def setUp(self):
self.ca = ChannelAccess(device_prefix="MOT", default_timeout=30)
with ManagerMode(ChannelAccess()):
self._disable_collision_avoidance()
for axis in BAFFLES_AND_DETECTORS_Z_AXES:
current_position = self.ca.get_pv_value("{}".format(axis))
new_position = self._get_axis_default_position(
"{}".format(axis))
self.ca.set_pv_value("{}:MTR.VMAX".format(axis),
TEST_SPEED,
sleep_after_set=0)
self.ca.set_pv_value("{}:MTR.VELO".format(axis),
TEST_SPEED,
sleep_after_set=0)
self.ca.set_pv_value("{}:MTR.ACCL".format(axis),
TEST_ACCELERATION,
sleep_after_set=0)
if current_position != new_position:
self.ca.set_pv_value("{}:SP".format(axis),
new_position,
sleep_after_set=0)
timeout = self._get_timeout_for_moving_to_position(
axis, new_position)
self.ca.assert_that_pv_is("{}".format(axis),
new_position,
timeout=timeout)
# re-enable collision avoidance
self._enable_collision_avoidance()
def test_WHEN_heater_association_is_set_THEN_pv_updates(
self, _, parent_card, associated_card):
card_pv_prefix = get_card_pv_prefix(parent_card)
with ManagerMode(ChannelAccess()):
self.ca.assert_setting_setpoint_sets_readback(
associated_card, "{}:HTRCHAN".format(card_pv_prefix))
def test_GIVEN_jaw_5_set_directly_WHEN_set_pv_called_THEN_underlying_jaw_5_changes(
self, direction):
underlying_jaw = UNDERLYING_GAP_SP.format(5, direction)
with ManagerMode(self.ca):
self.ca.set_pv_value(TOP_LEVEL_JAW_5_GAP.format(direction), 10)
self.ca.set_pv_value(SET_JAW_5, 1)
self.ca.assert_that_pv_is_number(underlying_jaw, 10)
def test_GIVEN_jaws_not_at_zero_WHEN_define_motor_position_for_jaw_centres_THEN_jaws_position_are_changed_without_move(
self):
param_name = "S1HC"
jaw_motors = ["MTR0203", "MTR0204"]
initial_gap = 1.0
initial_centre = 2.0
new_centre = 4.0
expected_pos = {
"MTR0203": initial_gap / 2.0 + new_centre,
"MTR0204": initial_gap / 2.0 - new_centre
}
self.ca.assert_setting_setpoint_sets_readback(initial_gap,
"PARAM:S1HG",
expected_alarm=None,
timeout=30)
self.ca.assert_setting_setpoint_sets_readback(initial_centre,
"PARAM:S1HC",
expected_alarm=None,
timeout=30)
for motor_name in jaw_motors:
self.ca_galil.set_pv_value("{}.FOFF".format(motor_name), "Frozen")
self.ca_galil.set_pv_value("{}.OFF".format(motor_name), 0)
for motor_name in jaw_motors:
self.ca_galil.assert_that_pv_is("{}.DMOV".format(motor_name),
1,
timeout=30)
with ManagerMode(self.ca_no_prefix):
self.ca.set_pv_value(
"PARAM:{}:DEFINE_POSITION_AS".format(param_name), new_centre)
# soon after change there should be no movement, ie a move is triggered but the motor itself does not move so it
# is very quick
for motor_name in jaw_motors:
self.ca_galil.assert_that_pv_is("{}.DMOV".format(motor_name),
1,
timeout=1)
for motor_name in jaw_motors:
# jaws are open to half the gap
self.ca_galil.assert_that_pv_is("{}.RBV".format(motor_name),
expected_pos[motor_name])
self.ca_galil.assert_that_pv_is("{}.VAL".format(motor_name),
expected_pos[motor_name])
self.ca_galil.assert_that_pv_is("{}.SET".format(motor_name), "Use")
self.ca_galil.assert_that_pv_is("{}.FOFF".format(motor_name),
"Frozen")
self.ca_galil.assert_that_pv_is_number("{}.OFF".format(motor_name),
0.0,
tolerance=MOTOR_TOLERANCE)
self.ca.assert_that_pv_is("PARAM:{}".format(param_name), new_centre)
self.ca.assert_that_pv_is("PARAM:{}:SP".format(param_name), new_centre)
self.ca.assert_that_pv_is("PARAM:{}:SP_NO_ACTION".format(param_name),
new_centre)
self.ca.assert_that_pv_is("PARAM:{}:CHANGED".format(param_name), "NO")
def _set_collision_avoidance_state_with_retries(self, state):
with ManagerMode(ChannelAccess()):
for _ in range(5):
try:
self.ca.set_pv_value("SANS2DVAC:COLLISION_AVOIDANCE",
state)
break
except WriteAccessException as e:
err = e
time.sleep(1)
else:
raise err
def test_GIVEN_motors_at_zero_WHEN_define_motor_position_to_and_back_multiple_times_THEN_motor_position_is_changed_without_move(
self):
param_name = "DET_POS"
motor_name = "MTR0104"
initial_foff = "Frozen"
self.ca.set_pv_value("PARAM:{}:SP".format(param_name), 0)
self.ca_galil.set_pv_value("MTR0104.FOFF", initial_foff)
self.ca_galil.set_pv_value("MTR0104.OFF", 0)
self.ca.assert_that_pv_is_number("PARAM:{}".format(param_name),
