Restructured the test setup

General test configurations are now separated from specific axis test
definitions.

README.md

@@ -7,23 +7,28 @@ the tests.
 
 The general architecture of the framework is as follows:
 - `ioc` contains all files used to create the IOC used in the tests.
-- `tests` contains the tests itself in a hierarchical order:
-    - `tests/.` contains tests and configuration applicable for any motor record-based
+- `setup` contains the motor classes, the EPICS communication interface and generalized tests (which are not tied to one specific axis). These tests are arranged in a hierarchical order:
+    - `tests/.` contains tests and utility functions applicable for any motor record-based
     driver.
-    - `tests/sinqMotor/.` contains tests and configuration applicable for drivers 
+    - `tests/sinqMotor/.` contains tests and utility functions applicable for drivers 
     based on https://gitea.psi.ch/lin-epics-modules/sinqMotor
-    - `tests/sinqMotor/turboPmac/.` contains tests and configuration applicable for the
+    - `tests/sinqMotor/turboPmac/.` contains tests and utility functions applicable for the
     sinqMotor-based Turbo PMAC driver https://gitea.psi.ch/lin-epics-modules/turboPmac
-    - `tests/sinqMotor/masterMacs/.` contains tests and configuration applicable for the
+    - `tests/sinqMotor/masterMacs/.` contains tests and utility functions applicable for the
     sinqMotor-based MasterMACS driver https://gitea.psi.ch/lin-epics-modules/mastermacs
-Individual motors at the test instrument are then set up as subfolders of their
-respective driver type.
-- `setup` contains classes representing the motors and the EPICS communication interface. 
+- `tests` contains the tests for the individual axes within subfolders of their respective controller folders. For example, the tests for axis "ax1" of the controller "turboPmac1" configured in `ioc/motors/turboPmac1` should be in `tests/turboPmac1/ax1`, the tests for axis "ax2" of the same controller should be in `tests/turboPmac1/ax2` and so on. If an axis folder has a prepended underscore, it is ignored by `runtests` (e.g. the tests in `tests/turboPmac1/_ax3` would be ignored). This can be used to disable tests when e.g. the axis is not available temporarily.
 The classes are used to initialize the individual motors within the `tests` directory.
 - `config.yaml` is the test configuration (see [Configuration](#configuration))
 - `maketestenv` can be used to create a Python virtual environment for running the tests.
 - `runtests` is a parallelizing `pytest` wrapper. See section for more information [Parallelizing tests over motors](#parallelizing-tests-over-motors).
 
+## Installation
+
+The following prerequisites need to be fulfilled:
+1) EPICS 7 and the IOC shell must be installed.
+2) The PSI EPICS drive `/sq_epics/ioc` must be mounted as `/ioc`.
+The repository can then be simply cloned anywhere. Depending on the available hardware, the [configuration](#configuration) needs to be adjusted.
+
 ## Configuration
 
 The test setup is defined in `config.yaml`. This file contains information which
@@ -33,6 +38,22 @@ identifier of the records created by the motor drivers.
 - `versions`: Driver versions used in the IOC
 - `controllers`: Configuration of the different motor controllers (IP + port and poll periods)
 
+### Adding / removing a controller to the IOC
+
+The controller name and its configuration needs to added under `controllers` in the following format:
+
+```yaml
+turboPmac1:
+  ip: "172.28.101.24" # Controller IP adress 
+  port: 1025 # Controller port 
+  busypoll: 0.05 # Time in seconds
+  idlepoll: 1 # Time in seconds
+```
+
+Additionally, two files need to be added under `ioc/motors`: `ioc/motors/turboPmac1.cmd` and `ioc/motors/turboPmac1.substitutions`.
+These files need to be configured according to the corresponding motor driver documentation (e.g. according to https://gitea.psi.ch/lin-epics-modules/turboPmac for a TurboPMAC driver).
+Lastly, `ioc/st.cmd` needs to run the `.cmd` file under motors and to import the driver. See the documentation of [sinqMotor](https://gitea.psi.ch/lin-epics-modules/sinqMotor) for details.
+
 ## Starting the IOC
 
 It is recommended to start the IOC via `ioc/startioc`:

config.yaml

@@ -1,6 +1,6 @@
 pvprefix: DRVTESTS
 versions:
-  turboPmac: "mathis_s"
+  turboPmac: "1.3.1"
   masterMacs: "1.1"
 controllers:
   turboPmac1:

ioc/motors/turboPmac1.cmd

@@ -1,28 +1,3 @@
-# Configuration for the Turbo PMAC motor controller
-#
-# Important functions:
-# 
-# turboPmacController: 
-# Creates the controller object and specifies busy poll period, idle poll period and communication timeout.
-# A typical call looks like this:
-# turboPmacController("$(NAME)","$(ASYN_PORT)",8,0.05,1,0.05);
-# with
-# 8 = Total number of axes 
-# 0.05 = Busy poll period in seconds
-# 1 = Idle poll period in seconds
-# 0.05 = Communication timeout in seconds
-#
-# setMaxSubsequentTimeouts:
-# Set the number of subsequent timeouts which may occur before the user is informed in NICOS.
-#
-# setThresholdComTimeout:
-# Set the maximum number of timeouts which may happen in a given timespan before the user is informed in NICOS.
-# A typical call looks like this:
-# setThresholdComTimeout("$(NAME)", 3600, 60);
-# with
-# 3600 = Timespan in seconds
-# 60 = Maximum number of timeout events which may occur before the user is informed
-
 epicsEnvSet("NAME","turboPmac1")
 epicsEnvSet("ASYN_PORT","p$(NAME)")
 

runtests

@@ -22,9 +22,6 @@ import time
 from tests.conftest import check_ioc_running
 from setup.classes import IocNotRunning
 
