#-----------------------------------------------------------------------
# Some tests for SANS style MultiMotors. A MultiMotor with the name  sa
# must have been initialized in the test initializaton file. 
#
# Mark Koennecke, November 2006
#----------------------------------------------------------------------
puts stdout "Testing SANS MultiMotor Module..."

proc testMumoPosition {omPos sttPos} {
    set txt [sa]
    set luf [split $txt "\n"]
    set l1 [lindex $luf 0]
    if {[string first "Status listing"  $l1] < 0} {
	error "Bad first line on MultiMotor: $l1"
    }
    set l2 [lindex $luf 1]
    set li2 [split $l2 =]
    if {abs([lindex $li2 1] - $omPos) > .1} {
	error "Bad omega position: $li2, expected $omPos"
    }
    set l2 [lindex $luf 2]
    set li2 [split $l2 =]
    if {abs([lindex $li2 1] - $sttPos) > .1} {
	error "Bad stt position: $li2, expected $sttPos"
    }
    return OK
}
#---------------------------------------------------------------------
test mumo-1.0 {Test Reading} -body {
    config rights Mugger Mugger
    drive a3 0 a4 0
    return [testMumoPosition .0 .0]
} -result OK
#----------------------------------------------------------------------
test mumo-1.1 {Test Named Position} -body {
    sa noeff
    return [testMumoPosition 24.  48.]
} -result OK
#---------------------------------------------------------------------
test mumo-1.2 {Test Back} -body {
    sa back
    return [testMumoPosition 0.  0.]
} -result OK
#----------------------------------------------------------------------
test mumo-1.3 {Test defpos} -body {
    sa defpos fart om 10 stt 43
    sa fart
    return [testMumoPosition 10.  43.]
} -result OK
#-----------------------------------------------------------------------
test mumo-1.4 {Test individual driving} -body {
    sa noeff
    sa om 27
    return [testMumoPosition 27  48.]
} -result OK
#-----------------------------------------------------------------------
test mumo-1.5 {Test pos definiton} -body {
    sa pos gurke
    sa back
    sa gurke
    return [testMumoPosition 27  48.]
} -result OK
#----------------------------------------------------------------------
test mumo-1.6 {Test dropping named position} -body {
    sa drop fart
    set txt [sa fart]
    if {[string first ERROR $txt] < 0} {
	error "Did not trigger error when trying to drive a dropped position"
    }
    return OK
} -result OK
#----------------------------------------------------------------------
test mumo-1.6 {Test Permission} -body {
    config rights Spy Spy
    set txt [sa neoff]
    if {[string first ERROR $txt] < 0} {
	error "Did not trigger error whithout permission"
    }
    return OK
} -result OK