From fc6c7d95c17a16ea17311b811efd092f99915bf0 Mon Sep 17 00:00:00 2001
From: perl_d <david.perl@psi.ch>
Date: Wed, 6 May 2026 18:07:28 +0200
Subject: [PATCH] feat: add aerotech device

---
 pxii_bec/devices/aerotech.py         | 43 +++++++++++++++++++++
 tests/tests_devices/test_aerotech.py | 58 ++++++++++++++++++++++++++++
 2 files changed, 101 insertions(+)
 create mode 100644 pxii_bec/devices/aerotech.py
 create mode 100644 tests/tests_devices/test_aerotech.py

diff --git a/pxii_bec/devices/aerotech.py b/pxii_bec/devices/aerotech.py
new file mode 100644
index 0000000..d465e59
--- /dev/null
+++ b/pxii_bec/devices/aerotech.py
@@ -0,0 +1,43 @@
+from ophyd import Component as Cpt
+
+from .http import TIMESTAMP_ID, HttpDeviceController, HttpDeviceSignal, HttpOphydDevice
+
+
+class AerotechController(HttpDeviceController):
+    _readback_endpoint = "status"
+    _target_endpoint = "position"
+
+    def __init__(self, *, prefix, **kwargs):
+        self._readbacks: dict[str, dict[str, float | bool]] = {}
+        super().__init__(prefix=prefix, **kwargs)
+
+    def put(self, axis: str, val: float):
+        self._rest_post(body={axis: val})
+
+    def get_readback(self, axis_id: str) -> tuple[float, float] | None:
+        with self._readback_lock:
+            if axis_id not in self._readbacks or TIMESTAMP_ID not in self._readbacks:
+                return None
+            return self._readbacks.get(axis_id)["pos"], self._readbacks.get(TIMESTAMP_ID)  # type: ignore
+
+
+class Aerotech(HttpOphydDevice):
+    controller_class = AerotechController
+
+    x = Cpt(HttpDeviceSignal, axis_identifier="x", tolerance=0.01)
+    y = Cpt(HttpDeviceSignal, axis_identifier="y", tolerance=0.01)
+    z = Cpt(HttpDeviceSignal, axis_identifier="z", tolerance=0.01)
+    u = Cpt(HttpDeviceSignal, axis_identifier="u", tolerance=0.01)
+    vel_u_deg_s = Cpt(HttpDeviceSignal, axis_identifier="vel_u_deg_s", tolerance=0.01)
+
+
+def _test():
+    a = Aerotech(name="aerotech", prefix="http://mx-x10sa-queue-01:5234")
+    a.wait_for_connection()
+    return a
+
+
+if __name__ == "__main__":
+    aerotech = _test()
+    print(aerotech.read())
+    aerotech.stop()
diff --git a/tests/tests_devices/test_aerotech.py b/tests/tests_devices/test_aerotech.py
new file mode 100644
index 0000000..49e2fc2
--- /dev/null
+++ b/tests/tests_devices/test_aerotech.py
@@ -0,0 +1,58 @@
+from copy import copy
+from threading import RLock
+from unittest.mock import ANY
+
+import pytest
+
+
+class MockServer:
+    def __init__(self) -> None:
+        self.lock = RLock()
+        self.mock_data = {
+            "x": {"pos": 1.0},
+            "y": {"pos": 1.0},
+            "z": {"pos": 1.0},
+            "u": {"pos": 1.0},
+            "vel_u_deg_s": {"pos": 1.0},
+        }
+
+    def get(self, endpoint):
+        with self.lock:
+            return copy(self.mock_data)
+
+    def put(self, params: dict | None = None, body: dict | None = None):
+        with self.lock:
+            assert body is not None
+            for k, v in body.items():
+                self.mock_data[k]["pos"] = v
+
+
+@pytest.fixture
+def aerotech():
+    mock_server = MockServer()
+    from pxii_bec.devices.aerotech import Aerotech
+
+    s = Aerotech(name="aerotech", prefix="http://test-aerotech.psi.ch")
+    s.controller._rest_get = mock_server.get
+    s.controller._rest_post = mock_server.put
+    yield s
+    s.controller._stop_monitor_readback_event.set()
+
+
+class TestAerotech:
+    def test_aerotech_read(self, aerotech):
+        aerotech.wait_for_connection()
+        reading = aerotech.read()
+        assert dict(reading) == {
+            "aerotech_x": {"value": 1.0, "timestamp": ANY},
+            "aerotech_y": {"value": 1.0, "timestamp": ANY},
+            "aerotech_z": {"value": 1.0, "timestamp": ANY},
+            "aerotech_u": {"value": 1.0, "timestamp": ANY},
+            "aerotech_vel_u_deg_s": {"value": 1.0, "timestamp": ANY},
+        }
+
+    def test_aerotech_set_with_status(self, aerotech):
+        aerotech.wait_for_connection()
+        st = aerotech.x.set(5.0)
+        st.wait(timeout=1)
+        assert aerotech.x.get() == 5.0