From f4ab946f6a1ea310a8db014cf882d29dc16fab73 Mon Sep 17 00:00:00 2001 From: aaronlong Date: Thu, 28 Oct 2021 15:01:09 +0100 Subject: [PATCH] removed old tests --- lewis_emulators/cybaman/__init__.py | 5 - lewis_emulators/cybaman/device.py | 72 ----------- .../cybaman/interfaces/__init__.py | 3 - .../cybaman/interfaces/stream_interface.py | 112 ------------------ lewis_emulators/cybaman/states.py | 30 ----- 5 files changed, 222 deletions(-) delete mode 100644 lewis_emulators/cybaman/__init__.py delete mode 100644 lewis_emulators/cybaman/device.py delete mode 100644 lewis_emulators/cybaman/interfaces/__init__.py delete mode 100644 lewis_emulators/cybaman/interfaces/stream_interface.py delete mode 100644 lewis_emulators/cybaman/states.py diff --git a/lewis_emulators/cybaman/__init__.py b/lewis_emulators/cybaman/__init__.py deleted file mode 100644 index b7a9f38f..00000000 --- a/lewis_emulators/cybaman/__init__.py +++ /dev/null @@ -1,5 +0,0 @@ -from .device import SimulatedCybaman -from ..lewis_versions import LEWIS_LATEST - -framework_version = LEWIS_LATEST -__all__ = ['SimulatedCybaman'] diff --git a/lewis_emulators/cybaman/device.py b/lewis_emulators/cybaman/device.py deleted file mode 100644 index 2743a8f5..00000000 --- a/lewis_emulators/cybaman/device.py +++ /dev/null @@ -1,72 +0,0 @@ -from collections import OrderedDict - -from lewis.devices import StateMachineDevice -from .states import InitializedState, UninitializedState, MovingState - - -class SimulatedCybaman(StateMachineDevice): - """ - Simulated cyber man. - """ - - def _initialize_data(self): - """ - Sets the initial state of the device. - """ - self.connected = True - - self.a_setpoint = 0 - self.b_setpoint = 0 - self.c_setpoint = 0 - - self.a = self.a_setpoint - self.b = self.b_setpoint - self.c = self.c_setpoint - - self.home_position_axis_a = 66 - self.home_position_axis_b = 77 - self.home_position_axis_c = 88 - - self.initialized = False - - def _get_state_handlers(self): - """ - Returns: states and their names - """ - return { - InitializedState.NAME: InitializedState(), - UninitializedState.NAME: UninitializedState(), - MovingState.NAME: MovingState(), - } - - def _get_initial_state(self): - """ - Returns: the name of the initial state - """ - return UninitializedState.NAME - - def _get_transition_handlers(self): - """ - Returns: the state transitions - """ - return OrderedDict([ - ((UninitializedState.NAME, InitializedState.NAME), lambda: self.initialized), - ((InitializedState.NAME, UninitializedState.NAME), lambda: not self.initialized), - ((MovingState.NAME, UninitializedState.NAME), lambda: not self.initialized), - ((InitializedState.NAME, MovingState.NAME), - lambda: self.a != self.a_setpoint or self.b != self.b_setpoint or self.c != self.c_setpoint), - ((MovingState.NAME, InitializedState.NAME), - lambda: self.a == self.a_setpoint and self.b == self.b_setpoint and self.c == self.c_setpoint), - ]) - - def home_axis_a(self): - self.a_setpoint = self.home_position_axis_a - - def home_axis_b(self): - self.b_setpoint = self.home_position_axis_b - - def home_axis_c(self): - self.c_setpoint = self.home_position_axis_c - - - diff --git a/lewis_emulators/cybaman/interfaces/__init__.py b/lewis_emulators/cybaman/interfaces/__init__.py deleted file mode 100644 index d0d53af0..00000000 --- a/lewis_emulators/cybaman/interfaces/__init__.py +++ /dev/null @@ -1,3 +0,0 @@ -from .stream_interface import CybamanStreamInterface - -__all__ = ['CybamanStreamInterface'] diff --git a/lewis_emulators/cybaman/interfaces/stream_interface.py b/lewis_emulators/cybaman/interfaces/stream_interface.py deleted file mode 100644 index dce48b08..00000000 --- a/lewis_emulators/cybaman/interfaces/stream_interface.py +++ /dev/null @@ -1,112 +0,0 @@ -from lewis.adapters.stream import StreamInterface, Cmd -from lewis.utils.replies import conditional_reply - -from lewis.core.logging import has_log - -if_connected = conditional_reply("connected") - - -class CybamanStreamInterface(StreamInterface): - """ - Stream interface for the serial port - """ - - FLOAT = "([-+]?