def test_sync(self):
# For moves big enough, sync should always take more time than async
delta = 0.0001 # s
stage = pi.StageRedStone("test", "stage", PORT, self.config)
stage.speed.value = {"x": 0.001, "y": 0.001}
move = {'x': 100e-6, 'y': 100e-6}
start = time.time()
f = stage.moveRel(move)
dur_async = time.time() - start
f.result()
self.assertTrue(f.done())
move = {'x': -100e-6, 'y': -100e-6}
start = time.time()
f = stage.moveRel(move)
f.result() # wait
dur_sync = time.time() - start
self.assertTrue(f.done())
self.assertGreater(dur_sync, max(0, dur_async - delta),
"Sync should take more time than async.")
move = {'x': 100e-6, 'y': 100e-6}
f = stage.moveRel(move)
# 0.001s should be too short
self.assertRaises(futures.TimeoutError, f.result, 0.001)
def test_cancel(self):
stage = pi.StageRedStone("test", "stage", PORT, self.config)
move_forth = {'x': 1e-3}
move_back = {'x': -1e-3}
stage.speed.value = {"x": 1e-3} # => 1s per move
# test cancel during action
f = stage.moveRel(move_forth)
time.sleep(0.01) # to make sure the action is being handled
self.assertTrue(f.running())
f.cancel()
self.assertTrue(f.cancelled())
self.assertTrue(f.done())
# test cancel in queue
f1 = stage.moveRel(move_forth)
f2 = stage.moveRel(move_back)
f2.cancel()
self.assertFalse(f1.done())
self.assertTrue(f2.cancelled())
self.assertTrue(f2.done())
# test cancel after already cancelled
f.cancel()
self.assertTrue(f.cancelled())
self.assertTrue(f.done())
f1.result() # wait for the move to be finished
def test_stop(self):
stage = pi.StageRedStone("test", "stage", PORT, self.config)
stage.stop()
move = {'x': 100e-6, 'y': 100e-6}
f = stage.moveRel(move)
stage.stop()
self.assertTrue(f.cancelled())
def test_scan(self):
"""
Check that we can do a scan network. It can pass only if we are
connected to at least one controller.
"""
devices = pi.StageRedStone.scan()
self.assertGreater(len(devices), 0)
for name, kwargs in devices:
print "opening ", name
stage = pi.StageRedStone(name, "stage", **kwargs)
self.assertTrue(stage.selfTest(), "Controller self test failed.")
def test_move_circle(self):
stage = pi.StageRedStone("test", "stage", PORT, self.config)
stage.speed.value = {"x": 0.1, "y": 0.1}
radius = 100e-6 # m
# each step has to be big enough so that each move is above imprecision
steps = 100
cur_pos = (0, 0)
move = {}
for i in xrange(steps):
next_pos = (radius * math.cos(2 * math.pi * float(i) / steps),
radius * math.sin(2 * math.pi * float(i) / steps))
move['x'] = next_pos[0] - cur_pos[0]
move['y'] = next_pos[1] - cur_pos[1]
print next_pos, move
f = stage.moveRel(move)
f.result() # wait
cur_pos = next_pos
def test_queue(self):
"""
Ask for several long moves in a row, and checks that nothing breaks
"""
stage = pi.StageRedStone("test", "stage", PORT, self.config)
move_forth = {'x': 1e-3, 'y': 1e-3}
move_back = {'x': -1e-3, 'y': -1e-3}
stage.speed.value = {"x": 0.001, "y": 0.001} # => 1s per move
start = time.time()
expected_time = 4 * move_forth["x"] / stage.speed.value["x"]
f0 = stage.moveRel(move_forth)
f1 = stage.moveRel(move_back)
f2 = stage.moveRel(move_forth)
f3 = stage.moveRel(move_back)
# f0.result()
f1.result()
# f2.result()
f3.result()
dur = time.time() - start
self.assertGreaterEqual(dur, expected_time)
def test_future_callback(self):
stage = pi.StageRedStone("test", "stage", PORT, self.config)
