Fake has transformed position (#61)

* updated CI yamls

* fixes has_transformed and adds fake_has_tranformed for testing

* mod changelog

* removed redundant method, added the fake-has-transformed-position files

* tweaked workflows, modded set_position back to original super

* tweaked workflow again

* [pre-commit.ci] auto fixes from pre-commit.com hooks

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* added test folder and files for testing fake-has-transformed-position

* [pre-commit.ci] auto fixes from pre-commit.com hooks

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* Update .pre-commit-config.yaml

* [pre-commit.ci] auto fixes from pre-commit.com hooks

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* Update _has_transformed_position.py

* Update _has_limits.py

* Update _has_limits.py

* Update _has_transformed_position.py

* Update _has_limits.py

* Update _has_transformed_position.py

* refactor get_limits

- reduce code redundancy
- fix bug where native limits will not work with negative sloped transforms

* handle changing transform

rely on native coordinates
tests pass

* new htp tests

set_relative
change_native_reference

* cleanup

* [pre-commit.ci] auto fixes from pre-commit.com hooks

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* fix tests

* Update _has_limits.py

* [pre-commit.ci] auto fixes from pre-commit.com hooks

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* Update _has_limits.py

* add fake-htp config param

customizable transform slope

* [pre-commit.ci] auto fixes from pre-commit.com hooks

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* refactor

* [pre-commit.ci] auto fixes from pre-commit.com hooks

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* more testing

test transform with negative slope

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* use tomli

* kameyer fixes

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Daniel Kohler <11864045+ddkohler@users.noreply.github.com>

Author: 3 people

.github/workflows/python-pytest.yml

@@ -31,4 +31,3 @@ jobs:
         cd tests
         pytest
 
-

.github/workflows/run-entry-points.yml

@@ -38,5 +38,3 @@ jobs:
         yaqd-fake-sensor --help
         yaqd-fake-spectrometer --version
         yaqd-fake-spectrometer --help
-
-

tests/fake_furnace/test_fake_furnace.py

@@ -19,6 +19,7 @@ def test_ramp():
     c = yaqc.Client(39426)
     c.set_ramp_time(0)
     c.set_position(0)
+    time.sleep(0.1)
     assert c.get_position() == 0
     c.set_ramp_time(1)
     c.set_position(100)

tests/fake_has_transformed_position/config.toml

@@ -0,0 +1,13 @@
+[fake-transformed1]
+port=38001
+velocity=100.0
+factor=2.0
+limits=[1.0,4.0]
+
+[fake-transformed2]
+port=38002
+velocity=100.0
+factor=-1.0
+limits=[-1.0,-4.0]
+native_limits=[0.0,3.0]
+

tests/fake_has_transformed_position/test_fake_has_transformed_position.py

@@ -0,0 +1,86 @@
+import pathlib
+import subprocess
+import sys
+import time
+import numpy as np
+import tomli
+
+import pytest
+
+import yaqc
+import yaqd_core
+from yaqd_core import testing
+
+
+config = pathlib.Path(__file__).parent / "config.toml"
+
+
+@testing.run_daemon_entry_point("fake-has-transformed-position", config=config)
+def test_transform():
+    c = yaqc.Client(38001)
+    c.set_native_reference(1.0)
+    val = 3.0
+    bb = c.to_transformed(c.to_native(val))
+    assert np.isclose(val, bb)
+
+
+@testing.run_daemon_entry_point("fake-has-transformed-position", config=config)
+def test_limits():
+    for port in [38001, 38002]:
+        c = yaqc.Client(port)
+        config = tomli.loads(c.get_config())
+
+        limits = c.get_limits()
+        lims2 = list(map(c.to_transformed, c.get_native_limits()))
+        assert np.isclose(limits, lims2).all()
+
+        for setpoint, actual in zip(
+            [limits[0] - 0.5, 0.5 * sum(limits), limits[1] + 0.5],
+            [limits[0], 0.5 * sum(limits), limits[1]],
+        ):
+            c.set_position(setpoint)
+            time.sleep(0.10)
+            assert np.isclose(c.get_position(), actual)
+            assert np.isclose(c.get_destination(), actual)
+            assert np.isclose(c.get_native_position(), c.to_native(actual))
+            assert np.isclose(c.get_native_destination(), c.to_native(actual))
+
+
+@testing.run_daemon_entry_point("fake-has-transformed-position", config=config)
+def test_change_native_reference():
+    for port in [38001, 38002]:
+        c = yaqc.Client(port)
+        factor = tomli.loads(c.get_config())["factor"]
+
+        midrange = 0.5 * sum(c.get_limits())
+
+        c.set_native_reference(1)
+        c.set_position(midrange)
+        time.sleep(0.1)
+        native_position = c.get_native_position()
+        assert np.isclose(native_position, c.to_native(midrange))
+        c.set_native_reference(1.5)
+
+        assert np.isclose(native_position, c.get_native_position())
+        assert np.isclose(
+            c.get_position(), c.to_transformed(c.to_native(midrange) - 0.5)
+        )
+
+
+@testing.run_daemon_entry_point("fake-has-transformed-position", config=config)
+def test_set_relative():
+    c = yaqc.Client(38001)
+    c.set_position(c.get_limits()[0])
+    initial = c.get_position()
+    time.sleep(0.1)
+    destination = c.set_relative(1.0)
+    time.sleep(0.1)
+
+    assert np.isclose(destination, initial + 1.0)
+
+
+if __name__ == "__main__":
+    test_change_native_reference()
+    test_limits()
+    test_set_relative()
+    test_transform()

yaqd-core/CHANGELOG.md

@@ -5,6 +5,13 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/).
 
