Add driver initialize mixin

src/comet/driver/generic/__init__.py

@@ -1,4 +1,5 @@
 from .instrument import (
+    InitializeMixin,
     BeeperMixin,
     ErrorQueueMixin,
     RouteTerminalMixin,
@@ -18,6 +19,7 @@
 from .oscilloscope import Oscilloscope, OscilloscopeChannel
 
 __all__ = [
+    "InitializeMixin",
     "BeeperMixin",
     "ErrorQueueMixin",
     "RouteTerminalMixin",

src/comet/driver/generic/instrument.py

@@ -1,10 +1,11 @@
 from abc import ABC, abstractmethod
-from typing import Optional
+from typing import Any, Mapping, Optional
 
 from ..driver import Driver
 
 __all__ = [
     "InstrumentError",
+    "InitializeMixin",
     "IdentifyMixin",
     "ResetMixin",
     "ClearMixin",
@@ -16,7 +17,6 @@
 
 
 class InstrumentError:
-
     def __init__(self, code: int, message: str) -> None:
         self.code: int = code
         self.message: str = message
@@ -26,32 +26,32 @@ def __repr__(self) -> str:
         return f"{cls_name}({self.code}, {self.message!r})"
 
 
-class IdentifyMixin(ABC):
+class InitializeMixin(ABC):
+    @abstractmethod
+    def initialize(self) -> None: ...
 
+
+class IdentifyMixin(ABC):
     @abstractmethod
     def identify(self) -> str: ...
 
 
 class ResetMixin(ABC):
-
     @abstractmethod
     def reset(self) -> None: ...
 
 
 class ClearMixin(ABC):
-
     @abstractmethod
     def clear(self) -> None: ...
 
 
 class ErrorQueueMixin(ABC):
-
     @abstractmethod
     def next_error(self) -> Optional[InstrumentError]: ...
 
 
 class BeeperMixin(ABC):
-
     BEEPER_ON: bool = True
     BEEPER_OFF: bool = False
 
@@ -65,7 +65,6 @@ def beeper(self, value: bool) -> None: ...
 
 
 class RouteTerminalMixin(ABC):
-
     ROUTE_TERMINAL_FRONT: str = "front"
     ROUTE_TERMINAL_REAR: str = "rear"
 

src/comet/driver/itk/corvustt.py

@@ -1,6 +1,6 @@
 from typing import Optional
 
-from comet.driver.generic import InstrumentError
+from comet.driver.generic import InstrumentError, InitializeMixin
 from comet.driver.generic.motion_controller import (
     Position,
     MotionControllerAxis,
@@ -65,9 +65,20 @@ def is_moving(self) -> bool:
         return bool(int(result) & 0x1)
 
 
-class CorvusTT(MotionController):
+class CorvusTT(InitializeMixin, MotionController):
+    AXES: list[int] = [1, 2, 3]
+
+    def initialize(self) -> None:
+        # Force host mode
+        self.resource.write("0 mode")
+        # Clear clogged control characters from internal buffer.
+        self.resource.query("version")
+
     def identify(self) -> str:
-        return self.resource.query("identify").strip()
+        identity = self.resource.query("identify").strip()
+        version = self.resource.query("version").strip()
+        serialno = self.resource.query("getserialno").strip()
+        return f"{identity} {version} {serialno}"
 
     def reset(self) -> None: ...
 
@@ -78,6 +89,8 @@ def next_error(self) -> Optional[InstrumentError]:
         return parse_error(response)
 
     def __getitem__(self, index: int) -> CorvusAxis:
+        if index not in type(self).AXES:
+            raise IndexError(index)
         return CorvusAxis(self.resource, index)
 
     def calibrate(self) -> None:

tests/test_driver_itk_corvustt.py

@@ -11,9 +11,13 @@ def driver(resource):
 
 
 def test_corvus(driver, resource):
-    resource.buffer = ["Corvus 1 312 1 10F"]
-    assert driver.identify() == "Corvus 1 312 1 10F"
-    assert resource.buffer == ["identify"]
+    resource.buffer = ["\t\x1b1.0"]  # terminal buffer control characters
+    assert driver.initialize() is None
+    assert resource.buffer == ["0 mode", "version"]
+
+    resource.buffer = ["Corvus 1 312 1 10F", "1.0", "123456789"]
+    assert driver.identify() == "Corvus 1 312 1 10F 1.0 123456789"
+    assert resource.buffer == ["identify", "version", "getserialno"]
 
     resource.buffer = []
     assert driver.calibrate() is None
@@ -74,29 +78,29 @@ def test_corvus(driver, resource):
 
 def test_corvus_axes(driver, resource):
     resource.buffer = []
-    assert driver[0].calibrate() is None
-    assert resource.buffer == ["0 ncal"]
+    assert driver[1].calibrate() is None
+    assert resource.buffer == ["1 ncal"]
 
     resource.buffer = []
-    assert driver[1].range_measure() is None
-    assert resource.buffer == ["1 nrm"]
+    assert driver[2].range_measure() is None
+    assert resource.buffer == ["2 nrm"]
 
     resource.buffer = []
-    assert driver[2].move_absolute(2.4) is None
-    assert resource.buffer == ["2.400 2 nmove"]
+    assert driver[3].move_absolute(2.4) is None
+    assert resource.buffer == ["2.400 3 nmove"]
 
     resource.buffer = []
-    assert driver[0].move_relative(1.2) is None
-    assert resource.buffer == ["1.200 0 nrmove"]
+    assert driver[1].move_relative(1.2) is None
+    assert resource.buffer == ["1.200 1 nrmove"]
 
     resource.buffer = ["4.200"]
-    assert driver[1].position == 4.2
-    assert resource.buffer == ["1 npos"]
+    assert driver[2].position == 4.2
+    assert resource.buffer == ["2 npos"]
 
     resource.buffer = ["3"]
-    assert driver[2].is_moving
+    assert driver[3].is_moving
     assert resource.buffer == ["status"]
 
     resource.buffer = ["2"]
-    assert not driver[0].is_moving
+    assert not driver[1].is_moving
     assert resource.buffer == ["status"]