Added tests for new EL734 driver

.gitignore

@@ -1,5 +1,6 @@
 # Ignore all .pyc files
 *.pyc
+__pycache__
 
 # Ignore the EPICS environment variables (this file is recreated by ioc/startioc.py via config.yaml)
 config.cmd

config.yaml

@@ -1,7 +1,8 @@
 pvprefix: DRVTESTS
 versions:
-  turboPmac: "1.3.1"
-  masterMacs: "1.1"
+  turboPmac: "1.5"
+  masterMacs: "1.4"
+  el734: "mathis_s"
 controllers:
   turboPmac1:
     ip: "172.28.101.24"
@@ -11,5 +12,10 @@ controllers:
   masterMacs1:
     ip: "172.28.101.66"
     port: 1912
-    busypoll: 0.05
+    busypoll: 0.10
     idlepoll: 1
+  el734_1:
+    ip: "sinqtest-ts"
+    port: 3002
+    busypoll: 0.5
+    idlepoll: 0.5

ioc/motors/el734_1.cmd

@@ -0,0 +1,12 @@
+epicsEnvSet("NAME","el734_1")
+epicsEnvSet("ASYN_PORT","p$(NAME)")
+
+drvAsynIPPortConfigure("$(ASYN_PORT)", "sinqtest-ts:3002")
+el734Controller("$(NAME)","$(ASYN_PORT)",8,0.5,0.5,10);
+el734Axis("$(NAME)",1);
+
+epicsEnvSet("SINQDBPATH","$(el734_DB)/sinqMotor.db")
+dbLoadTemplate("$(IOCDIR)/motors/$(NAME).substitutions", "INSTR=$(PVPREFIX):$(NAME):,CONTROLLER=$(NAME)")
+epicsEnvSet("SINQDBPATH","$(el734_DB)/el734.db")
+dbLoadTemplate("$(IOCDIR)/motors/$(NAME).substitutions", "INSTR=$(PVPREFIX):$(NAME):,CONTROLLER=$(NAME)")
+# IOC shell does not execute the last line, hence an empty line at the end is needed

ioc/motors/el734_1.substitutions

@@ -0,0 +1,6 @@
+file $(SINQDBPATH)
+{
+pattern
+{ AXIS,     M,   EGU,     DIR,  MRES, ENABLEMOVWATCHDOG, LIMITSOFFSET, CANSETSPEED }
+{ 1,   "ax1",   mm,      Pos, 0.001,                 1,          1.0,           1 }
+}

ioc/motors/masterMacs1.cmd

@@ -1,5 +1,3 @@
-# Configuration for the "modern" masterMacs-Axes
-
 epicsEnvSet("NAME","masterMacs1")
 epicsEnvSet("ASYN_PORT","p$(NAME)")
 
@@ -12,3 +10,4 @@ masterMacsAxis("$(NAME)",2);
 
 epicsEnvSet("SINQDBPATH","$(masterMacs_DB)/sinqMotor.db")
 dbLoadTemplate("$(IOCDIR)/motors/$(NAME).substitutions", "INSTR=$(PVPREFIX):$(NAME):,CONTROLLER=$(NAME)")
+# IOC shell does not execute the last line, hence an empty line at the end is needed

ioc/motors/turboPmac1.cmd

@@ -17,3 +17,4 @@ epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/sinqMotor.db")
 dbLoadTemplate("$(IOCDIR)/motors/$(NAME).substitutions", "INSTR=$(PVPREFIX):$(NAME):,CONTROLLER=$(NAME)")
 epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
 dbLoadTemplate("$(IOCDIR)/motors/$(NAME).substitutions", "INSTR=$(PVPREFIX):$(NAME):,CONTROLLER=$(NAME)")
+# IOC shell does not execute the last line, hence an empty line at the end is needed

ioc/st.cmd

@@ -5,6 +5,7 @@
 
 require turboPmac, $(TURBOPMAC_VERSION)
 require masterMacs, $(MASTERMACS_VERSION)
+require el734, $(EL734_VERSION)
 
 ################################################################################
 # Motors
@@ -12,6 +13,7 @@ require masterMacs, $(MASTERMACS_VERSION)
 # Initialize the motors itself
 < motors/turboPmac1.cmd
 < motors/masterMacs1.cmd
+< motors/el734_1.cmd
 
