def test_configure_motion_controller_trigger(self):
xs = LineGenerator("x", "mm", 0.0, 0.3, 4, alternate=True)
ys = LineGenerator("y", "mm", 0.0, 0.1, 2)
generator = CompoundGenerator([ys, xs], [], [], 1.0)
self.set_motor_attributes()
self.set_attributes(self.child, rowTrigger="Motion Controller")
self.set_attributes(self.child_seq1, bita="TTLIN1.VAL")
self.set_attributes(self.child_seq2, bita="TTLIN1.VAL")
axes_to_move = ["x", "y"]
seq_rows = self.get_sequencer_rows(generator, axes_to_move)
# Triggers
B0 = Trigger.BITA_0
B1 = Trigger.BITA_1
IT = Trigger.IMMEDIATE
# Half a frame
hf = 62500000
expected = SequencerRows()
expected.add_seq_entry(count=1,
trigger=B1,
position=0,
half_duration=hf,
live=1,
dead=0)
expected.add_seq_entry(3, IT, 0, hf, 1, 0)
expected.add_seq_entry(1, B0, 0, MIN_PULSE, 0, 1)
expected.add_seq_entry(1, B1, 0, hf, 1, 0)
expected.add_seq_entry(3, IT, 0, hf, 1, 0)
expected.add_seq_entry(1, IT, 0, MIN_PULSE, 0, 1)
expected.add_seq_entry(0, IT, 0, MIN_PULSE, 0, 0)
assert seq_rows.as_tuples() == expected.as_tuples()
def test_configure_continuous(self):
xs = LineGenerator("x", "mm", 0.0, 0.3, 4, alternate=True)
ys = LineGenerator("y", "mm", 0.0, 0.1, 2)
generator = CompoundGenerator([ys, xs], [], [], 1.0)
self.set_motor_attributes()
axes_to_move = ["x", "y"]
seq_rows = self.get_sequencer_rows(generator, axes_to_move)
# Triggers
GT = Trigger.POSA_GT
IT = Trigger.IMMEDIATE
LT = Trigger.POSA_LT
# Half a frame
hf = 62500000
# Half how long to be blind for
hb = 22500000
expected = SequencerRows()
expected.add_seq_entry(count=1,
trigger=LT,
position=50,
half_duration=hf,
live=1,
dead=0)
expected.add_seq_entry(3, IT, 0, hf, 1, 0)
expected.add_seq_entry(1, IT, 0, hb, 0, 1)
expected.add_seq_entry(1, GT, -350, hf, 1, 0)
expected.add_seq_entry(3, IT, 0, hf, 1, 0)
expected.add_seq_entry(1, IT, 0, MIN_PULSE, 0, 1)
expected.add_seq_entry(0, IT, 0, MIN_PULSE, 0, 0)
assert seq_rows.as_tuples() == expected.as_tuples()
def test_configure_stepped(self):
xs = LineGenerator("x", "mm", 0.0, 0.3, 4)
ys = LineGenerator("y", "mm", 0.0, 0.2, 3)
generator = CompoundGenerator([ys, xs], [], [], 1.0, continuous=False)
generator.prepare()
self.set_motor_attributes()
self.set_attributes(self.child, rowTrigger="Motion Controller")
self.set_attributes(self.child_seq1, bita="TTLIN1.VAL")
self.set_attributes(self.child_seq2, bita="TTLIN1.VAL")
axes_to_move = ["x", "y"]
seq_rows = self.get_sequencer_rows(generator, axes_to_move)
# Triggers
B0 = Trigger.BITA_0
B1 = Trigger.BITA_1
IT = Trigger.IMMEDIATE
# Half a frame
hf = 62500000
expected = SequencerRows()
for i in range(11):
expected.add_seq_entry(1, B1, 0, hf, 1, 0)
expected.add_seq_entry(1, B0, 0, MIN_PULSE, 0, 1)
expected.add_seq_entry(1, B1, 0, hf, 1, 0)
expected.add_seq_entry(1, IT, 0, MIN_PULSE, 0, 1)
expected.add_seq_entry(0, IT, 0, MIN_PULSE, 0, 0)
assert seq_rows.as_tuples() == expected.as_tuples()
def test_configure_with_zero_points(self):
xs = LineGenerator("x", "mm", 0.0, 0.3, 4, alternate=True)
