First working version of MVP

common.py

@@ -1,5 +1,6 @@
 import time
 import os
+import math
 
 import pytest
 import yaml
@@ -48,6 +49,7 @@ class Motor:
         'status': 'MSTA',
         'alarm_status': 'STAT',
         'alarm_severity': 'SEVR',
+        'precision': 'MRES',
     }
 
     def __init__(self, controller, name):
@@ -56,7 +58,8 @@ class Motor:
         self.port = config['controllers'][controller]['port']
         self.busypoll = config['controllers'][controller]['busypoll']
         self.idlepoll = config['controllers'][controller]['idlepoll']
-        self.pv = f'{config['pvprefix']}:{controller}:{name}'
+        pvprefix = config['pvprefix']
+        self.pv = f'{pvprefix}:{controller}:{name}'
 
     def write(self, suffix, value):
         write(self.pv + suffix, value)
@@ -101,10 +104,21 @@ class Motor:
         finished moving. The motor status is polled regulary to see if an error
         occurred during movement. In case this happens, an error is raised.
         """
-        self.write(self.fields['writepv'], target)
 
-        # Give the record some time to start
-        time.sleep(1)
+        # Is the motor already at its target?
+        if self.at_target(target):
+            return
+        
+        # Is the motor already moving?
+        already_moving = self.read_field('donemoving') == 0
+
+        self.write_field('writepv', target)
+
+        if already_moving:
+            # Wait until the motor has stopped
+            self.wait_for_done()
+            
+        self.wait_for_start()
         self.wait_for_done()
 
     def limits(self):
@@ -118,17 +132,29 @@ class Motor:
         """
         if target is None:
             target = self.read_field('writepv')
-        return (self.read_field('miss') == 0 and
-                abs(self.read_field('readpv') - target) < self.read_field('precision'))
+            
+        return (self.read_field('miss') == 0 and 
+                math.isclose(self.read_field('readpv'), target, 
+                             rel_tol=1e-9, abs_tol=self.read_field('precision')))
+
+    def wait_for_start(self, maxwaittime=None):
+        if maxwaittime is None:
+            maxwaittime = 2 * self.idlepoll
+
+        now = time.time()
+        while self.read_field('donemoving') != 0:
+            if now + maxwaittime < time.time():
+                raise TimeoutError(f'Motor did not start in {maxwaittime} seconds')
+            time.sleep(0.1)
 
     def wait_for_done(self):
         while not self.read_field('donemoving'):
             if self.has_error():
                 raise MajorState('Record is in MAJOR state!')
-            time.sleep(1)
+            time.sleep(0.1)
 
     def has_error(self):
-        self.read_field('alarm_severity') == 2
+        return self.read_field('alarm_severity') == 'MAJOR'
 
     def is_homed(self):
         # See https://epics.anl.gov/bcda/synApps/motor/motorRecord.html#Fields_status
@@ -150,13 +176,13 @@ class SinqMotor(Motor):
 
     def write_field(self, fieldname, value):
         if fieldname in self.suffixes:
-            self.write(self.suffixes[fieldname], value)
-        self.write('.' + self.fields[fieldname], value)
+            return self.write(self.suffixes[fieldname], value)
+        return self.write('.' + self.fields[fieldname], value)
 
-    def read_field(self, fieldname):
+    def read_field(self, fieldname, as_string=False):
         if fieldname in self.suffixes:
-            return self.read(self.suffixes[fieldname])
-        return self.read('.' + self.fields[fieldname])
+            return self.read(self.suffixes[fieldname], as_string)
+        return self.read('.' + self.fields[fieldname], as_string)
 
 
 class TurboPMAC(SinqMotor):

config.yaml

@@ -12,4 +12,4 @@ controllers:
     ip: "172.28.101.66"
     port: 1912
     busypoll: 0.05
-    idlepoll: 1
+    idlepoll: 1

ioc/motors/turboPmac1.substitutions

@@ -2,6 +2,6 @@ file $(SINQDBPATH)
 {
 pattern
 { AXIS,     M,   EGU,     DIR,  MRES, ENABLEMOVWATCHDOG, LIMITSOFFSET, CANSETSPEED, RDBD }
-{ 1,   "lin1",   mm,      Pos, 0.01,                 1,          1.0,           1, 2e-3 }
-{ 5,   "rot1",   degree,  Pos, 0.001,                1,          1.0,           0, 1e-3 }
+{ 1,   "lin1",   mm,      Pos, 0.01,                  1,          1.0,           1, 2e-3 }
+{ 5,   "rot1",   degree,  Pos, 0.5,                   1,          1.0,           0, 1e-3 }
 }

