fix(hardware-testing): flex-stacker QC script improvements (#16961)

Author: ahiuchingau

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

@@ -14,7 +14,7 @@
 from hardware_testing.data.csv_report import CSVReport
 
 from .config import TestSection, TestConfig, build_report, TESTS
-from .driver import FlexStacker
+from .driver import FlexStacker, PlatformStatus
 
 
 def build_stacker_report(is_simulating: bool) -> Tuple[CSVReport, FlexStacker]:
@@ -42,6 +42,28 @@ async def _main(cfg: TestConfig) -> None:
     # BUILD REPORT
     report, stacker = build_stacker_report(cfg.simulate)
 
+    if not cfg.simulate:
+        # Perform initial checks before starting tests
+        # 1. estop should not be pressed
+        # 2. platform should be removed
+        if stacker.get_estop():
+            ui.print_error("ESTOP is pressed, please release it before starting")
+            ui.get_user_ready("Release ESTOP")
+            if stacker.get_estop():
+                ui.print_error("ESTOP is still pressed, cannot start tests")
+                return
+
+        platform_state = stacker.get_platform_status()
+        if platform_state is PlatformStatus.ERROR:
+            ui.print_error("Platform sensors are not working properly, aborting")
+            return
+        if platform_state is not PlatformStatus.REMOVED:
+            ui.print_error("Platform must be removed from the carrier before starting")
+            ui.get_user_ready("Remove platform from {platform_state.value}")
+            if stacker.get_platform_status() is not PlatformStatus.REMOVED:
+                ui.print_error("Platform is still detected, cannot start tests")
+                return
+
     # RUN TESTS
     for section, test_run in cfg.tests.items():
         ui.print_title(section.value)

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

@@ -43,22 +43,22 @@ class TestConfig:
         TestSection.Z_AXIS,
         test_z_axis.run,
     ),
-    (
-        TestSection.L_AXIS,
-        test_l_axis.run,
-    ),
     (
         TestSection.X_AXIS,
         test_x_axis.run,
     ),
     (
-        TestSection.DOOR_SWITCH,
-        test_door_switch.run,
+        TestSection.L_AXIS,
+        test_l_axis.run,
     ),
     (
         TestSection.ESTOP,
         test_estop.run,
     ),
+    (
+        TestSection.DOOR_SWITCH,
+        test_door_switch.run,
+    ),
 ]
 
 
@@ -75,21 +75,21 @@ def build_report(test_name: str) -> CSVReport:
                 title=TestSection.Z_AXIS.value,
                 lines=test_z_axis.build_csv_lines(),
             ),
-            CSVSection(
-                title=TestSection.L_AXIS.value,
-                lines=test_l_axis.build_csv_lines(),
-            ),
             CSVSection(
                 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(),
+                title=TestSection.L_AXIS.value,
+                lines=test_l_axis.build_csv_lines(),
             ),
             CSVSection(
                 title=TestSection.ESTOP.value,
                 lines=test_estop.build_csv_lines(),
             ),
+            CSVSection(
+                title=TestSection.DOOR_SWITCH.value,
+                lines=test_door_switch.build_csv_lines(),
+            ),
         ],
     )

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

@@ -1,4 +1,5 @@
 """FLEX Stacker Driver."""
+from typing import Tuple
 from dataclasses import dataclass
 import serial  # type: ignore[import]
 from serial.tools.list_ports import comports  # type: ignore[import]
@@ -38,6 +39,26 @@ def __str__(self) -> str:
         return self.name
 
 
+class PlatformStatus(Enum):
+    """Platform Status."""
+
+    REMOVED = 0
+    EXTENTED = 1
+    RETRACTED = 2
+    ERROR = 4
+
+    @classmethod
+    def from_tuple(cls, status: Tuple[int, int]) -> "PlatformStatus":
+        """Get platform status from tuple."""
+        if status == (0, 0):
+            return PlatformStatus.REMOVED
+        if status == (1, 0):
+            return PlatformStatus.EXTENTED
+        if status == (0, 1):
+            return PlatformStatus.RETRACTED
+        return PlatformStatus.ERROR
+
+
 class Direction(Enum):
     """Direction."""
 