 # Create the test record which is used to detect if the IOC is running
 dbLoadRecords("$(IOCDIR)/db/ready.db", "PVPREFIX=$(PVPREFIX)")

ioc/startioc

@@ -30,6 +30,8 @@ def startioc():
             f'epicsEnvSet("TURBOPMAC_VERSION", "{config["versions"]["turboPmac"]}")\n')
         out.write(
             f'epicsEnvSet("MASTERMACS_VERSION", "{config["versions"]["masterMacs"]}")\n')
+        out.write(
+            f'epicsEnvSet("EL734_VERSION", "{config["versions"]["el734"]}")\n')
 
         out.write(
             f'epicsEnvSet("TURBOPMAC1_IP", "{config["controllers"]["turboPmac1"]["ip"]}")\n')
@@ -49,6 +51,15 @@ def startioc():
         out.write(
             f'epicsEnvSet("MASTERMACS1_IDLEPOLL", "{config["controllers"]["masterMacs1"]["idlepoll"]}")\n')
 
+        out.write(
+            f'epicsEnvSet("EL734_1_IP", "{config["controllers"]["el734_1"]["ip"]}")\n')
+        out.write(
+            f'epicsEnvSet("EL734_1_PORT", "{config["controllers"]["el734_1"]["port"]}")\n')
+        out.write(
+            f'epicsEnvSet("EL734_1_BUSYPOLL", "{config["controllers"]["el734_1"]["busypoll"]}")\n')
+        out.write(
+            f'epicsEnvSet("EL734_1_IDLEPOLL", "{config["controllers"]["el734_1"]["idlepoll"]}")\n')
+
     # Set environment variables
     os.environ["EPICS_BASE"] = "/usr/local/epics/base-7.0.7"
     os.environ["EPICS_HOST_ARCH"] = "RHEL8-x86_64"

runtests

@@ -36,7 +36,7 @@ for arg in sys.argv[1:]:
         extra_args.append(arg)
 
 # Find all axes paths (pa) within all controller paths (pc)
-folders =[] 
+folders = [] 
 for pc in Path("tests").glob("*"):
     if pc.is_dir() and "__pycache__" not in pc.parts:
         for pa in Path(pc).glob("*"):
@@ -51,9 +51,12 @@ if not path_args:
     enabled_folders = folders
 else:
     for folder in folders:
-        if any(Path(arg).resolve().as_posix().startswith(Path(folder).resolve().as_posix()) for arg in path_args):
+        if any(Path(folder).resolve().as_posix().startswith(Path(arg).resolve().as_posix()) for arg in path_args):
             enabled_folders.append(folder)
 
+if not enabled_folders:
+    print(f"No tests were found within the specified path {path_args}")
+
 # Check if the IOC is running and try to start it, if it isn't
 try:
     check_ioc_running()
@@ -77,14 +80,7 @@ except IocNotRunning:
 # Run each enabled folder's relevant tests in parallel
 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.as_posix()]
-    )
-
-    command = ["pytest"] + folder_path_args + extra_args
-    print(f"Running: {' '.join(command)}")
-
+    command = ["pytest"] + [str(folder)] + extra_args
     proc = subprocess.Popen(command)
     processes.append(proc)
 

setup/classes.py

@@ -285,3 +285,7 @@ class TurboPMAC(SinqMotor):
 
 class MasterMACS(SinqMotor):
     pass
+
+
+class EL734(SinqMotor):
+    pass

setup/home.py

@@ -6,9 +6,11 @@ def home(motor, forward):
 
     encoder = motor.get_pv('encoder_type', as_string=True)
     if encoder == 'absolute':
-        is_absolute = True
+        can_home = False
     elif encoder == 'incremental':
-        is_absolute = False
+        can_home = True
+    elif encoder == 'none':
+        can_home = False
     else:
         raise ValueError(f'Unknown encoder type {encoder}')
 
@@ -21,16 +23,7 @@ def home(motor, forward):
 
     motor.wait_for_start()
 
-    if is_absolute:
-        # EPICS initially assumes the motor is moving and sets it into moving state.
-        # However, after the first poll it should realize that the motor is in fact not moving.
-        time.sleep(2 * motor.busypoll)
-
-        # Motor should not move at all
-        assert motor.get_pv('moving') == 0
-        assert motor.get_pv('donemoving') == 1
-        assert not motor.has_error()
-    else:
+    if can_home:
         # The controller might take a bit of time to actually start the movement,
         # therefore we wait a bit. 
         time.sleep(2 * motor.busypoll)
@@ -48,6 +41,15 @@ def home(motor, forward):
         assert motor.get_pv('donemoving') == 1
         assert not motor.has_error()
         assert motor.is_homed()
+    else:
+        # EPICS initially assumes the motor is moving and sets it into moving state.
+        # However, after the first poll it should realize that the motor is in fact not moving.
+        time.sleep(3 * motor.busypoll)
+
+        # Motor should not move at all
+        assert motor.get_pv('moving') == 0
+        assert motor.get_pv('donemoving') == 1
+        assert not motor.has_error()
 
