Test fixes
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gac-x02da authored and marone committed
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@@ -280,7 +280,7 @@ class aa1AxisPsoDistance(AerotechPsoBase):
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"""Fire a single PSO event (i.e. manual software trigger)"""
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# Only trigger if distance was set to invalid
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# if self.dstDistanceVal.get() == 0:
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logger.warning(f"[{self.name}] Triggerin...")
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# logger.warning(f"[{self.name}] Triggerin...")
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return self.fire(settle_time)
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def arm(self) -> None:
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@@ -33,7 +33,7 @@ program
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//////////////////////////////////////////////////////////////////////////
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// Internal parameters - dont use
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var $axis as axis = ROTY
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var $axis as axis = {{ scan.rotaxis or 'ROTY' }}
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var $ii as integer
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var $axisFaults as integer = 0
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var $iDdcSafeSpace as integer = 4096
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@@ -20,7 +20,7 @@ program
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// Internal
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var $axis as axis = ROTY
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var $axis as axis = {{ scan.rotaxis or 'ROTY' }}
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var $ii as integer
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var $axisFaults as integer = 0
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@@ -7,3 +7,7 @@ from .AerotechAutomation1 import (
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aa1GlobalVariableBindings,
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aa1AxisIo,
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)
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from .AerotechAutomation1Enums import (
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DriveDataCaptureInput,
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DriveDataCaptureTrigger,
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)
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@@ -16,7 +16,7 @@ import time
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import os
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import jinja2
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import numpy as np
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from ophyd import Component, EpicsMotor, EpicsSignal
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from ophyd import Component, EpicsMotor, EpicsSignal, EpicsSignalRO
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from tomcat_bec.devices.aerotech import (
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@@ -27,21 +27,22 @@ from tomcat_bec.devices.aerotech import (
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aa1Tasks,
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aa1AxisDriveDataCollection,
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aa1AxisPsoDistance,
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)
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from tomcat_bec.devices.aerotech.AerotechAutomation1Enums import (
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DriveDataCaptureInput,
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DriveDataCaptureTrigger,
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)
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os.environ["EPICS_CA_ADDR_LIST"] = "129.129.106.255"
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os.environ["EPICS_CA_ADDR_LIST"] = "129.129.106.255 129.129.99.255"
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AA1_IOC_NAME = "X02DA-ES1-SMP1"
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AA1_AXIS_NAME = "ROTY"
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MOTOR_TOL = 1.0
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AA1_IOC_AXIS = "ROTY"
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AA1_DRV_AXIS = "RY"
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AXIS_VELOCITY = 42
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AXIS_TRAVEL = 80
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AXIS_TOL = 1.0
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class AerotechMotor(EpicsMotor):
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""" EpicsMotor extension with additional PVs"""
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motor_enable_rbv = Component(EpicsSignalRO, "-EnaAct", kind="omitted", auto_monitor=True)
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motor_enable = Component(EpicsSignal, ".CNEN", kind="omitted", auto_monitor=True)
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@@ -56,7 +57,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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# HIL testing only if there's hardware
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dev = aa1Controller(AA1_IOC_NAME + ":CTRL:", name="aa1")
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dev.wait_for_connection()
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mot = AerotechMotor(AA1_IOC_NAME + ":" + AA1_AXIS_NAME, name="mot")
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mot = AerotechMotor(AA1_IOC_NAME + ":" + AA1_IOC_AXIS, name="mot")
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mot.wait_for_connection()
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mot.motor_enable.set(1, settle_time=0.1).wait()
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cls._isConnected = True
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@@ -83,7 +84,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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print("TASK: Testing the 'run' command (run text with intermediary file)")
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# Send another empty program
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filename = "unittesting2.ascript"
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filename = "test_program.ascript"
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text = "program\nvar $positions[4] as real = [2, 4, 8, 16]\nend"
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dev.configure({'script_file': filename, 'script_task': 3, 'script_text': text})
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dev.arm()
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@@ -120,21 +121,21 @@ class AerotechAutomation1Test(unittest.TestCase):
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# # Attempt to run a short motion command using the Execute interface
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print("TASK: Testing a short motion command")
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text = """
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text = f"""
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var $fDist as real = 90
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var $fVelo as real = 200
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var $axis as axis = ROTY
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var $fVelo as real = 60
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var $axis as axis = {AA1_DRV_AXIS}
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Enable($axis)
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MoveLinear($axis, $fDist, $fVelo)
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"""
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dev.configure({'script_task': 3, 'script_text': text})
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dev.configure({'script_task': 3, 'script_text': text, 'script_file': "test_shortmove.ascript"})
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dev.arm()
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t_start = time.time()
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dev.kickoff()
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dev.complete().wait()
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t_end = time.time()
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t_elapsed = t_end - t_start
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self.assertTrue( 0 < t_elapsed < 4, f"Motion finished outside of window in: {t_elapsed}")
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self.assertTrue( 1 < t_elapsed < 4, f"Motion finished outside of window in: {t_elapsed}")
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dev.unstage()
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print("TASK: Done testing TASK module!")
