class TipTilt2AxisTest(unittest.TestCase):
def setUp(self):
self._ctrl= FakeGeneralCommandSet()
self._createConfiguration()
self._tt= TipTilt2Axis(self._ctrl, self._cfg)
self._tt.setUp()
def _createConfiguration(self):
self._cfg= TipTiltConfiguration()
self._posToMilliRadALinear= 12.2
self._posToMilliRadAOffset= -123.
self._posToMilliRadBLinear= 33e-3
self._posToMilliRadBOffset= 4.4
self._cfg.positionToMilliRadAxisALinearCoeff= \
self._posToMilliRadALinear
self._cfg.positionToMilliRadAxisAOffsetCoeff= \
self._posToMilliRadAOffset
self._cfg.positionToMilliRadAxisBLinearCoeff= \
self._posToMilliRadBLinear
self._cfg.positionToMilliRadAxisBOffsetCoeff= \
self._posToMilliRadBOffset
def testVoltageLimitsAreSetAtStartUp(self):
wanted= self._cfg.lowerVoltageLimit
actual= self._ctrl.getLowerVoltageLimit(self._tt.ALL_CHANNELS)
self.assertTrue(
np.alltrue(wanted == actual),
"%s %s" % (wanted, actual))
wanted= self._cfg.upperVoltageLimit
actual= self._ctrl.getUpperVoltageLimit(self._tt.ALL_CHANNELS)
self.assertTrue(
np.alltrue(wanted == actual),
"%s %s" % (wanted, actual))
def test3rdAxisIsSetAsPivotAtStartUp(self):
pivot= self._ctrl.getAxesIdentifiers()[2]
wanted= self._cfg.pivotValue
actual= self._ctrl.getOpenLoopAxisValue(pivot)
self.assertTrue(
np.alltrue(wanted == actual),
"%s %s" % (wanted, actual))
def testSetGetAxesInClosedLoop(self):
self._tt.enableControlLoop()
self.assertTrue(self._tt.isControlLoopEnabled())
self._tt.disableControlLoop()
self.assertFalse(self._tt.isControlLoopEnabled())
def testSetGetTargetPosition(self):
self._tt.setTargetPosition([2.5, 5])
self.assertTrue(
np.allclose([2.5, 5], self._tt.getTargetPosition()))
def _savePlot(self, data, filename):
import matplotlib
matplotlib.use('Agg')
import matplotlib.pyplot as plt
plt.plot(data)
plt.savefig(filename)
def testStartStopSinusoidalModulation(self):
radiiInMilliRad= [12.4, 14]
frequencyInHz= 100.
centerInMilliRad= [-10, 15]
phasesInRadians= [0, np.pi/ 2]
self._tt.setTargetPosition(centerInMilliRad)
self._tt.startSinusoidalModulation(radiiInMilliRad,
frequencyInHz,
phasesInRadians,
centerInMilliRad)
self.assertTrue(
np.allclose(
[1, 1, 0],
self._ctrl.getWaveGeneratorStartStopMode()))
waveform= self._ctrl.getWaveform(1)
wants= self._tt._milliRadToGcsUnitsOneAxis(-10, self._tt.AXIS_A)
got= np.mean(waveform)
self.assertAlmostEqual(
wants, got, msg="wants %g, got %g" % (wants, got))
wants= self._tt._milliRadToGcsUnitsOneAxis(-10 + 12.4, self._tt.AXIS_A)
got= np.max(waveform)
self.assertAlmostEqual(
wants, got, msg="wants %g, got %g" % (wants, got))
waveform= self._ctrl.getWaveform(2)
wants= self._tt._milliRadToGcsUnitsOneAxis(15, self._tt.AXIS_B)
got= np.mean(waveform)
self.assertAlmostEqual(
wants, got, msg="wants %g, got %g" % (wants, got))
wants= self._tt._milliRadToGcsUnitsOneAxis(15 + 14, self._tt.AXIS_B)
got= np.max(waveform)
self.assertAlmostEqual(
wants, got, msg="wants %g, got %g" % (wants, got))
self._tt.stopModulation()
self.assertTrue(
np.allclose(centerInMilliRad, self._tt.getTargetPosition()))
def testRecordingData(self):
self._tt.startFreeformModulation(np.arange(10),
np.arange(10))
howManySamples= 100
nRecorderTables= self._ctrl.getNumberOfRecorderTables()
cntr= self._ctrl.triggerStartRecordingInSyncWithWaveGenerator
