b26b8fc735
- Added strlcpy and strlcat to SICS - Added a driver for the POLDI power supplies SKIPPED: psi/A1931.c psi/autowin.c psi/bruker.c psi/docho.c psi/dornier2.c psi/dspcode.c psi/ease.c psi/ecb.c psi/ecbcounter.c psi/ecbdriv.c psi/el734dc.c psi/el734driv.c psi/el734hp.c psi/el737driv.c psi/el737hpdriv.c psi/el737hpdrivsps.c psi/el737hpv2driv.c psi/el755driv.c psi/eurodriv.c psi/haakedriv.c psi/itc4driv.c psi/julcho.c psi/linadriv.c psi/lmd200.c psi/lscsupport.c psi/ltc11.c psi/make_gen psi/oicom.c psi/oxinst.c psi/pimotor.c psi/pipiezo.c psi/polterwrite.c psi/psi.c psi/sanscook.c psi/sanslirebin.c psi/sanswave.c psi/sinqhmdriv.c psi/sinqhttp.c psi/slsecho.c psi/slsmagnet.c psi/slsvme.c psi/sps.c psi/swmotor.c psi/swmotor2.c psi/tabledrive.c psi/tasscan.c psi/tdchm.c psi/velodorn.c psi/velodornier.c
307 lines
8.0 KiB
Tcl
307 lines
8.0 KiB
Tcl
#------------------------------------------------------------------------------
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# Regression tests fo a motor. It is assumed that the motors name is
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# brumm and that it has been initialized with the regress motor
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# driver. Moreover, this has to be loaded after tcltest.tcl, testutil.tcl
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# and sicstcldebug.tcl
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#
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# The regression motor has various errortypes which can be simulated:
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# 0 = none
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# 1 = failed start
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# 2 = position fault
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# 3 = hardware failure
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# 4 = off position, without explicit position fault
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# 5 = failed read
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# 6 = keep running (for testing interupting)
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# Moreover there is a recover flag which causes the motor to recover when it is
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# 1
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#
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# copyright: see file COPYRIGHT
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#
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# Mark Koennecke, July 2006
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#
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#------------------------------------------------------------------------------
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puts stdout "Testing motor code"
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test motorpar-1.0 {Test sll} -body {
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testPar "brumm softlowerlim" -175 User } -result OK
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test motorpar-1.1 {Test slu} -body {
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testPar "brumm softupperlim" 175 User } -result OK
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test motorpar-1.2 {Test ss} -body {
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testPar "brumm softzero" 5 User } -result OK
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test motorpar-1.3 {Test interrupt} -body {
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testPar "brumm interruptmode" 2 Mugger } -result OK
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test motorpar-1.4 {Test accesscode} -body {
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testPar "brumm accesscode" 3 Mugger } -result OK
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test motorpar-1.5 {Test precision} -body {
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testPar "brumm precision" .5 Mugger } -result OK
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test motorpar-1.6 {Test fail} -body {
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testPar "brumm failafter" 5 Mugger } -result OK
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test motorpar-1.7 {Test retry} -body {
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testPar "brumm maxretry" 5 Mugger } -result OK
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test motorpar-1.8 {Test ignorefault} -body {
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testPar "brumm ignorefault" 1 Mugger } -result OK
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test motorpar-1.9 {Test movecount} -body {
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testPar "brumm movecount" 12 Mugger } -result OK
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#-------- This test always fails because the regression motor driver
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# handles hard limits
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#---------------------------------------------------------------
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# test motorpar-1.10 {Test hardupper} -body {
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# testPar "brumm hardupperlim" 180 Mugger} -result OK
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# test motorpar-1.11 {Test hardlower} -body {
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# testPar "brumm hardlowerlim" -180 Mugger} -result OK
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brumm recover 0
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brumm errortype 0
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test motor-1.0 {Test Normal Driving} -body {
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testDrive brumm 10 User } -result OK
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brumm errortype 6
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test motor-1.1 {Test Interrupting} -body {
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testDriveInterrupt brumm 0 } -result OK
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brumm errortype 1
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config rights User User
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test motor-1.2 {Test Start Failure} -body {
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set ans [drive brumm 20.3]
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if { [string first "Failed to start motor" $ans] < 0} {
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error "Failed to trigger motor start failure: $ans"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return from start failure"
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}
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return OK
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} -result OK
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brumm recover 1
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test motor-1.3 {Test Recover from start problem} -body {
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set ans [drive brumm 20.3]
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if { [string first "Failed to start motor" $ans] < 0} {
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error "Failed to trigger motor start failure"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return from start failure"
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}
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compareValue [SICSValue brumm] 20.3
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} -result OK
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brumm recover 0
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brumm errortype 2
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test motor-1.4 {Test Position Failure} -body {
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set ans [drive brumm -20.3]
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if { [string first "Position not reached" $ans] < 0} {
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error "Failed to trigger motor position fault: $ans"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return from position failure"
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}
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set ans [SICSValue brumm]
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if {abs($ans - -20.3) < .01} {
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error "Motor positioned OK inspite of position fault"
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}
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return OK
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} -result OK
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brumm recover 1
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test motor-1.6 {Test Position Failure Recover} -body {
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set ans [drive brumm 20.3]
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if { [string first "Position not reached" $ans] < 0} {
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error "Failed to trigger motor position fault: $ans"
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}
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if { [string first "restarting" $ans] < 0} {
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error "Restarting message not received"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return from position failure"
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}
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compareValue [SICSValue brumm] 20.3
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return OK
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} -result OK
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brumm errortype 3
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brumm recover 0
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test motor-1.7 {Test Hardware Failure} -body {
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set ans [drive brumm 20.3]
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if { [string first "Hardware is mad" $ans] < 0} {
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error "Failed to trigger motor hardware fault: $ans"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return from position failure"
