Start adding stage test and apply fixes to base class

src/openflexure_microscope_server/things/stage/__init__.py

@@ -88,18 +88,18 @@ class BaseStage(lt.Thing):
     axis_direction = lt.ThingSetting(
         initial_value={"x": 1, "y": 1, "z": 1},
         model=Mapping[str, int],
+        readonly=True,
     )
     """Used to convert coordinates between the program frame and the hardware frame."""
 
     def _apply_axis_direction(
-        self, position: Sequence[int] | Mapping[str | int]
+        self, position: list[int] | tuple[int] | Mapping[str | int]
     ) -> list[int] | Mapping[str | int]:
-        if isinstance(position, Sequence):
-            position = [
+        if isinstance(position, (list, tuple)):
+            return [
                 pos * ax_dir
                 for pos, ax_dir in zip(position, self.axis_direction.values())
             ]
-            return dict(zip(self.axis_names, position))
         if isinstance(position, Mapping):
             try:
                 return {

src/openflexure_microscope_server/things/stage/dummy.py

@@ -36,6 +36,13 @@ class DummyStage(BaseStage):
     def __exit__(self, _exc_type, _exc_value, _traceback):
         """Nothing to do when the Thing context manager is closed."""
 
+    axis_direction = lt.ThingSetting(
+        initial_value={"x": -1, "y": 1, "z": 1},
+        model=Mapping[str, int],
+        readonly=True,
+    )
+    """Used to convert coordinates between the program frame and the hardware frame."""
+
     def _hardware_move_relative(
         self,
         cancel: lt.deps.CancelHook,

src/openflexure_microscope_server/things/stage/sangaboard.py

@@ -69,6 +69,7 @@ class SangaboardThing(BaseStage):
     axis_direction = lt.ThingSetting(
         initial_value={"x": -1, "y": 1, "z": -1},
         model=Mapping[str, int],
+        readonly=True,
     )
     """Used to convert coordinates between the program frame and the hardware frame."""
 

tests/test_dummy_server.py

@@ -1,7 +1,7 @@
 """Test the server without creating a full HTTP server and socket connection.
 
 Rather than spinning up a full uvicorn webserver for each test these tests use
-the FastAPI ``TestClient`` or to directly communicate with the underlying
+the FastAPI ``TestClient`` or directly communicate with the underlying
 LabThings-FastAPI code. This increases speed of testing significantly.
 
