74 lines
2.1 KiB
Python
Executable File
74 lines
2.1 KiB
Python
Executable File
import time
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import pytest
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from setup.classes import StartTimeoutError
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def move_to_low_limit_switch(motor):
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low_limit = motor.limits()[0]
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motor.move_and_wait(low_limit)
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assert motor.at_target()
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# Field is currently not set in our drivers
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#assert motor.get_pv('lowlimitswitch') == 1
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assert not motor.has_error()
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def move_to_high_limit_switch(motor):
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low_limit = motor.limits()[1]
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motor.move_and_wait(low_limit)
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assert motor.at_target()
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# Field is currently not set in our drivers
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#assert motor.get_pv('highlimitswitch') == 1
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assert not motor.has_error()
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def move_while_move(motor, first_target, second_target, time_first_target):
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"""
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Start moving to a position which is sufficiently far away, then interrupt
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this move command with another move command. This function assumes a
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sufficiently large distance between the current motor position and
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first_target so it has enough time to issue the second move command.
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"""
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motor.put_pv('writepv', first_target)
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time.sleep(time_first_target)
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motor.move_and_wait(second_target)
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assert motor.at_target(second_target)
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assert not motor.has_error()
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def stop_then_move(motor, target):
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motor.put_pv('stop', 1)
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motor.wait_for_done()
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motor.move_and_wait(target)
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def stop(motor, target):
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"""
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Stop an motor while it is moving to a target. This function assumes a
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sufficiently large distance between the current motor position and target.
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"""
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motor.put_pv('writepv', target)
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time.sleep(1)
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motor.put_pv('stop', 1)
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motor.wait_for_done()
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assert not motor.at_target(target)
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assert not motor.has_error()
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def invalid_target(motor, target):
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current_pos = motor.get_pv('readpv')
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try:
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motor.move_and_wait(target)
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pytest.fail('move_and_wait should throw a StartTimeoutError error')
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except StartTimeoutError:
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assert motor.at_target(current_pos)
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def targets_outside_limits(motor):
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"""
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Try to move the motor outside its limits
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"""
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invalid_target(motor, motor.get_pv('lowlimit') - 10)
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invalid_target(motor, motor.get_pv('highlimit') + 10)
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