 def start_home_while_moving(motor, target, forward):
     """

setup/sinqMotor/masterMacs/reset.py

@@ -1,3 +1,5 @@
+import time
+
 def reset(motor, target):
     """
     Reset the motor for the next test. This means the following things:
@@ -7,9 +9,18 @@ def reset(motor, target):
     4) Moving to zero
     """
 
+    # Wait a bit before starting each test so the IOC has some time
+    # to recover from any previous failed tests.
+    time.sleep(0.2)
+
+    if target is None:
+        target = motor.default_position
+
     motor.put_pv('stop', 1)
+    motor.wait_for_done()
     motor.put_pv('reseterrorpv', 1)
-    motor.put_pv('enable', 1)
+    motor.wait_disabled()
+    motor.enable_and_wait()
     motor.move_and_wait(target)
     assert motor.at_target(target)
     assert not motor.has_error()

tests/conftest.py

@@ -21,7 +21,7 @@ def check_ioc_running():
         return
     except TimeoutError:
         # IOC startup failed in the given time -> Raise an error
-        path = Path.cwd() / 'startioc'
+        path = Path.cwd() / 'ioc' / 'startioc'
         raise IocNotRunning(f'Start the test IOC first by running {path}')
 
 @pytest.fixture(autouse=True)

tests/el734_1/ax1/conftest.py

@@ -0,0 +1,19 @@
+# This module defines fixtures which are shared for all tests of motor "lin1".
+import time
+
+import pytest
+from setup.classes import EL734
+
+# Prepare the motor at the start of the test by resetting and homing it.
+@pytest.fixture(scope="session", autouse=True)
+def reset_and_home():
+    mot = EL734('el734_1', 'ax1')
+    mot.put_pv('stop', 1)
+    mot.put_pv('reseterrorpv', 1)
+    mot.put_pv('homeforward', 1)
+    time.sleep(1)
+    mot.wait_for_done()
+
+@pytest.fixture(autouse=True)
+def motor():
+    return EL734('el734_1', 'ax1')

tests/el734_1/ax1/test_common.py

@@ -0,0 +1,123 @@
+# Run a selection of common tests
+
+import pytest
+
+from setup.move import *
+from setup.home import *
+from setup.sinqMotor.limits import *
+from setup.sinqMotor.speed import *
+
+
+def test_move_to_low_limit_switch(motor):
+    motor.put_pv('stop', 1)
+    motor.wait_for_done()
+    move_to_low_limit_switch(motor)
+
+
+def test_move_to_high_limit_switch(motor):
+    motor.put_pv('stop', 1)
+    motor.wait_for_done()
+    move_to_high_limit_switch(motor)
+
+
+def test_move_while_move_same_direction(motor):
+    motor.put_pv('stop', 1)
+    motor.wait_for_done()
+    move_while_move(motor, -30, -10, 2)
+
+
+def test_move_while_move_opposite_direction(motor):
+    motor.put_pv('stop', 1)
+    motor.wait_for_done()
+    move_while_move(motor, 10, -10, 2)
+
+
+def test_stop(motor):
+    stop(motor, -60)
+
+
+def test_stop_then_move(motor):
+    motor.put_pv('stop', 1)
+    motor.wait_for_done()
+    stop_then_move(motor, 10)
+
+@pytest.mark.stresstest
+def test_stop_then_move_stress(motor):
+    motor.put_pv('stop', 1)
+    motor.wait_for_done()
+    for _ in range(50):
+        stop_then_move(motor, 5)
+        stop_then_move(motor, 0)
+
+
+def test_speed_fields_valid(motor):
+    motor.put_pv('stop', 1)
+    motor.wait_for_done()
+    speed_fields_valid(motor)
+
+
+def test_set_minspeed_maxspeed_meanspeed(motor):
+    motor.put_pv('stop', 1)
+    motor.wait_for_done()
+    set_minspeed_maxspeed_meanspeed(motor)
+
+
+def test_set_invalid_speed_above_min_below_max(motor):
+    motor.put_pv('stop', 1)
+    motor.wait_for_done()
+    set_invalid_speed_above_min_below_max(motor)
+
+
+def test_set_speed_and_move(motor):
+    motor.put_pv('stop', 1)
+    motor.wait_for_done()
+    set_speed_and_move(motor, motor.get_pv('maxspeed'), 5)
+    set_speed_and_move(motor, 0.5*motor.get_pv('maxspeed'), 0)
+
+
+@pytest.mark.stresstest
+def test_set_speed_and_move_stress(motor):
+    motor.put_pv('stop', 1)
+    motor.wait_for_done()
+    for _ in range(50):
+        set_speed_and_move(motor, motor.get_pv('maxspeed'), 5)
+        set_speed_and_move(motor, 0.5*motor.get_pv('maxspeed'), 0)
+
+
+def test_targets_outside_limits(motor):
+    motor.put_pv('stop', 1)
+    motor.wait_for_done()
+    targets_outside_limits(motor)
+
+
+def test_home(motor):
+    motor.put_pv('stop', 1)
+    motor.wait_for_done()
+    home(motor, True)
+
+
+def test_start_home_while_moving(motor):
+    motor.put_pv('stop', 1)
+    motor.wait_for_done()
+    start_home_while_moving(motor, 15, True)
+
+
+def test_start_home_while_moving(motor):
+    motor.put_pv('stop', 1)
+    motor.wait_for_done()
+    start_home_while_moving(motor, 15, True)
+
+
+def test_move_then_home(motor):
+    motor.put_pv('stop', 1)
+    motor.wait_for_done()
+    move_then_home(motor, 15, True)
+    
+
+def test_home_then_move(motor):
+    motor.put_pv('stop', 1)
+    motor.wait_for_done()
+    home_then_move(motor, 15, True)
+
+# def test_reread_limits_from_hw(motor):
+#    reread_limits_from_hw(motor)

