Tests f*cking work
This commit is contained in:
gac-x05la
@@ -108,7 +108,7 @@ class aa1Tasks(Device):
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EpicsSignal, "FILEWRITE", string=True, kind=Kind.omitted, put_complete=True
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)
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def launchScript(self, filename: str, task_index: int == 3, filetext=None, settle_time=0.5) -> None:
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def launch_script(self, filename: str, task_index: int=4, filetext=None, settle_time=0.5) -> None:
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""" Launch a script file that either exists, or is newly created and compiled"""
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self.configure({"text": filetext, "filename": filename, "task_index": task_index})
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@@ -232,7 +232,6 @@ class aa1Tasks(Device):
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return status
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class aa1TaskState(Device):
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"""Task state monitoring API
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@@ -267,7 +266,6 @@ class aa1TaskState(Device):
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return status
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class aa1GlobalVariables(Device):
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"""Global variables
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@@ -637,6 +635,11 @@ class aa1AxisPsoDistance(aa1AxisPsoBase):
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raise RuntimeError(f"Unsupported distace triggering mode: {wmode}")
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old = self.read_configuration()
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# Disable everything
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self.winEvents.set("Off").wait()
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self.dstCounterEna.set("Off").wait()
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self.dstEventsEna.set("Off").wait()
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# Configure distance generator (also resets counter to 0)
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self._distance_value = distance
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if isinstance(distance, (float, int)):
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@@ -644,10 +647,6 @@ class aa1AxisPsoDistance(aa1AxisPsoBase):
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elif isinstance(distance, (np.ndarray, list, tuple)):
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self.dstDistanceArr.set(distance).wait()
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self.winEvents.set("Off").wait()
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self.dstCounterEna.set("Off").wait()
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self.dstEventsEna.set("Off").wait()
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# Configure the pulsed/toggled waveform
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if wmode in ["toggle", "toggled"]:
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# Switching to simple toggle mode
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@@ -687,6 +686,9 @@ class aa1AxisPsoDistance(aa1AxisPsoBase):
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# Bluesky step scan interface
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def stage(self):
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""" Stage the device"""
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# Rearm the configured array
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if isinstance(self._distance_value, (np.ndarray, list, tuple)):
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self.dstArrayRearm.set(1).wait()
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# Turn off counter monitoring
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self.dstEventsEna.set("On").wait()
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self.dstCounterEna.set("On").wait()
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@@ -738,7 +740,6 @@ class aa1AxisPsoDistance(aa1AxisPsoBase):
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return status
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class aa1AxisPsoWindow(aa1AxisPsoBase):
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"""Position Sensitive Output - Window mode
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@@ -767,12 +768,14 @@ class aa1AxisPsoWindow(aa1AxisPsoBase):
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"""Simplified configuration interface to access the most common
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functionality for distance mode PSO.
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:param distance: The trigger distance or the array of distances between subsequent points.
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:param bounds: The trigger window or the array of windows.
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:param wmode: Waveform mode configuration, usually output/pulsed/toggled.
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:param emode: Event mode configuration, usually Off/Enter/Exit/Both.
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"""
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bounds = d["distance"]
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bounds = d["bounds"]
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wmode = str(d["wmode"])
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emode = str(d["emode"])
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emode = d.get("emode", "Enter")
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t_pulse = d.get("t_pulse", 100)
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w_pulse = d.get("w_pulse", 200)
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n_pulse = d.get("n_pulse", 1)
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@@ -780,7 +783,7 @@ class aa1AxisPsoWindow(aa1AxisPsoBase):
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# Validate input parameters
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if wmode not in ["pulse", "pulsed", "toggle", "toggled", "output", "flag"]:
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raise RuntimeError(f"Unsupported window triggering mode: {wmode}")
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if len(bounds % 2) == 1:
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if len(bounds) % 2 == 1:
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raise RuntimeError(f"Window mode requires an even number of bounds, got: {len(bounds)}")
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self._mode = wmode
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@@ -57,6 +57,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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self.assertTrue(dev.taskcount.get()>0, "Maximum controller task count seems invalid")
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print("CTRL: Done testing CTRL module!")
