PMAC Test Harness

For testing purposes, there is a python test harness to interface to the motion program in a similar way to EPICS. This allows function and performance tests to be carried out without the overhead of running the EPICS ioc. It also has a simple point generator class that can produce point sets to send to the PMAC, which allows trajectory scans to be run using python alone.

PmacTestHarness is a class that can connect to a PMAC over ethernet, read and write variables and addresses, assign motors or kinematics and run the trajectory_scan motion program. Many of these functions are specific to the variable definitions in the motion program. It inherits from PmacEthernetInterface in dls_pmacremote, which means it also has some generic commands like jogging motors and reading Pmac hardware details.

PmacCoordinateSystem is a helper class that holds information for a single coordinate system on the PMAC, such as its axis-motor definitions and maximum velocities of the motors. This simplifies the generation of point sets by calculating how the coordinates will convert to the actual motion of the motors.

TrajectoryScanGenerator is a class to generate point sets that can be used to command the motion program. The point sets are generated in a generic, readable, format to start with and then formatted into something that can be understood by the motion program. These point sets can then be written to the PMAC by PmacTestHarness.