def test_align_switch_procedures(self):
"""
Test moving the sample stage from loading position to both imaging, alignment and coating, then back to loading
"""
align = self.aligner
# Get the stage to loading position
f = cryoSwitchAlignPosition(LOADING)
f.result()
test.assert_pos_almost_equal(align.position.value,
self.align_deactive,
atol=ATOL_LINEAR_POS)
# Get the stage to imaging position
f = cryoSwitchAlignPosition(IMAGING)
f.result()
test.assert_pos_almost_equal(align.position.value,
self.align_active,
atol=ATOL_LINEAR_POS)
# Get the stage to imaging position
f = cryoSwitchAlignPosition(ALIGNMENT)
f.result()
test.assert_pos_almost_equal(align.position.value,
self.align_alignment,
atol=ATOL_LINEAR_POS)
def test_smaract_stage_fallback_movement(self):
"""
Test behaviour of smaract 5dof stage when the linear axes are near the maximum range
"""
# 1. Move to imaging position
cryoSwitchSamplePosition(IMAGING).result()
# 2. Move the stage linear axes to their max range + move rx from 0
cryoSwitchAlignPosition(LOADING).result()
self.stage.moveAbs({'x': self.stage.axes['x'].range[1], 'y': self.stage.axes['y'].range[1], 'z': self.stage.axes['z'].range[1], 'rx': 0.15}).result()
# 3. Move to loading where the ordered submoves would start from rx/rx, resulting in an invalid move
# exception if it's not handled
cryoSwitchSamplePosition(LOADING).result()
test.assert_pos_almost_equal(self.stage.position.value, self.stage_deactive,
atol=ATOL_LINEAR_POS)
def test_get_current_aligner_position(self):
"""
Test getCurrentPositionLabel function behaves as expected
"""
aligner = self.aligner
# at start the aligner wouldn't be in one of the predefined positions
pos_label = getCurrentAlignerPositionLabel(aligner.position.value,
aligner)
self.assertTrue(pos_label in (LOADING_PATH, UNKNOWN))
# Move to loading position
self.test_move_aligner_to_target(LOADING)
# Move to imaging position and cancel the movement before reaching there
f = cryoSwitchAlignPosition(IMAGING)
time.sleep(5)
f.cancel()
pos_label = getCurrentAlignerPositionLabel(aligner.position.value,
aligner)
self.assertEqual(pos_label, LOADING_PATH)
# simulate moving to unknown position by moving in opposite to deactive-active line
unknown_pos = copy.copy(self.align_active)
unknown_pos['y'] += 0.005
unknown_pos['z'] += 0.005
self.aligner.moveAbs(unknown_pos).result()
pos_label = getCurrentAlignerPositionLabel(aligner.position.value,
aligner)
self.assertEqual(pos_label, UNKNOWN)
# moving to either imaging/alignment positions shouldn't be allowed
with self.assertRaises(ValueError):
f = cryoSwitchAlignPosition(IMAGING)
f.result()
with self.assertRaises(ValueError):
f = cryoSwitchAlignPosition(ALIGNMENT)
f.result()
# Move to alignment position
cryoSwitchAlignPosition(LOADING).result()
self.test_move_aligner_to_target(ALIGNMENT)
# from alignment to loading
cryoSwitchAlignPosition(LOADING).result()
# Move to imaging position
self.test_move_aligner_to_target(IMAGING)
def test_move_aligner_to_target(self, target):
f = cryoSwitchAlignPosition(target)
f.result()
pos_label = getCurrentAlignerPositionLabel(self.aligner.position.value,
self.aligner)
self.assertEqual(pos_label, target)