move_forth = {'x': 1e-4}
move_back = {'x': -1e-4}
stage.speed.value = {"x": 1e-3} # => 0.1s per move
# test callback while being executed
f = stage.moveRel(move_forth)
self.called = 0
time.sleep(0.01)
f.add_done_callback(self.callback_test_notify)
f.result()
time.sleep(0.01) # make sure the callback had time to be called
self.assertEquals(self.called, 1)
self.assertTrue(f.done())
# test callback while in the queue
f1 = stage.moveRel(move_back)
f2 = stage.moveRel(move_forth)
f2.add_done_callback(self.callback_test_notify)
self.assertFalse(f1.done())
f2.result()
self.assertTrue(f1.done())
time.sleep(0.01) # make sure the callback had time to be called
self.assertEquals(self.called, 2)
self.assertTrue(f2.done())
# It should work even if the action is fully done
f2.add_done_callback(self.callback_test_notify2)
self.assertEquals(self.called, 3)
# test callback called after being cancelled
f = stage.moveRel(move_forth)
self.called = 0
time.sleep(0.01)
f.add_done_callback(self.callback_test_notify)
f.cancel()
time.sleep(0.01) # make sure the callback had time to be called
self.assertEquals(self.called, 1)
self.assertTrue(f.cancelled())
def test_speed(self):
# For moves big enough, a 0.1m/s move should take approximately 100 times less time
# than a 0.001m/s move
expected_ratio = 10.0
delta_ratio = 2.0 # no unit
# fast move
stage = pi.StageRedStone("test", "stage", PORT, self.config)
stage.speed.value = {"x": 0.001} # max speed of E-861 in practice
move = {'x': 1e-3}
start = time.time()
f = stage.moveRel(move)
f.result()
dur_fast = time.time() - start
act_speed = abs(move['x']) / dur_fast
print "actual speed=%f" % act_speed
ratio = act_speed / stage.speed.value['x']
if delta_ratio / 2 < ratio or ratio > delta_ratio:
self.fail("Speed not consistent: %f m/s instead of %f m/s." %
(act_speed, stage.speed.value['x']))
stage.speed.value = {"x": 0.001 / expected_ratio}
move = {'x': -1e-3}
start = time.time()
f = stage.moveRel(move)
f.result()
dur_slow = time.time() - start
act_speed = abs(move['x']) / dur_slow
print "actual speed=%f" % act_speed
ratio = act_speed / stage.speed.value['x']
if delta_ratio / 2 < ratio or ratio > delta_ratio:
self.fail("Speed not consistent: %f m/s instead of %f m/s." %
(act_speed, stage.speed.value['x']))
ratio = dur_slow / dur_fast
print "ratio of %f while expected %f" % (ratio, expected_ratio)
if ratio < expected_ratio / 2 or ratio > expected_ratio * 2:
self.fail("Speed not consistent: ratio of " + str(ratio) +
" instead of " + str(expected_ratio) + ".")
def test_not_cancel(self):
stage = pi.StageRedStone("test", "stage", PORT, self.config)
small_move_forth = {'x': 1e-4}
stage.speed.value = {"x": 1e-3} # => 0.1s per move
# test cancel after done => not cancelled
f = stage.moveRel(small_move_forth)
time.sleep(1)
self.assertFalse(f.running())
f.cancel()
self.assertFalse(f.cancelled())
self.assertTrue(f.done())
# test cancel after result()
f = stage.moveRel(small_move_forth)
f.result()
f.cancel()
self.assertFalse(f.cancelled())
self.assertTrue(f.done())
# test not cancelled
f = stage.moveRel(small_move_forth)
f.result()
self.assertFalse(f.cancelled())
self.assertTrue(f.done())
def test_simple(self):
stage = pi.StageRedStone("test", "stage", PORT, self.config)
move = {'x': 0.01e-6, 'y': 0.01e-6}
stage.moveRel(move)
time.sleep(0.1) # wait for the move to finish