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@@ -268,7 +269,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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$iglobal[1]={val_i}
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$rglobal[1]={val_f}
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"""
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tsk.configure({'script_text': text, 'script_task': 4})
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tsk.configure({'script_text': text, 'script_task': 4, 'script_file': "test_global.ascript"})
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tsk.arm()
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tsk.launch()
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tsk.complete().wait()
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@@ -285,19 +286,30 @@ class AerotechAutomation1Test(unittest.TestCase):
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def test_05_axis_motorrecord(self):
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"""Tests the basic move functionality of the MotorRecord"""
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mot = AerotechMotor(AA1_IOC_NAME + ":" + AA1_AXIS_NAME, name="x")
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mot = AerotechMotor(AA1_IOC_NAME + ":" + AA1_IOC_AXIS, name="x")
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mot.wait_for_connection()
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mot.motor_enable.set(1, settle_time=0.1).wait()
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mot.velocity.set(200).wait()
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mot.velocity.set(AXIS_VELOCITY).wait()
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print("\nMR: Checking the standard EPICS motor record")
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# Test enabling/disabling the axis
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mot.motor_enable.set(1, settle_time=0.1).wait()
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time.sleep(1)
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self.assertTrue(mot.motor_enable_rbv.value, "Motor should be enabled")
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mot.motor_enable.set(0, settle_time=0.1).wait()
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time.sleep(1)
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self.assertFalse(mot.motor_enable_rbv.value, "Motor should be disabled")
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mot.motor_enable.set(1, settle_time=0.1).wait()
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time.sleep(1)
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self.assertTrue(mot.motor_enable_rbv.value, "Motor should be enabled")
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# Four test with absolute moves
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def move_rel(dist):
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target = mot.position + dist
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print(f"Absolute move to {target}, distance: {dist}")
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mot.move(target, wait=True)
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self.assertTrue(
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np.abs(target - mot.position) < MOTOR_TOL,
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np.abs(target - mot.position) < AXIS_TOL,
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f"Final position {mot.position} is too far from target {target}",
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)
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@@ -311,7 +323,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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def test_06_axis_io(self):
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"""Test axis IO bindings"""
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# Throws if IOC is not available or PVs are incorrect
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dev = aa1AxisIo(AA1_IOC_NAME + ":" + AA1_AXIS_NAME + ":IO:", name="io")
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dev = aa1AxisIo(AA1_IOC_NAME + ":" + AA1_IOC_AXIS + ":IO:", name="io")
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dev.wait_for_connection()
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# Writing random values to analog/digital outputs
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@@ -338,9 +350,9 @@ class AerotechAutomation1Test(unittest.TestCase):
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configuration, state monitoring and readback.
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"""
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# Throws if IOC is not available or PVs are incorrect
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dev = aa1AxisDriveDataCollection(AA1_IOC_NAME + ":" + AA1_AXIS_NAME + ":DDC:", name="ddc")
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dev = aa1AxisDriveDataCollection(AA1_IOC_NAME + ":" + AA1_IOC_AXIS + ":DDC:", name="ddc")
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event = EpicsSignal(
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AA1_IOC_NAME + ":" + AA1_AXIS_NAME + ":PSO:EVENT:SINGLE", put_complete=True
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AA1_IOC_NAME + ":" + AA1_IOC_AXIS + ":PSO:EVENT:SINGLE", put_complete=True
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)
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dev.wait_for_connection()
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event.wait_for_connection()
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@@ -464,9 +476,9 @@ class AerotechAutomation1Test(unittest.TestCase):
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the PSO module and the polled feedback.
