Merge branch 'main' into 493-v2-lakeshore

.github/workflows/unit-tests-pytest.yml

@@ -8,7 +8,8 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ['3.7', '3.8', '3.9', '3.10']
+        # python-version: ['3.7', '3.8', '3.9', '3.10']
+        python-version: ['3.7', '3.8', '3.9']
       max-parallel: 5
 
     steps:

.gitignore

@@ -1,6 +1,9 @@
 # local developer code
 dev_*.py
 
+# unit test
+.coverage
+
 db/
 log/
 pid/

CHANGES.rst

@@ -34,6 +34,9 @@ Breaking Changes
 Moved ``apsbss`` support to new ``apsbss`` package (install with either ``pip``
 or ``conda``).  See https://bcda-aps.github.io/apsbss/ for details.
 
+Can use Python 3.7 - 3.9.  Cannot use Python 3.10 yet due to upstream limitation
+from databroker and intake packages.
+
 Moved ``command_list_as_table()`` from `utils` into ``plans/command_list``.
 
 ``callbacks/``: ``DocumentCollectorCallback``, ``document_contents_callback``, and

apstools/__init__.py

@@ -25,7 +25,7 @@
 __platforms__ = "any"
 __zip_safe__ = False
 __exclude_project_dirs__ = "docs examples resources".split()
-__python_version_required__ = ">=3.7"
+__python_version_required__ = ">=3.7, <3.10"
 
 __package_name__ = __project__
 __long_description__ = __description__

apstools/devices/positioner_soft_done.py

@@ -15,9 +15,11 @@
 from ophyd import EpicsSignalRO
 from ophyd.signal import EpicsSignalBase
 import logging
+import time
 
 
 logger = logging.getLogger(__name__)
+SHORT_DELAY_FOR_EPICS = 2.0 / 60  # two 60Hz clock cycles
 
 
 class PVPositionerSoftDone(PVPositioner):
@@ -200,6 +202,8 @@ def stop(self, *, success=False):
         """
         if not self.inposition:
             self.setpoint.put(self.position)
+            time.sleep(SHORT_DELAY_FOR_EPICS)
+            self.cb_readback()  # re-evaluate soft done Signal
 