recData= self._tt.getRecordedData(howManySamples)
self.assertEqual((nRecorderTables + 1, howManySamples), recData.shape)
self.assertEqual(
cntr + 1,
self._ctrl.triggerStartRecordingInSyncWithWaveGenerator)
def testConvertFromGCSUnitToMilliRad(self):
gcsX= 12.5
gcsY= -23.5
self._ctrl.setTargetPosition(self._tt.ALL_AXES, np.array([gcsX, gcsY]))
mRadA= self._tt.getPosition()[0]
mRadB= self._tt.getPosition()[1]
wantA= gcsX * self._posToMilliRadALinear + self._posToMilliRadAOffset
wantB= gcsY * self._posToMilliRadBLinear + self._posToMilliRadBOffset
self.assertEqual(wantA, mRadA, "wanted %s got %s" % (wantA, mRadA))
self.assertEqual(wantB, mRadB, "wanted %s got %s" % (wantB, mRadB))
mRadA= self._tt.getTargetPosition()[0]
mRadB= self._tt.getTargetPosition()[1]
self.assertEqual(wantA, mRadA, "wanted %s got %s" % (wantA, mRadA))
self.assertEqual(wantB, mRadB, "wanted %s got %s" % (wantB, mRadB))
def testStartStopFreeformModulation(self):
centerInMilliRad= [-10, 15]
nPoints= 1000
axisATrajectoryInMilliRad= np.linspace(-10, 2, num=nPoints)
axisBTrajectoryInMilliRad= np.linspace(15, 5, num=nPoints)
self._tt.setTargetPosition(centerInMilliRad)
self._tt.startFreeformModulation(axisATrajectoryInMilliRad,
axisBTrajectoryInMilliRad)
self.assertTrue(
np.allclose(
[1, 1, 0],
self._ctrl.getWaveGeneratorStartStopMode()))
waveform= self._ctrl.getWaveform(1)
wants= self._tt._milliRadToGcsUnitsOneAxis(-4, self._tt.AXIS_A)
got= np.mean(waveform)
self.assertAlmostEqual(
wants, got, msg="wants %g, got %g" % (wants, got))
wants= self._tt._milliRadToGcsUnitsOneAxis(2, self._tt.AXIS_A)
got= np.max(waveform)
self.assertAlmostEqual(
wants, got, msg="wants %g, got %g" % (wants, got))
waveform= self._ctrl.getWaveform(2)
wants= self._tt._milliRadToGcsUnitsOneAxis(10, self._tt.AXIS_B)
got= np.mean(waveform)
self.assertAlmostEqual(
wants, got, msg="wants %g, got %g" % (wants, got))
wants= self._tt._milliRadToGcsUnitsOneAxis(15, self._tt.AXIS_B)
got= np.max(waveform)
self.assertAlmostEqual(
wants, got, msg="wants %g, got %g" % (wants, got))
self._tt.stopModulation()
self.assertTrue(
np.allclose(centerInMilliRad, self._tt.getTargetPosition()))
def testGetRecordedDataTimeStep(self):
ts= self._tt.getRecordedDataTimeStep()
self.assertEqual(40e-6, ts)
def testSetOpenLoopValue(self):
self._tt.stopModulation()
self._tt.disableControlLoop()
self._tt.setOpenLoopValue([50, 60])
self.assertTrue(
np.allclose([50, 60], self._tt.getOpenLoopValue()))
def testSetOpenLoopValueRaisesIfInClosedLoop(self):
self._tt.stopModulation()
self._tt.enableControlLoop()
self.assertRaises(PIException, self._tt.setOpenLoopValue, [50, 60])
def setUp(self):
self._ctrl = FakeGeneralCommandSet()
self._createConfiguration()
self._tt = TipTilt2Axis(self._ctrl, self._cfg)
self._tt.setUp()
def setUp(self):
self._ctrl= FakeGeneralCommandSet()
self._createConfiguration()
self._tt= TipTilt2Axis(self._ctrl, self._cfg)
self._tt.setUp()
class TipTilt2AxisTest(unittest.TestCase):
def setUp(self):
self._ctrl = FakeGeneralCommandSet()
self._createConfiguration()
self._tt = TipTilt2Axis(self._ctrl, self._cfg)
self._tt.setUp()
def _createConfiguration(self):
self._cfg = TipTiltConfiguration()
self._posToMilliRadALinear = 12.2
self._posToMilliRadAOffset = -123.