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def test_02_TaskProxy(self):
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""" Testing the TASK interface
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"""
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@@ -111,12 +112,12 @@ class AerotechAutomation1Test(unittest.TestCase):
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# Send another empty program
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filename = "unittesting2.ascript"
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text = "program\nvar $positions[2] as real\nend"
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dev.launchScript(filename, task_index=3, filetext=text)
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dev.launch_script(filename, task_index=3, filetext=text)
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dev.complete().wait()
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print("TASK: Done testing TASK module!")
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def test_04_GlobalVariables1(self):
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def test_03_GlobalVariables1(self):
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"""Test the basic read/write global variable interface
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"""
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# Throws if IOC is not available or PVs are incorrect
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@@ -159,7 +160,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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print("VAR: Done testing VAR module basic functionality!")
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def test_05_GlobalVariables2(self):
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def test_04_GlobalVariables2(self):
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"""Test the direct global variable bindings together with the task and
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standard global variable interfaces.
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"""
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@@ -208,8 +209,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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self.assertAlmostEqual(1.4142, dev.float1.value, f"Unexpected floating readback , read {dev.float1.value}, expected 1.4142")
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def test_06_MotorRecord(self):
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def test_05_MotorRecord(self):
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""" Tests the basic move functionality of the MotorRecord
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"""
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mot = EpicsMotor(AA1_IOC_NAME+ ":" + AA1_AXIS_NAME, name="x")
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@@ -231,7 +231,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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print("MR: Done testing MotorRecord!")
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def test_07_AxisIo(self):
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def test_06_AxisIo(self):
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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.wait_for_connection()
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@@ -253,8 +253,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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print("IO: Done testing IO module!")
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def test_08_AxisDdc(self):
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def test_07_AxisDdc(self):
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""" Drive data collection
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This is the preliminary test case dor drive data collection using
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@@ -338,8 +337,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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print("AX:DDCal(l: Done testing DDC module!")
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def test_09_AxisPsoDistance1(self):
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def test_08_AxisPsoDistance1(self):
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""" Test basic PSO distance mode functionality
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This module tests basic PSO distance functionality, like events and
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@@ -357,7 +355,7 @@ class AerotechAutomation1Test(unittest.TestCase):
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if dev.output.value:
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dev.toggle()
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sleep(1)
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print("AX:PSO: Directly checking basic 'toggled' event generation (1/3)")
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# Configure steps and move to middle of range
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dev.configure({'distance': 5, 'wmode': "toggle"})
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@@ -422,7 +420,8 @@ class AerotechAutomation1Test(unittest.TestCase):
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dev.unstage()
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ddc.unstage()
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def test_10_PsoIntegration01(self):
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def test_09_PsoIntegration01(self):
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""" The first integration test aims to verify PSO functionality under
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real life scenarios. It uses the DDC for collecting encoder signals
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and compares them to the expected values.
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@@ -497,7 +496,232 @@ class AerotechAutomation1Test(unittest.TestCase):
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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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dev = 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 = EpicsMotor(AA1_IOC_NAME+ ":" + AA1_AXIS_NAME, name="x")
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mot.wait_for_connection()
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dev.wait_for_connection()
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ddc.wait_for_connection()
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print("\nAX:PSO: Checking axis PSO in window mode (basic)")
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if dev.output.value:
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dev.toggle()
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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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dev.configure({'bounds': (5, 13), 'wmode':"output"})
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dev.stage()
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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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sleep(1)
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if 5 < dist < 13:
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self.assertTrue(dev.output.value==1, f"Expected HIGH PSO output inside the window at distance {dist}")
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else:
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self.assertTrue(dev.output.value==0, f"Expected LOW PSO output outside the window at distance {dist}")
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print("AX:PSO: The following tests whould fail as multiple triggers/events are being emmitted when entering/exiting the window!")
