Added velocity tests and changed to checked enabling / disabling. Also added test parallelization

README.md

@@ -45,6 +45,8 @@ in turn imports `ioc/config.cmd` to get the current configuration.
 
 ## Running the tests
 
+### General
+
 Running tests requires the following three steps:
 - Starting the IOC via `ioc/startioc.py` (see [Configuration](#starting-the-ioc))
 - Creating (if not done previously) and activating a suitable virtual environment:
@@ -75,6 +77,20 @@ To show it, use the `-s` flag:
 pytest -s tests/sinqMotor/turboPmac/lin1/test_common.py -k 'test_something'
 ```
 
+### Parallelizing tests over motors
+
+Tests which don't run on the same motor can be parallelized in order to both save on runtime
+and to test controller and driver performance while handling multiple motors. To do so,
+the wrapper script `pytestpar.py` is provided which starts a pytest process for each motor. 
+The individual tests for each motor are run sequentially.
+
+`pytestpar.py` 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.
+
 ## Running custom scripts
 
 The test framework can also be used to run custom scripts. The file 

config.yaml

@@ -1,7 +1,7 @@
 pvprefix: DRVTESTS
 versions:
   turboPmac: "mathis_s"
-  masterMacs: "mathis_s"
+  masterMacs: "1.1"
 controllers:
   turboPmac1:
     ip: "172.28.101.24"

example_custom_script.py

@@ -6,7 +6,7 @@
 
 import time
 
-from common import TurboPMAC
+from test_helpers import TurboPMAC
 
 motor = TurboPMAC('turboPmac1', 'lin1')
 

pytest.ini

@@ -0,0 +1,3 @@
+[pytest]
+markers =
+    stresstest: mark test as a stress test that only runs with --run-stresstests

pytestpar.py

@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+
+# This script is a wrapper around pytest which starts 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
+
+# Define the test folders you want to run in parallel
+FOLDERS = ["tests/sinqMotor/turboPmac/ax1", "tests/sinqMotor/turboPmac/ax5"]
+
+# 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)
+
+# 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)

test_helpers.py

@@ -20,6 +20,8 @@ def read_config():
 class MajorState(Exception):
     pass
 
+class StartTimeoutError(TimeoutError):
+    pass
 
 class Motor:
 
@@ -55,7 +57,7 @@ class Motor:
         'precision': 'MRES',
     }
 
-    def __init__(self, controller, name):
+    def __init__(self, controller, name, default_position=0):
         config = read_config()
         self.ip = config['controllers'][controller]['ip']
         self.port = config['controllers'][controller]['port']
@@ -63,6 +65,7 @@ class Motor:
         self.idlepoll = config['controllers'][controller]['idlepoll']
         pvprefix = config['pvprefix']
         self.pv = f'{pvprefix}:{controller}:{name}'
+        self.default_position = default_position
 
     def write(self, suffix, value):
         write(self.pv + suffix, value, timeout=CAPROTO_TIMEOUT)
@@ -139,22 +142,36 @@ class Motor:
 
     def wait_for_start(self, maxwaittime=None):
         if maxwaittime is None:
-            maxwaittime = 2 * self.idlepoll
+            maxwaittime = 5 * self.idlepoll
 
         now = time.time()
         while self.read_field('donemoving') != 0:
-            print(self.read_field('donemoving'))
             if now + maxwaittime < time.time():
-                raise TimeoutError(
+                raise StartTimeoutError(
                     f'Motor did not start in {maxwaittime} seconds')
+            if self.has_error():
+                error_msg = self.error_message()
+                if error_msg:
+                    raise MajorState(f'Error while waiting for start of movement: {error_msg}')
+                else:
+                    raise MajorState('Unknown error while waiting for start of movement')
             time.sleep(0.1)
 
     def wait_for_done(self):
         while not self.read_field('donemoving'):
+            if self.has_error():
+                error_msg = self.error_message()
+                if error_msg:
+                    raise MajorState(f'Error while waiting for completion of movement: {error_msg}')
+                else:
+                    raise MajorState('Unknown error while waiting for completion of movement')
             time.sleep(0.1)
 
     def has_error(self):
         return self.read_field('alarm_severity') == 'MAJOR'
+    
+    def error_message(self):
+        return ''
 
     def is_homed(self):
         # See https://epics.anl.gov/bcda/synApps/motor/motorRecord.html#Fields_status
@@ -170,10 +187,14 @@ class SinqMotor(Motor):
         'can_disable': ':CanDisable',
         'connected_rbv': ':Connected',
         'encoder_type': ':EncoderType',
+        'can_set_speed': ':CanSetSpeed',
         'reseterrorpv': ':Reset',
         'errormsgpv': '-MsgTxt',
     }
 
+    def error_message(self):
+        return self.read_field('errormsgpv', as_string=True)
+
     def write_field(self, fieldname, value):
         if fieldname in self.suffixes:
             return self.write(self.suffixes[fieldname], value)
@@ -184,19 +205,27 @@ class SinqMotor(Motor):
             return self.read(self.suffixes[fieldname], as_string)
         return self.read('.' + self.fields[fieldname], as_string)
 
+    def enable_and_wait(self, timeout=10):
+        self.write_field('enable', 1)
+        self.wait_enabled(timeout)
+
+    def disable_and_wait(self, timeout=10):
+        self.write_field('enable', 0)
+        self.wait_disabled(timeout)
+
     def wait_enabled(self, timeout=10):
         """
         Wait until the motor is enabled or a timeout has been reached.
