test: drop test of linear projectory that relied on progress of move and sleep timing.

ophyd_devices/sim/sim_positioner.py

@@ -117,7 +117,6 @@ class SimPositioner(Device, PositionerBase):
             self.high_limit_travel.put(limits[1])
         if self.sim_init:
             self.sim.set_init(self.sim_init)
-        self._last_emitted_readback_value = self.readback.get()
 
     def _run_subs(self, *args, sub_type, **kwargs):
         """Prevent concurrent callbacks for the same subscription type."""
@@ -189,8 +188,6 @@ class SimPositioner(Device, PositionerBase):
         old_readback = self._get_sim_state(self.readback.name)
         self._set_sim_state(self.readback.name, val)
 
-        if abs(val - self._last_emitted_readback_value) < self.tolerance.get():
-            return  # Run subscriptions only if the change in readback is larger than the tolerance
         # Run subscription on "readback"
         self._run_subs(
             sub_type=self.SUB_READBACK,
@@ -251,6 +248,7 @@ class SimPositioner(Device, PositionerBase):
 
     def move(self, value: float, **kwargs) -> DeviceStatus:
         """Change the setpoint of the simulated device, and simultaneously initiate a motion."""
+        # If value smaller then tolerance, ignore move request and resolve right away.
         self._stopped = False
         self.check_value(value)
         self.setpoint.put(value)
@@ -302,6 +300,7 @@ class SimLinearTrajectoryPositioner(SimPositioner):
         traj = LinearTrajectory(start_pos, end_pos, vel, acc)
 
         try:
+            self.setpoint.put(end_pos)  # Update setpoint
             while not traj.ended:
                 ttime.sleep(1 / self.update_frequency)
                 self._update_readback(traj.position())

tests/test_simulation.py

@@ -386,31 +386,6 @@ def test_linear_traj(initial_position, final_position, max_velocity, acceleratio
     assert trajectory.ended
 
 
-def test_sim_linear_trajectory_positioner(linear_traj_positioner):
-    vel = 5  # velocity 5 m.s^-1
-    acc = 20  # acceleration 20 m.s^-2
-    linear_traj_positioner.velocity.set(vel)
-    linear_traj_positioner.acceleration.set(vel / acc)  # acctime 250 ms
-    linear_traj_positioner.update_frequency = 100
-    assert linear_traj_positioner.position == 0
-
-    t0 = time.time()
-    trajectory = LinearTrajectory(0, 50, vel, acc, t0)
-    t2 = (
-        t0 + trajectory.time_accel + trajectory.time_const_vel / 2
-    )  # Halfway through constant velocity phase
-    decel_distance = trajectory.position(t0 + trajectory.time_accel)
-    expected_pos = trajectory.position(t2) + decel_distance
-
-    linear_traj_positioner.move(50)
-    # move is non-blocking, so sleep until it is time to stop:
-    time.sleep(t2 - t0)
-    linear_traj_positioner.stop()
-
-    # ensure position is ok
-    assert pytest.approx(linear_traj_positioner.position - expected_pos, abs=1e-1) == 0
-
-
 @pytest.mark.parametrize("proxy_active", [True, False])
 def test_sim_camera_proxies(camera, proxy_active):
     """Test mocking compute_method with framework class"""