Add configurable step size selector and motor velocity controls
F2 Control screen Manual mode now has a row of step-size buttons (0.1°, 0.5°, 1°, 5°, 10°) that scale arrow key nudges, plus AZ/EL velocity inputs with Apply button for runtime motor speed tuning via firmware mv/ma commands. Bridge: set_max_velocity(), set_max_acceleration() write methods. Demo: mutable dynamics + console mv/ma write handling. Tests: 8 Textual pilot tests covering button toggle, nudge math, velocity population, and apply round-trip.
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@ -315,6 +315,21 @@ class SerialBridge:
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return result
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def set_max_velocity(self, motor_id: int, deg_per_sec: float) -> None:
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"""Set max velocity for a motor axis (°/s). Firmware: MOT> mv [motor] [vel]."""
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with self._lock:
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self._ensure_menu(Menu.MOT)
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self._send(f"mv {motor_id} {deg_per_sec:.1f}")
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def set_max_acceleration(self, motor_id: int, accel: float) -> None:
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"""Set max acceleration for a motor axis.
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Firmware: MOT> ma [motor] [accel] (°/s²).
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"""
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with self._lock:
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self._ensure_menu(Menu.MOT)
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self._send(f"ma {motor_id} {accel:.1f}")
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def get_motor_life(self) -> str:
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"""Read motor lifetime / usage statistics."""
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with self._lock:
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@ -206,6 +206,12 @@ class DemoDevice:
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self._target_el = 45.0
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self._last_move_time = time.monotonic()
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# Motor dynamics (mutable in demo for velocity/accel controls).
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self._az_max_vel = 65.0
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self._el_max_vel = 45.0
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self._az_accel = 400.0
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self._el_accel = 400.0
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# Submenu tracking for console simulation.
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self._menu = _DemoMenu.ROOT
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@ -320,12 +326,24 @@ class DemoDevice:
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def get_motor_dynamics(self) -> dict[str, float]:
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return {
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"az_max_vel": 65.0,
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"el_max_vel": 45.0,
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"az_accel": 400.0,
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"el_accel": 400.0,
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"az_max_vel": self._az_max_vel,
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"el_max_vel": self._el_max_vel,
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"az_accel": self._az_accel,
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"el_accel": self._el_accel,
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}
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def set_max_velocity(self, motor_id: int, deg_per_sec: float) -> None:
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if motor_id == 0:
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self._az_max_vel = deg_per_sec
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elif motor_id == 1:
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self._el_max_vel = deg_per_sec
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def set_max_acceleration(self, motor_id: int, accel: float) -> None:
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if motor_id == 0:
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self._az_accel = accel
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elif motor_id == 1:
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self._el_accel = accel
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def get_motor_life(self) -> str:
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return _MOTOR_LIFE
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@ -574,10 +592,24 @@ class DemoDevice:
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self.home_motor(motor_id)
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return f"Homing motor {motor_id}\nMOT>"
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return "Invalid parameters\nMOT>"
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if cmd == "mv":
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return "Max Vel [0] = 65.0 Max Vel [1] = 45.0\nMOT>"
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if cmd == "ma":
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return "Accel[0] = 400.0 Accel[1] = 400.0\nMOT>"
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if cmd == "mv" or cmd.startswith("mv "):
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parts = cmd.split()
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if len(parts) >= 3:
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self.set_max_velocity(int(parts[1]), float(parts[2]))
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return f"Max Vel [{parts[1]}] = {float(parts[2]):.1f}\nMOT>"
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return (
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f"Max Vel [0] = {self._az_max_vel:.1f}"
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f" Max Vel [1] = {self._el_max_vel:.1f}\nMOT>"
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)
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if cmd == "ma" or cmd.startswith("ma "):
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parts = cmd.split()
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if len(parts) >= 3:
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self.set_max_acceleration(int(parts[1]), float(parts[2]))
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return f"Accel[{parts[1]}] = {float(parts[2]):.1f}\nMOT>"
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return (
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f"Accel[0] = {self._az_accel:.1f}"
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f" Accel[1] = {self._el_accel:.1f}\nMOT>"
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)
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if cmd == "p":
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self._update_position()
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az_steps = int(self._az * 40000 / 360)
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@ -40,6 +40,9 @@ class ControlScreen(Container):
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Binding("r", "release_motors", "Release", show=False),
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]
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# Available step sizes for the nudge selector (degrees).
