test: added tests for fupr and flomni galil

tests/test_fupr_ophyd.py

@@ -0,0 +1,60 @@
+from unittest import mock
+
+import pytest
+from utils import SocketMock
+
+from ophyd_devices.galil.fupr_ophyd import FuprGalilController, FuprGalilMotor
+
+
+@pytest.fixture
+def fsamroy():
+    FuprGalilController._reset_controller()
+    fsamroy_motor = FuprGalilMotor(
+        "A", name="fsamroy", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
+    )
+    fsamroy_motor.controller.on()
+    assert isinstance(fsamroy_motor.controller, FuprGalilController)
+    yield fsamroy_motor
+    fsamroy_motor.controller.off()
+    fsamroy_motor.controller._reset_controller()
+
+
+@pytest.mark.parametrize(
+    "pos,msg_received,msg_put,sign",
+    [
+        (-0.5, b" -12800\n\r", [b"TPA\r", b"MG_BGA\r", b"TPA\r"], 1),
+        (-0.5, b" 12800\n\r", [b"TPA\r", b"MG_BGA\r", b"TPA\r"], -1),
+    ],
+)
+def test_axis_get(fsamroy, pos, msg_received, msg_put, sign):
+    fsamroy.sign = sign
+    fsamroy.device_manager = mock.MagicMock()
+    fsamroy.controller.sock.flush_buffer()
+    fsamroy.controller.sock.buffer_recv = msg_received
+    val = fsamroy.read()
+    assert val["fsamroy"]["value"] == pos
+    assert fsamroy.readback.get() == pos
+    assert fsamroy.controller.sock.buffer_put == msg_put
+
+
+@pytest.mark.parametrize(
+    "target_pos,socket_put_messages,socket_get_messages",
+    [
+        (
+            0,
+            [b"MG axisref\r", b"PAA=0\r", b"PAA=0\r", b"BGA\r"],
+            [b"1.00", b"-1", b":", b":", b":", b":", b"-1"],
+        )
+    ],
+)
+def test_axis_put(fsamroy, target_pos, socket_put_messages, socket_get_messages):
+    fsamroy.controller.sock.flush_buffer()
+    fsamroy.controller.sock.buffer_recv = socket_get_messages
+    fsamroy.user_setpoint.put(target_pos)
+    assert fsamroy.controller.sock.buffer_put == socket_put_messages
+
+
+def test_drive_axis_to_limit(fsamroy):
+    fsamroy.controller.sock.flush_buffer()
+    with pytest.raises(NotImplementedError):
+        fsamroy.controller.drive_axis_to_limit(0, "forward")