test/AxisMr: Clean up moveWait()

Use the functionality of the motorRecord:
When writing to the .VAL field (and others) we can wait for a callback.
Use this: Calculate the timeout and wait.

This needs some more changes, e.g. in AxisCom to allow an exeption
not to be thrown, the same feature that p4p already has.
p4p will not throw an exception, if asked to do so, but return it.
We use a different approach: put() returns True or False.
Or throws an exception. Whatever throw=throw asks for.

Changes to be committed:
    modified:   pytests36/140_Record-VAL_VMAX.py
    modified:   pytests36/141_Record_NTM.py
    modified:   pytests36/160-Ethercat-MoveAbs-STOP.py
    modified:   pytests36/AxisCom.py
    modified:   pytests36/AxisMr.py

test/pytests36/140_Record-VAL_VMAX.py

@@ -23,13 +23,13 @@ def motorPositionTC(self, tc_no, destination, velocity):
         if velocity != self.velo:
             self.axisCom.put(".VELO", velocity)
 
-        self.axisMr.moveWait(tc_no, destination)
+        testPassed = self.axisMr.moveWait(tc_no, destination, throw=False)
         if velocity != self.velo:
             self.axisCom.put(".VELO", self.velo)
 
         UserPosition = self.axisCom.get(".RBV", use_monitor=False)
         print(f"{tc_no} postion={UserPosition:f} destination={destination:f}")
-        testPassed = self.axisMr.postMoveCheck(tc_no)
+        testPassed = testPassed and self.axisMr.postMoveCheck(tc_no)
         if testPassed:
             self.axisCom.putDbgStrToLOG("Passed " + str(tc_no), wait=True)
         else:

test/pytests36/141_Record_NTM.py

@@ -54,7 +54,10 @@ def moveVALnewRBVnewValNtmRtryDly(
     velo = oldVELO
     if vmax > 0.0:
         self.axisCom.put(".VELO", vmax)
-    self.axisMr.moveWait(tc_no, startpos)
+    testPassed = self.axisMr.moveWait(tc_no, startpos, throw=False)
+    print(
+        f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {filnam}:{lineno()} {tc_no} testPassed={testPassed}"
+    )
 
     # Max velo: Move the whole range not faster than 4 seconds
     hlm = self.axisCom.get(".HLM")
@@ -100,7 +103,7 @@ def moveVALnewRBVnewValNtmRtryDly(
     )
     self.axisMr.waitForStop(tc_no, timeout + dly + 1.0)
     postMoveCheckOK = self.axisMr.postMoveCheck(tc_no)
-    testPassed = valueChangedOK and postMoveCheckOK
+    testPassed = testPassed and valueChangedOK and postMoveCheckOK
     print(
         f"{tc_no} moveVALnewRBVnewValNtmRtryDly valueChangedOK={valueChangedOK} postMoveCheckOK={postMoveCheckOK}"
     )

test/pytests36/160-Ethercat-MoveAbs-STOP.py

@@ -28,10 +28,9 @@ class Test(unittest.TestCase):
     hlm = axisCom.get(".HLM")
     llm = axisCom.get(".LLM")
     per10_UserPosition = round((9 * llm + 1 * hlm) / 10)
-
-    msta = int(axisCom.get(".MSTA"))
-
-    print(f"llm={llm:f} hlm={hlm:f}")
+    print(
+        f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {filnam}:{lineno()} llm={llm:.2f} hlm={hlm:.2f}"
+    )
 
     # Make sure that motor is homed
     def test_TC_1601(self):
@@ -40,19 +39,30 @@ def test_TC_1601(self):
 
     # per10 UserPosition
     def test_TC_1602(self):
-        if self.msta & self.axisMr.MSTA_BIT_HOMED:
-            tc_no = "1602"
-            print(f"{tc_no}")
-            self.axisMr.moveWait(tc_no, self.per10_UserPosition)
-            UserPosition = self.axisCom.get(".RBV", use_monitor=False)
+        tc_no = 1602
+        self.axisCom.putDbgStrToLOG("Start " + str(tc_no), wait=True)
+        testPassed = False
+        msta = int(self.axisCom.get(".MSTA"))
+        if msta & self.axisMr.MSTA_BIT_HOMED:
+            print(
+                f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {filnam}:{lineno()} {tc_no} jog_start_pos={self.per10_UserPosition:.2f}"
+            )
+            testPassed = self.axisMr.moveWait(
+                tc_no, self.per10_UserPosition, throw=False
+            )
+            rbv = self.axisCom.get(".RBV", use_monitor=False)
             print(
-                "%s postion=%f jog_start_pos=%f"
-                % (tc_no, UserPosition, self.per10_UserPosition)
+                f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {filnam}:{lineno()} {tc_no} rbv={rbv:.2f} testPassed={testPassed}"
             )
+        if testPassed:
+            self.axisCom.putDbgStrToLOG("Passed " + str(tc_no), wait=True)
+        else:
+            self.axisCom.putDbgStrToLOG("Failed " + str(tc_no), wait=True)
+        assert testPassed
 