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STEP_SIZES: list[float] = [0.1, 0.5, 1.0, 5.0, 10.0]
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def __init__(self, **kwargs) -> None:
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super().__init__(**kwargs)
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self._device: object = None
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@ -48,6 +51,7 @@ class ControlScreen(Container):
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self._poll_worker: Worker | None = None
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self._last_az = 180.0
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self._last_el = 45.0
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self._step_size: float = 1.0
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# ------------------------------------------------------------------
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# Compose
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@ -99,6 +103,27 @@ class ControlScreen(Container):
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type="number",
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)
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yield Button("Move", id="btn-ctrl-move", variant="primary")
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with Horizontal(classes="velocity-controls"):
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yield Static("AZ Vel ", classes="label")
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yield Input(
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placeholder="65.0",
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id="ctrl-az-vel",
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type="number",
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)
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yield Static(" EL Vel ", classes="label")
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yield Input(
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placeholder="45.0",
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id="ctrl-el-vel",
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type="number",
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)
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yield Button("Apply", id="btn-ctrl-apply-vel")
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with Horizontal(classes="step-size-bar"):
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yield Static("Step ", classes="label")
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for size in self.STEP_SIZES:
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label = f"{size}°" if size >= 1 else f"{size:.1f}°"
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btn_id = f"btn-step-{str(size).replace('.', '_')}"
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classes = "step-btn selected" if size == 1.0 else "step-btn"
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yield Button(label, id=btn_id, classes=classes)
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with Horizontal(classes="bottom-controls"):
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yield Button("Home AZ", id="btn-ctrl-home-az")
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yield Button("Home EL", id="btn-ctrl-home-el")
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@ -124,6 +149,7 @@ class ControlScreen(Container):
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"""Store the device reference and start the data poll."""
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self._device = device
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self._start_data_poll()
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self._load_motor_dynamics()
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def on_show(self) -> None:
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"""Resume polling when this screen becomes visible."""
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@ -195,6 +221,28 @@ class ControlScreen(Container):
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self._polling = True
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self._poll_worker = self._do_data_poll()
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@work(thread=True, exclusive=True, group="load-dynamics")
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def _load_motor_dynamics(self) -> None:
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"""Fetch current velocity values and populate the input fields."""
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if self._device is None:
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return
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try:
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dynamics = self._device.get_motor_dynamics()
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self.app.call_from_thread(
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self._populate_velocity_inputs,
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dynamics["az_max_vel"],
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dynamics["el_max_vel"],
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)
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except Exception:
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log.debug("Failed to load motor dynamics", exc_info=True)
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def _populate_velocity_inputs(self, az_vel: float, el_vel: float) -> None:
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try:
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self.query_one("#ctrl-az-vel", Input).value = f"{az_vel:.1f}"
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self.query_one("#ctrl-el-vel", Input).value = f"{el_vel:.1f}"
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except Exception:
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pass
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@work(thread=True, exclusive=True, group="control-data-poll")
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def _do_data_poll(self) -> None:
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"""Poll step positions and torque at ~2 Hz while active."""
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@ -268,6 +316,10 @@ class ControlScreen(Container):
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self._handle_home(1)
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elif button_id == "btn-ctrl-engage":
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self._handle_engage_toggle()
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elif button_id.startswith("btn-step-"):
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self._handle_step_size(event.button)
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elif button_id == "btn-ctrl-apply-vel":
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self._handle_apply_velocity()
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def _handle_move(self) -> None:
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"""Read AZ/EL inputs and issue a move command."""
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@ -319,6 +371,54 @@ class ControlScreen(Container):
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self._update_engaged(True)
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self.app.notify("Motors engaged")
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def _handle_step_size(self, pressed_btn: Button) -> None:
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"""Update step size and highlight the selected button."""
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# Parse the step size from the button ID: "btn-step-1_0" → 1.0
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raw = (pressed_btn.id or "").replace("btn-step-", "").replace("_", ".")
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try:
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self._step_size = float(raw)
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except ValueError:
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return
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# Update visual selection on all step buttons.
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for btn in self.query(".step-btn"):
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btn.remove_class("selected")
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pressed_btn.add_class("selected")
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def _handle_apply_velocity(self) -> None:
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"""Apply velocity settings from the input fields."""
