pytest36/AxisMr: simplify moveWait()

Make sure that moveWait() does not a lot of hokus-pokus:
Calculate a timeout, then write to the .VAL field with wait=True.

Needed to equip both moveWait() in AxisMr and put() in AxisCom with a
throw=throw parameter
Note:
More test cases needs to be changed to check the result of moveWait()

test/pytests36/110_Ethercat_HOMF_-ProcHom.py

@@ -28,37 +28,54 @@ def lineno():
 
 
 def homeTheMotor(self, tc_no, homProc, jogToLSBefore, homeViaDriver):
+    print(
+        f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {filnam} {tc_no} homProc={homProc} jogToLSBefore={jogToLSBefore} homeViaDriver={homeViaDriver}"
+    )
     self.axisCom.putDbgStrToLOG("Start " + str(tc_no), wait=True)
     old_high_limit = self.axisCom.get(".HLM")
     old_low_limit = self.axisCom.get(".LLM")
     old_HomProc = 0  # default
     old_HomPos = 0.0  # default
-    passed = True
+    testPassed = True
 
     if jogToLSBefore != 0:
         msta = int(self.axisCom.get(".MSTA"))
         if msta & self.axisMr.MSTA_BIT_HOMED and old_high_limit > old_low_limit:
             # if we are homed, move absolute to the soft limit
             # This is faster than jogging
             if jogToLSBefore > 0:
-                self.axisMr.moveWait(tc_no, old_high_limit)
+                testPassed = testPassed and self.axisMr.moveWait(
+                    tc_no, old_high_limit, throw=False
+                )
             else:
-                self.axisMr.moveWait(tc_no, old_low_limit)
-
+                testPassed = testPassed and self.axisMr.moveWait(
+                    tc_no, old_low_limit, throw=False
+                )
+            print(
+                f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {filnam}:{lineno()} {tc_no} testPassed={testPassed}"
+            )
         self.axisMr.setSoftLimitsOff(tc_no)
         # soft limit range assumed to be = hard range /1.5 or so
         # It is only needed to calculate a good timeout
         jvel = self.axisCom.get(".JVEL")
         accl = self.axisCom.get(".ACCL")
         time_to_wait = 1.5 * (old_high_limit - old_low_limit) / jvel + 2 * accl
 
-        passed = passed and self.axisMr.jogDirectionTimeout(
+        testPassed = testPassed and self.axisMr.jogDirectionTimeout(
             tc_no, jogToLSBefore, time_to_wait
         )
+        print(
+            f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {filnam}:{lineno()} {tc_no} testPassed={testPassed}"
+        )
         self.axisCom.put(".LLM", old_low_limit)
         self.axisCom.put(".HLM", old_high_limit)
     else:
-        self.axisMr.moveWait(tc_no, (old_high_limit + old_low_limit) / 2.0)
+        testPassed = testPassed and self.axisMr.moveWait(
+            tc_no, (old_high_limit + old_low_limit) / 2.0, throw=False
+        )
+        print(
+            f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {filnam}:{lineno()} {tc_no} testPassed={testPassed}"
+        )
 
     if homProc != 0:
         old_HomProc = self.axisCom.get("-HomProc")
@@ -129,20 +146,20 @@ def homeTheMotor(self, tc_no, homProc, jogToLSBefore, homeViaDriver):
         f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {tc_no} msta2=={self.axisMr.getMSTAtext(msta2)}"
     )
     if msta2 & self.axisMr.MSTA_BIT_SLIP_STALL:
-        passed = False
+        testPassed = False
     if not msta2 & self.axisMr.MSTA_BIT_HOMED:
-        passed = False
+        testPassed = False
     if msta2 & self.axisMr.MSTA_BIT_PROBLEM:
-        passed = False
+        testPassed = False
         errId = int(self.axisCom.get("-ErrId", use_monitor=False))
         print(f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {tc_no} errId={errId:x}")
         self.axisMr.resetAxis(tc_no)
 
-    if passed:
+    if testPassed:
         self.axisCom.putDbgStrToLOG("Passed " + str(tc_no), wait=True)
     else:
         self.axisCom.putDbgStrToLOG("Failed " + str(tc_no), wait=True)
-    assert passed
+    assert testPassed
 
 
 class Test(unittest.TestCase):

test/pytests36/AxisCom.py

@@ -142,13 +142,7 @@ def onChangesDmovPVA(self, value):
                 f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {filnam} onChangesPVA: value={int(value)} old_val={old_val} dmov_false={self.change_cnts['dmov_false']} dmov_true={self.change_cnts['dmov_true']}"
             )
 
-    def put(
-        self,
-        pvsuf,
-        value,
-        wait=False,
-        timeout=5.0,
-    ):
+    def put(self, pvsuf, value, wait=False, timeout=5.0, throw=True):
         pvname = self.pvpfx + pvsuf
         fullname = self.url_scheme + pvname
         ret = None
@@ -161,7 +155,8 @@ def put(
                 f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {filnam} put {fullname} value={value}"
             )
         if self.ctxt is not None:
-            ret = self.ctxt.put(pvname, value, timeout=timeout, wait=wait)
+            # p4p
+            ret = self.ctxt.put(pvname, value, timeout=timeout, wait=wait, throw=throw)
             if self.log_debug:
                 if ret is None:
                     print(
@@ -171,7 +166,12 @@ def put(
                     print(
                         f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {filnam} put {fullname} value={value} ret={ret}"
                     )
+            if ret is None:
+                return True
+            return False
+
         else:
+            # pyepics
             caput_ret = self.epics.caput(pvname, value, timeout=timeout, wait=wait)
             # This function returns 1 on success,
             # and a negative number if the timeout has been exceeded
@@ -180,7 +180,13 @@ def put(
                     f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {filnam} put {fullname} value={value} caput_ret={ret}"
                 )
             if caput_ret != 1:
-                raise Exception(f"caput({pvname},{value}) returned error {caput_ret}")
+                if throw:
+                    raise Exception(
+                        f"caput({pvname},{value}) returned error {caput_ret}"
+                    )
+                else:
+                    return False
+            return True
 
     def putDbgStrToLOG(self, value, wait=True, timeout=5.0):
         pvsuf = "-DbgStrToLOG"

test/pytests36/AxisMr.py

@@ -691,16 +691,7 @@ def moveIntoLS(
 
         return passed
 
-    def moveWait(self, tc_no, destination, field=".VAL"):
-        rbv = self.axisCom.get(".RBV", use_monitor=False)
-        rdbd = self.axisCom.get(".RDBD")
-
-        inrange = self.calcAlmostEqual(tc_no, destination, rbv, rdbd, doPrint=False)
-        if inrange:
-            print(
-                f"{datetime.datetime.now():%Y-%m-%d %H:%M:%S} {tc_no}: moveWait destination={destination:.2f} rbv={rbv:.2f}"
-            )
-            return True
+    def moveWait(self, tc_no, destination, field=".VAL", throw=True):
         timeout = 30
         acceleration = self.axisCom.get(".ACCL")
         velocity = self.axisCom.get(".VELO")
@@ -709,8 +700,7 @@ def moveWait(self, tc_no, destination, field=".VAL"):
             distance = math.fabs(self.axisCom.get(".RBV") - destination)
             timeout += distance / velocity
 
-        self.axisCom.put(field, destination)
-        return self.waitForStartAndDone(str(tc_no) + " moveWait", timeout, throw=False)
+        return self.axisCom.put(field, destination, wait=True, timeout=timeout)
 
     def postMoveCheck(self, tc_no):
         # Check the motor for the correct state at the end of move.