-# Define the test folders you want to run in parallel
-FOLDERS = ["tests/sinqMotor/turboPmac/ax1", "tests/sinqMotor/turboPmac/ax5"]
-
 # Time we excpect the IOC needs to start up
 TIMEOUT_IOC_STARTUP = 10
 
@@ -38,12 +35,22 @@ for arg in sys.argv[1:]:
     else:
         extra_args.append(arg)
 
+# Find all axes paths (pa) within all controller paths (pc)
+folders =[] 
+for pc in Path("tests").glob("*"):
+    if pc.is_dir() and "__pycache__" not in pc.parts:
+        for pa in Path(pc).glob("*"):
+            if pa.is_dir() and "__pycache__" not in pa.parts: 
+                # Ignore all axis paths which start with an underscore 
+                if not pa.parts[-1].startswith("_"):
+                    folders.append(pa)
+
 # Filter folders to run based on path_args
 enabled_folders = []
 if not path_args:
-    enabled_folders = FOLDERS
+    enabled_folders = folders
 else:
-    for folder in FOLDERS:
+    for folder in folders:
         if any(Path(arg).resolve().as_posix().startswith(Path(folder).resolve().as_posix()) for arg in path_args):
             enabled_folders.append(folder)
 
@@ -72,7 +79,7 @@ processes = []
 for folder in enabled_folders:
     folder_path_args = (
         [arg for arg in path_args if Path(arg).resolve().as_posix().startswith(Path(folder).resolve().as_posix())]
-        if path_args else [folder]
+        if path_args else [folder.as_posix()]
     )
 
     command = ["pytest"] + folder_path_args + extra_args

setup/classes.py

@@ -240,11 +240,11 @@ class SinqMotor(Motor):
     def error_message(self):
         return self.get_pv('errormsgpv', as_string=True)
 
-    def enable_and_wait(self, timeout=10):
+    def enable_and_wait(self, timeout=20):
         self.put_pv('enable', 1)
         self.wait_enabled(timeout)
 
-    def disable_and_wait(self, timeout=10):
+    def disable_and_wait(self, timeout=20):
         self.put_pv('enable', 0)
         self.wait_disabled(timeout)
 
@@ -254,7 +254,7 @@ class SinqMotor(Motor):
         """
         return self._wait_enabled_disabled(True, timeout)
 
-    def wait_disabled(self, timeout=10):
+    def wait_disabled(self, timeout=20):
         """
         Wait until the motor is enabled or a timeout has been reached.
         """
@@ -276,7 +276,7 @@ class SinqMotor(Motor):
                 else:
                     pytest.fail(
                         f'Motor {self.pv} could not be disabled in {timeout} seconds')
-            time.sleep(0.1)
+            time.sleep(0.5)
 
 
 class TurboPMAC(SinqMotor):

tests/masterMacs1/_ax1/conftest.py

@@ -6,4 +6,4 @@ from setup.classes import MasterMACS
 
 @pytest.fixture(autouse=True)
 def motor():
-    return MasterMACS('masterMacs1', 'lin1')
+    return MasterMACS('masterMacs1', 'ax1')

tests/masterMacs1/_ax1/test_common.py

@@ -1,9 +1,9 @@
 # Run a selection of common tests
 
-from tests.move import *
-from tests.sinqMotor.limits import *
-from tests.home import *
-from tests.sinqMotor.masterMacs.reset import reset
+from setup.move import *
+from setup.sinqMotor.limits import *
+from setup.home import *
+from setup.sinqMotor.masterMacs.reset import reset
 
 
 def test_reset(motor):

tests/turboPmac1/ax1/test_common.py

@@ -2,11 +2,11 @@
 
 import pytest
 
-from tests.move import *
-from tests.home import *
-from tests.sinqMotor.limits import *
-from tests.sinqMotor.speed import *
-from tests.sinqMotor.turboPmac.reset import reset
+from setup.move import *
+from setup.home import *
+from setup.sinqMotor.limits import *
+from setup.sinqMotor.speed import *
+from setup.sinqMotor.turboPmac.reset import reset
 
 
 def test_reset(motor):

tests/turboPmac1/ax5/test_common.py

@@ -1,11 +1,11 @@
 # Run a selection of common tests
 import pytest
 
-from tests.move import *
-from tests.sinqMotor.limits import *
-from tests.sinqMotor.speed import *
-from tests.home import *
-from tests.sinqMotor.turboPmac.reset import reset
+from setup.move import *
+from setup.sinqMotor.limits import *
+from setup.sinqMotor.speed import *
+from setup.home import *
+from setup.sinqMotor.turboPmac.reset import reset
 
 
 def test_reset(motor):