(#117) (#45) fix sim motor

src/ophyd_async/sim/demo/sim_motor.py

@@ -67,7 +67,7 @@ async def set(self, new_position: float, timeout: float | None = None):
         """
         Asynchronously move the motor to a new position.
         """
-        update, move_status = await self._move(new_position)
+        update, move_status = await self._move(new_position, timeout)
         async for current_position in observe_value(
             self.user_readback, done_status=move_status
         ):
@@ -79,7 +79,7 @@ async def set(self, new_position: float, timeout: float | None = None):
                 current=current_position,
             )
 
-    async def _move(self, new_position: float):
+    async def _move(self, new_position: float, timeout: float | None = None):
         """
         Start the motor moving to a new position.
 
@@ -100,23 +100,24 @@ async def _move(self, new_position: float):
         )
 
         async def update_position():
-            while True:
-                time_elapsed = round(time.monotonic() - start, 2)
-
-                # update position based on time elapsed
-                if time_elapsed >= travel_time:
-                    # successfully reached our target position
-                    await self._user_readback.put(new_position)
-                    break
-                else:
-                    current_position = (
-                        old_position + distance * time_elapsed / travel_time
-                    )
-
-                await self._user_readback.put(current_position)
-
-                # 10hz update loop
-                await asyncio.sleep(0.1)
+            async with asyncio.timeout(timeout):
+                while True:
+                    time_elapsed = round(time.monotonic() - start, 2)
+
+                    # update position based on time elapsed
+                    if time_elapsed >= travel_time:
+                        # successfully reached our target position
+                        await self._user_readback.put(new_position)
+                        break
+                    else:
+                        current_position = (
+                            old_position + distance * time_elapsed / travel_time
+                        )
+
+                    await self._user_readback.put(current_position)
+
+                    # 10hz update loop
+                    await asyncio.sleep(0.1)
 
         # set up a task that updates the motor position at ~10hz
         self._move_status = AsyncStatus(asyncio.create_task(update_position()))

tests/sim/demo/test_sim_motor.py

@@ -4,6 +4,7 @@
 from bluesky.plans import spiral_square
 from bluesky.run_engine import RunEngine
 
+from ophyd_async.core.async_status import AsyncStatusBase
 from ophyd_async.core.device import DeviceCollector
 from ophyd_async.sim.demo.sim_motor import SimMotor
 
@@ -73,16 +74,16 @@ async def test_timeout():
     move_status = m1.set(10, timeout=0.1)
     await asyncio.sleep(0.2)
 
-    # verify status of inner task set up to run _move.update_position()
-    assert isinstance(m1._move_task, asyncio.Task)
-    assert m1._move_task.done
-    assert m1._move_task.cancelled
-
-    # verify status of outer task set up to run _move()
-    assert move_status.task.done
+    # check inner status
+    assert m1._move_status is not None
+    assert m1._move_status.done
+    assert not move_status.success
     assert move_status.task.cancelled
 
-    new_pos = await m1.user_readback.get_value()
-    assert new_pos < 10
+    # check outer status
+    assert isinstance(move_status, AsyncStatusBase)
     assert move_status.done
     assert not move_status.success
+    assert move_status.task.cancelled
+    new_pos = await m1.user_readback.get_value()
+    assert new_pos < 10