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dev.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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print(" WARN: The encoder output is very noisy, one transition generates several events")
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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), 'wmode':"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 = {'npoints': 5*10, 'trigger': DriveDataCaptureTrigger.PsoOutput}
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ddc.configure(cfg)
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ddc.stage()
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npoints_rbv = ddc.nsamples_rbv.value
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self.assertEqual(npoints_rbv, 0, 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.stage()
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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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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, 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), 'wmode':"output"}
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dev.configure(cfg)
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dev.stage()
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# Configure the data capture
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cfg = {'npoints': 10, 'trigger': DriveDataCaptureTrigger.PsoOutput}
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ddc.configure(cfg)
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ddc.stage()
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npoints_rbv = ddc.nsamples_rbv.value
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self.assertEqual(npoints_rbv, 0, 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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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, f"Expected to record 10 points but got {npoints_rbv}")
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def test_12_TomcatSequenceScan(self):
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""" Test the zig-zag sequence scan from Tomcat (via BEC)
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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 = 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 = EpicsMotor(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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t_start = time()
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print("\nTOMCAT Sequeence scan (via Ophyd)")
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ScanStart = 42.0
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ScanRange = 180
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NumRepeat = 10
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ScanType = "PosNeg"
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# Dynamic properties
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VelScan = 90
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AccScan = 500
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SafeDist = 10.0
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######################################################################
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print("\tConfigure")
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# Scan range
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AccDist = 0.5 * VelScan * VelScan / AccScan + SafeDist
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if ScanType in ["PosNeg", "Pos"]:
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PosStart = ScanStart - AccDist
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PosEnd = ScanStart + ScanRange + AccDist
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elif ScanType in ["NegPos", "Neg"]:
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PosStart = ScanStart + AccDist
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PosEnd = ScanStart - ScanRange - AccDist
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else:
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raise RuntimeError(f"Unexpected ScanType: {ScanType}")
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# Motor setup
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mot.velocity.set(VelScan).wait()
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mot.acceleration.set(VelScan/AccScan).wait()
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mot.move(PosStart)
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self.assertTrue(np.abs(mot.position-PosStart)<0.1, f"Expected to move to scan start position {PosStart}, found motor at {mot.position}")
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# PSO setup
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print(f"Configuring PSO to: {[AccDist, ScanRange]}")
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cfg = {'distance':[AccDist, ScanRange], 'wmode': "toggle"}
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pso.configure(cfg)
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# DDC setup (Tomcat runs in ENABLE mode, so only one posedge)
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cfg = {'npoints': NumRepeat, 'trigger': DriveDataCaptureTrigger.PsoOutput}
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ddc.configure(cfg)
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print("\tStage")
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mot.stage()
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pso.stage()
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ddc.stage()
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for ii in range(NumRepeat):
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# No option to reset the index counter...
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pso.dstArrayRearm.set(1).wait()
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if ScanType in ["Pos", "Neg"]:
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mot.move(PosEnd)
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self.assertTrue(np.abs(mot.position-PosEnd)<1.0, f"Expected to reach {PosEnd}, motor is at {mot.position} on iteration {ii}")
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mot.move(PosStart)
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self.assertTrue(np.abs(mot.position-PosStart)<1.0, f"Expected to rewind to {PosStart}, motor is at {mot.position} on iteration {ii}")
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if ScanType in ["PosNeg", "NegPos"]:
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if ii % 2 == 0:
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mot.move(PosEnd)
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self.assertTrue(np.abs(mot.position-PosEnd)<1.0, f"Expected to reach {PosEnd}, motor is at {mot.position} on iteration {ii}")
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else:
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mot.move(PosStart)
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self.assertAlmostEqual(mot.position, PosStart, 1, f"Expected to reach {PosStart}, motor is at {mot.position} on iteration {ii}")
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sleep(0.2)
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npoints_rbv = ddc.nsamples_rbv.value
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self.assertEqual(npoints_rbv, ii+1, f"Expected to record {ii+1} DDC points, but got: {npoints_rbv} on iteration {ii}")
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print("\tUnstage")
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mot.unstage()
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ddc.unstage()
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pso.unstage()
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t_end = time()
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t_elapsed = t_end - t_start
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print(f"Elapsed scan time: {t_elapsed}")
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print("Evaluate final state")
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sleep(3)
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npoints_rbv = ddc.nsamples_rbv.value
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self.assertEqual(npoints_rbv, NumRepeat, f"Expected to record {NumRepeat} DDC points, but got: {npoints_rbv}")
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def test_14_JinjaTomcatSequenceScan(self):
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# Load the test file
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try:
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filename = "test/testSequenceScanTemplate.ascript"
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with open(filename) as f:
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templatetext = f.read()
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except FileNotFoundError:
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filename = "testSequenceScanTemplate.ascript"
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with open(filename) as f:
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templatetext = f.read()
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import jinja2
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scanconfig = {'startpos': 42, 'scanrange': 180, 'nrepeat': 10, 'scandir': 'NegPos', 'scanvel': 90, 'scanacc': 500}
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tm = jinja2.Template(templatetext)
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text = tm.render(scan=scanconfig)
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# with open("test/tcatSequenceScan.ascript", "w") as text_file:
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# text_file.write(text)
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# Throws if IOC is not available or PVs are incorrect
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dev = aa1Tasks(AA1_IOC_NAME+":TASK:", name="tsk")
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dev.wait_for_connection()
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print("\nTOMCAT Sequeence scan (via Jinjad AeroScript)")
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# Copy file to controller and run it
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t_start = time()
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dev.launch_script("tcatSequenceScan.ascript", task_index=4, filetext=text)
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sleep(0.5)
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dev.complete().wait()
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t_end = time()
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t_elapsed = t_end - t_start
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print(f"Elapsed scan time: {t_elapsed}")
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if __name__ == "__main__":
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unittest.main()
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@@ -0,0 +1,132 @@
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// Test program for zig-zag line scanning with PSO window output "enable"
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// signal and DDC synchronized to external trigger input.