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"""
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# Throws if IOC is not available or PVs are incorrect
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pso = aa1AxisPsoDistance(AA1_IOC_NAME + ":" + AA1_AXIS_NAME + ":PSO:", name="pso1")
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ddc = aa1AxisDriveDataCollection(AA1_IOC_NAME + ":" + AA1_AXIS_NAME + ":DDC:", name="ddc")
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mot = AerotechMotor(AA1_IOC_NAME + ":" + AA1_AXIS_NAME, name=AA1_AXIS_NAME.lower())
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pso = aa1AxisPsoDistance(AA1_IOC_NAME + ":" + AA1_IOC_AXIS + ":PSO:", name="pso1")
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ddc = aa1AxisDriveDataCollection(AA1_IOC_NAME + ":" + AA1_IOC_AXIS + ":DDC:", name="ddc")
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mot = AerotechMotor(AA1_IOC_NAME + ":" + AA1_IOC_AXIS, name=AA1_IOC_AXIS.lower())
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mot.wait_for_connection()
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pso.wait_for_connection()
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ddc.wait_for_connection()
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@@ -479,7 +491,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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# Configure steps and move to middle of range
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pso.configure({"pso_distance": 5, "pso_wavemode": "toggle"})
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pso.arm()
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mot.velocity.set(200).wait()
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mot.velocity.set(AXIS_VELOCITY).wait()
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mot.move(mot.position + 2.5, wait=True)
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ddc.arm()
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@@ -527,7 +539,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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pso.disarm()
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ddc.disarm()
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print("AX:PSO: Checking basic 'pulsed' event generation with DDC (3/5)")
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print("AX:PSO: Checking basic 'pulsed' event generation with DDC (3/3)")
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# Configure steps and move to middle of range
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pso.configure({"pso_distance": 1.8, "pso_wavemode": "pulsed", "pso_n_pulse": 3})
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pso.arm()
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@@ -565,9 +577,9 @@ class AerotechAutomation1Test(unittest.TestCase):
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and compares them to the expected values.
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"""
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# Throws if IOC is not available or PVs are incorrect
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pso = aa1AxisPsoDistance(AA1_IOC_NAME + ":" + AA1_AXIS_NAME + ":PSO:", name="pso1")
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ddc = aa1AxisDriveDataCollection(AA1_IOC_NAME + ":" + AA1_AXIS_NAME + ":DDC:", name="ddc")
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mot = AerotechMotor(AA1_IOC_NAME + ":" + AA1_AXIS_NAME, name="x")
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pso = aa1AxisPsoDistance(AA1_IOC_NAME + ":" + AA1_IOC_AXIS + ":PSO:", name="pso1")
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ddc = aa1AxisDriveDataCollection(AA1_IOC_NAME + ":" + AA1_IOC_AXIS + ":DDC:", name="ddc")
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mot = AerotechMotor(AA1_IOC_NAME + ":" + AA1_IOC_AXIS, name="x")
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mot.wait_for_connection()
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pso.wait_for_connection()
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ddc.wait_for_connection()
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@@ -578,7 +590,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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"\ntest_09_PsoIntegration01: Integration test for vector PSO triggering (advanced)"
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)
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print("AX:PSO: Testing standard 'enable' style PSO triggering with DDC (1/3)")
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print("AX:PSO: Testing standard 'enable' style PSO triggering with DDC (1/2)")
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# This is one line of the Tomcat sequence scan!
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acc_dist = 0.5 * mot.velocity.value * mot.acceleration.value
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vec_dist = [acc_dist, 18, 0.01, 18, 0.01, 18, 0.01, 18, 0.01, 18, 0.01, 18]
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@@ -615,7 +627,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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pso.unstage()
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ddc.unstage()
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print("AX:PSO: Checking 'individual' style trigger signal with DDC (2/5)")
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print("AX:PSO: Checking 'individual' style trigger signal with DDC (2/2)")
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# This is practically golden ratio tomography!
