lin-epics-modules/motorDriverTests
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Further changes as part of MVPwq!

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This commit is contained in:
mathis_s
2025-07-23 08:21:56 +02:00
parent 94cc456b88
commit e2e025cbbc
7 changed files with 22 additions and 15 deletions
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4
ioc/motors/masterMacs1.cmd
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@@ -3,10 +3,10 @@
epicsEnvSet("NAME","masterMacs1") epicsEnvSet("NAME","masterMacs1")
epicsEnvSet("ASYN_PORT","p$(NAME)") epicsEnvSet("ASYN_PORT","p$(NAME)")
drvAsynIPPortConfigure("$(ASYN_PORT)","$(ASYN_PORT)","$(MASTERMACS1_IP):$(MASTERMACS1_PORT)") drvAsynIPPortConfigure("$(ASYN_PORT)","$(MASTERMACS1_IP):$(MASTERMACS1_PORT)")
masterMacsController("$(NAME)","$(ASYN_PORT)",8,0.05,0.05,0.3); masterMacsController("$(NAME)","$(ASYN_PORT)",8,0.05,0.05,0.3);
masterMacsAxis("$(NAME)",1); masterMacsAxis("$(NAME)",1);
# masterMacsAxis("$(NAME)",2); # masterMacsAxis("$(NAME)",2);
epicsEnvSet("SINQDBPATH","$(masterMacs_DB)/sinqMotor.db") epicsEnvSet("SINQDBPATH","$(masterMacs_DB)/sinqMotor.db")
dbLoadTemplate("$(IOCDIR)/motors/$(NAME).substitutions", "INSTR=$(PVPREFIX)$(NAME):,CONTROLLER=$(NAME)") dbLoadTemplate("$(IOCDIR)/motors/$(NAME).substitutions", "INSTR=$(PVPREFIX):$(NAME):,CONTROLLER=$(NAME)")

4
ioc/motors/turboPmac1.cmd
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@@ -39,6 +39,6 @@ setMaxSubsequentTimeouts("$(NAME)", 20);
setThresholdComTimeout("$(NAME)", 100, 1); setThresholdComTimeout("$(NAME)", 100, 1);
epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/sinqMotor.db") epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/sinqMotor.db")
dbLoadTemplate("$(IOCDIR)/motors/$(NAME).substitutions", "INSTR=$(PVPREFIX)$(NAME):,CONTROLLER=$(NAME)") dbLoadTemplate("$(IOCDIR)/motors/$(NAME).substitutions", "INSTR=$(PVPREFIX):$(NAME):,CONTROLLER=$(NAME)")
epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db") epicsEnvSet("SINQDBPATH","$(turboPmac_DB)/turboPmac.db")
dbLoadTemplate("$(IOCDIR)/motors/$(NAME).substitutions", "INSTR=$(PVPREFIX)$(NAME):,CONTROLLER=$(NAME)") dbLoadTemplate("$(IOCDIR)/motors/$(NAME).substitutions", "INSTR=$(PVPREFIX):$(NAME):,CONTROLLER=$(NAME)")

13
ioc/pystartioc.py
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@@ -1,3 +1,5 @@
#!/usr/bin/env python3
# This script is used to start the test IOC and is usually run as part of a # This script is used to start the test IOC and is usually run as part of a
# test startup procedure. It autogenerates an IOC shell script from motors.yaml # test startup procedure. It autogenerates an IOC shell script from motors.yaml
# which contains the IP adresses and ports of the motor controllers. # which contains the IP adresses and ports of the motor controllers.
@@ -18,7 +20,7 @@ def startioc():
# General configuration # General configuration
out.write( out.write(
f'epicsEnvSet("PVPREFIX"," {config["pvprefix"]})\n') f'epicsEnvSet("PVPREFIX", "{config["pvprefix"]}")\n')
out.write( out.write(
f'epicsEnvSet("IOCDIR", "{root_dir + "ioc"}" )\n') f'epicsEnvSet("IOCDIR", "{root_dir + "ioc"}" )\n')
@@ -36,9 +38,14 @@ def startioc():
out.write( out.write(
f'epicsEnvSet("MASTERMACS1_PORT", "{config["controllers"]["masterMacs1"]["port"]}")\n') f'epicsEnvSet("MASTERMACS1_PORT", "{config["controllers"]["masterMacs1"]["port"]}")\n')
# Start the IOC itself # Start the IOC itself and keep it running in the background.
subprocess.run(root_dir + 'ioc/startioc') # We need to start a new session so Pytest doesn't kill the process
proc = subprocess.Popen([root_dir + 'ioc/startioc'], start_new_session=True)
print(f"Started IOC with PID {proc.pid}")
# Yield control back to the test
# yield
if __name__ == '__main__': if __name__ == '__main__':
startioc() startioc()

4
ioc/st.cmd
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@@ -11,9 +11,9 @@ require masterMacs, $(MASTERMACS_VERSION)
# Initialize the motors itself # Initialize the motors itself
< motors/turboPmac1.cmd < motors/turboPmac1.cmd
< motors/masterMacs1.cmd #< motors/masterMacs1.cmd
# Create the test record which is used to detect if the IOC is running # Create the test record which is used to detect if the IOC is running
dbLoadRecords("$(IOCDIR)/db/ready.db", "P=$(PVPREFIX)") dbLoadRecords("$(IOCDIR)/db/ready.db", "PVPREFIX=$(PVPREFIX)")
iocInit() iocInit()

2
ioc/startioc Normal file → Executable file
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@@ -9,4 +9,4 @@ SCRIPT_DIR=$(dirname "$(realpath "$0")")
cd "$SCRIPT_DIR" || exit 1 cd "$SCRIPT_DIR" || exit 1
# Run the IOC shell script # Run the IOC shell script
st.cmd st.cmd

8
tests/conftest.py
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@@ -1,13 +1,13 @@
import time import time
from caproto.sync.client import read, write from caproto.sync.client import read, write
from ioc.startioc import startioc from ioc.pystartioc import startioc
import pytest import pytest
from common import read_config from common import read_config
TIMEOUT_IOC_STARTUP = 30 TIMEOUT_IOC_STARTUP = 10
TIMEOUT_READ = 3.0 TIMEOUT_READ = 2
@pytest.fixture(autouse=True) @pytest.fixture(autouse=True)
@@ -32,7 +32,7 @@ def prepare_ioc():
# Check periodically if the IOC started successfully # Check periodically if the IOC started successfully
now = time.time() now = time.time()
while now + TIMEOUT_IOC_STARTUP < time.time(): while now + TIMEOUT_IOC_STARTUP > time.time():
try: try:
read(f'{pvprefix}:IOCREADY', timeout=TIMEOUT_READ) read(f'{pvprefix}:IOCREADY', timeout=TIMEOUT_READ)
return return

2
tests/sinqMotor/turboPmac/rot1/conftest.py
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@@ -9,7 +9,7 @@ def motor():
config = read_config() config = read_config()
return TurboPMAC(config['controllers']['turboPmac1']['ip'], return TurboPMAC(config['controllers']['turboPmac1']['ip'],
config['controllers']['turboPmac1']['port'], config['controllers']['turboPmac1']['port'],
config['pvprefix'] + 'turboPmac1:rot1') config['pvprefix'] + ':turboPmac1:rot1')
def reset(motor): def reset(motor):