lin-epics-modules/motorDriverTests
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Added sequencing test

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This commit is contained in:
mathis_s
2025-07-23 16:23:30 +02:00
parent 8789c346bb
commit 5f6440a08a
8 changed files with 47 additions and 9 deletions
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2
example_custom_script.py Normal file → Executable file
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@@ -23,4 +23,4 @@ motor.write_field('enable', 0)
time.sleep(2)
# Reenable the motor
motor.write_field('enable', 0)
motor.write_field('enable', 1)

4
ioc/motors/masterMacs1.cmd
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@@ -6,7 +6,9 @@ epicsEnvSet("ASYN_PORT","p$(NAME)")
drvAsynIPPortConfigure("$(ASYN_PORT)","$(MASTERMACS1_IP):$(MASTERMACS1_PORT)")
masterMacsController("$(NAME)","$(ASYN_PORT)",8,$(MASTERMACS1_BUSYPOLL),$(MASTERMACS1_IDLEPOLL),0.3);
masterMacsAxis("$(NAME)",1);
# masterMacsAxis("$(NAME)",2);
masterMacsAxis("$(NAME)",2);
#masterMacsAxis("$(NAME)",3);
#masterMacsAxis("$(NAME)",4);
epicsEnvSet("SINQDBPATH","$(masterMacs_DB)/sinqMotor.db")
dbLoadTemplate("$(IOCDIR)/motors/$(NAME).substitutions", "INSTR=$(PVPREFIX):$(NAME):,CONTROLLER=$(NAME)")

7
ioc/motors/masterMacs1.substitutions
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@@ -1,6 +1,9 @@
file $(SINQDBPATH)
{
pattern
{ AXIS, M, EGU, DIR, MRES, ENABLEMOVWATCHDOG, LIMITSOFFSET, CANSETSPEED }
{ 1, "lin1", mm, Pos, 0.001, 1, 1.0, 1 }
{ AXIS, M, EGU, DIR, MRES, ENABLEMOVWATCHDOG, LIMITSOFFSET, CANSETSPEED }
{ 1, "lin1", mm, Pos, 0.001, 1, 1.0, 1 }
{ 2, "rot1", deg, Pos, 0.001, 1, 1.0, 1 }
#{ 3, "doesnotexist1", mm, Pos, 0.001, 1, 1.0, 1 }
#{ 4, "doesnotexist2", mm, Pos, 0.001, 1, 1.0, 1 }
}

2
ioc/st.cmd
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@@ -11,7 +11,7 @@ require masterMacs, $(MASTERMACS_VERSION)
# Initialize the motors itself
< motors/turboPmac1.cmd
#< motors/masterMacs1.cmd
< motors/masterMacs1.cmd
# Create the test record which is used to detect if the IOC is running
dbLoadRecords("$(IOCDIR)/db/ready.db", "PVPREFIX=$(PVPREFIX)")

4
tests/move.py
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@@ -34,6 +34,10 @@ def move_while_move(motor, first_target, second_target):
assert motor.at_target()
assert not motor.has_error()
def stop_then_move(motor, target):
motor.write_field('stop', 1)
motor.write_field('writepv', target)
def stop(motor, target):
"""

21
tests/sinqMotor/turboPmac/common.py Normal file
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@@ -0,0 +1,21 @@
import time
import pytest
def stop_reset_enable_move_sequence(motor, target):
motor.write_field('stop', 1)
motor.write_field('reseterrorpv', 1)
motor.write_field('enable', 1)
# Wait until the motor is enabled.
now = time.time()
max_enable_time = 10
while motor.read_field('enable_rbv') == 0:
# Wait a maximum of max_enable_time seconds until enabling
if time.time() > now + max_enable_time:
pytest.fail(f'Motor {self.pv} could not be enabled in {max_enable_time} seconds')
time.sleep(0.1)
motor.move_and_wait(target)
assert motor.at_target(target)
assert not motor.has_error()

7
tests/sinqMotor/turboPmac/reset.py Normal file → Executable file
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@@ -9,20 +9,19 @@ def reset(motor, initpos=0):
4) Moving to zero
"""
# motor.write_field('stop', 1)
motor.write_field('stop', 1)
# Reset any errors
motor.write_field('reseterrorpv', 1)
# The reset may take some time -> Wait a bit
time.sleep(1)
time.sleep(2*motor.idlepoll)
if motor.read_field('enable_rbv') == 0:
motor.write_field('enable', 1)
# Wait until the motor is enabled.
now = time.time()
max_enable_time = 5
max_enable_time = 10
while motor.read_field('enable_rbv') == 0:
# Wait a maximum of max_enable_time seconds until enabling
if time.time() > now + max_enable_time:

9
tests/sinqMotor/turboPmac/rot1/test_common.py
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@@ -2,8 +2,11 @@
from tests.move import *
from tests.sinqMotor.limits import *
from tests.sinqMotor.turboPmac.common import *
from tests.sinqMotor.turboPmac.reset import reset
def stop_reset_enable_move_sequence(motor):
stop_reset_enable_move(motor, 5)
def test_move_to_low_limit_switch(motor):
reset(motor)
@@ -21,5 +24,11 @@ def test_stop(motor):
reset(motor)
stop(motor, 3000)
def test_stop_then_move(motor):
reset(motor)
stop_then_move(motor, 0)
#def test_reread_limits_from_hw(motor):
# reread_limits_from_hw(motor)