TST: added rotational stage tests

.github/workflows/workflows.yml

@@ -21,4 +21,4 @@ jobs:
       - name: Install dependencies
         run: |
           pip install -e .[test]
-          pytest
+          pytest -sv

motor_stage_ui/motor_stage_gui.py

@@ -1,4 +1,4 @@
-from motor_stage_ui.PIStagesInterface import PIStagesInterface
+from motor_stage_ui.pi_stages_interface import PIStagesInterface
 from motor_stage_ui import logger
 import motor_stage_ui
 

motor_stage_ui/motor_stage_terminal.py

@@ -1,4 +1,4 @@
-from motor_stage_ui.PIStagesInterface import PIStagesInterface as MC
+from motor_stage_ui.pi_stages_interface import PIStagesInterface as MC
 import motor_stage_ui
 
 import os

motor_stage_ui/pi_stages_interface.py

@@ -285,7 +285,7 @@ def get_position(
             self.log.warning("Invalid stage type")
 
     def _move_to_position(self, address: int, value: int) -> None:
-        """Helper function for basil
+        """Helper function for pyserial
 
         Args:
             address (int): Address of the motorstage
@@ -297,7 +297,7 @@ def _move_to_position(self, address: int, value: int) -> None:
         )
 
     def _move_relative(self, address: int, value: int = 1000000) -> None:
-        """Helper function for basil
+        """Helper function for pyserial
 
         Args:
             address (int): Address of the motorstage
@@ -309,7 +309,7 @@ def _move_relative(self, address: int, value: int = 1000000) -> None:
         )
 
     def _get_position(self, address: int) -> None:
-        """Helper function for basil
+        """Helper function for pyserial
 
         Args:
             address (int): Address of the motorstage

motor_stage_ui/test/test_configuration.yaml

@@ -18,3 +18,11 @@ x_axis:
   unit: mm
   port: '/dev/ttyUSB0'
   baud_rate: 9600
+
+rot:
+  stage_type: rotation
+  address: 3
+  step_size: 34e-06
+  unit: deg
+  port: '/dev/ttyUSB0'
+  baud_rate: 9600

motor_stage_ui/test/test_pi_stage_interface.py

@@ -3,7 +3,6 @@
 import pytest
 import yaml
 from motor_stage_ui.pi_stages_interface import PIStagesInterface
-from motor_stage_ui.pi_stages_interface import SerialInterface
 from motor_stage_ui.test.utils import SerialInterfaceMock
 
 
@@ -12,10 +11,6 @@
 
 with open(CONFIG_FILE) as yaml_file:
     TESTCONFIG = yaml.safe_load(yaml_file)
-ADDRESS = TESTCONFIG["x_axis"]["address"]
-UNIT = TESTCONFIG["x_axis"]["unit"]
-STEPSIZE = TESTCONFIG["x_axis"]["step_size"]
-STAGE = TESTCONFIG["x_axis"]["stage_type"]
 
 
 INTERFACE = SerialInterfaceMock
@@ -28,15 +23,29 @@
 
 
 def test_init_motor():
+    ADDRESS = TESTCONFIG["x_axis"]["address"]
     PISTAGES.init_motor(address=ADDRESS)
     assert PISTAGES.serial_interface._serial_commands[-3:] == [
         b"\x010MN\r",
         b"\x010RT\r",
         b"\x010SV200000\r",
     ]
 
+    ADDRESS = TESTCONFIG["rot"]["address"]
+    PISTAGES.init_motor(address=ADDRESS)
+    assert PISTAGES.serial_interface._serial_commands[-3:] == [
+        b"\x012MN\r",
+        b"\x012RT\r",
+        b"\x012SV200000\r",
+    ]
+
 
 def test_find_edge():
+    ADDRESS = TESTCONFIG["x_axis"]["address"]
+    UNIT = TESTCONFIG["x_axis"]["unit"]
+    STEPSIZE = TESTCONFIG["x_axis"]["step_size"]
+    STAGE = TESTCONFIG["x_axis"]["stage_type"]
+
     def __get_position(self, address):
         # Blank get Position function
         return 0
@@ -46,37 +55,115 @@ def __get_position(self, address):
     PISTAGES.find_edge(address=ADDRESS, unit=UNIT, stage=STAGE, step_size=STEPSIZE)
     assert PISTAGES.serial_interface._serial_commands[-1] == b"\x010FE0\r"
 
+    ADDRESS = TESTCONFIG["rot"]["address"]
+    UNIT = TESTCONFIG["rot"]["unit"]
+    STEPSIZE = float(TESTCONFIG["rot"]["step_size"])
+    STAGE = TESTCONFIG["rot"]["stage_type"]
+
+    def __get_position(self, address):
+        # Blank get Position function
+        return 0
+
+    func_type = type(PISTAGES._get_position)
+    PISTAGES._get_position = func_type(__get_position, PISTAGES)
+    PISTAGES.find_edge(address=ADDRESS, unit=UNIT, stage=STAGE, step_size=STEPSIZE)
+    assert PISTAGES.serial_interface._serial_commands[-1] == b"\x012FE0\r"
+
 
 def test_set_home() -> None:
+    ADDRESS = TESTCONFIG["x_axis"]["address"]
     PISTAGES.set_home(address=ADDRESS)
     assert PISTAGES.serial_interface._serial_commands[-1] == b"\x010DH\r"
 
+    ADDRESS = TESTCONFIG["rot"]["address"]
+    PISTAGES.set_home(address=ADDRESS)
+    assert PISTAGES.serial_interface._serial_commands[-1] == b"\x012DH\r"
+
 
 def test_go_home() -> None:
+    ADDRESS = TESTCONFIG["x_axis"]["address"]
     PISTAGES.go_home(address=ADDRESS)
     assert PISTAGES.serial_interface._serial_commands[-1] == b"\x010GH\r"
 