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acc_dist = 0.5 * mot.velocity.value * mot.acceleration.value
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vec_dist = [acc_dist]
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@@ -654,114 +666,16 @@ class AerotechAutomation1Test(unittest.TestCase):
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pso.unstage()
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ddc.unstage()
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# def test_10_AxisPsoWindow1(self):
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# """ Test basic PSO window mode functionality
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# This module tests basic PSO distance functionality, like events and
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# waveform generation. The goal is to ensure the basic operation of
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# the PSO module and the polled feedback.
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# """
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# # Throws if IOC is not available or PVs are incorrect
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# pso = aa1AxisPsoWindow(AA1_IOC_NAME + ":" + AA1_AXIS_NAME + ":PSO:", name="pso1")
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# ddc = aa1AxisDriveDataCollection(AA1_IOC_NAME + ":" + AA1_AXIS_NAME + ":DDC:", name="ddc")
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# mot = AerotechMotor(AA1_IOC_NAME + ":" + AA1_AXIS_NAME, name="x")
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# mot.wait_for_connection()
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# pso.wait_for_connection()
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# ddc.wait_for_connection()
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# pso.unstage()
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# ddc.unstage()
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# mot.unstage()
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# print("\nAX:PSO: Checking axis PSO in window mode (basic)")
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# print("AX:PSO: Directly checking basic window output (1/3)")
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# # Configure steps and move to middle of range
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# pso.configure({'bounds': (5, 13), 'pso_wavemode': "output"})
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# time.sleep(1)
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# # Move half a step
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# mot.move(mot.position + 0.1)
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# dist = 0.1
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# # Start moving in steps, while checking output
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# for ii in range(42):
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# mot.move(mot.position + 0.2)
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# dist += 0.2
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# time.sleep(1)
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# if 5 < dist < 13:
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# self.assertTrue(pso.output.value == 1,
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# f"Expected HIGH PSO output inside the window at distance {dist}")
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# else:
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# self.assertTrue(pso.output.value == 0,
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# f"Expected LOW PSO output outside the window at distance {dist}")
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# print("AX:PSO: The next tests fail due to encoder jitter!")
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# pso.unstage()
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# return
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# print("AX:PSO: Checking basic window event generation with DDC (2/3)")
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# # Move to acceleration position
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# acc_dist = 0.5 * mot.velocity.value * mot.acceleration.value
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# print(f"Acceleration distance: {acc_dist}")
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# start_position = mot.position
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# mot.move(start_position - acc_dist)
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# # Configure PSO in window mode
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# cfg = {'bounds': (acc_dist, 30 + acc_dist), 'pso_wavemode': "pulsed", "emode": 'Both'}
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# dev.configure(cfg)
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# # Configure the data capture (must be performed in start position)
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# cfg = {'ntotal': 5*10, 'trigger': DriveDataCaptureTrigger.PsoOutput}
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# ddc.configure(cfg)
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# ddc.arm()
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# npoints_rbv = ddc.nsamples_rbv.value
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# self.assertEqual(npoints_rbv, 0,
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# f"DDC.stage should reset the number of DDC points but got: {npoints_rbv}")
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# # Repeated line scan
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# for ii in range(10):
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# dev.arm()
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# mot.move(start_position + 30 + acc_dist)
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# dev.unstage()
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# mot.move(start_position - acc_dist)
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# time.sleep(0.5)
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# npoints_rbv = ddc.nsamples_rbv.value
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# self.assertTrue(np.abs(npoints_rbv - 50) < 1,
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# f"Expected to record 10 points but got {npoints_rbv}")
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# print("AX:PSO: Checking basic 'toggled' event generation with DDC (3/3)")
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# print("Test removed as there's some heavy jitter on the PSO output flag")
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# # Move to acceleration position
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# acc_dist = 0.5 * mot.velocity.value * mot.acceleration.value
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# print(f"Acceleration distance: {acc_dist}")
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# mot.move(mot.position - acc_dist)
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# # Configure PSO in window mode
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# cfg = {'bounds': (acc_dist, 30 + acc_dist + 1), 'pso_wavemode': "output"}
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# dev.configure(cfg)
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# dev.arm()
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# # Configure the data capture
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# cfg = {'ntotal': 10, 'trigger': DriveDataCaptureTrigger.PsoOutput}
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# ddc.configure(cfg)
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# ddc.arm()
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# npoints_rbv = ddc.nsamples_rbv.value
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# self.assertEqual(npoints_rbv, 0,
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# f"DDC.stage should reset the number of DDC points but got: {npoints_rbv}")
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# # Snake scan
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# for ii in range(10):
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# if ii % 2 == 0:
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# mot.move(mot.position + 30 + 2 * acc_dist + 0.1)
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# else:
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# mot.move(mot.position - 30 - 2 * acc_dist - 0.1)
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# time.sleep(0.5)
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# npoints_rbv = ddc.nsamples_rbv.value
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# self.assertTrue(np.abs(npoints_rbv - 10) < 1,
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# f"Expected to record 10 points but got {npoints_rbv}")
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def test_12_StepScan(self):
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def test_10_StepScan(self):
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"""Test a simple blusky style step scan (via BEC)
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This module tests manual PSO trigger functionality. The goal is to
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ensure the basic operation of the PSO module and the polled feedback.
