Added stresstest setup and fixed bug in move_and_wait

common.py

@@ -5,7 +5,10 @@ import math
 import pytest
 import yaml
 from caproto.sync.client import read, write
-from caproto import CaprotoTimeoutError, ChannelType
+
+# We use a very high timeout here in order to make sure the tests do not fail prematurely.
+# The default 1 second has proven to be too strict.
+CAPROTO_TIMEOUT = 5
 
 
 def read_config():
@@ -62,13 +65,13 @@ class Motor:
         self.pv = f'{pvprefix}:{controller}:{name}'
 
     def write(self, suffix, value):
-        write(self.pv + suffix, value)
+        write(self.pv + suffix, value, timeout=CAPROTO_TIMEOUT)
 
     def write_field(self, fieldname, value):
         self.write('.' + self.fields[fieldname], value)
 
     def read(self, suffix, as_string=False):
-        response = read(self.pv + suffix)
+        response = read(self.pv + suffix, timeout=CAPROTO_TIMEOUT)
         return self._convert_value(response, as_string)
 
     def _convert_value(self, response, as_string=False):
@@ -114,11 +117,8 @@ class Motor:
 
         self.write_field('writepv', target)
 
-        if already_moving:
-            # Wait until the motor has stopped
-            self.wait_for_done()
-
-        self.wait_for_start()
+        if not already_moving:
+            self.wait_for_start()
         self.wait_for_done()
 
     def limits(self):
@@ -143,6 +143,7 @@ class Motor:
 
         now = time.time()
         while self.read_field('donemoving') != 0:
+            print(self.read_field('donemoving'))
             if now + maxwaittime < time.time():
                 raise TimeoutError(
                     f'Motor did not start in {maxwaittime} seconds')

tests/conftest.py

@@ -7,7 +7,6 @@ from common import read_config
 
 TIMEOUT_READ = 2
 
-
 @pytest.fixture(autouse=True)
 def check_ioc_running():
 
@@ -26,3 +25,23 @@ def check_ioc_running():
     except TimeoutError:
         # IOC startup failed in the given time -> Raise an error
         raise Exception('Start the test IOC first ()')
+
+def pytest_addoption(parser):
+    """
+    This function adds the --stress flag to Pytest which can be given to
+    perform long-running stress tests.
+    """
+    parser.addoption(
+        "--stresstest",
+        action="store_true",
+        default=False,
+        help="Run tests marked as stresstest"
+    )
+
+def pytest_runtest_setup(item):
+    """
+    This function provides a marker which can be used on test functions to
+    mark them as stress tests via `@pytest.mark.stresstest`.
+    """
+    if 'stresstest' in item.keywords and not item.config.getoption("--stresstest"):
+        pytest.skip("Need --stress to run this test")

tests/move.py

@@ -21,7 +21,7 @@ def move_to_high_limit_switch(motor):
     assert not motor.has_error()
 
 
-def move_while_move(motor, first_target, second_target):
+def move_while_move(motor, first_target, second_target, time_first_target):
     """
     Start moving to a position which is sufficiently far away, then interrupt
     this move command with another move command. This function assumes a
@@ -29,9 +29,9 @@ def move_while_move(motor, first_target, second_target):
     first_target so it has enough time to issue the second move command.
     """
     motor.write_field('writepv', first_target)
-    time.sleep(2)
+    time.sleep(time_first_target)
     motor.move_and_wait(second_target)
-    assert motor.at_target()
+    assert motor.at_target(second_target)
     assert not motor.has_error()
 
 def stop_then_move(motor, target):

tests/sinqMotor/turboPmac/ax1/conftest.py

@@ -1,9 +1,20 @@
 # This module defines fixtures which are shared for all tests of motor "lin1".
+import time
 
 import pytest
 from common import TurboPMAC
 
+# 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 = TurboPMAC('turboPmac1', 'ax1')
+    mot.write_field('stop', 1)
+    mot.write_field('reseterrorpv', 1)
+    mot.write_field('enable', 1)
+    mot.write_field('homeforward', 1)
+    time.sleep(1)
+    mot.wait_for_done()
 
 @pytest.fixture(autouse=True)
 def motor():
-    return TurboPMAC('turboPmac1', 'lin1')
+    return TurboPMAC('turboPmac1', 'ax1')

tests/sinqMotor/turboPmac/ax1/test_common.py

@@ -1,32 +1,43 @@
 # Run a selection of common tests
 
+import pytest
+
 from tests.move import *
 from tests.sinqMotor.limits import *
 from tests.sinqMotor.turboPmac.reset import reset
 
 
-def test_stop_reset_enable_move_sequence(motor):
+def test_reset(motor):
     reset(motor, 5)
-    reset(motor, 0)
+    reset(motor, 2)
 
+@pytest.mark.stresstest
+def test_reset_stress(motor):
+    for _ in range(50):
+        test_reset(motor)
 
 def test_move_to_low_limit_switch(motor):
-    reset(motor, -30)
+    reset(motor, 0)
     move_to_low_limit_switch(motor)
 
 
 def test_move_to_high_limit_switch(motor):
-    reset(motor, -30)
+    reset(motor, 0)
     move_to_high_limit_switch(motor)
 
 
-def test_move_while_move(motor):
-    reset(motor, -30)
-    move_while_move(motor, -60, -20)
+def test_move_while_move_same_direction(motor):
+    reset(motor, 0)
+    move_while_move(motor, -60, -20, 2)
+
+
+def test_move_while_move_opposite_direction(motor):
+    reset(motor, 0)
+    move_while_move(motor, 20, -20, 2)
 
 
 def test_stop(motor):
-    reset(motor, -30)
+    reset(motor, 0)
     stop(motor, -60)
 
 # def test_reread_limits_from_hw(motor):

tests/sinqMotor/turboPmac/ax5/conftest.py

@@ -6,4 +6,4 @@ from common import TurboPMAC
 
 @pytest.fixture(autouse=True)
 def motor():
-    return TurboPMAC('turboPmac1', 'rot1')
+    return TurboPMAC('turboPmac1', 'ax5')

tests/sinqMotor/turboPmac/ax5/test_common.py

@@ -1,37 +1,47 @@
 # Run a selection of common tests
+import pytest
 
 from tests.move import *
 from tests.sinqMotor.limits import *
 from tests.sinqMotor.turboPmac.reset import reset
 
 
-def test_stop_reset_enable_move_sequence(motor):
+def test_reset(motor):
     reset(motor, 5)
     reset(motor, 0)
 
+@pytest.mark.stresstest
+def test_reset_stress(motor):
+    for _ in range(50):
+        test_reset(motor)
 
 def test_move_to_low_limit_switch(motor):
-    reset(motor)
+    reset(motor, 0)
     move_to_low_limit_switch(motor)
 
 
 def test_move_to_high_limit_switch(motor):
-    reset(motor)
+    reset(motor, 0)
     move_to_high_limit_switch(motor)
 
 
-def test_move_while_move(motor):
-    reset(motor)
-    move_while_move(motor, 1000, -1000)
+def test_move_while_move_same_direction(motor):
+    reset(motor, 0)
+    move_while_move(motor, -3000, -1000, 2)
+
+
+def test_move_while_move_opposite_direction(motor):
+    reset(motor, 0)
+    move_while_move(motor, 1000, -1000, 2)
 
 
 def test_stop(motor):
-    reset(motor)
+    reset(motor, 0)
     stop(motor, 3000)
 
 
 def test_stop_then_move(motor):
-    reset(motor)
+    reset(motor, 0)
     stop_then_move(motor, 0)