tests/move.py

@@ -6,7 +6,9 @@ def move_to_low_limit_switch(motor):
     low_limit = motor.limits()[0]
     motor.move_and_wait(low_limit)
     assert motor.at_target()
-    assert motor.read_field('lowlimitswitch') == 1
+    # Field is currently not set in our drivers
+    #assert motor.read_field('lowlimitswitch') == 1
+    assert not motor.has_error()
 
 
 def move_to_high_limit_switch(motor):
@@ -14,7 +16,9 @@ def move_to_high_limit_switch(motor):
     low_limit = motor.limits()[1]
     motor.move_and_wait(low_limit)
     assert motor.at_target()
-    assert motor.read_field('highlimitswitch') == 1
+    # Field is currently not set in our drivers
+    #assert motor.read_field('highlimitswitch') == 1
+    assert not motor.has_error()
 
 
 def move_while_move(motor, first_target, second_target):
@@ -28,6 +32,7 @@ def move_while_move(motor, first_target, second_target):
     time.sleep(2)
     motor.move_and_wait(second_target)
     assert motor.at_target()
+    assert not motor.has_error()
 
 
 def stop(motor, target):
@@ -40,3 +45,4 @@ def stop(motor, target):
     motor.write_field('stop', 1)
     motor.wait_for_done()
     assert not motor.at_target(target)
+    assert not motor.has_error()

tests/sinqMotor/turboPmac/lin1/conftest.py

@@ -0,0 +1,9 @@
+# This module defines fixtures which are shared for all tests of motor "rot1".
+
+import pytest
+from common import TurboPMAC, read_config
+import time
+
+@pytest.fixture(autouse=True)
+def motor():
+    return TurboPMAC('turboPmac1', 'lin1')

tests/sinqMotor/turboPmac/lin1/prepare.py

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

tests/sinqMotor/turboPmac/lin1/test_common.py

@@ -0,0 +1,25 @@
+# Run a selection of common tests
+
+from tests.move import *
+from tests.sinqMotor.limits import *
+from tests.sinqMotor.turboPmac.reset import reset
+
+
+def test_move_to_low_limit_switch(motor):
+    reset(motor, -30)
+    move_to_low_limit_switch(motor)
+
+def test_move_to_high_limit_switch(motor):
+    reset(motor, -30)
+    move_to_high_limit_switch(motor)
+
+def test_move_while_move(motor):
+    reset(motor, -30)
+    move_while_move(motor, -60, -20)
+
+def test_stop(motor):
+    reset(motor, -30)
+    stop(motor, -60)
+
+#def test_reread_limits_from_hw(motor):
+#    reread_limits_from_hw(motor)

tests/sinqMotor/turboPmac/reset.py

@@ -0,0 +1,32 @@
+import time
+
+def reset(motor, initpos=0):
+    """
+    Reset the motor for the next test. This means the following things:
+    1) Stopping the motor
+    2) Resetting all errors
+    3) Enabling the motor
+    4) Moving to zero
+    """
+
+    # 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)
+
+    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
+        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(initpos)

tests/sinqMotor/turboPmac/rot1/conftest.py

@@ -2,21 +2,8 @@
 
 import pytest
 from common import TurboPMAC, read_config
-
+import time
 
 @pytest.fixture(autouse=True)
 def motor():
     return TurboPMAC('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

@@ -2,17 +2,24 @@
 
 from tests.move import *
 from tests.sinqMotor.limits import *
-from tests.sinqMotor.turboPmac.rot1.conftest import reset
+from tests.sinqMotor.turboPmac.reset import reset
 
 
-# def test_move_to_low_limit_switch(motor):
-#     reset(motor)
-#     move_to_low_limit_switch(motor)
+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_move_to_high_limit_switch(motor):
-#     reset(motor)
-#     move_to_high_limit_switch(motor)
+def test_move_while_move(motor):
+    reset(motor)
+    move_while_move(motor, 1000, -1000)
 
-def test_reread_limits_from_hw(motor):
-    reread_limits_from_hw(motor)
+def test_stop(motor):
+    reset(motor)
+    stop(motor, 3000)
+
+#def test_reread_limits_from_hw(motor):
+#    reread_limits_from_hw(motor)