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"""
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# Throws if IOC is not available or PVs are incorrect
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pso = aa1AxisPsoDistance(AA1_IOC_NAME + ":" + AA1_AXIS_NAME + ":PSO:", name="pso1")
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ddc = aa1AxisDriveDataCollection(AA1_IOC_NAME + ":" + AA1_AXIS_NAME + ":DDC:", name="ddc")
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mot = AerotechMotor(AA1_IOC_NAME + ":" + AA1_AXIS_NAME, name="x")
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pso = aa1AxisPsoDistance(AA1_IOC_NAME + ":" + AA1_IOC_AXIS + ":PSO:", name="pso1")
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ddc = aa1AxisDriveDataCollection(AA1_IOC_NAME + ":" + AA1_IOC_AXIS + ":DDC:", name="ddc")
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mot = AerotechMotor(AA1_IOC_NAME + ":" + AA1_IOC_AXIS, name="x")
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mot.wait_for_connection()
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pso.wait_for_connection()
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ddc.wait_for_connection()
|
||||
@@ -769,7 +683,7 @@ class AerotechAutomation1Test(unittest.TestCase):
|
||||
ddc.disarm()
|
||||
mot.unstage()
|
||||
t_start = time.time()
|
||||
print("\ntest_12_StepScan: Simple step scan (via Ophyd)")
|
||||
print("\ntest_10_StepScan: Simple step scan (via Ophyd)")
|
||||
|
||||
pos_start = 112.0
|
||||
scan_range = 180
|
||||
@@ -787,7 +701,7 @@ class AerotechAutomation1Test(unittest.TestCase):
|
||||
f"Expected to move to scan start position {pos_start}, now at {mot.position}",
|
||||
)
|
||||
# PSO setup (very large pulse distance)
|
||||
pso.configure(d={"pso_n_pulse": 2, "pso_distance": 99999})
|
||||
pso.configure(d={"pso_n_pulse": 2, "pso_distance": 9999})
|
||||
# DDC setup (trigger at each point plus some extra)
|
||||
cfg = {"num_points_total": 1000 * (scan_steps + 1), "ddc_trigger": DriveDataCaptureTrigger.PsoOutput}
|
||||
ddc.configure(cfg)
|
||||
@@ -800,7 +714,7 @@ class AerotechAutomation1Test(unittest.TestCase):
|
||||
for ii in range(len(positions)):
|
||||
mot.move(positions[ii])
|
||||
self.assertTrue(
|
||||
np.abs(mot.position - positions[ii]) < MOTOR_TOL,
|
||||
np.abs(mot.position - positions[ii]) < AXIS_TOL,
|
||||
f"Expected to reach {positions[ii]}, now is at {mot.position} on step {ii}",
|
||||
)
|
||||
pso.trigger()
|
||||
@@ -824,7 +738,7 @@ class AerotechAutomation1Test(unittest.TestCase):
|
||||
f"Expected to record {len(positions)} DDC points, got: {npoints_rbv}",
|
||||
)
|
||||
|
||||
def test_13_TomcatSequenceScan(self):
|
||||
def test_11_TomcatSequenceScan(self):
|
||||
"""Test the zig-zag sequence scan from Tomcat (via BEC)
|
||||
|
||||
This module tests basic PSO distance functionality, like events and
|
||||
@@ -832,9 +746,9 @@ class AerotechAutomation1Test(unittest.TestCase):
|
||||
the PSO module and the polled feedback.