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if self._device is None:
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self.app.notify("No device connected", severity="warning")
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return
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az_vel_input = self.query_one("#ctrl-az-vel", Input)
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el_vel_input = self.query_one("#ctrl-el-vel", Input)
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az_val = az_vel_input.value.strip()
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el_val = el_vel_input.value.strip()
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if not az_val and not el_val:
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self.app.notify("Enter a velocity value", severity="warning")
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return
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if az_val:
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try:
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az_vel = float(az_val)
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self._run_motor_command(self._device.set_max_velocity, 0, az_vel)
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except ValueError:
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self.app.notify("Invalid AZ velocity", severity="warning")
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return
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if el_val:
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try:
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el_vel = float(el_val)
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self._run_motor_command(self._device.set_max_velocity, 1, el_vel)
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except ValueError:
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self.app.notify("Invalid EL velocity", severity="warning")
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return
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self.app.notify("Velocity updated", severity="information")
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# ------------------------------------------------------------------
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# Preset handlers
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# ------------------------------------------------------------------
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@ -396,17 +496,17 @@ class ControlScreen(Container):
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return False
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def action_nudge_az(self, delta: int) -> None:
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"""Nudge azimuth by delta degrees."""
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"""Nudge azimuth by delta * step_size degrees."""
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if not self._is_manual_active() or self._device is None:
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return
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new_az = self._last_az + delta
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new_az = self._last_az + delta * self._step_size
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self._run_motor_command(self._device.move_motor, 0, new_az)
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def action_nudge_el(self, delta: int) -> None:
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"""Nudge elevation by delta degrees."""
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"""Nudge elevation by delta * step_size degrees."""
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if not self._is_manual_active() or self._device is None:
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return
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new_el = self._last_el + delta
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new_el = self._last_el + delta * self._step_size
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self._run_motor_command(self._device.move_motor, 1, new_el)
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def action_home_both(self) -> None:
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@ -644,6 +644,70 @@ ProgressBar PercentageStatus {
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text-style: bold;
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}
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/* ── Step Size Selector ───────────────────────────── */
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.step-size-bar {
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layout: horizontal;
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height: 3;
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padding: 0 1;
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dock: bottom;
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background: #0e1420;
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border-top: solid #1a2a38;
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}
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.step-size-bar .label {
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width: auto;
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padding: 1 1 0 0;
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}
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.step-btn {
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min-width: 8;
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height: 3;
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margin: 0 0 0 0;
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background: #121c2a;
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color: #7090a8;
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border: round #1a3050;
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text-align: center;
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}
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.step-btn:hover {
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background: #1a2a40;
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color: #00d4aa;
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border: round #00d4aa;
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}
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.step-btn.selected {
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background: #0a3a3a;
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color: #00d4aa;
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border: round #00d4aa;
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text-style: bold;
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}
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/* ── Velocity Controls ───────────────────────────── */
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.velocity-controls {
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layout: horizontal;
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height: 3;
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padding: 0 1;
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dock: bottom;
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background: #0e1420;
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border-top: solid #1a2a38;
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}
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.velocity-controls .label {
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width: auto;
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padding: 1 1 0 0;
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}
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.velocity-controls Input {
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width: 10;
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margin-right: 1;
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}
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.velocity-controls Button {
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margin-left: 1;
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}
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/* ── Scrollbar Styling ─────────────────────────────── */
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* {
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283
tui/tests/test_step_size_velocity.py
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283
tui/tests/test_step_size_velocity.py
Normal file
@ -0,0 +1,283 @@
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"""Test step size selector and motor velocity controls on the F2 Control screen.
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Uses Textual's run_test() and pilot to drive the TUI in demo mode.
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Verifies step size button toggling, nudge multiplication, velocity
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input population, and velocity apply round-trip through DemoDevice.
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NOTE: pilot.click() on dock:bottom widgets can miss due to headless
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coordinate mapping. We use post_message(Button.Pressed(...)) for reliable
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button activation in CI, and pilot.press() for keyboard interaction.
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"""
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import asyncio
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import pytest
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from textual.widgets import Button, Input
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from birdcage_tui.app import BirdcageApp
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from birdcage_tui.screens.control import ControlScreen
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def _press_button(btn: Button) -> None:
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"""Programmatically press a Button by posting its Pressed message.
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Bypasses pilot.click() coordinate issues with docked widgets.
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"""
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btn.post_message(Button.Pressed(btn))
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@pytest.mark.asyncio
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async def test_step_size_default_is_one():
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"""Default step size should be 1.0 degree."""
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app = BirdcageApp()
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app.demo_mode = True
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async with app.run_test(size=(120, 40)) as pilot:
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await pilot.pause()
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await pilot.press("f2")
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await pilot.pause()
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control = app.query_one("#control", ControlScreen)
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assert control._step_size == 1.0
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# The 1° button should have the "selected" class.
