def test_stationary_profile_is_two_points(self):
# Create the two points the same as each other
position = {"sample_y": 1.0, "sample_x": 1.5}
point = Point()
point.lower = position
point.positions = position
point.upper = position
point.duration = 0.1
# Turnaround interval on P99
min_turnaround = 0.002
min_interval = 0.002
time_arrays, velocity_arrays = profile_between_points(
self.axis_mapping,
point,
point,
min_time=min_turnaround,
min_interval=min_interval,
)
expected_time_arrays = {
"sample_x": [0.0, 0.002],
"sample_y": [0.0, 0.002],
}
expected_velocity_arrays = {
"sample_x": [0.0, 0.0],
"sample_y": [0.0, 0.0],
}
self.assertEqual(time_arrays, expected_time_arrays)
self.assertEqual(velocity_arrays, expected_velocity_arrays)
def test_approximately_stationary_axis_results_in_2_profile_points(self):
# The stationary point which causes a problem on P99 testing
position = {"sample_y": 1.0000000000000888, "sample_x": 1.5}
point = Point()
point.lower = position
point.positions = position
point.upper = position
point.duration = 0.1
next_position = {"sample_y": 1.0000000000000666, "sample_x": 1.0}
next_point = Point()
next_point.lower = next_position
next_point.positions = next_position
next_point.upper = next_position
next_point.duration = 0.1
# Turnaround interval on P99
min_turnaround = 0.002
min_interval = 0.002
time_arrays, velocity_arrays = profile_between_points(
self.axis_mapping,
point,
next_point,
min_time=min_turnaround,
min_interval=min_interval,
)
expected_time_arrays = {
"sample_x": [0.0, 0.1, 0.284, 0.384],
"sample_y": [0.0, 0.384],
}
expected_velocity_arrays = {
"sample_x": [0.0, -1.760563380282, -1.760563380282, 0.0],
"sample_y": [0, 0],
}
self.assertEqual(time_arrays, expected_time_arrays)
self.assertEqual(velocity_arrays, expected_velocity_arrays)