def test_move(self):
"""
Note: with C-867 open-looped (SMOController), speed is very imprecise,
so test failure might not indicate software bug.
"""
ctrl = pigcs.Controller(self.accesser, *self.config_ctrl)
speed = max(ctrl.min_speed, ctrl.max_speed / 10)
self.assertGreater(ctrl.max_speed, 100e-6, "Maximum speed is expected to be more than 100μm/s")
ctrl.setSpeed(1, speed)
distance = -ctrl.moveRel(1, -speed / 2) # should take 0.5s
self.assertGreater(distance, 0)
self.assertTrue(ctrl.isMoving(set([1])))
self.assertEqual(ctrl.GetErrorNum(), 0)
status = ctrl.GetStatus()
ts = time.time()
while ctrl.isMoving(set([1])):
time.sleep(0.01)
dur = time.time() - ts
logging.debug("Took %f s to stop", dur)
# Closed loop can take a long time to stop (actually, up to 10s in the worse cases)
self.assertLess(dur, 1.5)
# now the same thing but with a stop
distance = -ctrl.moveRel(1, -speed) # should take one second
time.sleep(0.01) # wait a bit that it's surely running
self.assertGreater(distance, 0)
ctrl.stopMotion()
ts = time.time()
while ctrl.isMoving(set([1])):
time.sleep(0.01)
dur = time.time() - ts
logging.debug("Took %f s to stop", dur)
# Closed loop can take a long time to stop (actually, up to 10s in the worse cases)
self.assertLess(dur, 0.2)
def test_timeout(self):
ctrl = pigcs.Controller(self.accesser, *self.config_ctrl)
self.assertIn("Physik Instrumente", ctrl.GetIdentification())
self.assertTrue(ctrl.IsReady())
ctrl._sendOrderCommand("\x24") # known to fail
# the next command is going to have to use recovery from timeout
self.assertTrue(ctrl.IsReady())
self.assertEqual(0, ctrl.GetErrorNum())
def test_timeout(self):
ctrl = pigcs.Controller(self.accesser, *self.config_ctrl)
self.assertIn("Physik Instrumente", ctrl.GetIdentification())
self.assertTrue(ctrl.IsReady())
with self.assertRaises(pigcs.PIGCSError):
ctrl._sendOrderCommand("\x24") # known to fail
# the next command is going to fail, and report the error from the previous command
ctrl.IsReady()
self.assertTrue(ctrl.IsReady()) # all should be fine again
self.assertEqual(0, ctrl.GetErrorNum())