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btn_1 = app.query_one("#btn-step-1_0", Button)
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assert "selected" in btn_1.classes
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@pytest.mark.asyncio
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async def test_step_size_button_switches():
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"""Pressing a step-size button should update _step_size and highlight."""
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app = BirdcageApp()
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app.demo_mode = True
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async with app.run_test(size=(120, 40)) as pilot:
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await pilot.pause()
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await pilot.press("f2")
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await pilot.pause()
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control = app.query_one("#control", ControlScreen)
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# Press the 0.1° button.
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btn_01 = app.query_one("#btn-step-0_1", Button)
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_press_button(btn_01)
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await pilot.pause()
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assert control._step_size == 0.1
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assert "selected" in btn_01.classes
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# The old 1° button should no longer be selected.
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btn_1 = app.query_one("#btn-step-1_0", Button)
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assert "selected" not in btn_1.classes
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# Press the 10° button.
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btn_10 = app.query_one("#btn-step-10_0", Button)
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_press_button(btn_10)
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await pilot.pause()
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assert control._step_size == 10.0
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assert "selected" in btn_10.classes
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assert "selected" not in btn_01.classes
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@pytest.mark.asyncio
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async def test_step_size_cycles_all():
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"""Pressing each step button in sequence should set the correct value."""
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app = BirdcageApp()
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app.demo_mode = True
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async with app.run_test(size=(120, 40)) as pilot:
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await pilot.pause()
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await pilot.press("f2")
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await pilot.pause()
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control = app.query_one("#control", ControlScreen)
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expected = [
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("btn-step-0_1", 0.1),
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("btn-step-0_5", 0.5),
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("btn-step-1_0", 1.0),
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("btn-step-5_0", 5.0),
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("btn-step-10_0", 10.0),
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]
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for btn_id, expected_size in expected:
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btn = app.query_one(f"#{btn_id}", Button)
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_press_button(btn)
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await pilot.pause()
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assert control._step_size == expected_size, (
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f"After pressing #{btn_id}, step_size should be "
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f"{expected_size}, got {control._step_size}"
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)
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assert "selected" in btn.classes
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# All other buttons should NOT be selected.
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for other_id, _ in expected:
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if other_id != btn_id:
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other = app.query_one(f"#{other_id}", Button)
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assert "selected" not in other.classes, (
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f"#{other_id} should not be selected when #{btn_id} is active"
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)
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@pytest.mark.asyncio
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async def test_nudge_uses_step_size():
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||||
"""Arrow key nudge should multiply delta by the selected step size."""
|
||||
app = BirdcageApp()
|
||||
app.demo_mode = True
|
||||
|
||||
async with app.run_test(size=(120, 40)) as pilot:
|
||||
await pilot.pause()
|
||||
await pilot.press("f2")
|
||||
await pilot.pause()
|
||||
|
||||
control = app.query_one("#control", ControlScreen)
|
||||
|
||||
# Wait for device to be set and position poll to run.
|
||||
await asyncio.sleep(1.0)
|
||||
|
||||
# Record starting position.
|
||||
start_az = control._last_az
|
||||
|
||||
# Set step size to 5 degrees.
|
||||
btn_5 = app.query_one("#btn-step-5_0", Button)
|
||||
_press_button(btn_5)
|
||||
await pilot.pause()
|
||||
|
||||
assert control._step_size == 5.0
|
||||
|
||||
# Focus the control screen for key bindings.
|
||||
control.focus()
|
||||
await pilot.pause()
|
||||
|
||||
# Press right arrow to nudge AZ +1 * 5.0 = +5.0.
|
||||
await pilot.press("right")
|
||||
await asyncio.sleep(0.5)
|
||||
|
||||
# The demo device target should have moved by ~5 degrees.
|
||||
target_az = app.device._target_az
|
||||
expected = start_az + 5.0
|
||||
assert abs(target_az - expected) < 0.1, (
|
||||
f"Expected target AZ ~{expected}, got {target_az}"
|
||||
)
|
||||
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_nudge_fine_step():
|
||||
"""0.1 deg step size should produce sub-degree nudges."""