self._posToMilliRadBLinear = 33e-3
self._posToMilliRadBOffset = 4.4
self._cfg.positionToMilliRadAxisALinearCoeff= \
self._posToMilliRadALinear
self._cfg.positionToMilliRadAxisAOffsetCoeff= \
self._posToMilliRadAOffset
self._cfg.positionToMilliRadAxisBLinearCoeff= \
self._posToMilliRadBLinear
self._cfg.positionToMilliRadAxisBOffsetCoeff= \
self._posToMilliRadBOffset
def testVoltageLimitsAreSetAtStartUp(self):
wanted = self._cfg.lowerVoltageLimit
actual = self._ctrl.getLowerVoltageLimit(self._tt.ALL_CHANNELS)
self.assertTrue(np.alltrue(wanted == actual),
"%s %s" % (wanted, actual))
wanted = self._cfg.upperVoltageLimit
actual = self._ctrl.getUpperVoltageLimit(self._tt.ALL_CHANNELS)
self.assertTrue(np.alltrue(wanted == actual),
"%s %s" % (wanted, actual))
def test3rdAxisIsSetAsPivotAtStartUp(self):
pivot = self._ctrl.getAxesIdentifiers()[2]
wanted = self._cfg.pivotValue
actual = self._ctrl.getOpenLoopAxisValue(pivot)
self.assertTrue(np.alltrue(wanted == actual),
"%s %s" % (wanted, actual))
def testSetGetAxesInClosedLoop(self):
self._tt.enableControlLoop()
self.assertTrue(self._tt.isControlLoopEnabled())
self._tt.disableControlLoop()
self.assertFalse(self._tt.isControlLoopEnabled())
def testSetGetTargetPosition(self):
self._tt.setTargetPosition([2.5, 5])
self.assertTrue(np.allclose([2.5, 5], self._tt.getTargetPosition()))
def _savePlot(self, data, filename):
import matplotlib
matplotlib.use('Agg')
import matplotlib.pyplot as plt
plt.plot(data)
plt.savefig(filename)
def testStartStopModulation(self):
radiusInMilliRad = 12.4
frequencyInHz = 100.
centerInMilliRad = [-10, 15]
self._tt.setTargetPosition(centerInMilliRad)
self._tt.startModulation(radiusInMilliRad, frequencyInHz,
centerInMilliRad)
self.assertTrue(
np.allclose([1, 1, 0], self._ctrl.getWaveGeneratorStartStopMode()))
waveform = self._ctrl.getWaveform(1)
wants = self._tt._milliRadToGcsUnitsOneAxis(-10, self._tt.AXIS_A)
got = np.mean(waveform)
self.assertAlmostEqual(wants,
got,
msg="wants %g, got %g" % (wants, got))
wants = self._tt._milliRadToGcsUnitsOneAxis(-10 + 12.4,
self._tt.AXIS_A)
got = np.max(waveform)
self.assertAlmostEqual(wants,
got,
msg="wants %g, got %g" % (wants, got))
self._tt.stopModulation()
self.assertTrue(
np.allclose(centerInMilliRad, self._tt.getTargetPosition()))
def testRecordingData(self):
howManySamples = 100
nRecorderTables = self._ctrl.getNumberOfRecorderTables()
cntr = self._ctrl.triggerStartRecordingInSyncWithWaveGenerator
recData = self._tt.getRecordedData(howManySamples)
self.assertEqual((nRecorderTables + 1, howManySamples), recData.shape)
self.assertEqual(
cntr + 1, self._ctrl.triggerStartRecordingInSyncWithWaveGenerator)
def testConvertFromGCSUnitToMilliRad(self):
gcsX = 12.5
gcsY = -23.5
self._ctrl.setTargetPosition(self._tt.ALL_AXES, np.array([gcsX, gcsY]))
mRadA = self._tt.getPosition()[0]
mRadB = self._tt.getPosition()[1]
wantA = gcsX * self._posToMilliRadALinear + self._posToMilliRadAOffset
wantB = gcsY * self._posToMilliRadBLinear + self._posToMilliRadBOffset