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// The file expects external parameter validation
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// The PSO locations arrays are set externally from EPICS PV
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enum ScanType
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Pos = 0
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Neg = 1
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PosNeg = 2
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NegPos = 3
|
||||
end
|
||||
|
||||
|
||||
program
|
||||
//////////////////////////////////////////////////////////////////////////
|
||||
// External parameters - USE THEESE
|
||||
var $fStartPosition as real = {{ scan.startpos }}
|
||||
var $fScanRange as real = $fStartPosition + {{ scan.scanrange }}
|
||||
var $iNumRepeat as integer = {{ scan.nrepeat }}
|
||||
var $eScanType as ScanType = ScanType.{{ scan.scandir or 'Pos' }}
|
||||
|
||||
var $fVelJog as real = {{ scan.jogvel or 200 }}
|
||||
var $fVelScan as real = {{ scan.scanvel }}
|
||||
var $fAcceleration = {{ scan.scanacc or 500 }}
|
||||
var $fSafeDist = 10.0
|
||||
|
||||
//////////////////////////////////////////////////////////////////////////
|
||||
// Internal parameters - dont use
|
||||
var $axis as axis = ROTY
|
||||
var $ii as integer
|
||||
var $iDdcSafeSpace as integer = 4096
|
||||
|
||||
// Set acceleration
|
||||
SetupAxisRampType($axis, RampType.Linear)
|
||||
SetupAxisRampValue($axis,0,$fAcceleration)
|
||||
var $fAccDistance as real = 0.5 * $fVelScan * $fVelScan / $fAcceleration + $fSafeDist
|
||||
|
||||
// set the actual scan range
|
||||
var $fPosStart as real
|
||||
var $fPosEnd as real
|
||||
if $eScanType == ScanType.Pos
|
||||
$fPosStart = $fStartPosition - $fAccDistance
|
||||
$fPosEnd = $fStartPosition + $fScanRange + $fAccDistance
|
||||
elseif $eScanType == ScanType.Neg
|
||||
$fPosStart = $fStartPosition + $fAccDistance
|
||||
$fPosEnd = $fStartPosition - $fScanRange - $fAccDistance
|
||||
elseif $eScanType == ScanType.PosNeg
|
||||
$fPosStart = $fStartPosition - $fAccDistance
|
||||
$fPosEnd = $fStartPosition + $fScanRange + $fAccDistance
|
||||
elseif $eScanType == ScanType.NegPos
|
||||
$fPosStart = $fStartPosition + $fAccDistance
|
||||
$fPosEnd = $fStartPosition - $fScanRange - $fAccDistance
|
||||
end
|
||||
|
||||
// Move to start position before the scan
|
||||
MoveAbsolute($axis, $fPosStart, $fVelJog)
|
||||
WaitForInPosition($axis)
|
||||
|
||||
// Configure PSO
|
||||
PsoDistanceCounterOff($axis)
|
||||
PsoDistanceEventsOff($axis)
|
||||
PsoWindowConfigureEvents($axis, PsoWindowEventMode.None)
|
||||
PsoWaveformOff($axis)
|
||||
PsoOutputConfigureSource($axis, PsoOutputSource.Waveform)
|
||||
var $iPsoArrayAddr as integer = 0