|
||||
"""
|
||||
# Throws if IOC is not available or PVs are incorrect
|
||||
pso = aa1AxisPsoDistance(AA1_IOC_NAME + ":" + AA1_AXIS_NAME + ":PSO:", name="pso1")
|
||||
ddc = aa1AxisDriveDataCollection(AA1_IOC_NAME + ":" + AA1_AXIS_NAME + ":DDC:", name="ddc")
|
||||
mot = AerotechMotor(AA1_IOC_NAME + ":" + AA1_AXIS_NAME, name="x")
|
||||
pso = aa1AxisPsoDistance(AA1_IOC_NAME + ":" + AA1_IOC_AXIS + ":PSO:", name="pso1")
|
||||
ddc = aa1AxisDriveDataCollection(AA1_IOC_NAME + ":" + AA1_IOC_AXIS + ":DDC:", name="ddc")
|
||||
mot = AerotechMotor(AA1_IOC_NAME + ":" + AA1_IOC_AXIS, name="x")
|
||||
mot.wait_for_connection()
|
||||
pso.wait_for_connection()
|
||||
ddc.wait_for_connection()
|
||||
@@ -842,7 +756,7 @@ class AerotechAutomation1Test(unittest.TestCase):
|
||||
ddc.disarm()
|
||||
mot.unstage()
|
||||
t_start = time.time()
|
||||
print("\ntest_13_TomcatSequenceScan: TOMCAT Sequeence scan (via Ophyd)")
|
||||
print("\ntest_11_TomcatSequenceScan: TOMCAT Sequeence scan (via Ophyd)")
|
||||
|
||||
scan_start = 42.0
|
||||
scan_range = 180
|
||||
@@ -850,14 +764,14 @@ class AerotechAutomation1Test(unittest.TestCase):
|
||||
scan_type = "PosNeg"
|
||||
|
||||
# Dynamic properties
|
||||
scan_vel = 90
|
||||
scan_vel = AXIS_VELOCITY
|
||||
scan_acc = 500
|
||||
dist_safe = 10.0
|
||||
|
||||
######################################################################
|
||||
print("\tConfigure")
|
||||
# Scan range
|
||||
dist_acc = 0.5 * scan_vel * scan_vel / scan_acc + dist_safe
|
||||
dist_acc = 0.5 * AXIS_VELOCITY * AXIS_VELOCITY / scan_acc + dist_safe
|
||||
if scan_type in ["PosNeg", "Pos"]:
|
||||
pos_start = scan_start - dist_acc
|
||||
pos_end = scan_start + scan_range + dist_acc
|
||||
@@ -868,8 +782,8 @@ class AerotechAutomation1Test(unittest.TestCase):
|
||||
raise RuntimeError(f"Unexpected ScanType: {scan_type}")
|
||||
|
||||
# Motor setup
|
||||
mot.velocity.set(scan_vel).wait()
|
||||
mot.acceleration.set(scan_vel / scan_acc).wait()
|
||||
mot.velocity.set(AXIS_VELOCITY).wait()
|
||||
mot.acceleration.set(AXIS_VELOCITY / scan_acc).wait()
|
||||
mot.move(pos_start)
|
||||
self.assertTrue(
|
||||
np.abs(mot.position - pos_start) < 1.0,
|
||||
@@ -897,12 +811,12 @@ class AerotechAutomation1Test(unittest.TestCase):
|
||||
if scan_type in ["Pos", "Neg"]:
|
||||
mot.move(pos_end)
|
||||
self.assertTrue(
|
||||
np.abs(mot.position - pos_end) < MOTOR_TOL,
|
||||
np.abs(mot.position - pos_end) < AXIS_TOL,
|
||||
f"Expected to reach {pos_end}, now is at {mot.position} on iteration {ii}",
|
||||
)
|
||||
mot.move(pos_start)
|
||||
self.assertTrue(
|
||||
np.abs(mot.position - pos_start) < MOTOR_TOL,
|
||||
np.abs(mot.position - pos_start) < AXIS_TOL,
|
||||
f"Expected to rewind to {pos_start}, now at {mot.position} on iteration {ii}",
|
||||
)
|
||||
|
||||
@@ -910,13 +824,13 @@ class AerotechAutomation1Test(unittest.TestCase):