0,
tolerance=MOTOR_TOLERANCE,
timeout=30)
self.ca_galil.assert_that_pv_is("MTR0104.DMOV", 1, timeout=30)
for i in range(20):
new_position = i - 5
with ManagerMode(self.ca_no_prefix):
self.ca.set_pv_value(
"PARAM:{}:DEFINE_POSITION_AS".format(param_name),
new_position)
# soon after change there should be no movement, ie a move is triggered but the motor itself does not move so it
# is very quick
self.ca_galil.assert_that_pv_is("{}.DMOV".format(motor_name),
1,
timeout=1)
self.ca_galil.assert_that_pv_is("{}.RBV".format(motor_name),
new_position)
self.ca_galil.assert_that_pv_is("{}.VAL".format(motor_name),
new_position)
self.ca_galil.assert_that_pv_is("{}.SET".format(motor_name), "Use")
self.ca_galil.assert_that_pv_is("{}.FOFF".format(motor_name),
initial_foff)
self.ca_galil.assert_that_pv_is_number("{}.OFF".format(motor_name),
0.0,
tolerance=MOTOR_TOLERANCE)
self.ca.assert_that_pv_is("PARAM:{}".format(param_name),
new_position)
self.ca.assert_that_pv_is("PARAM:{}:SP".format(param_name),
new_position)
self.ca.assert_that_pv_is(
"PARAM:{}:SP_NO_ACTION".format(param_name), new_position)
self.ca.assert_that_pv_is("PARAM:{}:CHANGED".format(param_name),
"NO")
def setUp(self):
super(PolarisJawsManagerTests, self).setUp()
with ManagerMode(self.ca):
# Use a retry loop here in case the IOC has not connected to the manager mode PV yet
for _ in range(10):
try:
[
self.ca.set_pv_value(
TOP_LEVEL_JAW_5_GAP.format(direction), 0)
for direction in ["V", "H"]
]
self.ca.set_pv_value(SET_JAW_5, 1)
except WriteAccessException:
sleep(5)
else:
break
else:
raise WriteAccessException(
"Unable to write to jaws 5 in setup after 10 attempts")
def test_GIVEN_motors_not_at_zero_WHEN_define_motor_position_to_THEN_motor_position_is_changed_without_move(
self, initial_foff, param_name, motor_name):
offset = 10
new_position = 2
self.ca.set_pv_value("PARAM:{}:SP".format(param_name), offset)
self.ca_galil.set_pv_value("MTR0104.FOFF", initial_foff)
self.ca_galil.set_pv_value("MTR0104.OFF", 0)
self.ca.assert_that_pv_is_number("PARAM:{}".format(param_name),
offset,
tolerance=MOTOR_TOLERANCE,
timeout=30)
self.ca_galil.assert_that_pv_is("MTR0104.DMOV", 1, timeout=30)
with ManagerMode(self.ca_no_prefix):
self.ca.set_pv_value(
"PARAM:{}:DEFINE_POSITION_AS".format(param_name), new_position)
# soon after change there should be no movement, ie a move is triggered but the motor itself does not move so it
# is very quick
self.ca_galil.assert_that_pv_is("{}.DMOV".format(motor_name),
1,
timeout=1)
self.ca_galil.assert_that_pv_is("{}.RBV".format(motor_name),
new_position)
self.ca_galil.assert_that_pv_is("{}.VAL".format(motor_name),
new_position)
self.ca_galil.assert_that_pv_is("{}.SET".format(motor_name), "Use")
self.ca_galil.assert_that_pv_is("{}.FOFF".format(motor_name),
initial_foff)
self.ca_galil.assert_that_pv_is_number("{}.OFF".format(motor_name),
0.0,
tolerance=MOTOR_TOLERANCE)
self.ca.assert_that_pv_is("PARAM:{}".format(param_name), new_position)
self.ca.assert_that_pv_is("PARAM:{}:SP".format(param_name),
new_position)
self.ca.assert_that_pv_is("PARAM:{}:SP_NO_ACTION".format(param_name),
new_position)
self.ca.assert_that_pv_is("PARAM:{}:CHANGED".format(param_name), "NO")
self.ca.assert_that_pv_is("PARAM:THETA", 0)
self.ca.assert_that_pv_is("PARAM:THETA:SP", 0)
self.ca.assert_that_pv_is("PARAM:THETA:SP:RBV", 0)
def _set_collision_avoidance_state(self, write_value, read_value):
# Do nothing if manager mode is already in correct state
if ChannelAccess().get_pv_value(ManagerMode.MANAGER_MODE_PV) != "Yes":
cm = ManagerMode(ChannelAccess())
else:
cm = nullcontext()
with cm:
err = None
for _ in range(20):
try:
self.ca.set_pv_value("SANS2DVAC:COLLISION_AVOIDANCE",
write_value,
sleep_after_set=0)
break
except WriteAccessException as e:
err = e
sleep(1)
else:
raise err
self.ca.assert_that_pv_is("SANS2DVAC:COLLISION_AVOIDANCE",
read_value)
def test_WHEN_setting_calibration_file_THEN_pv_updates(
self, _, test_value, card):
card_pv_prefix = get_card_pv_prefix(card)
with ManagerMode(ChannelAccess()):
self.ca.assert_setting_setpoint_sets_readback(
test_value, "{}:CALFILE".format(card_pv_prefix))