192 lines
4.9 KiB
Python
192 lines
4.9 KiB
Python
from unittest import mock
|
|
|
|
import pytest
|
|
from utils import SocketMock
|
|
|
|
from ophyd_devices.galil.galil_ophyd import GalilMotor
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"pos,msg,sign",
|
|
[
|
|
(1, b" -12800\n\r", 1),
|
|
(-1, b" -12800\n\r", -1),
|
|
],
|
|
)
|
|
def test_axis_get(pos, msg, sign):
|
|
leyey = GalilMotor(
|
|
"H",
|
|
name="leyey",
|
|
host="mpc2680.psi.ch",
|
|
port=8081,
|
|
sign=sign,
|
|
socket_cls=SocketMock,
|
|
)
|
|
leyey.controller.on()
|
|
leyey.controller.sock.flush_buffer()
|
|
leyey.controller.sock.buffer_recv = msg
|
|
val = leyey.read()
|
|
assert val["leyey"]["value"] == pos
|
|
assert leyey.readback.get() == pos
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"target_pos,socket_put_messages,socket_get_messages",
|
|
[
|
|
(
|
|
0,
|
|
[
|
|
b"MG allaxref\r",
|
|
b"MG_XQ0\r",
|
|
b"naxis=7\r",
|
|
b"ntarget=0.000\r",
|
|
b"movereq=1\r",
|
|
b"XQ#NEWPAR\r",
|
|
b"MG_XQ0\r",
|
|
],
|
|
[
|
|
b"1.00",
|
|
b"-1",
|
|
b":",
|
|
b":",
|
|
b":",
|
|
b":",
|
|
b"-1",
|
|
],
|
|
),
|
|
],
|
|
)
|
|
def test_axis_put(target_pos, socket_put_messages, socket_get_messages):
|
|
leyey = GalilMotor("H", 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.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
|