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Move all dummy stage movement into a thread

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This commit is contained in:
Julian Stirling 2026-02-17 02:04:43 +00:00
parent 0756677671
commit 56f68db5ca
3 changed files with 133 additions and 91 deletions
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45
tests/unit_tests/test_stage.py
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@ -37,7 +37,7 @@ path3d = st.lists(point3d, min_size=5, max_size=10)
@pytest.fixture
def dummy_stage():
"""Return a dummy stage with a very low step time."""
return create_thing_without_server(DummyStage, step_time=0.000001)
return create_thing_without_server(DummyStage, step_time=0.0001)
def test_not_implemented_methods():
@ -206,15 +206,20 @@ def _test_move_relative(dummy_stage, axis_inverted, path):
y_dir = -1 if axis_inverted["y"] else 1
z_dir = -1 if axis_inverted["z"] else 1
position = list(dummy_stage.position.values())
for movement in path:
dummy_stage.move_relative(x=movement[0], y=movement[1], z=movement[2])
position = [pos + move for pos, move in zip(position, movement, strict=True)]
stage_pos = dummy_stage.get_xyz_position()
hw_pos = dummy_stage._hardware_position
assert position[0] == stage_pos[0] == hw_pos["x"] * x_dir
assert position[1] == stage_pos[1] == hw_pos["y"] * y_dir
assert position[2] == stage_pos[2] == hw_pos["z"] * z_dir
# Enter the stage to start the movement thread.
with dummy_stage:
assert dummy_stage._move_thread.is_alive()
position = list(dummy_stage.position.values())
for movement in path:
dummy_stage.move_relative(x=movement[0], y=movement[1], z=movement[2])
position = [
pos + move for pos, move in zip(position, movement, strict=True)
]
stage_pos = dummy_stage.get_xyz_position()
hw_pos = dummy_stage._hardware_position
assert position[0] == stage_pos[0] == hw_pos["x"] * x_dir
assert position[1] == stage_pos[1] == hw_pos["y"] * y_dir
assert position[2] == stage_pos[2] == hw_pos["z"] * z_dir
@given(path=path3d)
@ -260,14 +265,18 @@ def _test_move_absolute(dummy_stage, axis_inverted, path):
y_dir = -1 if axis_inverted["y"] else 1
z_dir = -1 if axis_inverted["z"] else 1
position = list(dummy_stage.position.values())
for move_to in path:
dummy_stage.move_absolute(x=move_to[0], y=move_to[1], z=move_to[2])
position = move_to
stage_pos = dummy_stage.get_xyz_position()
hw_pos = dummy_stage._hardware_position
assert position[0] == stage_pos[0] == hw_pos["x"] * x_dir
assert position[1] == stage_pos[1] == hw_pos["y"] * y_dir
assert position[2] == stage_pos[2] == hw_pos["z"] * z_dir
# Enter the stage to start the movement thread.
with dummy_stage:
assert dummy_stage._move_thread.is_alive()
for move_to in path:
dummy_stage.move_absolute(x=move_to[0], y=move_to[1], z=move_to[2])
position = move_to
stage_pos = dummy_stage.get_xyz_position()
hw_pos = dummy_stage._hardware_position
assert position[0] == stage_pos[0] == hw_pos["x"] * x_dir
assert position[1] == stage_pos[1] == hw_pos["y"] * y_dir
assert position[2] == stage_pos[2] == hw_pos["z"] * z_dir
@given(path=path3d)