     # stress test; start and stop the  quickly..
     def test_TC_1603(self):
-        tc_no = "1603"
+        tc_no = 1603
 
         msta = int(self.axisCom.get(".MSTA"))
         nErrorId = self.axisCom.get("-ErrId")

test/pytests36/AxisCom.py

@@ -156,15 +156,21 @@ def put(self, pvsuf, value, wait=False, timeout=5.0, throw=True):
             )
         if self.ctxt is not None:
             # p4p
-            ret = self.ctxt.put(pvname, value, timeout=timeout, wait=wait, throw=throw)
+            if throw:
+                # When p4p should throw an exception, do that
+                return self.ctxt.put(
+                    pvname, value, timeout=timeout, wait=wait, throw=True
+                )
+            # else
+            ex = self.ctxt.put(pvname, value, timeout=timeout, wait=wait, throw=False)
             if self.log_debug:
-                if ret is None:
+                if ex is None:
                     print(
                         f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {filnam} put {fullname} value={value}"
                     )
                 else:
                     print(
-                        f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {filnam} put {fullname} value={value} ret={ret}"
+                        f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {filnam} put {fullname} value={value} ex={ex}"
                     )
             if ret is None:
                 return True

test/pytests36/AxisMr.py

@@ -691,16 +691,50 @@ def moveIntoLS(
 
         return passed
 
-    def moveWait(self, tc_no, destination, field=".VAL", throw=True):
+    def moveWait(self, tc_no, destination, throw=True):
+        start_change_cnt_dmov_true = self.axisCom.get_change_cnts("dmov_true")
+        start_change_cnt_dmov_false = self.axisCom.get_change_cnts("dmov_false")
         timeout = 30
+        rbv = self.axisCom.get(".RBV")
         acceleration = self.axisCom.get(".ACCL")
         velocity = self.axisCom.get(".VELO")
         timeout += 2 * acceleration + 1.0
         if velocity > 0:
-            distance = math.fabs(self.axisCom.get(".RBV") - destination)
+            distance = math.fabs(rbv - destination)
             timeout += distance / velocity
 
-        return self.axisCom.put(field, destination, wait=True, timeout=timeout)
+        mov1_change_cnt_dmov_true = self.axisCom.get_change_cnts("dmov_true")
+        mov1_change_cnt_dmov_false = self.axisCom.get_change_cnts("dmov_false")
+        print(
+            f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {tc_no}:moveWait destination={destination:.2f} rbv={rbv:.2f} mov1_change_cnt_dmov_true={mov1_change_cnt_dmov_true} mov1_change_cnt_dmov_false={mov1_change_cnt_dmov_false}"
+        )
+        # The motorRecord will handle even situations like rbv=0.501 and val=5.00
+        ret = self.axisCom.put(
+            ".VAL", destination, wait=True, timeout=timeout, throw=throw
+        )
+        timeToWait = 1.0  # wait max 1 second for the callbacks
+        while timeToWait > 0.0:
+            mov1_change_cnt_dmov_true = self.axisCom.get_change_cnts("dmov_true")
+            mov1_change_cnt_dmov_false = self.axisCom.get_change_cnts("dmov_false")
+            num_change_cnt_dmov_true = (
+                mov1_change_cnt_dmov_true - start_change_cnt_dmov_true
+            )
+            num_change_cnt_dmov_false = (
+                mov1_change_cnt_dmov_false - start_change_cnt_dmov_false
+            )
+            if num_change_cnt_dmov_true == 1 and num_change_cnt_dmov_false == 1:
+                timeToWait = 0.0
+            else:
+                print(
+                    f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {tc_no}:moveWait num_change_cnt_dmov_true={num_change_cnt_dmov_true} num_change_cnt_dmov_false={num_change_cnt_dmov_false} timeToWait={timeToWait:.2f}"
+                )
+                time.sleep(polltime)
+                timeToWait -= polltime
+
+        print(
+            f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {tc_no}:moveWait num_change_cnt_dmov_true={num_change_cnt_dmov_true} num_change_cnt_dmov_false={num_change_cnt_dmov_false} ret={ret}"
+        )
+        return ret and num_change_cnt_dmov_true == 1 and num_change_cnt_dmov_false == 1
 
     def postMoveCheck(self, tc_no):
         # Check the motor for the correct state at the end of move.