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Modify range of motion _move_back_until_motion_detected to move in SMALL_STEP steps

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This will carry on until at least 1.5x BIG_STEP in total motion. If
no motion is detected then something is up.
This commit is contained in:
Julian Stirling 2025-10-21 14:14:06 +01:00
parent bffd7f9d0b
commit b8eb1907c3
2 changed files with 23 additions and 25 deletions
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21
tests/test_stage_measure.py
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@ -279,19 +279,18 @@ def test_move_back_until_motion_detected(rom_thing, mock_rom_deps, mocker):
The moves for this method should be in opposite direction to the direction
specified as this is moving back after the stage reaches end of its movement.
"""
def gen_offset(*_args, **_kwargs):
return {"x": 0, "y": 0}
mock_move_n_meas = mocker.patch.object(
rom_thing, "_move_and_measure", side_effect=gen_offset
rom_thing, "_move_and_measure", return_value={"x": 0, "y": 0}
)
with pytest.raises(RuntimeError, match="Cannot detect motion again"):
rom_thing._move_back_until_motion_detected("y", -1, rom_deps=mock_rom_deps)
assert mock_move_n_meas.call_count == 10
for i, call_args in enumerate(mock_move_n_meas.call_args_list):
call_args.kwargs["movement"] = {"x": 0, "y": 2**i}
max_tries = int(1.5 * stage_measure.BIG_STEP / stage_measure.SMALL_STEP)
expected_step = 800 * stage_measure.SMALL_STEP / 100
assert mock_move_n_meas.call_count == max_tries
for _i, call_args in enumerate(mock_move_n_meas.call_args_list):
call_args.kwargs["movement"] = {"x": 0, "y": expected_step}
call_args.kwargs["perform_autofocus"] = False
## Reset mock and change the side effect
@ -299,7 +298,7 @@ def test_move_back_until_motion_detected(rom_thing, mock_rom_deps, mocker):
mock_move_n_meas.side_effect = (
{"x": 0, "y": 0},
{"x": 0, "y": 0},
{"x": 21, "y": 0},
{"x": expected_step * 0.8, "y": 0},
)
# Other axis and direction this time
@ -307,8 +306,8 @@ def test_move_back_until_motion_detected(rom_thing, mock_rom_deps, mocker):
# Should only be called 3 times
assert mock_move_n_meas.call_count == 3
for i, call_args in enumerate(mock_move_n_meas.call_args_list):
call_args.kwargs["movement"] = {"x": -(2**i), "y": 0}
for _i, call_args in enumerate(mock_move_n_meas.call_args_list):
call_args.kwargs["movement"] = {"x": -expected_step, "y": 0}
call_args.kwargs["perform_autofocus"] = False