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New scan workflow for snake scans, move next pos into scan baseclass

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Update tests that were testing wrong method, update all to new select_nearby_focus_site
This commit is contained in:
Joe Knapper 2026-02-06 14:54:31 +00:00
parent e59d5e82d8
commit f230eef2dc
4 changed files with 260 additions and 166 deletions
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17
tests/unit_tests/test_scan_planners.py
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@ -143,6 +143,8 @@ def test_smart_spiral_first_few_pos():
# if we mark this position as visited, imaged, and focused
planner.mark_location_visited(xyz_pos1, imaged=True, focused=True)
# current visited path is [[100, 50, 10]]
# scan is not complete
assert not planner.scan_complete
@ -172,6 +174,8 @@ def test_smart_spiral_first_few_pos():
# if we mark this position as visited, imaged, and NOT focused
planner.mark_location_visited(xyz_pos2, imaged=True, focused=False)
# current visited path is [[100, 50, 10], [50, 50, 10]]
# Check this position remove from planned
assert xy_pos2 not in planner.remaining_locations
# Check original position not re-added
@ -195,19 +199,22 @@ def test_smart_spiral_first_few_pos():
assert z_pos3 is z_focus
# Check that the closest focus site to pos3 is pos 1 as
# pos 2 is not focussed
assert planner.closest_focus_site(xy_pos3) == xyz_pos1
assert planner.select_nearby_focus_site(xy_pos3) == xyz_pos1
new_z_focus = 20
xyz_pos3 = (xy_pos3[0], xy_pos3[1], new_z_focus)
# Finally check that if this is focused...
planner.mark_location_visited(xyz_pos3, imaged=True, focused=True)
# current visited path is [[100, 50, 10], [50, 50, 10], [50, 0, 20]]
# ... then the new 4th point ...
xy_pos4, z_pos4 = planner.get_next_location_and_z_estimate()
# ...(100, 0)...
assert xy_pos4 == (100, 0)
# ... and it should get its focus from the lowest neighbouring point
# lowest neighbour to [100, 0] is [100, 50, 10]
assert z_pos4 is z_focus
assert planner.closest_focus_site(xy_pos4) == xyz_pos3
assert planner.select_nearby_focus_site(xy_pos4) == xyz_pos1
def test_smart_spiral_stops_on_max_dist():
@ -265,20 +272,20 @@ def test_closest_focus_with_large_numbers():
scan_planners.VisitedScanLocation((1000000, 0, 0), imaged=True, focused=True),
scan_planners.VisitedScanLocation((0, 1000000, 0), imaged=True, focused=True),
]
assert planner.closest_focus_site((0, 0)) == (0, 1000000, 0)
assert planner.select_nearby_focus_site((0, 0)) == (0, 1000000, 0)
# Try similar
planner._path_history = [
scan_planners.VisitedScanLocation((1234567, 0, 0), imaged=True, focused=True),
scan_planners.VisitedScanLocation((-1234567, 0, 0), imaged=True, focused=True),
]
assert planner.closest_focus_site((0, 0)) == (-1234567, 0, 0)
assert planner.select_nearby_focus_site((0, 0)) == (-1234567, 0, 0)
# Make the first point 1 step closer
planner._path_history = [
scan_planners.VisitedScanLocation((1234566, 0, 0), imaged=True, focused=True),
scan_planners.VisitedScanLocation((-1234567, 0, 0), imaged=True, focused=True),
]
assert planner.closest_focus_site((0, 0)) == (1234566, 0, 0)
assert planner.select_nearby_focus_site((0, 0)) == (1234566, 0, 0)
def test_example_smart_spiral():