Change from axis direction set by ints to set by bools. Add a lot more tests.

src/openflexure_microscope_server/things/stage/__init__.py

@@ -85,9 +85,9 @@ class BaseStage(lt.Thing):
     )
     """Whether the stage is in motion."""
 
-    axis_direction = lt.ThingSetting(
-        initial_value={"x": 1, "y": 1, "z": 1},
-        model=Mapping[str, int],
+    axis_inverted = lt.ThingSetting(
+        initial_value={"x": False, "y": False, "z": False},
+        model=Mapping[str, bool],
         readonly=True,
     )
     """Used to convert coordinates between the program frame and the hardware frame."""
@@ -97,14 +97,14 @@ class BaseStage(lt.Thing):
     ) -> list[int] | Mapping[str | int]:
         if isinstance(position, (list, tuple)):
             return [
-                pos * ax_dir
-                for pos, ax_dir in zip(position, self.axis_direction.values())
+                -pos if inverted else pos
+                for pos, inverted in zip(position, self.axis_inverted.values())
             ]
         if isinstance(position, Mapping):
             try:
                 return {
-                    axis: position[axis] * self.axis_direction[axis]
-                    for axis in position
+                    ax: -position[ax] if self.axis_inverted[ax] else position[ax]
+                    for ax in position
                 }
             except KeyError as e:
                 raise KeyError(
@@ -126,12 +126,12 @@ class BaseStage(lt.Thing):
         :param axis: The axis name (x, y or z) to invert.
         """
         # Not mutating in place so that setting is saved on change.
-        direction = self.axis_direction
+        direction = self.axis_inverted
         try:
-            direction[axis] *= -1
+            direction[axis] = not direction[axis]
         except KeyError as e:
             raise KeyError(f"The axis {axis} is not defined.") from e
-        self.axis_direction = direction
+        self.axis_inverted = direction
 
     @lt.thing_action
     def move_relative(

src/openflexure_microscope_server/things/stage/dummy.py

@@ -36,9 +36,9 @@ 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],
+    axis_inverted = lt.ThingSetting(
+        initial_value={"x": True, "y": False, "z": False},
+        model=Mapping[str, bool],
         readonly=True,
     )
     """Used to convert coordinates between the program frame and the hardware frame."""
@@ -51,7 +51,6 @@ class DummyStage(BaseStage):
     ):
         """Make a relative move. Keyword arguments should be axis names."""
         displacement = [kwargs.get(k, 0) for k in self.axis_names]
-        print(f"d {displacement}")
         self.moving = True
         try:
             fraction_complete = 0.0
@@ -80,7 +79,6 @@ class DummyStage(BaseStage):
                 ax: self._hardware_position[ax] + int(fraction_complete * disp)
                 for ax, disp in zip(self.axis_names, displacement)
             }
-            print(self._hardware_position)
             self.instantaneous_position = self._hardware_position
 
     def _hardware_move_absolute(

src/openflexure_microscope_server/things/stage/sangaboard.py

@@ -4,6 +4,7 @@ from __future__ import annotations
 import logging
 import threading
 import time
+from copy import copy
 from typing import Iterator, Literal
 from contextlib import contextmanager
 from collections.abc import Mapping
@@ -36,7 +37,7 @@ class SangaboardThing(BaseStage):
             Sangaboard class
 
         """
-        self.sangaboard_kwargs = kwargs
+        self.sangaboard_kwargs = copy(kwargs)
         self.sangaboard_kwargs["port"] = port
         super().__init__(**kwargs)
 
@@ -66,9 +67,9 @@ class SangaboardThing(BaseStage):
         with self._sangaboard_lock:
             yield self._sangaboard
 
-    axis_direction = lt.ThingSetting(
-        initial_value={"x": -1, "y": 1, "z": -1},
-        model=Mapping[str, int],
+    axis_inverted = lt.ThingSetting(
+        initial_value={"x": True, "y": False, "z": True},
+        model=Mapping[str, bool],
         readonly=True,
     )
     """Used to convert coordinates between the program frame and the hardware frame."""