[0-9]*\.?[0-9]*)" - - commands = { - Cmd("initialize", "^A$"), - Cmd("get_a", "^M101$"), - Cmd("get_b", "^M201$"), - Cmd("get_c", "^M301$"), - Cmd("set_all", "^OPEN PROG 10 CLEAR\nG1 A " + FLOAT + " B " + FLOAT + " C " + FLOAT + " TM([0-9]*)$"), - Cmd("ignore", "^CLOSE$"), - Cmd("ignore", "^B10R$"), - Cmd("reset", "^\$\$\$$"), - Cmd("home_a", "^B9001R$"), - Cmd("home_b", "^B9002R$"), - Cmd("home_c", "^B9003R$"), - Cmd("stop", "^{}$".format(chr(0x01))), - } - - in_terminator = "\r" - - # ACK character - out_terminator = chr(0x06) - - @has_log - def handle_error(self, request, error): - """ - If command is not recognised print and error. - - :param request: requested string - :param error: problem - :return: - """ - error = "An error occurred at request " + repr(request) + ": " + repr(error) - print(error) - self.log.debug(error) - return error - - @if_connected - def ignore(self): - return "" - - @if_connected - def initialize(self): - self._device.initialized = True - return "" - - @if_connected - def stop(self): - self._device.initialized = False - - @if_connected - def reset(self): - self._device._initialize_data() - return "" - - @if_connected - def get_a(self): - return "{}\r".format(self._device.a*3577) - - @if_connected - def get_b(self): - return "{}\r".format(self._device.b*3663) - - @if_connected - def get_c(self): - return "{}\r".format(self._device.c*3663) - - @if_connected - def set_all(self, a, b, c, tm): - self._verify_tm(a, b, c, tm) - - self._device.a_setpoint = float(a) - self._device.b_setpoint = float(b) - self._device.c_setpoint = float(c) - return "" - - def _verify_tm(self, a, b, c, tm): - tm = int(tm) - old_position = (self._device.a, self._device.b, self._device.c) - new_position = (float(a), float(b), float(c)) - - max_difference = max([abs(a-b) for a, b in zip(old_position, new_position)]) - expected_tm = max([int(round(max_difference/5.0)) * 1000, 4000]) - - # Allow a difference of 1000 for rounding errors / differences between labview and epics - # (error would get multiplied by 1000) - if abs(tm - expected_tm) > 1000: - assert False, "Wrong TM value! Expected {} but got {}".format(expected_tm, tm) - - def home_a(self): - self._device.home_axis_a() - return "" - - def home_b(self): - self._device.home_axis_b() - return "" - - def home_c(self): - self._device.home_axis_c() - return "" diff --git a/lewis_emulators/cybaman/states.py b/lewis_emulators/cybaman/states.py deleted file mode 100644 index de5e342f..00000000 --- a/lewis_emulators/cybaman/states.py +++ /dev/null @@ -1,30 +0,0 @@ -from lewis.core import approaches -from lewis.core.statemachine import State - - -class UninitializedState(State): - NAME = "UninitializedState" - - def on_entry(self, dt): - print("Entering uninitialized state") - - -class InitializedState(State): - NAME = "InitializedState" - - def on_entry(self, dt): - print("Entering initialized state") - - -class MovingState(State): - NAME = "MovingState" - - def in_state(self, dt): - device = self._context - - device.a = approaches.linear(device.a, device.a_setpoint, 10, dt) - device.b = approaches.linear(device.b, device.b_setpoint, 10, dt) - device.c = approaches.linear(device.c, device.c_setpoint, 10, dt) - - def on_entry(self, dt): - print("Entering moving state")