ys = LineGenerator("y", "mm", 0.0, 0.1, 2)
generator = CompoundGenerator([ys, xs], [], [], 1.0)
self.set_motor_attributes()
axes_to_move = ["x", "y"]
seq_rows = self.get_sequencer_rows(generator, axes_to_move, steps=0)
# Triggers
IT = Trigger.IMMEDIATE
expected = SequencerRows()
expected.add_seq_entry(1, IT, 0, MIN_PULSE, 0, 1)
expected.add_seq_entry(0, IT, 0, MIN_PULSE, 0, 0)
assert seq_rows.as_tuples() == expected.as_tuples()
def test_acquire_scan(self):
generator = CompoundGenerator([StaticPointGenerator(size=5)], [], [],
1.0)
generator.prepare()
seq_rows = self.get_sequencer_rows(generator, [])
# Triggers
IT = Trigger.IMMEDIATE
# Half a frame
hf = 62500000
expected = SequencerRows()
expected.add_seq_entry(count=5,
trigger=IT,
position=0,
half_duration=hf,
live=1,
dead=0)
expected.add_seq_entry(1, IT, 0, MIN_PULSE, 0, 1)
expected.add_seq_entry(0, IT, 0, MIN_PULSE, 0, 0)
assert seq_rows.as_tuples() == expected.as_tuples()
def test_split_with_final_row_zero_repeat(self):
seq_rows = SequencerRows()
seq_rows.add_seq_entry(4, Trigger.POSB_LT, 400, 1000, 0, 1, 50)
seq_rows.add_seq_entry(3, Trigger.BITA_0, 300, 2000, 1, 0, 100)
seq_rows.add_seq_entry(0, Trigger.IMMEDIATE, 300, 2000, 0, 1, 100)
expected = SequencerRows() # End of scan - no switch delay
expected.add_seq_entry(4, Trigger.POSB_LT, 400, 1000, 0, 1, 50)
expected.add_seq_entry(3, Trigger.BITA_0, 300, 2000, 1, 0, 100)
expected.add_seq_entry(0, Trigger.IMMEDIATE, 300, 2000, 0, 1, 100)
remainder = seq_rows.split(3)
assert seq_rows.as_tuples() == expected.as_tuples()
assert remainder.as_tuples() == SequencerRows().as_tuples()
def test_split_with_final_row_one_repeat(self):
seq_rows = SequencerRows()
seq_rows.add_seq_entry(4, Trigger.POSB_LT, 400, 1000, 0, 1, 50)
seq_rows.add_seq_entry(3, Trigger.BITA_0, 300, 2000, 1, 0, 100)
seq_rows.add_seq_entry(1, Trigger.POSB_LT, 300, 2000, 0, 1, 100)
expected = SequencerRows()
expected.add_seq_entry(4, Trigger.POSB_LT, 400, 1000, 0, 1, 50)
expected.add_seq_entry(3, Trigger.BITA_0, 300, 2000, 1, 0, 100)
expected.add_seq_entry(1, Trigger.POSB_LT, 300, 2000, 0, 1,
100 + SEQ_TABLE_SWITCH_DELAY)
remainder = seq_rows.split(3)
assert seq_rows.as_tuples() == expected.as_tuples()
assert remainder.as_tuples() == SequencerRows().as_tuples()
def test_extend(self):
seq_rows = SequencerRows()
seq_rows.add_seq_entry()
seq_rows2 = SequencerRows()
seq_rows2.add_seq_entry(4, Trigger.POSB_LT, 400, 1000, 0, 1, 50)
seq_rows.extend(seq_rows2)
total_ticks = (MIN_PULSE * 2) + 4 * (1000 + 950)
assert isclose(seq_rows.duration, total_ticks * TICK)
assert len(seq_rows) == 2
table = seq_rows.get_table()
assert table.repeats == [1, 4]
assert table.trigger == [Trigger.IMMEDIATE, Trigger.POSB_LT]
assert table.position == [0, 400]
assert table.time1 == [MIN_PULSE, 1000]
assert table.outa1 == [0, 0] # Live
assert table.outb1 == [0, 1] # Dead
assert table.outc1 == table.outd1 == table.oute1 == table.outf1 == [
0, 0
]
assert table.time2 == [MIN_PULSE, 950]