|
||||
if ii % 2 == 0:
|
||||
mot.move(pos_end, wait=True)
|
||||
self.assertTrue(
|
||||
np.abs(mot.position - pos_end) < MOTOR_TOL,
|
||||
np.abs(mot.position - pos_end) < AXIS_TOL,
|
||||
f"Expected to reach {pos_end}, now at {mot.position} on iteration {ii}",
|
||||
)
|
||||
else:
|
||||
mot.move(pos_start, wait=True)
|
||||
self.assertTrue(
|
||||
np.abs(mot.position - pos_start) < MOTOR_TOL,
|
||||
np.abs(mot.position - pos_start) < AXIS_TOL,
|
||||
f"Expected to reach {pos_start}, now at {mot.position} on iteration {ii}",
|
||||
)
|
||||
|
||||
@@ -946,7 +860,7 @@ class AerotechAutomation1Test(unittest.TestCase):
|
||||
f"Expected to record {num_repeat} DDC points, but got: {npoints_rbv}",
|
||||
)
|
||||
|
||||
def test_14_JinjaTomcatSequenceScan(self):
|
||||
def test_12_JinjaTomcatSequenceScan(self):
|
||||
""" Run a test sequence scan with template substitution"""
|
||||
# Load the test file
|
||||
path = os.path.dirname(os.path.realpath(__file__))
|
||||
@@ -955,17 +869,18 @@ class AerotechAutomation1Test(unittest.TestCase):
|
||||
templatetext = f.read()
|
||||
|
||||
scanconfig = {
|
||||
"rotaxis": "RY",
|
||||
"startpos": 42,
|
||||
"scanrange": 180,
|
||||
"nrepeat": 13,
|
||||
"scandir": "NEGPOS",
|
||||
"npoints": 1300,
|
||||
"scanvel": 150,
|
||||
"scanvel": AXIS_VELOCITY,
|
||||
"scanacc": 500,
|
||||
"accdist": 0.5*150*150/500,
|
||||
"accdist": 0.5*AXIS_VELOCITY*AXIS_VELOCITY/500,
|
||||
"psotrigger": "PsoEvent",
|
||||
"psoBoundsPos": [0.5*150*150/500, 180],
|
||||
"psoBoundsNeg": [0.5*150*150/500, 180]
|
||||
"psoBoundsPos": [0.5*AXIS_VELOCITY*AXIS_VELOCITY/500, 180],
|
||||
"psoBoundsNeg": [0.5*AXIS_VELOCITY*AXIS_VELOCITY/500, 180]
|
||||
}
|
||||
tm = jinja2.Template(templatetext)
|
||||
text = tm.render(scan=scanconfig)
|
||||
@@ -974,10 +889,10 @@ class AerotechAutomation1Test(unittest.TestCase):
|
||||
|
||||
# Throws if IOC is not available or PVs are incorrect
|
||||
tsk = aa1Tasks(AA1_IOC_NAME + ":TASK:", name="tsk")
|
||||
ddc = aa1AxisDriveDataCollection(AA1_IOC_NAME + ":" + AA1_AXIS_NAME + ":DDC:", name="ddc")
|
||||
ddc = aa1AxisDriveDataCollection(AA1_IOC_NAME + ":" + AA1_IOC_AXIS + ":DDC:", name="ddc")
|
||||
tsk.wait_for_connection()
|
||||
ddc.wait_for_connection()
|
||||
print("\nTOMCAT Sequeence scan (via Jinjad AeroScript)")
|
||||
print("\ntest_12_JinjaTomcatSequenceScan: TOMCAT Sequeence scan (via Jinjad AeroScript)")
|
||||
|
||||
# Copy file to controller and run it
|
||||
t_start = time.time()
|
||||
|
||||
@@ -33,7 +33,7 @@ program
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////
|
||||
// Internal parameters - dont use
|
||||
var $axis as axis = ROTY
|
||||
var $axis as axis = {{ scan.rotaxis or 'ROTY' }}
|
||||
var $ii as integer
|
||||
var $axisFaults as integer = 0
|
||||
var $iDdcSafeSpace as integer = 4096
|
||||
|
||||
Reference in new issue
Block a user