 For tests that require a full running server see the ``integration-tests``

tests/test_stage.py

@@ -0,0 +1,170 @@
+"""Test the stage without creating a full HTTP server and socket connection."""
+
+from collections.abc import Mapping
+import tempfile
+
+from fastapi.testclient import TestClient
+import pytest
+from httpx import HTTPStatusError
+
+import labthings_fastapi as lt
+from labthings_fastapi.exceptions import NotConnectedToServerError
+
+from openflexure_microscope_server.things.stage import (
+    BaseStage,
+    RedefinedBaseMovementError,
+)
+from openflexure_microscope_server.things.stage.dummy import DummyStage
+
+
+@pytest.fixture
+def dummy_stage():
+    """Return a dummy stage with a very low step time."""
+    return DummyStage(step_time=0.000001)
+
+
+@pytest.fixture
+def thing_server(dummy_stage):
+    """Yield a server with a very basic configuration."""
+    with tempfile.TemporaryDirectory() as tmpdir:
+        server = lt.ThingServer(settings_folder=tmpdir)
+        server.add_thing(dummy_stage, "/stage/")
+        yield server
+
+
+@pytest.fixture
+def stage_client(thing_server):
+    """Yield a labthings ThingClient for the stage."""
+    with TestClient(thing_server.app) as test_client:
+        yield lt.ThingClient.from_url("/stage/", client=test_client)
+
+
+def test_override_base_movement():
+    """Child classes of stage should implement functions in the hardware reference frame.
+
+    ``move_absolute`` and ``move_relative`` are in the program reference frame and
+    convert to the hardware frame. It is recommended to override
+    ``_hardware_move_relative`` and ``_hardware_move_absolute`` instead.
+
+    Check that the expected error is raised if the methods are overridden.
+    """
+
+    class BadStage1(BaseStage):
+        @lt.thing_action
+        def move_relative(
+            self,
+            cancel: lt.deps.CancelHook,
+            block_cancellation: bool = False,
+            **kwargs: Mapping[str, int],
+        ):
+            pass
+
+    with pytest.raises(RedefinedBaseMovementError):
+        BadStage1()
+
+    class BadStage2(BaseStage):
+        @lt.thing_action
+        def move_absolute(
+            self,
+            cancel: lt.deps.CancelHook,
+            block_cancellation: bool = False,
+            **kwargs: Mapping[str, int],
+        ):
+            pass
+
+    with pytest.raises(RedefinedBaseMovementError):
+        BadStage2()
+
+
+def _set_axis_direction(dummy_stage, direction):
+    """Set the axis direction directly even if not connected to server."""
+    try:
+        dummy_stage.axis_direction = direction
+    except NotConnectedToServerError:
+        pass
+
+
+def test_apply_axis_direction_all_pos(dummy_stage):
+    """Test the apply axis direction function behaves as expected when axis +v3."""
+    # Directly create a stage not through a ThingServer to access private methods
+    _set_axis_direction(dummy_stage, {"x": 1, "y": 1, "z": 1})
+
+    # A list of positions to try
+    positions = [
+        [1, 2, 3],  # list
+        {"x": 1, "y": 2, "z": 3},  # mapping
+        {"x": 1, "z": 2, "y": 3},  # mapping out of order
+        {"x": 3},  # Mapping with only 1 value
+        {"x": 1, "z": 2},  # Mapping with only 2 values
+    ]
+    for pos in positions:
+        assert dummy_stage._apply_axis_direction(pos) == pos
+
+    # Check tuple separately as it gets converted to list
+    assert dummy_stage._apply_axis_direction((1, 2, 0)) == [1, 2, 0]
+
+
+def test_apply_axis_direction_mixed(dummy_stage):
+    """Test the apply axis direction function behaves as expected when axis dirs are mixed."""
+    # Make x and z negative
+    _set_axis_direction(dummy_stage, {"x": -1, "y": 1, "z": -1})
+
+    # A list of (input position, output position) to try
+    position_pairs = [
+        ([1, 2, 3], [-1, 2, -3]),  # list
+        ((1, 2, 0), [-1, 2, 0]),  # tuple (gets converted to list)
+        ({"x": 1, "y": 2, "z": 3}, {"x": -1, "y": 2, "z": -3}),  # mapping
+        ({"x": 1, "z": 2, "y": 3}, {"x": -1, "z": -2, "y": 3}),  # mapping out of order
+        ({"x": 3}, {"x": -3}),  # Mapping with only 1 value
+        ({"x": 1, "z": 2}, {"x": -1, "z": -2}),  # Mapping with only 2 values
+    ]
+    for pos, expected_pos in position_pairs:
+        assert dummy_stage._apply_axis_direction(pos) == expected_pos
+
+
+def test_apply_axis_errors(dummy_stage):
+    """Test the apply axis direction returns appropriate errors."""
+    with pytest.raises(TypeError):
+        dummy_stage._apply_axis_direction(None)
+    with pytest.raises(TypeError):
+        dummy_stage._apply_axis_direction("Onwards!")
+    with pytest.raises(KeyError):
+        dummy_stage._apply_axis_direction({"x": -1, "y": 2, "z": 4, "up": -3})
+    with pytest.raises(KeyError):
+        dummy_stage._apply_axis_direction({"x": -1, "y": 2, "up": -3})
+
+
+def test_default_values(stage_client, dummy_stage):
+    """Check the default values for the dummy stage."""
+    # axes are x, y, z (note that going through the thing, client the tuple is
+    # converted to a list.
+    assert stage_client.axis_names == ["x", "y", "z"]
+    # position starts at 0, 0, 0
+    assert stage_client.position == {"x": 0, "y": 0, "z": 0}
+    # axis direction starts is -1, 1, 1 for the dummy stage
+    assert stage_client.axis_direction == {"x": -1, "y": 1, "z": 1}
+    # And check the thing state
+    assert dummy_stage.thing_state == {"position": {"x": 0, "y": 0, "z": 0}}
+
+
+def test_direction_inversion(stage_client):
+    """Check axes invert as expected when called."""
+    # Can't set an arbitrary value via a client as read only:
+    with pytest.raises(HTTPStatusError) as excinfo:
+        stage_client.axis_direction = {"x": 2, "y": 1, "z": 1}
+    # Read only should set a 405 error code
+    assert excinfo.value.response.status_code == 405
+    # And not modify th initial value
+    assert stage_client.axis_direction == {"x": -1, "y": 1, "z": 1}
+    stage_client.invert_axis_direction(axis="x")
+    assert stage_client.axis_direction == {"x": 1, "y": 1, "z": 1}
+    stage_client.invert_axis_direction(axis="x")
+    assert stage_client.axis_direction == {"x": -1, "y": 1, "z": 1}
+    stage_client.invert_axis_direction(axis="y")
+    assert stage_client.axis_direction == {"x": -1, "y": -1, "z": 1}
+    stage_client.invert_axis_direction(axis="y")
+    assert stage_client.axis_direction == {"x": -1, "y": 1, "z": 1}
+    stage_client.invert_axis_direction(axis="z")
+    assert stage_client.axis_direction == {"x": -1, "y": 1, "z": -1}
+    stage_client.invert_axis_direction(axis="z")
+    assert stage_client.axis_direction == {"x": -1, "y": 1, "z": 1}