assert (table.outa2 == table.outb2 == table.outc2 == table.outd2 ==
table.oute2 == table.outf2 == [0, 0])
def test_configure_with_one_point(self):
xs = LineGenerator("x", "mm", 0.0, 0.3, 4, alternate=True)
ys = LineGenerator("y", "mm", 0.0, 0.1, 2)
generator = CompoundGenerator([ys, xs], [], [], 1.0)
self.set_motor_attributes()
axes_to_move = ["x", "y"]
seq_rows = self.get_sequencer_rows(generator, axes_to_move, steps=1)
# Triggers
IT = Trigger.IMMEDIATE
LT = Trigger.POSA_LT
# Half a frame
hf = 62500000
expected = SequencerRows()
expected.add_seq_entry(count=1,
trigger=LT,
position=50,
half_duration=hf,
live=1,
dead=0)
expected.add_seq_entry(1, IT, 0, MIN_PULSE, 0, 1)
expected.add_seq_entry(0, IT, 0, MIN_PULSE, 0, 0)
assert seq_rows.as_tuples() == expected.as_tuples()
def test_split_below_max_table_size(self):
seq_rows = SequencerRows()
seq_rows.add_seq_entry(4, Trigger.POSB_LT, 400, 1000, 0, 1, 50)
seq_rows.add_seq_entry(3, Trigger.BITA_0, 300, 2000, 1, 0, 100)
expected = SequencerRows()
expected.add_seq_entry(4, Trigger.POSB_LT, 400, 1000, 0, 1, 50)
expected.add_seq_entry(2, Trigger.BITA_0, 300, 2000, 1, 0, 100)
expected.add_seq_entry(1, Trigger.BITA_0, 300, 2000, 1, 0,
100 + SEQ_TABLE_SWITCH_DELAY)
remainder = seq_rows.split(100)
assert seq_rows.as_tuples() == expected.as_tuples()
assert remainder.as_tuples() == SequencerRows().as_tuples()
def get_sequencer_rows(position=0):
min_ticks = int(MIN_TABLE_DURATION / TICK)
rows = SequencerRows()
rows.add_seq_entry(count=2,
half_duration=min_ticks // 4 + 100,
position=position)
expected = SequencerRows()
expected.add_seq_entry(count=1,
half_duration=min_ticks // 4 + 100,
position=position)
expected.add_seq_entry(
count=1,
half_duration=min_ticks // 4 + 100,
position=position,
trim=SEQ_TABLE_SWITCH_DELAY,
)
return rows, expected
def test_tables_are_set_correctly_on_configure(self):
min_ticks = int(MIN_TABLE_DURATION / TICK)
rows1 = SequencerRows() # Just over half min duration
rows1.add_seq_entry(count=2, half_duration=min_ticks // 8 + 1000)
rows2 = SequencerRows() # Just over minimum duration
rows2.add_seq_entry(count=1, half_duration=min_ticks // 8 + 1000)
rows2.add_seq_entry(count=3, half_duration=min_ticks // 8 + 1000)
extra = SequencerRows() # Extra tables are ignored for configure()
extra.add_seq_entry(count=2, half_duration=min_ticks // 8 + 1000)
extra.add_seq_entry(count=2, half_duration=min_ticks // 8 + 1000)
self.db.configure(self.rows_generator([rows1, rows1, rows2, extra]))
# Check to ensure repeats is set correctly
for table in self.db._table_map.values():
assert table.repeats.value == 1
self.seq_parts[1].table_set.assert_called_once()
table1 = self.seq_parts[1].table_set.call_args[0][0]
expected1 = SequencerRows()
expected1.add_seq_entry(count=2, half_duration=min_ticks // 8 + 1000)
expected1.add_seq_entry(count=1, half_duration=min_ticks // 8 + 1000)
expected1.add_seq_entry(count=1,
half_duration=min_ticks // 8 + 1000,
trim=SEQ_TABLE_SWITCH_DELAY)