         """
-        return self._wait_enabled_disabled(timeout, True)
+        return self._wait_enabled_disabled(True, timeout)
 
     def wait_disabled(self, timeout=10):
         """
         Wait until the motor is enabled or a timeout has been reached.
         """
-        return self._wait_enabled_disabled(timeout, False)
+        return self._wait_enabled_disabled(False, timeout)
 
-    def _wait_enabled_disabled(self, timeout, wait_for_enabling):
+    def _wait_enabled_disabled(self, wait_for_enabling, timeout):
 
         def check(enable_rbv):
             if wait_for_enabling:

tests/conftest.py

@@ -3,7 +3,7 @@ import time
 from caproto.sync.client import read, write
 import pytest
 
-from common import read_config
+from test_helpers import read_config
 
 TIMEOUT_READ = 2
 

tests/move.py

@@ -1,5 +1,8 @@
 import time
 
+import pytest
+
+from test_helpers import StartTimeoutError
 
 def move_to_low_limit_switch(motor):
 
@@ -36,7 +39,8 @@ def move_while_move(motor, first_target, second_target, time_first_target):
 
 def stop_then_move(motor, target):
     motor.write_field('stop', 1)
-    motor.write_field('writepv', target)
+    motor.wait_for_done()
+    motor.move_and_wait(target)
 
 
 def stop(motor, target):
@@ -50,3 +54,20 @@ def stop(motor, target):
     motor.wait_for_done()
     assert not motor.at_target(target)
     assert not motor.has_error()
+
+
+def invalid_target(motor, target):
+    current_pos = motor.read_field('readpv')
+    try:
+        motor.move_and_wait(target)
+        pytest.fail('move_and_wait should throw a StartTimeoutError error')
+    except StartTimeoutError:
+        assert motor.at_target(current_pos)
+
+
+def targets_outside_limits(motor):
+    """
+    Try to move the motor outside its limits
+    """
+    invalid_target(motor, motor.read_field('lowlimit') - 10)
+    invalid_target(motor, motor.read_field('highlimit') + 10)

tests/sinqMotor/limits.py

@@ -1,7 +1,7 @@
 import time
 import math
 
-from common import read_config
+from test_helpers import read_config
 
 
 def reread_limits_from_hw(motor):

tests/sinqMotor/masterMacs/ax1/conftest.py