|
||||
app = BirdcageApp()
|
||||
app.demo_mode = True
|
||||
|
||||
async with app.run_test(size=(120, 40)) as pilot:
|
||||
await pilot.pause()
|
||||
await pilot.press("f2")
|
||||
await pilot.pause()
|
||||
|
||||
control = app.query_one("#control", ControlScreen)
|
||||
await asyncio.sleep(1.0)
|
||||
|
||||
start_el = control._last_el
|
||||
|
||||
# Select 0.1° step size.
|
||||
btn_01 = app.query_one("#btn-step-0_1", Button)
|
||||
_press_button(btn_01)
|
||||
await pilot.pause()
|
||||
|
||||
control.focus()
|
||||
await pilot.pause()
|
||||
|
||||
# Press up arrow to nudge EL +1 * 0.1 = +0.1.
|
||||
await pilot.press("up")
|
||||
await asyncio.sleep(0.5)
|
||||
|
||||
target_el = app.device._target_el
|
||||
expected = start_el + 0.1
|
||||
assert abs(target_el - expected) < 0.05, (
|
||||
f"Expected target EL ~{expected:.1f}, got {target_el:.2f}"
|
||||
)
|
||||
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_velocity_inputs_populated():
|
||||
"""Velocity inputs should auto-populate from device motor dynamics."""
|
||||
app = BirdcageApp()
|
||||
app.demo_mode = True
|
||||
|
||||
async with app.run_test(size=(120, 40)) as pilot:
|
||||
await pilot.pause()
|
||||
await pilot.press("f2")
|
||||
await pilot.pause()
|
||||
|
||||
# Wait for the _load_motor_dynamics worker to complete.
|
||||
await asyncio.sleep(1.0)
|
||||
|
||||
az_vel_input = app.query_one("#ctrl-az-vel", Input)
|
||||
el_vel_input = app.query_one("#ctrl-el-vel", Input)
|
||||
|
||||
assert az_vel_input.value == "65.0", (
|
||||
f"AZ velocity should be '65.0', got {az_vel_input.value!r}"
|
||||
)
|
||||
assert el_vel_input.value == "45.0", (
|
||||
f"EL velocity should be '45.0', got {el_vel_input.value!r}"
|
||||
)
|
||||
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_velocity_apply():
|
||||
"""Clicking Apply should update the demo device motor velocities."""
|
||||
app = BirdcageApp()
|
||||
app.demo_mode = True
|
||||
|
||||
async with app.run_test(size=(120, 40)) as pilot:
|
||||
await pilot.pause()
|
||||
await pilot.press("f2")
|
||||
await pilot.pause()
|
||||
await asyncio.sleep(1.0)
|
||||
|
||||
# Set new velocity values directly on the Input widgets.
|
||||
az_vel_input = app.query_one("#ctrl-az-vel", Input)
|
||||
el_vel_input = app.query_one("#ctrl-el-vel", Input)
|
||||
az_vel_input.value = "55.0"
|
||||
el_vel_input.value = "30.0"
|
||||
await pilot.pause()
|
||||
|
||||
# Press Apply via message posting.
|
||||
apply_btn = app.query_one("#btn-ctrl-apply-vel", Button)
|
||||
_press_button(apply_btn)
|
||||
|
||||
# Wait for the worker thread to run the commands.
|
||||
await asyncio.sleep(1.0)
|
||||
|
||||
# Verify the demo device stored the new velocities.
|
||||
dynamics = app.device.get_motor_dynamics()
|
||||
assert dynamics["az_max_vel"] == 55.0, (
|
||||
f"AZ velocity should be 55.0, got {dynamics['az_max_vel']}"
|
||||
)
|
||||
assert dynamics["el_max_vel"] == 30.0, (
|
||||
f"EL velocity should be 30.0, got {dynamics['el_max_vel']}"
|
||||
)
|
||||
|
||||
|
||||
@pytest.mark.asyncio
|
||||
async def test_all_step_buttons_exist():
|
||||
"""All five step size buttons should render in Manual mode."""
|
||||
app = BirdcageApp()
|
||||
app.demo_mode = True
|
||||
|
||||
async with app.run_test(size=(120, 40)) as pilot:
|
||||
await pilot.pause()
|
||||
await pilot.press("f2")
|
||||
await pilot.pause()
|
||||
|
||||
expected_ids = [
|
||||
"btn-step-0_1",
|
||||
"btn-step-0_5",
|
||||
"btn-step-1_0",
|
||||
"btn-step-5_0",
|
||||
"btn-step-10_0",
|
||||
]
|
||||
for btn_id in expected_ids:
|
||||
btn = app.query_one(f"#{btn_id}", Button)
|
||||
assert btn is not None, f"Button #{btn_id} should exist"
|
||||
|
||||
app.save_screenshot("/tmp/birdcage_step_size_test.svg")
|
||||
Loading…
x
Reference in New Issue
Block a user