Ensure that each integration test tests more than just a lack of errors

tests/integration_tests/test_actions.py

@@ -12,51 +12,47 @@ it has been moved as it artificaially inflated coverage.
 """
 
 import json
+import os
 
 import numpy as np
 import piexif
 import pytest
+from httpx import HTTPStatusError
 from PIL import Image
 
 from ..shared_utils.lt_test_utils import LabThingsTestEnv
 
+THIS_DIR = os.path.dirname(os.path.abspath(__file__))
+REPO_ROOT = os.path.dirname(os.path.dirname(THIS_DIR))
+SIM_CONFIG = os.path.join(REPO_ROOT, "ofm_config_simulation.json")
+
 
 @pytest.fixture
 def test_env():
     """Yield a server with a very basic configuration."""
-    thing_conf = {
-        "camera": {
-            "class": "openflexure_microscope_server.things.camera.simulation:SimulatedCamera",
-            "kwargs": {
-                "shape": (240, 320, 3),
-                "canvas_shape": (1000, 1500, 3),
-                "frame_interval": 0.01,
-            },
-        },
-        "stage": {
-            "class": "openflexure_microscope_server.things.stage.dummy:DummyStage",
-            "kwargs": {"step_time": 0.000001},
-        },
-        "autofocus": "openflexure_microscope_server.things.autofocus:AutofocusThing",
-        "camera_stage_mapping": "openflexure_microscope_server.things.camera_stage_mapping:CameraStageMapper",
-    }
-    with LabThingsTestEnv(things=thing_conf) as env:
+    with open(SIM_CONFIG, "r", encoding="utf-8") as f_obj:
+        config_dict = json.load(f_obj)
+    with LabThingsTestEnv(things=config_dict["things"]) as env:
         yield env
 
 
 def test_autofocus(test_env):
     """Test Fast Autofocus can run doesn't raise an exception."""
-    # Adjust the time for stage is 100 microseconds rather than 1 microsecond.
-    test_env.get_thing_by_name("stage").step_time = 0.0001
+    stage = test_env.get_thing_client("stage")
     autofocus = test_env.get_thing_client("autofocus")
-    _ = autofocus.fast_autofocus()
+    assert stage.position["z"] == 0
+    # Autofocus 5 times and check each ends within 500 steps
+    for i in range(5):
+        autofocus.fast_autofocus()
+        assert abs(stage.position["z"]) < 500, f"Autofocus failed on iteration {i}"
 
 
 def test_grab_jpeg(test_env):
     """Check that grab_jpeg returns a blob that can be opened."""
     camera = test_env.get_thing_client("camera")
     blob = camera.grab_jpeg()
-    _image = Image.open(blob.open())
+    image = Image.open(blob.open())
+    assert image.size == (820, 616)
 
 
 def test_capture_jpeg_metadata(test_env):
@@ -68,33 +64,68 @@ def test_capture_jpeg_metadata(test_env):
     encoded_metadata = exif_dict["Exif"][piexif.ExifIFD.UserComment]
     metadata = json.loads(encoded_metadata)
     assert "position" in metadata["stage"]
+    assert metadata["stage"]["position"] == {"x": 0, "y": 0, "z": 0}
+    assert image.size == (820, 616)
 
 
 def test_stage(test_env):
-    """Test moving th stage forwards and backwards."""
+    """Test moving the stage forwards and backwards."""
     stage = test_env.get_thing_client("stage")
     start = stage.position
     move = {"x": 1, "y": 2, "z": 3}
+    move_back = {"x": -1, "y": -2, "z": -3}
     stage.move_relative(**move)
     pos = stage.position
-    for s, m, p in zip(start.values(), move.values(), pos.values(), strict=True):
-        assert s + m == p
-    stage.move_relative(**{k: -v for k, v in move.items()})
+
+    assert start["x"] + move["x"] == pos["x"]
+    assert start["y"] + move["y"] == pos["y"]
+    assert start["z"] + move["z"] == pos["z"]
+
+    # Move back
+    stage.move_relative(**move_back)
     pos = stage.position
-    for s, p in zip(start.values(), pos.values(), strict=True):
-        assert s == p
+
+    # Check nack at start.
+    assert start["x"] == pos["x"]
+    assert start["y"] == pos["y"]
+    assert start["z"] == pos["z"]
 
 
 def test_capture_array(test_env):
     """Capture array from simulation and check the size is as expected."""
     camera = test_env.get_thing_client("camera")
     array = np.asarray(camera.capture_array())
-    assert array.shape == (240, 320, 3)
+    assert array.shape == (616, 820, 3)
 
 
 def test_camera_stage_mapping_calibration(test_env):
-    """Check that camera stage mapping can run without an exception."""
+    """Check that camera stage mapping runs and returns the expected result."""
     camera = test_env.get_thing_client("camera")
+    # Remove camera settling time for speed.
     camera.settling_time = 0
-    camera_stage_mapping = test_env.get_thing_client("camera_stage_mapping")
-    camera_stage_mapping.calibrate_xy()
+    csm = test_env.get_thing_client("camera_stage_mapping")
+    stage = test_env.get_thing_client("stage")
+
+    # Check it starts uncalibrated
+    assert csm.calibration_required
+    assert csm.image_to_stage_displacement_matrix is None
+    assert csm.last_calibration is None
+    # And therefore that actions error
+    with pytest.raises(HTTPStatusError):
+        csm.move_in_image_coordinates(x=10)
+
+    # Calibrate
+    csm.calibrate_xy()
+
+    assert not csm.calibration_required
+    assert csm.image_to_stage_displacement_matrix is not None
+    assert isinstance(csm.last_calibration, dict)
+    # Check it returned home
+    assert stage.position == {"x": 0, "y": 0, "z": 0}
+    csm.move_in_image_coordinates(x=10, y=0)
+    assert stage.position == {"x": -5, "y": 0, "z": 0}
+    csm_matrix = csm.image_to_stage_displacement_matrix
+    expected_matrix = [[0, 0.5], [-0.5, 0]]
+    assert isinstance(csm_matrix, list)
+    # Check CSM is as expected to an absolute tolerance of 1e-3
+    assert np.allclose(csm_matrix, expected_matrix, atol=1e-3)