self.assertEqual(wantA, mRadA, "wanted %s got %s" % (wantA, mRadA))
self.assertEqual(wantB, mRadB, "wanted %s got %s" % (wantB, mRadB))
mRadA = self._tt.getTargetPosition()[0]
mRadB = self._tt.getTargetPosition()[1]
self.assertEqual(wantA, mRadA, "wanted %s got %s" % (wantA, mRadA))
self.assertEqual(wantB, mRadB, "wanted %s got %s" % (wantB, mRadB))
class FakeGeneralCommandSetTest(unittest.TestCase):
def setUp(self):
self._ctrl = FakeGeneralCommandSet()
def testSinusoidalWaveform(self):
waveTableId = 1
radiusInMilliRad = 12.5
frequencyInHz = 100
centerInMilliRad = -10
timestep = 40e-6
periodInSec = 1. / frequencyInHz
lengthInPoints = periodInSec / timestep
amplitudeOfTheSineCurve = 2 * radiusInMilliRad
offsetOfTheSineCurve= centerInMilliRad - \
0.5 * amplitudeOfTheSineCurve
wavelengthOfTheSineCurveInPoints = periodInSec / timestep
startPoint = 0
curveCenterPoint = 0.5 * wavelengthOfTheSineCurveInPoints
self._ctrl.setSinusoidalWaveform(waveTableId, WaveformGenerator.CLEAR,
lengthInPoints,
amplitudeOfTheSineCurve,
offsetOfTheSineCurve,
wavelengthOfTheSineCurveInPoints,
startPoint, curveCenterPoint)
waveform = self._ctrl.getWaveform(waveTableId)
self.assertAlmostEqual(wavelengthOfTheSineCurveInPoints, len(waveform))
def testSinusoidalWaveformEasy(self):
waveTableId = 1
lengthInPoints = 100
amplitudeOfTheSineCurve = 120
offsetOfTheSineCurve = -5
wavelengthOfTheSineCurveInPoints = 70
startPoint = 10
curveCenterPoint = 40
self._ctrl.setSinusoidalWaveform(waveTableId, WaveformGenerator.CLEAR,
lengthInPoints,
amplitudeOfTheSineCurve,
offsetOfTheSineCurve,
wavelengthOfTheSineCurveInPoints,
startPoint, curveCenterPoint)
waveform = self._ctrl.getWaveform(waveTableId)
self.assertEqual(lengthInPoints, len(waveform))
self.assertEqual(offsetOfTheSineCurve, waveform[0])
self.assertEqual(offsetOfTheSineCurve, waveform[startPoint - 1])
self.assertEqual(offsetOfTheSineCurve, waveform[-1])
self.assertEqual(
offsetOfTheSineCurve,
waveform[startPoint + wavelengthOfTheSineCurveInPoints])
self.assertEqual(offsetOfTheSineCurve + amplitudeOfTheSineCurve,
waveform[startPoint + curveCenterPoint])
self.assertEqual(offsetOfTheSineCurve + 0.5 * amplitudeOfTheSineCurve,
waveform[int(startPoint + 0.5 * curveCenterPoint)])
self.assertEqual(
offsetOfTheSineCurve + 0.5 * amplitudeOfTheSineCurve, waveform[
int(startPoint + 0.5 *
(curveCenterPoint + wavelengthOfTheSineCurveInPoints))])
def testTargetPosition(self):
target = [12, 34]
self._ctrl.setTargetPosition('P F', target)
self.assertEqual(12, self._ctrl.getTargetPosition('P'))
self.assertEqual(34, self._ctrl.getTargetPosition('F'))
self.assertTrue(
np.allclose(target, self._ctrl.getTargetPosition('P F')))
def testUserDefinedWaveform(self):
waveTableId = 1
numberOfWavePoints = 102
appendMode = WaveformGenerator.CLEAR
wavePointsArray = np.linspace(40, 50, numberOfWavePoints)
self._ctrl.setUserDefinedWaveform(waveTableId, 1, numberOfWavePoints,
appendMode, wavePointsArray)
