From 7f8c2e17b099f914144d3cf013e39b4920988a97 Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Thu, 24 Jul 2025 12:54:26 +0200
Subject: [PATCH] Added tests for MasterMACS

---
 common.py                                     |  4 +++
 ioc/motors/turboPmac1.cmd                     |  2 +-
 tests/sinqMotor/{turboPmac => }/common.py     |  8 -----
 tests/sinqMotor/masterMacs/__init__.py        |  0
 tests/sinqMotor/masterMacs/lin1/__init__.py   |  0
 tests/sinqMotor/masterMacs/lin1/conftest.py   |  9 +++++
 .../sinqMotor/masterMacs/lin1/test_common.py  | 34 +++++++++++++++++++
 tests/sinqMotor/turboPmac/lin1/conftest.py    |  2 +-
 tests/sinqMotor/turboPmac/rot1/test_common.py |  3 +-
 9 files changed, 51 insertions(+), 11 deletions(-)
 rename tests/sinqMotor/{turboPmac => }/common.py (67%)
 create mode 100644 tests/sinqMotor/masterMacs/__init__.py
 create mode 100644 tests/sinqMotor/masterMacs/lin1/__init__.py
 create mode 100644 tests/sinqMotor/masterMacs/lin1/conftest.py
 create mode 100755 tests/sinqMotor/masterMacs/lin1/test_common.py

diff --git a/common.py b/common.py
index edf9e4b..0f3b518 100755
--- a/common.py
+++ b/common.py
@@ -218,3 +218,7 @@ class SinqMotor(Motor):
 
 class TurboPMAC(SinqMotor):
     pass
+
+
+class MasterMACS(SinqMotor):
+    pass
diff --git a/ioc/motors/turboPmac1.cmd b/ioc/motors/turboPmac1.cmd
index 6a2f271..fe641ea 100755
--- a/ioc/motors/turboPmac1.cmd
+++ b/ioc/motors/turboPmac1.cmd
@@ -30,7 +30,7 @@ pmacAsynIPPortConfigure("$(ASYN_PORT)","$(TURBOPMAC1_IP):$(TURBOPMAC1_PORT)")
 
 turboPmacController("$(NAME)","$(ASYN_PORT)",8,$(TURBOPMAC1_BUSYPOLL),$(TURBOPMAC1_IDLEPOLL),1);
 turboPmacAxis("$(NAME)",1);
-turboPmacAxis("$(NAME)",5);
+#turboPmacAxis("$(NAME)",5);
 
 # Set the number of subsequent timeouts 
 setMaxSubsequentTimeouts("$(NAME)", 20);
diff --git a/tests/sinqMotor/turboPmac/common.py b/tests/sinqMotor/common.py
similarity index 67%
rename from tests/sinqMotor/turboPmac/common.py
rename to tests/sinqMotor/common.py
index b3a8f3e..1ba8fc0 100644
--- a/tests/sinqMotor/turboPmac/common.py
+++ b/tests/sinqMotor/common.py
@@ -6,15 +6,7 @@ def stop_reset_enable_move_sequence(motor, target):
 
     motor.write_field('stop', 1)
     motor.write_field('reseterrorpv', 1)
-
-    # Wait until the motor is disabled.
-    # motor.wait_disabled()
-
     motor.write_field('enable', 1)
-
-    # Wait until the motor is enabled.
-    # motor.wait_enabled()
-
     motor.move_and_wait(target)
     assert motor.at_target(target)
     assert not motor.has_error()
diff --git a/tests/sinqMotor/masterMacs/__init__.py b/tests/sinqMotor/masterMacs/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/tests/sinqMotor/masterMacs/lin1/__init__.py b/tests/sinqMotor/masterMacs/lin1/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/tests/sinqMotor/masterMacs/lin1/conftest.py b/tests/sinqMotor/masterMacs/lin1/conftest.py
new file mode 100644
index 0000000..d991d90
--- /dev/null
+++ b/tests/sinqMotor/masterMacs/lin1/conftest.py
@@ -0,0 +1,9 @@
+# This module defines fixtures which are shared for all tests of motor "lin1".
+
+import pytest
+from common import MasterMACS
+
+
+@pytest.fixture(autouse=True)
+def motor():
+    return MasterMACS('masterMacs1', 'lin1')
diff --git a/tests/sinqMotor/masterMacs/lin1/test_common.py b/tests/sinqMotor/masterMacs/lin1/test_common.py
new file mode 100755
index 0000000..64a6c96
--- /dev/null
+++ b/tests/sinqMotor/masterMacs/lin1/test_common.py
@@ -0,0 +1,34 @@
+# Run a selection of common tests
+
+from tests.move import *
+from tests.sinqMotor.limits import *
+from tests.sinqMotor.common import *
+from tests.sinqMotor.turboPmac.reset import reset
+
+
+def test_stop_reset_enable_move_sequence(motor):
+    stop_reset_enable_move_sequence(motor, 4)
+    stop_reset_enable_move_sequence(motor, 2)
+
+
+def test_move_to_low_limit_switch(motor):
+    reset(motor, 1)
+    move_to_low_limit_switch(motor)
+
+
+def test_move_to_high_limit_switch(motor):
+    reset(motor, 1)
+    move_to_high_limit_switch(motor)
+
+
+def test_move_while_move(motor):
+    reset(motor, 1)
+    move_while_move(motor, -60, -20)
+
+
+def test_stop(motor):
+    reset(motor, 1)
+    stop(motor, 18)
+
+# def test_reread_limits_from_hw(motor):
+#    reread_limits_from_hw(motor)
diff --git a/tests/sinqMotor/turboPmac/lin1/conftest.py b/tests/sinqMotor/turboPmac/lin1/conftest.py
index d57121b..1771615 100755
--- a/tests/sinqMotor/turboPmac/lin1/conftest.py
+++ b/tests/sinqMotor/turboPmac/lin1/conftest.py
@@ -1,4 +1,4 @@
-# This module defines fixtures which are shared for all tests of motor "rot1".
+# This module defines fixtures which are shared for all tests of motor "lin1".
 
 import pytest
 from common import TurboPMAC
diff --git a/tests/sinqMotor/turboPmac/rot1/test_common.py b/tests/sinqMotor/turboPmac/rot1/test_common.py
index c316f69..9b38594 100755
--- a/tests/sinqMotor/turboPmac/rot1/test_common.py
+++ b/tests/sinqMotor/turboPmac/rot1/test_common.py
@@ -2,7 +2,7 @@
 
 from tests.move import *
 from tests.sinqMotor.limits import *
-from tests.sinqMotor.turboPmac.common import *
+from tests.sinqMotor.common import *
 from tests.sinqMotor.turboPmac.reset import reset
 
 
@@ -10,6 +10,7 @@ def test_stop_reset_enable_move_sequence(motor):
     stop_reset_enable_move_sequence(motor, 5)
     stop_reset_enable_move_sequence(motor, 0)
 
+
 def test_move_to_low_limit_switch(motor):
     reset(motor)
     move_to_low_limit_switch(motor)