self.assert_rows_equal_table(expected1, table1)
self.seq_parts[2].table_set.assert_called_once()
table2 = self.seq_parts[2].table_set.call_args[0][0]
expected2 = SequencerRows()
expected2.add_seq_entry(count=1, half_duration=min_ticks // 8 + 1000)
expected2.add_seq_entry(count=2, half_duration=min_ticks // 8 + 1000)
expected2.add_seq_entry(count=1,
half_duration=min_ticks // 8 + 1000,
trim=SEQ_TABLE_SWITCH_DELAY)
self.assert_rows_equal_table(expected2, table2)
def test_configure_with_delay_after(self):
# a test to show that delay_after inserts a "loop_back" turnaround
delay = 1.0
x_steps, y_steps = 3, 2
xs = LineGenerator("x", "mm", 0.0, 0.5, x_steps, alternate=True)
ys = LineGenerator("y", "mm", 0.0, 0.1, y_steps)
generator = CompoundGenerator([ys, xs], [], [], 1.0, delay_after=delay)
self.set_motor_attributes()
axes_to_move = ["x", "y"]
seq_rows = self.get_sequencer_rows(generator, axes_to_move)
# Triggers
GT = Trigger.POSA_GT
IT = Trigger.IMMEDIATE
LT = Trigger.POSA_LT
# Half a frame
hf = 62500000
# Half how long to be blind for a single point
hfb = 55625000
# Half how long to be blind for end of row
hrb = 56500000
expected = SequencerRows()
expected.add_seq_entry(count=1,
trigger=LT,
position=125,
half_duration=hf,
live=1,
dead=0)
expected.add_seq_entry(1, IT, 0, hfb, 0, 1)
expected.add_seq_entry(1, LT, -125, hf, 1, 0)
expected.add_seq_entry(1, IT, 0, hfb, 0, 1)
expected.add_seq_entry(1, LT, -375, hf, 1, 0)
expected.add_seq_entry(1, IT, 0, hrb, 0, 1)
expected.add_seq_entry(1, GT, -625, hf, 1, 0)
expected.add_seq_entry(1, IT, 0, hfb, 0, 1)
expected.add_seq_entry(1, GT, -375, hf, 1, 0)
expected.add_seq_entry(1, IT, 0, hfb, 0, 1)
expected.add_seq_entry(1, GT, -125, hf, 1, 0)
expected.add_seq_entry(1, IT, 0, MIN_PULSE, 0, 1)
expected.add_seq_entry(0, IT, 0, MIN_PULSE, 0, 0)
assert seq_rows.as_tuples() == expected.as_tuples()
def test_configure_pcomp_row_trigger_with_single_point_rows(self):
x_steps, y_steps = 1, 5
xs = LineGenerator("x", "mm", 0.0, 0.5, x_steps, alternate=True)
ys = LineGenerator("y", "mm", 0.0, 4, y_steps)
generator = CompoundGenerator([ys, xs], [], [], 1.0)
self.set_motor_attributes()
axes_to_move = ["x", "y"]
seq_rows = self.get_sequencer_rows(generator, axes_to_move)
# Triggers
GT = Trigger.POSA_GT
LT = Trigger.POSA_LT
IT = Trigger.IMMEDIATE
# Half a frame
hf = 62500000
# Half blind
hb = 75000000
expected = SequencerRows()
expected.add_seq_entry(count=1,
trigger=LT,
position=0,
half_duration=hf,
live=1,
dead=0)
expected.add_seq_entry(1, IT, 0, hb, 0, 1)
expected.add_seq_entry(1, GT, -500, hf, 1, 0)
expected.add_seq_entry(1, IT, 0, hb, 0, 1)
expected.add_seq_entry(1, LT, 0, hf, 1, 0)
expected.add_seq_entry(1, IT, 0, hb, 0, 1)
expected.add_seq_entry(1, GT, -500, hf, 1, 0)
expected.add_seq_entry(1, IT, 0, hb, 0, 1)
expected.add_seq_entry(1, LT, 0, hf, 1, 0)
expected.add_seq_entry(1, IT, 0, MIN_PULSE, 0, 1)
expected.add_seq_entry(0, IT, 0, MIN_PULSE, 0, 0)
assert seq_rows.as_tuples() == expected.as_tuples()