 ## [Unreleased]
 
+### Added
+- fake-has-transformed-position for testing purposes
+- has-transformed-position can read native_limits as a config option
+
+### Fixed
+- Fixes has_transformed_position which had inheiritance issue
+
 ### Changed
 - Upgraded appdirs to platformdirs
 - moved to hatchling build system

yaqd-core/yaqd_core/_has_limits.py

@@ -15,30 +15,40 @@ def __init__(
         self._out_of_limits = config["out_of_limits"]
 
     def get_limits(self) -> List[float]:
-        assert self._state["hw_limits"][0] < self._state["hw_limits"][1]
-        config_limits = self._config["limits"]
-        assert config_limits[0] < config_limits[1]
-        out = [
-            max(self._state["hw_limits"][0], config_limits[0]),
-            min(self._state["hw_limits"][1], config_limits[1]),
-        ]
+        # wrapper for client
+        return self.limits
+
+    @property
+    def limits(self) -> List[float]:
+        # for internal use
+        return self._joint_limit(self._state["hw_limits"], self._config["limits"])
+
+    @classmethod
+    def _joint_limit(cls, *limits: List[float]):
+        mins, maxes = [*zip(*limits)]
+        assert all([mini < maxi for mini, maxi in zip(mins, maxes)])
+        out = [max(*mins), min(*maxes)]
         assert out[0] < out[1]
         return out
 
     def in_limits(self, position: float) -> bool:
-        low, upp = self.get_limits()
+        return self._in_limits(position)
+
+    def _in_limits(self, position):
+        # for internal use
+        low, upp = self.limits
         return low <= position <= upp
 
     def set_position(self, position: float) -> None:
-        if not self.in_limits(position):
+        if not self._in_limits(position):
             if self._out_of_limits == "closest":
-                low, upp = self.get_limits()
+                low, upp = self.limits
                 if position > upp:
                     position = upp
                 elif position < low:
                     position = low
             elif self._out_of_limits == "ignore":
                 return
             else:
-                raise ValueError(f"{position} not in ranges {self.get_limits()}")
+                raise ValueError(f"{position} not in ranges {self.limits}")
         super().set_position(position)

yaqd-core/yaqd_core/_has_transformed_position.py

@@ -3,7 +3,6 @@
 
 import pathlib
 from typing import Dict, Any, Optional, List
-
 from yaqd_core import HasLimits, HasPosition, IsDaemon
 
 
@@ -52,13 +51,20 @@ def _transformed_to_relative(self, transformed_position):
         """
         return transformed_position
 
-    # --- methods for transformed positions -------------------------------------------------------
+    # --- wrap parent messages that deal with position --------------------------------------------
+    # --- clients use transformed position, but parent messages except/return native position.
 
     def set_position(self, position: float) -> None:
         super().set_position(self.to_native(position))
 
+    def set_relative(self, distance: float) -> float:
+        new = self.to_transformed(self._state["destination"]) + distance
+        self.set_position(new)
+        return new
+
     def get_position(self) -> float:
-        return self.to_transformed(super().get_position())
+        position = super().get_position()
+        return self.to_transformed(position)
 
     def get_destination(self) -> float:
         return self.to_transformed(super().get_destination())
@@ -67,9 +73,18 @@ def in_limits(self, position: float) -> bool:
         return super().in_limits(self.to_native(position))
 
     def get_limits(self) -> List[float]:
-        return [self.to_transformed(lim) for lim in super().get_limits()]
+        return sorted(map(self.to_transformed, self.limits))
+
+    # --- setting or returning native coordinates -------------------------------------------------
+    # --- new messages introduce by this trait
 
-    # --- native properties -----------------------------------------------------------------------
+    @property
+    def limits(self) -> List[float]:
+        return self._joint_limit(
+            self._state["hw_limits"],
+            sorted(map(self.to_native, self._config["limits"])),
+            self._config["native_limits"],
+        )
 
     def get_native_reference(self) -> float:
         return self._state["native_reference_position"]
@@ -87,7 +102,7 @@ def get_native_destination(self) -> float:
         return self._state["destination"]
 
     def get_native_limits(self) -> List[float]:
-        return super().get_limits()
+        return self.limits
 
     def get_native_units(self) -> Optional[str]:
         return self._native_units

yaqd-fakes/CHANGELOG.md

@@ -7,6 +7,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/).
 
 ### Added
 - new fake-furnace daemon, useful for prototyping chemical engineering setups
+- new fake-has-transformed-position daemon
 
 ### Changed
 - moved to hatchling build system

yaqd-fakes/README.md

@@ -13,6 +13,7 @@ This package contains the following daemon(s):
 
 - [fake-camera](https://yaq.fyi/daemons/fake-camera)
 - [fake-continuous-hardware](https://yaq.fyi/daemons/fake-continuous-hardware)
+- [fake-has-transformed-position](https://yaq.fyi/daemons/fake-has-transformed-position)
 - [fake-discrete-hardware](https://yaq.fyi/daemons/fake-discrete-hardware)
 - [fake-furnace](https://yaq.fyi/daemons/fake-furnace)
 - [fake-has-turret](https://yaq.fyi/daemons/fake-has-turret)