+    ADDRESS = TESTCONFIG["rot"]["address"]
+    PISTAGES.go_home(address=ADDRESS)
+    assert PISTAGES.serial_interface._serial_commands[-1] == b"\x012GH\r"
+
 
 def test_abort():
+    ADDRESS = TESTCONFIG["x_axis"]["address"]
     PISTAGES.abort(address=ADDRESS)
     assert PISTAGES.serial_interface._serial_commands[-1] == b"\x010AB\r"
 
+    ADDRESS = TESTCONFIG["rot"]["address"]
+    PISTAGES.abort(address=ADDRESS)
+    assert PISTAGES.serial_interface._serial_commands[-1] == b"\x012AB\r"
+
 
 def test_move_to_position():
+    ADDRESS = TESTCONFIG["x_axis"]["address"]
+    UNIT = TESTCONFIG["x_axis"]["unit"]
+    STEPSIZE = TESTCONFIG["x_axis"]["step_size"]
+    STAGE = TESTCONFIG["x_axis"]["stage_type"]
+    PISTAGES.move_to_position(
+        address=ADDRESS, amount="1mm", unit=UNIT, stage=STAGE, step_size=STEPSIZE
+    )
+    assert PISTAGES.serial_interface._serial_commands[-1] == b"\x010MA55555\r"
+
+    ADDRESS = TESTCONFIG["rot"]["address"]
+    UNIT = TESTCONFIG["rot"]["unit"]
+    STEPSIZE = float(TESTCONFIG["rot"]["step_size"])
+    STAGE = TESTCONFIG["rot"]["stage_type"]
     PISTAGES.move_to_position(
-        address=ADDRESS, amount="0", unit=UNIT, stage=STAGE, step_size=STEPSIZE
+        address=ADDRESS, amount="1deg", unit=UNIT, stage=STAGE, step_size=STEPSIZE
     )
-    assert PISTAGES.serial_interface._serial_commands[-1] == b"\x010MA0\r"
+    assert PISTAGES.serial_interface._serial_commands[-1] == b"\x012MA29411\r"
 
 
 def test_move_relative():
+    ADDRESS = TESTCONFIG["x_axis"]["address"]
+    UNIT = TESTCONFIG["x_axis"]["unit"]
+    STEPSIZE = TESTCONFIG["x_axis"]["step_size"]
+    STAGE = TESTCONFIG["x_axis"]["stage_type"]
+    PISTAGES.move_relative(
+        address=ADDRESS, amount="-1cm", unit=UNIT, stage=STAGE, step_size=STEPSIZE
+    )
+    assert PISTAGES.serial_interface._serial_commands[-1] == b"\x010MR-555555\r"
+
+    ADDRESS = TESTCONFIG["rot"]["address"]
+    UNIT = TESTCONFIG["rot"]["unit"]
+    STEPSIZE = float(TESTCONFIG["rot"]["step_size"])
+    STAGE = TESTCONFIG["rot"]["stage_type"]
     PISTAGES.move_relative(
-        address=ADDRESS, amount="0", unit=UNIT, stage=STAGE, step_size=STEPSIZE
+        address=ADDRESS, amount="-1rad", unit=UNIT, stage=STAGE, step_size=STEPSIZE
     )
-    assert PISTAGES.serial_interface._serial_commands[-1] == b"\x010MR0\r"
+    assert PISTAGES.serial_interface._serial_commands[-1] == b"\x012MR-1685169\r"
 
 
 def test_get_position():
+    ADDRESS = TESTCONFIG["x_axis"]["address"]
+    UNIT = TESTCONFIG["x_axis"]["unit"]
+    STEPSIZE = TESTCONFIG["x_axis"]["step_size"]
+    STAGE = TESTCONFIG["x_axis"]["stage_type"]
+
+    def __get_position(self, address):
+        # Blank get Position function
+        return 0
+
+    func_type = type(PISTAGES._get_position)
+    PISTAGES._get_position = func_type(__get_position, PISTAGES)
+    assert (
+        PISTAGES.get_position(
+            address=ADDRESS, unit=UNIT, stage=STAGE, step_size=STEPSIZE
+        )
+        == "0.000"
+    )
+
+    ADDRESS = TESTCONFIG["rot"]["address"]
+    UNIT = TESTCONFIG["rot"]["unit"]
+    STEPSIZE = float(TESTCONFIG["rot"]["step_size"])
+    STAGE = TESTCONFIG["rot"]["stage_type"]
+
     def __get_position(self, address):
         # Blank get Position function
         return 0
@@ -91,5 +178,15 @@ def __get_position(self, address):
     )
 
 
+def test_get_stat():
+    ADDRESS = TESTCONFIG["x_axis"]["address"]
+    PISTAGES.get_stat(address=ADDRESS)
+    assert PISTAGES.serial_interface._serial_commands[-1] == b"\x010TS\r"
+
+    ADDRESS = TESTCONFIG["rot"]["address"]
+    PISTAGES.get_stat(address=ADDRESS)
+    assert PISTAGES.serial_interface._serial_commands[-1] == b"\x012TS\r"
+
+
 if __name__ == "__main__":
     pytest.main()

motor_stage_ui/test/utils.py

@@ -36,7 +36,6 @@ def _read(self):
         Returns:
             str: message
         """
-        self.log.warning(self._serial_commands)
         msg = self._serial_commands[-1].decode().strip().replace(self._terminator, "")
         if msg == "":
             self.log.error("No responds from serial interface.")

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "motot_stage_ui"
-version = "1.0"
+version = "1.1"
 license = { "text" = "AGPL-3.0" }
 description = "User interface for the Mercury motor controller"
 readme = {file = "README.md", content-type = "text/markdown"}