@@ -1,7 +1,7 @@
 # This module defines fixtures which are shared for all tests of motor "lin1".
 
 import pytest
-from common import MasterMACS
+from test_helpers import MasterMACS
 
 
 @pytest.fixture(autouse=True)

tests/sinqMotor/speed.py

@@ -0,0 +1,56 @@
+def speed_fields_valid(motor):
+    """
+    Check if the motor speed fields are valid:
+    VMAX >= VELO >= VBAS
+    """
+    vbas = motor.read_field('basespeed')
+    velo = motor.read_field('speed')
+    vmax = motor.read_field('maxspeed')
+    assert vmax >= velo >= vbas
+    assert vbas >= 0
+    assert velo >= 0
+    assert vmax >= 0
+
+    # If the motor is not a speed variable drive, VMAX == VELO == VBAS should hold true
+    if motor.read_field('can_set_speed') == 0:
+        assert vmax == velo == vbas
+
+
+def set_speed(motor, new_speed):
+    old_speed = motor.read_field('speed')
+    try:
+        motor.write_field('speed', new_speed)
+        if motor.read_field('can_set_speed') != 0:
+            if new_speed > motor.read_field('maxspeed'):
+                assert motor.read_field('speed') == motor.read_field('maxspeed')
+            elif new_speed < motor.read_field('basespeed'):
+                assert motor.read_field('speed') == motor.read_field('basespeed')
+            else:
+                assert motor.read_field('speed') == new_speed
+        else:
+            assert motor.read_field('speed') == old_speed
+    finally:
+        motor.write_field('speed', old_speed)
+
+
+def set_minspeed_maxspeed_meanspeed(motor):
+    set_speed(motor, motor.read_field('maxspeed'))
+    set_speed(motor, motor.read_field('basespeed'))
+    set_speed(motor, 0.5 * (motor.read_field('basespeed') + motor.read_field('maxspeed')))
+
+
+def set_invalid_speed_above_min_below_max(motor):
+    set_speed(motor, motor.read_field('maxspeed') + 1)
+    set_speed(motor, motor.read_field('basespeed') - 1)
+
+
+def set_speed_and_move(motor, new_speed, target):
+    old_speed = motor.read_field('speed')
+    try:
+        motor.write_field('speed', new_speed)
+        motor.move_and_wait(target)
+        assert motor.at_target(target)
+    finally:
+        motor.write_field('speed', old_speed)
+
+

tests/sinqMotor/turboPmac/ax1/conftest.py

@@ -2,7 +2,7 @@
 import time
 
 import pytest
-from common import TurboPMAC
+from test_helpers import TurboPMAC
 
 # Prepare the motor at the start of the test by resetting and homing it.
 @pytest.fixture(scope="session", autouse=True)
@@ -10,7 +10,8 @@ def reset_and_home():
     mot = TurboPMAC('turboPmac1', 'ax1')
     mot.write_field('stop', 1)
     mot.write_field('reseterrorpv', 1)
-    mot.write_field('enable', 1)
+    mot.wait_disabled()
+    mot.enable_and_wait()
     mot.write_field('homeforward', 1)
     time.sleep(1)
     mot.wait_for_done()

tests/sinqMotor/turboPmac/ax1/test_common.py

@@ -4,6 +4,7 @@ import pytest
 
 from tests.move import *
 from tests.sinqMotor.limits import *
+from tests.sinqMotor.speed import *
 from tests.sinqMotor.turboPmac.reset import reset
 
 
@@ -17,28 +18,74 @@ def test_reset_stress(motor):
         test_reset(motor)
 
 def test_move_to_low_limit_switch(motor):
-    reset(motor, 0)
+    reset(motor)
     move_to_low_limit_switch(motor)
 
 
 def test_move_to_high_limit_switch(motor):
-    reset(motor, 0)
+    reset(motor)
     move_to_high_limit_switch(motor)
 
 
 def test_move_while_move_same_direction(motor):
-    reset(motor, 0)
+    reset(motor)
     move_while_move(motor, -60, -20, 2)
 
 
 def test_move_while_move_opposite_direction(motor):
-    reset(motor, 0)
+    reset(motor)
     move_while_move(motor, 20, -20, 2)
 
 
 def test_stop(motor):
-    reset(motor, 0)
+    reset(motor)
     stop(motor, -60)
 
+
+def test_stop_then_move(motor):
+    reset(motor)
+    stop_then_move(motor, 20)
+
+@pytest.mark.stresstest
+def test_stop_then_move_stress(motor):
+    reset(motor)
+    for _ in range(50):
+        stop_then_move(motor, 10)
+        stop_then_move(motor, 0)
+
+
+def test_speed_fields_valid(motor):
+    reset(motor)
+    speed_fields_valid(motor)
+
+
+def test_set_minspeed_maxspeed_meanspeed(motor):
+    reset(motor)
+    set_minspeed_maxspeed_meanspeed(motor)
+
+
+def test_set_invalid_speed_above_min_below_max(motor):
+    reset(motor)
+    set_invalid_speed_above_min_below_max(motor)
+
+
+def test_set_speed_and_move(motor):
+    reset(motor)
+    set_speed_and_move(motor, motor.read_field('maxspeed'), 10)
+    set_speed_and_move(motor, 0.5*motor.read_field('maxspeed'), 0)
+
+
+@pytest.mark.stresstest
+def test_set_speed_and_move_stress(motor):
+    reset(motor)
+    for _ in range(50):
+        set_speed_and_move(motor, motor.read_field('maxspeed'), 10)
+        set_speed_and_move(motor, 0.5*motor.read_field('maxspeed'), 0)
+
+
+def test_targets_outside_limits(motor):
+    reset(motor)
+    targets_outside_limits(motor)
+
 # def test_reread_limits_from_hw(motor):
 #    reread_limits_from_hw(motor)

tests/sinqMotor/turboPmac/ax5/conftest.py