@@ -67,9 +88,9 @@ class MoveParams:
 
     def __str__(self) -> str:
         """Convert to string."""
-        v = "V:" + str(self.max_speed) if self.max_speed else ""
-        a = "A:" + str(self.acceleration) if self.acceleration else ""
-        d = "D:" + str(self.max_speed_discont) if self.max_speed_discont else ""
+        v = "V" + str(self.max_speed) if self.max_speed else ""
+        a = "A" + str(self.acceleration) if self.acceleration else ""
+        d = "D" + str(self.max_speed_discont) if self.max_speed_discont else ""
         return f"{v} {a} {d}".strip()
 
 
@@ -100,7 +121,7 @@ def __init__(self, port: str, simulating: bool = False) -> None:
 
     def _send_and_recv(self, msg: str, guard_ret: str = "") -> str:
         """Internal utility to send a command and receive the response."""
-        assert self._simulating
+        assert not self._simulating
         self._serial.write(msg.encode())
         ret = self._serial.readline()
         if guard_ret:
@@ -142,7 +163,7 @@ def get_limit_switch(self, axis: StackerAxis, direction: Direction) -> bool:
         if self._simulating:
             return True
 
-        _LS_RE = re.compile(rf"^M119 .*{axis.name}{direction.name[0]}:(\d) .* OK\n")
+        _LS_RE = re.compile(rf"^M119 .*{axis.name}{direction.name[0]}:(\d).* OK\n")
         res = self._send_and_recv("M119\n", "M119 XE:")
         match = _LS_RE.match(res)
         assert match, f"Incorrect Response for limit switch: {res}"
@@ -156,12 +177,23 @@ def get_platform_sensor(self, direction: Direction) -> bool:
         if self._simulating:
             return True
 
-        _LS_RE = re.compile(rf"^M121 .*{direction.name[0]}:(\d) .* OK\n")
-        res = self._send_and_recv("M121\n", "M119 E:")
+        _LS_RE = re.compile(rf"^M121 .*{direction.name[0]}:(\d).* OK\n")
+        res = self._send_and_recv("M121\n", "M121 E:")
         match = _LS_RE.match(res)
         assert match, f"Incorrect Response for platform sensor: {res}"
         return bool(int(match.group(1)))
 
+    def get_platform_status(self) -> PlatformStatus:
+        """Get platform status."""
+        if self._simulating:
+            return PlatformStatus.REMOVED
+
+        _LS_RE = re.compile(r"^M121 E:(\d) R:(\d) OK\n")
+        res = self._send_and_recv("M121\n", "M121 ")
+        match = _LS_RE.match(res)
+        assert match, f"Incorrect Response for platform status: {res}"
+        return PlatformStatus.from_tuple((int(match.group(1)), int(match.group(2))))
+
     def get_hopper_door_closed(self) -> bool:
         """Get whether or not door is closed.
 
@@ -205,7 +237,7 @@ def move_to_limit_switch(
         if self._simulating:
             return
         self._send_and_recv(
-            f"G5 {axis.name}{direction.value} {params or ''}\n", "G0 OK"
+            f"G5 {axis.name}{direction.value} {params or ''}\n", "G5 OK"
         )
 
     def __del__(self) -> None:

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

@@ -41,9 +41,6 @@ def axis_at_limit(driver: FlexStacker, axis: StackerAxis) -> Direction:
 
 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)

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

@@ -11,12 +11,6 @@
 from .driver import FlexStacker, StackerAxis, Direction
 
 
-class LimitSwitchError(Exception):
-    """Limit Switch Error."""
-
-    pass
-
-
 def build_csv_lines() -> List[Union[CSVLine, CSVLineRepeating]]:
     """Build CSV Lines."""
     return [
@@ -35,12 +29,12 @@ def get_latch_held_switch(driver: FlexStacker) -> bool:
 
 def close_latch(driver: FlexStacker) -> None:
     """Close latch."""
-    driver.move_to_limit_switch(StackerAxis.L, Direction.EXTENT)
+    driver.move_to_limit_switch(StackerAxis.L, Direction.RETRACT)
 
 
 def open_latch(driver: FlexStacker) -> None:
     """Open latch."""
-    driver.move_in_mm(StackerAxis.L, -22)
+    driver.move_in_mm(StackerAxis.L, 22)
 
 
 def run(driver: FlexStacker, report: CSVReport, section: str) -> None: