG_XQ2\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_BGB\r",
b"MGbcklact[axis]\r",
b"MG_XQ0\r",
b"MG_XQ2\r",
b"MG axisref[1]\r",
],
[
b":",
b":",
b":",
b"0",
b"0",
b"-1",
b"-1",
b"1.00",
],
),
],
)
def test_find_reference(axis_nr, socket_put_messages, socket_get_messages):
leyey = GalilMotor("A", name="leyey", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock)
leyey.controller.on()
leyey.controller.sock.flush_buffer()
leyey.controller.sock.buffer_recv = socket_get_messages
leyey.controller.find_reference(axis_nr)
assert leyey.controller.sock.buffer_put == socket_put_messages