feat(#118): add a flexible positioner class

tests/test_psi_positioner.py

@@ -0,0 +1,85 @@
+import threading
+from unittest.mock import ANY, MagicMock, patch
+
+import ophyd
+import pytest
+from ophyd.device import Component as Cpt
+from ophyd.signal import EpicsSignal
+from ophyd.sim import FakeEpicsSignal, FakeEpicsSignalRO
+
+from ophyd_devices.devices.simple_positioner import PSISimplePositioner
+from ophyd_devices.interfaces.base_classes.psi_positioner_base import (
+    PSIPositionerBase,
+    PSISimplePositionerBase,
+    RequiredSignalNotSpecified,
+)
+from ophyd_devices.tests.utils import MockPV, patch_dual_pvs
+
+
+def test_cannot_isntantiate_without_required_signals():
+    class PSITestPositionerWOSignal(PSISimplePositionerBase): ...
+
+    class PSITestPositionerWithSignal(PSISimplePositionerBase):
+        user_setpoint: EpicsSignal = Cpt(FakeEpicsSignal, ".VAL", limits=True, auto_monitor=True)
+        user_readback = Cpt(FakeEpicsSignalRO, ".RBV", kind="hinted", auto_monitor=True)
+        motor_done_move = Cpt(FakeEpicsSignalRO, ".DMOV", auto_monitor=True)
+
+    with pytest.raises(RequiredSignalNotSpecified) as e:
+        PSITestPositionerWOSignal("", name="")
+        assert e.match("user_setpoint")
+        assert e.match("user_readback")
+
+    dev = PSITestPositionerWithSignal("", name="")
+    assert dev.user_setpoint.get() == 0
+
+
+@pytest.fixture(scope="function")
+def mock_psi_positioner() -> PSISimplePositioner:
+    name = "positioner"
+    prefix = "SIM:MOTOR"
+    with patch.object(ophyd, "cl") as mock_cl:
+        mock_cl.get_pv = MockPV
+        mock_cl.thread_class = threading.Thread
+        dev = PSISimplePositioner(name=name, prefix=prefix, deadband=0.0013)
+        patch_dual_pvs(dev)
+        yield dev
+
+
+@pytest.mark.parametrize(
+    ["start", "end", "in_deadband_expected"],
+    [
+        (1.0, 1.0, True),
+        (0, 1.0, False),
+        (-0.004, 0.004, False),
+        (-0.0027, -0.0023, True),
+        (1, 1.0014, False),
+        (1, 1.0012, True),
+    ],
+)
+@patch("ophyd_devices.interfaces.base_classes.psi_positioner_base.PositionerBase.move")
+@patch("ophyd_devices.interfaces.base_classes.psi_positioner_base.MoveStatus")
+def test_instant_completion_within_deadband(
+    mock_movestatus,
+    mock_super_move,
+    mock_psi_positioner: PSISimplePositioner,
+    start,
+    end,
+    in_deadband_expected,
+):
+    mock_psi_positioner._position = start
+    mock_psi_positioner.move(end)
+
+    if in_deadband_expected:
+        mock_movestatus.assert_called_with(ANY, ANY, done=True, success=True)
+    else:
+        mock_movestatus.assert_not_called()
+        mock_super_move.assert_called_once()
+
+
+def test_status_completed_when_req_done_sub_runs(mock_psi_positioner: PSISimplePositioner):
+    mock_psi_positioner.motor_done_move._read_pv.mock_data = 0
+    mock_psi_positioner._position = 0
+    st = mock_psi_positioner.move(1, wait=False)
+    assert not st.done
+    mock_psi_positioner._run_subs(sub_type=mock_psi_positioner._SUB_REQ_DONE)
+    assert st.done