Added homing test and switched to NICOS-like caproto backend implementaiton

runtests

@@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+
+# This script is a wrapper around pytest which performs the following tasks:
+# 1) If the IOC in ioc/startioc.py is not running, start it
+# 2) Run tests in parallel by starting a separate pytest process
+# for each separate motor given in FOLDER. This allows to run tests on different
+# motors in parallel, cutting down execution time and testing parallelism.
+# The script accepts any arguments and forwards them to the pytest call.
+# If a folder is given as an argument, all tests which are not within this
+# folder are ignored:
+# - `pytestpar` will run all tests parallelized per motor
+# - `pytestpar tests/sinqMotor/turboPmac` will run all Turbo PMAC tests parallelized per motor
+# - `pytestpar tests/sinqMotor/turboPmac/ax1` will only run the tests for motor `ax1`.
+# These tests are run sequentially.
+
+import sys
+import subprocess
+import os
+from pathlib import Path
+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
+
+# Separate path-like arguments from other pytest args
+path_args = []
+extra_args = []
+
+for arg in sys.argv[1:]:
+    if '/' in arg or os.path.exists(arg):
+        path_args.append(arg)
+    else:
+        extra_args.append(arg)
+
+# Filter folders to run based on path_args
+enabled_folders = []
+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):
+            enabled_folders.append(folder)
+
+# Check if the IOC is running and try to start it, if it isn't
+try:
+    check_ioc_running()
+except IocNotRunning:
+    print('Starting IOC ...')
+    # Start the IOC as a separate process, wait a bit and try again
+    path = Path(__file__).resolve().parent / 'ioc' / 'startioc'
+    p = subprocess.Popen([path],     
+                     stdout=subprocess.PIPE,
+                     stderr=subprocess.PIPE)
+    now = time.time()
+    while now + TIMEOUT_IOC_STARTUP > time.time():
+        time.sleep(0.5)
+        try:
+            check_ioc_running()
+        except IocNotRunning:
+            pass
+    check_ioc_running()
+    print(f'Started IOC successfully (process ID {p.pid})! It will automatically terminate after all tests are done.')
+
+# 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]
+    )
+
+    command = ["pytest"] + folder_path_args + extra_args
+    print(f"Running: {' '.join(command)}")
+
+    proc = subprocess.Popen(command)
+    processes.append(proc)
+
+# Wait for all processes and collect exit codes
+exit_code = 0
+for proc in processes:
+    code = proc.wait()
+    if code != 0:
+        exit_code = code
+sys.exit(exit_code)