feat(hardware-testing): stacker estop and door switch qc scripts (#16924)

Author: ahiuchingau

hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/config.py

@@ -10,6 +10,8 @@
     test_z_axis,
     test_x_axis,
     test_l_axis,
+    test_door_switch,
+    test_estop,
 )
 
 
@@ -20,6 +22,8 @@ class TestSection(enum.Enum):
     Z_AXIS = "Z_AXIS"
     L_AXIS = "L_AXIS"
     X_AXIS = "X_AXIS"
+    DOOR_SWITCH = "DOOR_SWITCH"
+    ESTOP = "ESTOP"
 
 
 @dataclass
@@ -47,6 +51,14 @@ class TestConfig:
         TestSection.X_AXIS,
         test_x_axis.run,
     ),
+    (
+        TestSection.DOOR_SWITCH,
+        test_door_switch.run,
+    ),
+    (
+        TestSection.ESTOP,
+        test_estop.run,
+    ),
 ]
 
 
@@ -71,5 +83,13 @@ def build_report(test_name: str) -> CSVReport:
                 title=TestSection.X_AXIS.value,
                 lines=test_x_axis.build_csv_lines(),
             ),
+            CSVSection(
+                title=TestSection.DOOR_SWITCH.value,
+                lines=test_door_switch.build_csv_lines(),
+            ),
+            CSVSection(
+                title=TestSection.ESTOP.value,
+                lines=test_estop.build_csv_lines(),
+            ),
         ],
     )

hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/driver.py

@@ -176,6 +176,20 @@ def get_hopper_door_closed(self) -> bool:
         assert match, f"Incorrect Response for hopper door switch: {res}"
         return bool(int(match.group(1)))
 
+    def get_estop(self) -> bool:
+        """Get E-Stop status.
+
+        :return: True if E-Stop is triggered, False otherwise
+        """
+        if self._simulating:
+            return True
+
+        _LS_RE = re.compile(r"^M112 (\d) OK\n")
+        res = self._send_and_recv("M112\n", "M112 ")
+        match = _LS_RE.match(res)
+        assert match, f"Incorrect Response for E-Stop switch: {res}"
+        return bool(int(match.group(1)))
+
     def move_in_mm(
         self, axis: StackerAxis, distance: float, params: MoveParams | None = None
     ) -> None:

hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/test_door_switch.py

@@ -0,0 +1,36 @@
+"""Test Door Switch."""
+
+
+from typing import List, Union
+from hardware_testing.data import ui
+from hardware_testing.data.csv_report import (
+    CSVReport,
+    CSVLine,
+    CSVLineRepeating,
+    CSVResult,
+)
+
+from .driver import FlexStacker
+
+
+def build_csv_lines() -> List[Union[CSVLine, CSVLineRepeating]]:
+    """Build CSV Lines."""
+    return [
+        CSVLine("close-door", [CSVResult]),
+        CSVLine("open-door", [CSVResult]),
+    ]
+
+
+def run(driver: FlexStacker, report: CSVReport, section: str) -> None:
+    """Run."""
+    ui.print_header("Close Door")
+    if not driver._simulating:
+        ui.get_user_ready("Close the hopper door")
+    closed = driver.get_hopper_door_closed()
+    report(section, "close-door", [CSVResult.from_bool(closed)])
+
+    ui.print_header("Open Door")
+    if not driver._simulating:
+        ui.get_user_ready("Open the hopper door")
+    closed = driver.get_hopper_door_closed()
+    report(section, "open-door", [CSVResult.from_bool(not closed)])

hardware-testing/hardware_testing/modules/flex_stacker_evt_qc/test_estop.py

@@ -0,0 +1,91 @@
+"""Test E-Stop."""
+
+
+from typing import List, Union
+from hardware_testing.data import ui
+from hardware_testing.data.csv_report import (
+    CSVReport,
+    CSVLine,
+    CSVLineRepeating,
+    CSVResult,
+)
+
+from .driver import FlexStacker, Direction, StackerAxis
+
+
+def build_csv_lines() -> List[Union[CSVLine, CSVLineRepeating]]:
+    """Build CSV Lines."""
+    return [
+        CSVLine("trigger-estop", [CSVResult]),
+        CSVLine("x-move-disabled", [CSVResult]),
+        CSVLine("z-move-disabled", [CSVResult]),
+        CSVLine("l-move-disabled", [CSVResult]),
+        CSVLine("untrigger-estop", [CSVResult]),
+    ]
+
+
+def axis_at_limit(driver: FlexStacker, axis: StackerAxis) -> Direction:
+    """Check which direction an axis is at the limit switch."""
+    if axis is StackerAxis.L:
+        # L axis only has one limit switch
+        if driver.get_limit_switch(axis, Direction.RETRACT):
+            print(axis, "is at ", Direction.RETRACT, "limit switch")
+            return Direction.RETRACT
+    else:
+        for dir in Direction:
+            if driver.get_limit_switch(axis, dir):
+                print(axis, "is at ", dir, "limit switch")
+                return dir
+    raise RuntimeError(f"{axis} is not at any limit switch")
+
+
+def run(driver: FlexStacker, report: CSVReport, section: str) -> None:
+    """Run."""
+    if not driver._simulating and driver.get_estop():
+        raise RuntimeError("E-Stop is either triggered/not attached.")
+
+    x_limit = axis_at_limit(driver, StackerAxis.X)
+    z_limit = axis_at_limit(driver, StackerAxis.Z)
+    l_limit = axis_at_limit(driver, StackerAxis.L)
+
+    ui.print_header("Trigger E-Stop")
+    if not driver._simulating:
+        ui.get_user_ready("Trigger the E-Stop")
+
+        if not driver.get_estop():
+            print("E-Stop is not triggered")
+            report(section, "trigger-estop", [CSVResult.FAIL])
+            return
+
+    report(section, "trigger-estop", [CSVResult.PASS])
+
+    print("try to move X axis...")
+    driver.move_in_mm(StackerAxis.X, x_limit.opposite().distance(10))
+    print("X should not move")
+    report(
+        section,
+        "x-move-disabled",
+        [CSVResult.from_bool(driver.get_limit_switch(StackerAxis.X, x_limit))],
+    )
+
+    print("try to move Z axis...")
+    driver.move_in_mm(StackerAxis.Z, z_limit.opposite().distance(10))
+    print("Z should not move")
+    report(
+        section,
+        "z-move-disabled",
+        [CSVResult.from_bool(driver.get_limit_switch(StackerAxis.Z, z_limit))],
+    )
+
+    print("try to move L axis...")
+    driver.move_in_mm(StackerAxis.L, l_limit.opposite().distance(10))
+    print("L should not move")
+    report(
+        section,
+        "l-move-disabled",
+        [CSVResult.from_bool(driver.get_limit_switch(StackerAxis.L, l_limit))],
+    )
+
+    if not driver._simulating:
+        ui.get_user_ready("Untrigger the E-Stop")
+    report(section, "untrigger-estop", [CSVResult.from_bool(not driver.get_estop())])