 
 # -----------------------------------------------------------------------------

apstools/devices/tests/test_positioner_soft_done.py

@@ -0,0 +1,165 @@
+from ophyd import EpicsSignal
+
+from ..positioner_soft_done import PVPositionerSoftDone
+from ..positioner_soft_done import PVPositionerSoftDoneWithStop
+from ...utils import run_in_thread
+
+import pytest
+import time
+
+IOC = "gp:"
+PV_PREFIX = f"{IOC}gp:"
+SHORT_DELAY_FOR_EPICS = 0.02
+
+
+@pytest.fixture(scope="function")
+def rbv():
+    "Writable readback value for tests."
+    rbv = EpicsSignal(f"{PV_PREFIX}float1", name="rbv")
+    rbv.wait_for_connection()
+    yield rbv
+
+
+@pytest.fixture(scope="function")
+def prec():
+    "PV precision."
+    prec = EpicsSignal(f"{PV_PREFIX}float1.PREC", name="prec")
+    prec.wait_for_connection()
+    yield prec
+
+
+@run_in_thread
+def delayed_complete(pos, readback, delay=1):
+    "Time-delayed completion of positioner move."
+    time.sleep(delay)
+    readback.put(pos.setpoint.get())
+
+
+@run_in_thread
+def delayed_stop(pos, delay=1):
+    "Time-delayed stop of `pos`."
+    time.sleep(delay)
+    pos.stop()
+
+
+def test_same_sp_and_rb():
+    with pytest.raises(ValueError) as exc:
+        PVPositionerSoftDone("", name="pos")
+    assert str(exc.value).endswith("must have different values")
+
+
+@pytest.mark.parametrize(
+    "device, has_inposition",
+    [
+        [PVPositionerSoftDone, False],
+        [PVPositionerSoftDoneWithStop, True]
+    ]
+)
+def test_structure(device, has_inposition):
+    "actual PVs not necessary for this test"
+    pos = device("", readback_pv="r", setpoint_pv="v", name="pos")
+    assert isinstance(pos, device)
+    assert hasattr(pos, "inposition") is has_inposition
+    assert pos.precision is None
+    assert pos.prefix == ""
+    assert pos.readback.pvname == "r"
+    assert pos.report_dmov_changes.get() is False
+    assert pos.setpoint.pvname == "v"
+    assert pos.done.get() is True
+    assert pos.done_value is True
+    assert pos.target.get() is None
+    assert pos.tolerance.get() == -1
+
+
+def test_put_and_stop(rbv, prec):
+    device = PVPositionerSoftDoneWithStop
+
+    # the positioner to test
+    pos = device(PV_PREFIX, readback_pv="float1", setpoint_pv="float2", name="pos")
+    pos.wait_for_connection()
+    assert pos.tolerance.get() == -1
+    assert pos.precision == prec.get()
+
+    # ensure starting value at 0.0
+    pos.setpoint.put(0)
+    rbv.put(1)  # make the readback to different
+    time.sleep(SHORT_DELAY_FOR_EPICS)
+    assert not pos.inposition
+
+    rbv.put(0)  # make the readback match
+    time.sleep(SHORT_DELAY_FOR_EPICS)
+    assert pos.position == 0.0
+
+    assert pos.done.get() is True
+    assert pos.done_value is True
+    assert pos.inposition
+
+    # change the setpoint
+    pos.setpoint.put(1)
+    time.sleep(SHORT_DELAY_FOR_EPICS)
+    assert not pos.inposition
+
+    # change the readback to match
+    rbv.put(1)
+    time.sleep(SHORT_DELAY_FOR_EPICS)
+    assert pos.inposition
+
+    # change the setpoint
+    pos.setpoint.put(0)
+    time.sleep(SHORT_DELAY_FOR_EPICS)
+    assert not pos.inposition
+
+    # move the readback part-way, but move is not over yet
+    rbv.put(0.5)
+    time.sleep(SHORT_DELAY_FOR_EPICS)
+    assert not pos.inposition
+
+    # force a stop now
+    pos.stop()
+    time.sleep(SHORT_DELAY_FOR_EPICS)
+    pos.cb_readback()
+    time.sleep(SHORT_DELAY_FOR_EPICS)
+    assert pos.setpoint.get() == 0.5
+    assert pos.readback.get() == 0.5
+    assert pos.position == 0.5
+    assert pos.inposition
+
+
+def test_move_and_stop(rbv):
+    device = PVPositionerSoftDoneWithStop
+
+    # the positioner to test
+    pos = device(PV_PREFIX, readback_pv="float1", setpoint_pv="float2", name="pos")
+    pos.wait_for_connection()
+
+    # move to non-zero
+    longer_delay = 5*SHORT_DELAY_FOR_EPICS
+    delayed_complete(pos, rbv, delay=longer_delay)
+    # t0 = time.time()  # time it
+    target = 5.43
+    pos.move(target)  # readback set by delayed_complete()
+    # dt = time.time() - t0
+    time.sleep(SHORT_DELAY_FOR_EPICS)
+    # assert dt >= longer_delay
+    assert pos.inposition
+
+    # move that is stopped before reaching the target
+    # t0 = time.time()  # time it
+    delayed_stop(pos, longer_delay)
+    assert pos.inposition
+
+    pos.move(target - 1)  # readback set by delayed_stop()
+    # dt = time.time() - t0
+    # assert dt >= longer_delay
+    time.sleep(SHORT_DELAY_FOR_EPICS)
+    assert pos.setpoint.get() == target
+    assert pos.position == target
+    assert pos.inposition
+
+    # move to 0.0
+    delayed_complete(pos, rbv, delay=longer_delay)
+    pos.move(0)
+    time.sleep(SHORT_DELAY_FOR_EPICS)
+    assert pos.setpoint.get() == 0
+    assert pos.position == 0
+    assert pos.inposition

apstools/synApps/tests/test_luascript.py

@@ -8,6 +8,7 @@
 IOC = "gp:"
 PV_PREFIX = f"{IOC}set1:"
 EMPIRICAL_DELAY = 0.5
+SHORT_DELAY_FOR_EPICS = 2. / 60
 
 # TODO: test a luascript file, where to put the file in the IOC?
 # LUA_SCRIPT_PATH
@@ -99,6 +100,7 @@ def test_compute(code, a, b, nval, aa, bb, sval):
     lua_all = UserScriptsDevice(PV_PREFIX, name="user")
     lua_all.wait_for_connection()
     lua_all.enable.put("Enable")
+    time.sleep(SHORT_DELAY_FOR_EPICS)
     assert lua_all.enable.get(as_string=True) == "Enable"
 
     lua_all.reset()

conda/meta.yaml

@@ -32,10 +32,10 @@ build:
 
 requirements:
   host:
-    - python >=3.7
+    - python >=3.7, < 3.10
     - pip
   run:
-    - python >=3.7
+    - python >=3.7, < 3.10
     - bluesky >=1.6.7
     - databroker >=1.2.3
     - h5py

environment.yml

@@ -5,7 +5,7 @@ channels:
   - aps-anl-tag
   - nsls2forge
 dependencies:
-  - python >=3.7
+  - python >=3.7, <3.10
   - bluesky >=1.6.7
   - databroker >=1.2.3
   - databroker-pack