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