@@ -1,7 +1,7 @@
 # This module defines fixtures which are shared for all tests of motor "rot1".
 
 import pytest
-from common import TurboPMAC
+from test_helpers import TurboPMAC
 
 
 @pytest.fixture(autouse=True)

tests/sinqMotor/turboPmac/ax5/test_common.py

@@ -3,12 +3,13 @@ import pytest
 
 from tests.move import *
 from tests.sinqMotor.limits import *
+from tests.sinqMotor.speed import *
 from tests.sinqMotor.turboPmac.reset import reset
 
 
 def test_reset(motor):
     reset(motor, 5)
-    reset(motor, 0)
+    reset(motor)
 
 @pytest.mark.stresstest
 def test_reset_stress(motor):
@@ -16,34 +17,72 @@ def test_reset_stress(motor):
         test_reset(motor)
 
 def test_move_to_low_limit_switch(motor):
-    reset(motor, 0)
+    reset(motor)
     move_to_low_limit_switch(motor)
 
 
 def test_move_to_high_limit_switch(motor):
-    reset(motor, 0)
+    reset(motor)
     move_to_high_limit_switch(motor)
 
 
 def test_move_while_move_same_direction(motor):
-    reset(motor, 0)
+    reset(motor)
     move_while_move(motor, -3000, -1000, 2)
 
 
 def test_move_while_move_opposite_direction(motor):
-    reset(motor, 0)
+    reset(motor)
     move_while_move(motor, 1000, -1000, 2)
 
 
 def test_stop(motor):
-    reset(motor, 0)
+    reset(motor)
     stop(motor, 3000)
 
 
 def test_stop_then_move(motor):
-    reset(motor, 0)
-    stop_then_move(motor, 0)
+    reset(motor)
+    stop_then_move(motor, 100)
 
+@pytest.mark.stresstest
+def test_stop_then_move_stress(motor):
+    reset(motor)
+    for _ in range(50):
+        stop_then_move(motor, 100)
+        stop_then_move(motor, 0)
+
+
+def test_speed_fields_valid(motor):
+    reset(motor)
+    speed_fields_valid(motor)
+
+
+def test_set_minspeed_maxspeed_meanspeed(motor):
+    reset(motor)
+    set_minspeed_maxspeed_meanspeed(motor)
+
+
+def test_set_invalid_speed_above_min_below_max(motor):
+    reset(motor)
+    set_invalid_speed_above_min_below_max(motor)
+
+
+def test_set_speed_and_move(motor):
+    reset(motor)
+    set_speed_and_move(motor, motor.read_field('maxspeed'), 10)
+    set_speed_and_move(motor, 0.5*motor.read_field('maxspeed'), 0)
+
+@pytest.mark.stresstest
+def test_set_speed_and_move_stress(motor):
+    reset(motor)
+    for _ in range(50):
+        set_speed_and_move(motor, motor.read_field('maxspeed'), 10)
+        set_speed_and_move(motor, 0.5*motor.read_field('maxspeed'), 0)
+    
+def test_targets_outside_limits(motor):
+    reset(motor)
+    targets_outside_limits(motor)
 
 # def test_reread_limits_from_hw(motor):
 #    reread_limits_from_hw(motor)

tests/sinqMotor/turboPmac/reset.py

@@ -1,4 +1,6 @@
-def reset(motor, target):
+import time
+
+def reset(motor, target=None):
     """
     Reset the motor for the next test. This means the following things:
     1) Stopping the motor
@@ -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.write_field('stop', 1)
+    motor.wait_for_done()
     motor.write_field('reseterrorpv', 1)
-    motor.write_field('enable', 1)
+    motor.wait_disabled()
+    motor.enable_and_wait()
     motor.move_and_wait(target)
     assert motor.at_target(target)
     assert not motor.has_error()