test for issue 1788, adapt mockup controller and tests to previous

changes

bliss/controllers/motors/mockup.py

@@ -623,6 +623,20 @@ class FaultyMockup(Mockup):
         else:
             return Mockup.state(self, axis)
 
+    def _check_hw_limits(self, axis):
+        ll, hl = self._Mockup__hw_limit
+        pos = super().read_position(axis)
+        if pos <= ll:
+            return AxisState("READY", "LIMNEG")
+        elif pos >= hl:
+            return AxisState("READY", "LIMPOS")
+        if self._hw_state.OFF:
+            return AxisState("OFF")
+        else:
+            s = AxisState(self._hw_state)
+            s.set("READY")
+            return s
+
     def start_one(self, motion, **kw):
         self.state_msg_index = 0
         if self.bad_start:

tests/motors/test_axis.py

@@ -314,18 +314,17 @@ def test_hardware_limits(roby):
         with pytest.raises(RuntimeError):
             roby.move(3)
 
-        assert roby.position == 2
+        assert pytest.approx(roby.position) == 2
 
         # move hit limit because of backlash
         with pytest.raises(RuntimeError):
             roby.move(0)
+
+        assert pytest.approx(roby.position) == 0
+
         roby.move(1)
 
         assert roby.position == 1
-        with pytest.raises(RuntimeError):
-            roby.move(-3)
-
-        assert roby.position == 0
     finally:
         roby.controller.set_hw_limits(roby, None, None)
 
@@ -456,11 +455,27 @@ def test_backlash(roby):
         roby.move(-10)
 
 
+def test_interrupted_backlash(roby):
+    roby.move(-1, wait=False)
+
+    roby._group_move._backlash_started_event.wait()
+
+    # have to kill twice because backlash move is protected
+    roby._group_move._move_task.kill(KeyboardInterrupt, block=False)
+    roby._group_move._move_task.kill(KeyboardInterrupt, block=False)
+    with pytest.raises(KeyboardInterrupt):
+        roby.wait_move()
+
+    # backlash move is interrupted before it finishes
+    assert roby.position < -1
+    assert "READY" in roby.state
+
+
 def test_backlash2(roby):
-    roby.move(10, wait=False)
+    roby.move(1, wait=False)
     assert roby.backlash_move == 0
     roby.wait_move()
-    assert roby.position == 10
+    assert roby.position == 1
 
 
 def test_backlash3(roby):
@@ -491,12 +506,17 @@ def test_backlash4(roby):
 
 
 def test_backlash_stop(roby):
-    roby.move(-10, wait=False)
-    assert roby.backlash_move == -12
-    pos = roby._hw_position
-    roby.stop()
+    t = time.time()
+    roby.acctime = 0.1
+    roby.move(-1000, wait=False)
+    assert roby.backlash_move == -1002
+    time.sleep(0.2)
+    # calculate stop position
+    roby.stop(wait=False)
+    stop_pos = roby._hw_position - roby.acceleration * 0.5 * roby.acctime ** 2
+    roby.wait_move()
 
-    assert pytest.approx(roby.dial, 1e-1) == pos + roby.backlash
+    assert pytest.approx(roby.dial, 1e-1) == stop_pos + roby.backlash
     assert roby._set_position == roby.dial
     assert roby.state.READY
 

tests/motors/test_bad_controller.py

@@ -46,8 +46,8 @@ def test_state_failure(bad_motor, monkeypatch):
     state_index = bad_motor.controller.state_msg_index
 
     assert str(exc.value) == "BAD STATE 1"
-    assert len(infos) == 3
-    assert str(infos[0][1]) == "BAD STATE %d" % (state_index - 2)
+    assert len(infos) == 1
+    assert str(infos[0][1]) == "BAD STATE %d" % state_index
     assert "FAULT" in bad_motor.state
 
     with pytest.raises(RuntimeError):

tests/shell/test_standard.py

@@ -130,7 +130,7 @@ def test_wm_exception(default_session, capsys):
 
 def test_sta_normal(default_session, capsys):
     bad = default_session.config.get("bad")
-    bad.controller.bad_position = False
+    bad.controller.bad_state = False
     sta()
     captured = capsys.readouterr()
 
@@ -153,7 +153,7 @@ def test_sta_slits(s1hg, capsys):
 
 def test_sta_exception(default_session, capsys):
     bad = default_session.config.get("bad")
-    bad.controller.bad_position = True
+    bad.controller.bad_state = True
     sta()
     captured = capsys.readouterr()
 
@@ -166,13 +166,13 @@ def test_sta_exception(default_session, capsys):
     errmsg = "Traceback (most recent call last):\n"
     assert errmsg in captured.err
 
-    errmsg = "RuntimeError: Error on motor 'bad': BAD POSITION\n"
+    errmsg = "RuntimeError: Error on motor 'bad': BAD STATE"
     assert errmsg in captured.err
 
 
 def test_stm_normal(default_session, capsys):
     bad = default_session.config.get("bad")
-    bad.controller.bad_position = False
+    bad.controller.bad_state = False
     stm("bad")
     captured = capsys.readouterr()
 
@@ -185,7 +185,7 @@ def test_stm_normal(default_session, capsys):
 
 def test_stm_exception(default_session, capsys):
     bad = default_session.config.get("bad")
-    bad.controller.bad_position = True
+    bad.controller.bad_state = True
     stm("bad")
     captured = capsys.readouterr()
 
@@ -198,7 +198,7 @@ def test_stm_exception(default_session, capsys):
     errmsg = "Traceback (most recent call last):\n"
     assert errmsg in captured.err
 
-    errmsg = "RuntimeError: Error on motor 'bad': BAD POSITION\n"
+    errmsg = "RuntimeError: Error on motor 'bad': BAD STATE"
     assert errmsg in captured.err