tests/masterMacs1/_ax1/conftest.py

@@ -1,9 +0,0 @@
-# This module defines fixtures which are shared for all tests of motor "lin1".
-
-import pytest
-from setup.classes import MasterMACS
-
-
-@pytest.fixture(autouse=True)
-def motor():
-    return MasterMACS('masterMacs1', 'ax1')

tests/masterMacs1/_ax1/test_common.py

@@ -1,50 +0,0 @@
-# Run a selection of common tests
-
-from setup.move import *
-from setup.sinqMotor.limits import *
-from setup.home import *
-from setup.sinqMotor.masterMacs.reset import reset
-
-
-def test_reset(motor):
-    reset(motor, 4)
-    reset(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_home(motor):
-    reset(motor, 1)
-    home(motor, True)
-
-
-def test_start_home_while_moving(motor):
-    reset(motor, 1)
-    start_home_while_moving(motor, 10, True)
-
-
-def test_start_home_while_moving(motor):
-    reset(motor, 1)
-    start_home_while_moving(motor, 10, True)
-
-
-# def test_reread_limits_from_hw(motor):
-#    reread_limits_from_hw(motor)

tests/masterMacs1/ax1/conftest.py

@@ -0,0 +1,21 @@
+# This module defines fixtures which are shared for all tests of motor "ax1".
+import time
+
+import pytest
+from setup.classes import MasterMACS
+
+# Prepare the motor at the start of the test by resetting and homing it.
+@pytest.fixture(scope="session", autouse=True)
+def reset_and_home():
+    mot = MasterMACS('masterMacs1', 'ax1')
+    mot.put_pv('stop', 1)
+    mot.put_pv('reseterrorpv', 1)
+    mot.wait_disabled()
+    mot.enable_and_wait()
+    mot.put_pv('homeforward', 1)
+    time.sleep(1)
+    mot.wait_for_done()
+
+@pytest.fixture(autouse=True)
+def motor():
+    return MasterMACS('masterMacs1', 'ax1')

tests/masterMacs1/ax1/test_common.py

@@ -0,0 +1,50 @@
+# Run a selection of common tests
+
+from setup.move import *
+from setup.sinqMotor.limits import *
+from setup.home import *
+from setup.sinqMotor.masterMacs.reset import reset
+
+
+def test_reset(motor):
+    reset(motor, 4)
+    reset(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_home(motor):
+#     reset(motor, 1)
+#     home(motor, True)
+
+
+# def test_start_home_while_moving(motor):
+#     reset(motor, 1)
+#     start_home_while_moving(motor, 10, True)
+
+
+# def test_start_home_while_moving(motor):
+#     reset(motor, 1)
+#     start_home_while_moving(motor, 10, True)
+
+
+# def test_reread_limits_from_hw(motor):
+#    reread_limits_from_hw(motor)