Renamed folder sinqAxis to sinqMotor

tests/sinqMotor/home.py

@@ -0,0 +1,41 @@
+import time
+
+
+def home(motor, forward):
+
+    encoder = motor.read_field('encoder_type')
+    if encoder == 'absolute':
+        is_absolute = True
+    elif encoder == 'incremental':
+        is_absolute = False
+    else:
+        raise ValueError(f'Unknown encoder type {encoder}')
+
+    # Start a homing run and observe the motor behaviour depending on the
+    # encoder type
+    if forward:
+        motor.write_field('homeforward')
+    else:
+        motor.write_field('homereverse')
+
+    # Give the record some time to react
+    time.sleep(0.5)
+
+    if is_absolute:
+        # Motor should not move at all
+        assert motor.read_field('moving') == 0
+        assert motor.read_field('donemoving') == 1
+        assert not motor.has_error()
+    else:
+        # Motor should start movement
+        assert motor.read_field('moving') == 1
+        assert motor.read_field('donemoving') == 0
+        assert not motor.has_error()
+        assert not motor.is_homed()
+
+        motor.wait_for_done()
+
+        assert motor.read_field('moving') == 0
+        assert motor.read_field('donemoving') == 1
+        assert not motor.has_error()
+        assert motor.is_homed()

tests/sinqMotor/limits.py

@@ -0,0 +1,21 @@
+import time
+
+
+def reread_limits_from_hw(motor):
+    """
+    sinqAxis motors usually read their limits from the hardware at each poll,
+    hence any values manually written to DHLM or DLLM should be overwritten
+    after the next poll at latest
+    """
+    (high_limit, low_limit) = motor.limits()
+    motor.write_field('dialhighlimit', high_limit-+10)
+    motor.write_field('diallowlimit', low_limit-10)
+
+    # After two seconds, at least one poll has been done
+    time.sleep(2)
+
+    # Values should have been reread
+    assert motor.read_field('highlimit') == high_limit
+    assert motor.read_field('lowlimit') == low_limit
+    assert motor.read_field('dialhighlimit') == high_limit
+    assert motor.read_field('diallowlimit') == low_limit

tests/sinqMotor/turboPmac/lin1/prepare.py

@@ -0,0 +1,9 @@
+# Prepare
+
+import pytest
+from common import TurboPMAC
+
+
+@pytest.fixture
+def lin1():
+    return TurboPMAC()

tests/sinqMotor/turboPmac/rot1/conftest.py

@@ -0,0 +1,25 @@
+# This module defines fixtures which are shared for all tests of motor "rot1".
+
+import pytest
+from common import TurboPMAC, read_config
+
+
+@pytest.fixture(autouse=True)
+def motor():
+    config = read_config()
+    return TurboPMAC(config['controllers']['turboPmac1']['ip'],
+                     config['controllers']['turboPmac1']['port'],
+                     config['pvprefix'] + 'turboPmac1:rot1')
+
+
+def reset(motor):
+    """
+    Reset the motor for the next test. This means the following things:
+    1) Resetting all errors
+    2) Enabling the motor
+    3) Moving to zero
+    """
+    motor.write_field('stop', 1)
+    motor.write_field('reseterrorpv', 1)
+    motor.write_field('enable', 1)
+    motor.move_and_wait(0)

tests/sinqMotor/turboPmac/rot1/test_common.py

@@ -0,0 +1,18 @@
+# Run a selection of common tests
+
+from tests.move import *
+from tests.sinqAxis.limits import *
+from tests.sinqAxis.turboPmac.rot1.conftest import reset
+
+
+# def test_move_to_low_limit_switch(motor):
+#     reset(motor)
+#     move_to_low_limit_switch(motor)
+
+
+# def test_move_to_high_limit_switch(motor):
+#     reset(motor)
+#     move_to_high_limit_switch(motor)
+
+def test_reread_limits_from_hw(motor):
+    reread_limits_from_hw(motor)