def initialize_axis(self, axis):
self._axis_moves[axis] = {
"end_t": 0,
"end_pos": self._pos0}
# "end of move" event
event.connect(axis, "move_done", self.move_done_event_received)
def test_state_callback(self):
old={"state":None}
def callback(state, old=old): #{}):
old["state"] = state
robz = emotion.get_axis("robz")
event.connect(robz, "state", callback)
robz.rmove(10, wait=False)
while old["state"]=="MOVING":
time.sleep(0)
self.assertEquals(robz.state(), "READY")
def axis_group_move(self, axes_pos):
axes = map(get_bliss_obj, axes_pos[::2])
axes_positions = map(float, axes_pos[1::2])
axes_pos_dict = dict(zip(axes, axes_positions))
group = Group(*axes)
event.connect(group, 'move_done', self.__on_axis_group_move_done)
group.move(axes_pos_dict, wait=False)
group_id = ','.join(map(':'.join, grouped(axes_pos, 2)))
self.group_dict[group_id] = group
return group_id
def test_state_callback(robz):
ready_event = gevent.event.AsyncResult()
def callback(state):
ready_event.set(state == 'READY')
event.connect(robz, "state", callback)
robz.rmove(1)
assert ready_event.get(timeout=0.1)
assert robz.state() == "READY"
def test_move_done_event(self):
res = {"ok": False}
def callback(move_done, res=res):
if move_done:
res["ok"] = True
robz = emotion.get_axis('robz')
event.connect(robz, "move_done", callback)
robz.rmove(10)
robz.wait_move()
self.assertEquals(res["ok"], True)
def test_move_done_callback(robz):
ready_event = gevent.event.AsyncResult()
def callback(move_done):
if move_done:
ready_event.set(robz.is_moving is False)
event.connect(robz, "move_done", callback)
robz.rmove(1)
assert ready_event.get(timeout=0.1)
def test_position_callback(self):
storage={"last_pos":None, "last_dial_pos":None}
def callback(pos,old=storage):
old["last_pos"]=pos
def dial_callback(pos,old=storage):
old["last_dial_pos"]=pos
robz = emotion.get_axis("robz")
event.connect(robz, "position", callback)
event.connect(robz, "dial_position", dial_callback)
robz.position(1)
pos = robz.position()
robz.rmove(1)
self.assertEquals(storage["last_pos"], pos+1)
self.assertEquals(storage["last_dial_pos"], robz.user2dial(pos+1))
def test_position_callback(robz):
storage={"last_pos":None, "last_dial_pos":None}
def callback(pos, old=storage):
old["last_pos"]=pos
def dial_callback(pos,old=storage):
old["last_dial_pos"]=pos
event.connect(robz, "position", callback)
event.connect(robz, "dial_position", dial_callback)
robz.position(1)
pos = robz.position()
robz.rmove(1)
assert storage["last_pos"] == pytest.approx(pos+1)
assert storage["last_dial_pos"] == pytest.approx(robz.user2dial(pos+1))
def test_state_callback(self):
e = gevent.event.AsyncResult()
old={"state":None}
def callback(state, old=old): #{}):
#if old.get("state") == state:
# return
old["state"] = state
#e.set(state)
robz = emotion.get_axis("robz")
event.connect(robz, "state", callback)
robz.rmove(10, wait=False)
while old["state"]=="MOVING":
time.sleep(0)
robz.state()
self.assertEqual(robz.state(), "READY")
def initialize_axis(self, axis):
self._axis_moves[axis] = {"end_t": 0, "end_pos": self._pos0}
# "end of move" event
event.connect(axis, "move_done", self.move_done_event_received)