|
||||
var $iPsoArray[] as real = [UnitsToCounts($axis, $fAccDistance), UnitsToCounts($axis, $fScanRange)]
|
||||
DriveArrayWrite($axis, $iPsoArray, $iPsoArrayAddr, length($iPsoArray), DriveArrayType.PsoDistanceEventDistances)
|
||||
PsoDistanceConfigureArrayDistances($axis, $iPsoArrayAddr, 2, 0)
|
||||
PsoDistanceEventsOn($axis)
|
||||
|
||||
PsoWaveformConfigureMode($axis, PsoWaveformMode.Toggle)
|
||||
PsoWaveformOn($axis)
|
||||
|
||||
// Configure Drive Data Collection
|
||||
var $iDdcArrayAddr as integer = 8388608
|
||||
var $iDdcArraySize as integer = 5000
|
||||
|
||||
DriveDataCaptureConfigureInput($axis, 0, DriveDataCaptureInput.PrimaryFeedback);
|
||||
DriveDataCaptureConfigureInput($axis, 1, DriveDataCaptureInput.AnalogInput0 );
|
||||
|
||||
DriveDataCaptureConfigureTrigger($axis, 0, DriveDataCaptureTrigger.PsoOutput );
|
||||
DriveDataCaptureConfigureTrigger($axis, 1, DriveDataCaptureTrigger.PsoOutput );
|
||||
|
||||
DriveDataCaptureConfigureArray($axis, 0, $iDdcArrayAddr, $iDdcArraySize);
|
||||
DriveDataCaptureConfigureArray($axis, 1, $iDdcArrayAddr + $iDdcSafeSpace + 8 * $iDdcArraySize, $iDdcArraySize);
|
||||
|
||||
// Directly before scan
|
||||
PsoDistanceCounterOn($axis)
|
||||
DriveDataCaptureOn($axis, 0)
|
||||
DriveDataCaptureOn($axis, 1)
|
||||
|
||||
///////////////////////////////////////////////////////////
|
||||
// Start the actual scanning
|
||||
///////////////////////////////////////////////////////////
|
||||
for $ii = 0 to ($iNumRepeat-1)
|
||||
PsoDistanceConfigureArrayDistances($axis, $iPsoArrayAddr, 2, 0)
|
||||
|
||||
if $eScanType == ScanType.Pos
|
||||
MoveAbsolute($axis, $fPosEnd, $fVelScan)
|
||||
WaitForInPosition($axis)
|
||||
MoveAbsolute($axis, $fPosStart, $fVelScan)
|
||||
WaitForInPosition($axis)
|
||||
elseif $eScanType == ScanType.Neg
|
||||
MoveAbsolute($axis, $fPosEnd, $fVelScan)
|
||||
WaitForInPosition($axis)
|
||||
MoveAbsolute($axis, $fPosStart, $fVelScan)
|
||||
WaitForInPosition($axis)
|
||||
elseif $eScanType == ScanType.PosNeg
|
||||
if ($ii % 2) == 0
|
||||
MoveAbsolute($axis, $fPosEnd, $fVelScan)
|
||||
WaitForInPosition($axis)
|
||||
elseif ($ii % 2) == 1
|
||||
MoveAbsolute($axis, $fPosStart, $fVelScan)
|
||||
WaitForInPosition($axis)
|
||||
end
|
||||
elseif $eScanType == ScanType.NegPos
|
||||
if ($ii % 2) == 0
|
||||
MoveAbsolute($axis, $fPosEnd, $fVelScan)
|
||||
WaitForInPosition($axis)
|
||||
elseif ($ii % 2) == 1
|
||||
MoveAbsolute($axis, $fPosStart, $fVelScan)
|
||||
WaitForInPosition($axis)
|
||||
end
|
||||
end
|
||||
Dwell(0.2)
|
||||
end
|
||||
|
||||
// Directly after scan
|
||||
PsoDistanceCounterOff($axis)
|
||||
DriveDataCaptureOff($axis, 0)
|
||||
DriveDataCaptureOff($axis, 1)
|
||||
end
|
||||
Reference in New Issue
Block a user