waveform = self._ctrl.getWaveform(waveTableId)
self.assertEqual(numberOfWavePoints, len(waveform))
self.assertEqual(40, waveform[0])
self.assertEqual(50, waveform[-1])
def setUp(self):
self._ctrl = FakeGeneralCommandSet()
class FakeGeneralCommandSetTest(unittest.TestCase):
def setUp(self):
self._ctrl= FakeGeneralCommandSet()
def testSinusoidalWaveform(self):
waveTableId= 1
radiusInMilliRad= 12.5
frequencyInHz= 100
centerInMilliRad= -10
timestep= 40e-6
periodInSec= 1./ frequencyInHz
lengthInPoints= periodInSec/ timestep
amplitudeOfTheSineCurve= 2* radiusInMilliRad
offsetOfTheSineCurve= centerInMilliRad - \
0.5 * amplitudeOfTheSineCurve
wavelengthOfTheSineCurveInPoints= periodInSec/ timestep
startPoint= 0
curveCenterPoint= 0.5* wavelengthOfTheSineCurveInPoints
self._ctrl.setSinusoidalWaveform(
waveTableId, WaveformGenerator.CLEAR, lengthInPoints,
amplitudeOfTheSineCurve, offsetOfTheSineCurve,
wavelengthOfTheSineCurveInPoints, startPoint, curveCenterPoint)
waveform= self._ctrl.getWaveform(waveTableId)
self.assertAlmostEqual(wavelengthOfTheSineCurveInPoints, len(waveform))
def testSinusoidalWaveformEasy(self):
waveTableId= 1
lengthInPoints= 100
amplitudeOfTheSineCurve= 120
offsetOfTheSineCurve= -5
wavelengthOfTheSineCurveInPoints= 70
startPoint= 10
curveCenterPoint= 40
self._ctrl.setSinusoidalWaveform(
waveTableId, WaveformGenerator.CLEAR, lengthInPoints,
amplitudeOfTheSineCurve, offsetOfTheSineCurve,
wavelengthOfTheSineCurveInPoints, startPoint, curveCenterPoint)
waveform= self._ctrl.getWaveform(waveTableId)
self.assertEqual(lengthInPoints, len(waveform))
self.assertEqual(offsetOfTheSineCurve, waveform[0])
self.assertEqual(offsetOfTheSineCurve, waveform[startPoint- 1])
self.assertEqual(offsetOfTheSineCurve, waveform[-1])
self.assertEqual(
offsetOfTheSineCurve,
waveform[startPoint+ wavelengthOfTheSineCurveInPoints])
self.assertEqual(
offsetOfTheSineCurve + amplitudeOfTheSineCurve,
waveform[startPoint+ curveCenterPoint])
self.assertEqual(
offsetOfTheSineCurve + 0.5* amplitudeOfTheSineCurve,
waveform[int(startPoint+ 0.5* curveCenterPoint)])
self.assertEqual(
offsetOfTheSineCurve + 0.5* amplitudeOfTheSineCurve,
waveform[int(startPoint+ 0.5*
(curveCenterPoint + wavelengthOfTheSineCurveInPoints))])
def testTargetPosition(self):
target= [12, 34]
self._ctrl.setTargetPosition('P F', target)
self.assertEqual(12, self._ctrl.getTargetPosition('P'))
self.assertEqual(34, self._ctrl.getTargetPosition('F'))
self.assertTrue(np.allclose(target,
self._ctrl.getTargetPosition('P F')))
def testUserDefinedWaveform(self):
waveTableId= 1
numberOfWavePoints= 102
appendMode= WaveformGenerator.CLEAR
wavePointsArray= np.linspace(40, 50, numberOfWavePoints)
self._ctrl.setUserDefinedWaveform(waveTableId,
1,
numberOfWavePoints, appendMode,
wavePointsArray)
waveform= self._ctrl.getWaveform(waveTableId)
self.assertEqual(numberOfWavePoints, len(waveform))
self.assertEqual(40, waveform[0])
self.assertEqual(50, waveform[-1])
def setUp(self):
self._ctrl= FakeGeneralCommandSet()