86 lines
2.1 KiB
Python
86 lines
2.1 KiB
Python
import time
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import logging
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_log=logging.getLogger(__name__)
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from epics.ca import pend_event
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class PositionsNotReached(Exception):
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pass
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def assert_tweaker_positions(targets, timeout=60.0):
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"""
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wait for each of the given motors to have specified positions within tolerance
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:param targets: [
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(motor, target_position, tolerance),
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...
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]
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:return: None
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:raises: PositionsNotReached
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"""
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num_motors=len(targets)
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timeisup=timeout+time.time()
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while time.time()<timeisup:
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count=0
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summary=[]
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for i, m in enumerate(targets):
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motor, target, tolerance=m
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name=motor.short_name
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pend_event()
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cur=motor.get_position()
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done=motor.is_done()
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_log.debug("check {}[done={}]: {} == {}".format(name, done, cur, target))
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summary.append("{}[done={}]: {} == {}".format(name, done, cur, target))
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if done and tolerance>=abs(cur-target):
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count+=1
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pend_event(0.1)
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if count==num_motors:
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break
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pend_event(0.1)
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if count!=num_motors:
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raise PositionsNotReached("failed to reach target positions: {}".format("#".join(summary)))
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def assert_motor_positions(targets, timeout=60.0):
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"""
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wait for each of the given motors to have specified positions within tolerance
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:param targets: [
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(motor, target_position, tolerance),
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...
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]
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:return: None
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:raises: PositionsNotReached
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"""
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num_motors=len(targets)
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timeisup=timeout+time.time()
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while time.time()<timeisup:
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count=0
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summary=[]
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for i, m in enumerate(targets):
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motor, target, tolerance=m
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name=motor._prefix
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pend_event()
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cur=motor.get_position(readback=True)
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done=motor.done_moving
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_log.debug("check {}[done={}]: {} == {}".format(name, done, cur, target))
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summary.append("{}[done={}]: {} == {}".format(name, done, cur, target))
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if done and tolerance>=abs(cur-target):
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count+=1
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pend_event(0.1)
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if count==num_motors:
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break
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pend_event()
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if count!=num_motors:
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raise PositionsNotReached("failed to reach target positions: {}".format("#".join(summary)))
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