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}
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set ans [SICSValue brumm]
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if {abs($ans - 20.3) < .01} {
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error "Motor positioned OK inspite of hardware fault"
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}
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return OK
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} -result OK
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brumm recover 1
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test motor-1.8 {Test Hardware Failure Recover} -body {
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set ans [drive brumm 20.3]
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if { [string first "Hardware is mad" $ans] < 0} {
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error "Failed to trigger motor hardware fault: $ans"
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}
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if { [string first "restarting" $ans] < 0} {
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error "Restarting message not received"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return from hardware failure"
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}
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compareValue [SICSValue brumm] 20.3
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return OK
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} -result OK
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brumm errortype 4
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test motor-1.9 {Test Consistent Mispositioning} -body {
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set ans [drive brumm -20.3]
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if { [string first "off position" $ans] < 0} {
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error "Failed to trigger motor off position"
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}
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if { [string first "restarting" $ans] < 0} {
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error "Restarting message not received"
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}
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if { [string first "aborting" $ans] < 0} {
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error "Aborting message not received"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return after consistent position problem"
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}
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set ans [SICSValue brumm]
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if {abs($ans - -20.3) < .01} {
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error "Motor positioned OK inspite of mispositioning"
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}
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return OK
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} -result OK
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brumm errortype 0
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drive brumm 27.
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brumm errortype 5
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brumm recover 0
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test motor-1.10 {Failed read} -body {
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set ans [brumm]
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if { [string first "Failed to read" $ans] < 0} {
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error "Failed to trigger motor failed read"
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}
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if { [string first "Error obtaining position" $ans] < 0} {
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error "Failed to abort reading"
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}
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if { [string first "cannot fix" $ans] < 0} {
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error "Missing cannot fix message"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return after failed read"
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}
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return OK
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} -result OK
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brumm recover 1
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test motor-1.11 {Failed read recover} -body {
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set ans [brumm]
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if { [string first "Failed to read" $ans] < 0} {
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error "Failed to trigger motor failed read"
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}
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if { [string first "brumm =" $ans] < 0} {
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error "Motor did not return value after fixing failed read"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return after failed read"
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}
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return OK
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} -result OK
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brumm errortype 0
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drive brumm 27.
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brumm recover 0
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brumm errortype 3
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test motor-1.12 {Motor Alarm} -body {
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drive brumm -27
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drive brumm -27
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drive brumm -27
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drive brumm -27
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set ans [drive brumm -27]
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if { [string first "MOTOR ALARM" $ans] < 0} {
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error "Motor did not stop with Alarm"
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}
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set ans [status]
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if { [string first "Eager" $ans] < 0} {
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error "Motor did not return after Alarm"
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}
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brumm errortype 0
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set ans [drive brumm -27]
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if { [string first "sucessfully" $ans] < 0} {
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error "Motor did not recover after Alarm"
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}
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return OK
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} -result OK
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brumm errortype 0
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config rights Mugger Mugger
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test motor-1.13 {Motor Sign} -body {
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brumm sign 1
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drive brumm 27.
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set old [SICSValue brumm]
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brumm sign -1
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set newVal [SICSValue brumm]
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set br [brumm sign]
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brumm sign 1
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return [compareValue [expr $old * -1] $newVal]
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} -result OK
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brumm sign 1.
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test motor-1.14 {Motor Recover} -body {
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brumm sign -1.
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brumm softzero 5
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set data [brumm list]
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backup hugo.bck
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recover hugo.bck
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set newData [brumm list]
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if {[string compare $data $newData] != 0} {
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backup hugo2.bck
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error "Recovery failed: look at diff between hugo.bck and hugo2.bck"
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}
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brumm sign 1
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brumm softzero 0
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set data [brumm list]
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backup hugo.bck
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recover hugo.bck
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set newData [brumm list]
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if {[string compare $data $newData] != 0} {
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backup hugo2.bck
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error "Recovery failed: look at diff between hugo.bck and hugo2.bck"
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}
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return OK
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} -result OK
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config rights Spy Spy
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test motorpar-1.15 {Test sign setting} -body {
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testPar "brumm sign" -1 Mugger } -result OK
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