From 1f9ebdc6b63b7f5461123e484eb129c4f6deed08 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=C3=89ric=20Piel?= <piel@delmic.com>
Date: Thu, 9 Jan 2025 17:11:55 +0100
Subject: [PATCH] [fix] simulated stage could take very long doing an absolute
 move to 0

When asking a moveAbs() to position 0, which is usually the center of
the axis, the code would detect it's not a float, and concider it as a
"arbitrary move". If the speed was set to something "reasonable" like
1 mm/s, that would cause a 100 s move.

=> detect it's a arbitrary move by the presence of .choices
---
 src/odemis/driver/simulated.py           | 12 ++++++++----
 src/odemis/driver/test/simulated_test.py | 18 ++++++++++++++++++
 2 files changed, 26 insertions(+), 4 deletions(-)

diff --git a/src/odemis/driver/simulated.py b/src/odemis/driver/simulated.py
index 1a18099c2c..b6f17f3039 100644
--- a/src/odemis/driver/simulated.py
+++ b/src/odemis/driver/simulated.py
@@ -382,8 +382,8 @@ def _doMoveRel(self, shift):
                                  (axis, self._position[axis] + change, rng))
 
             self._position[axis] += change
-            logging.info("moving axis %s to %f", axis, self._position[axis])
             maxtime = max(maxtime, abs(change) / self.speed.value[axis] + 0.001)
+            logging.info("moving axis %s to %f", axis, self._position[axis])
 
         logging.debug("Sleeping %g s", maxtime)
         time.sleep(maxtime)
@@ -392,14 +392,18 @@ def _doMoveRel(self, shift):
     def _doMoveAbs(self, pos):
         maxtime = 0
         for axis, new_pos in pos.items():
-            if isinstance(new_pos, float):
+            if hasattr(self.axes[axis], "choices"):
+                # It's not a linear axis => just make it last an arbitrary time, corresponding to moving by 1m.
+                # Default speed is 1 m/s, so 1s.
+                maxtime = max(maxtime, 1 / self.speed.value[axis])
+            else:  # linear axis
                 change = self._position[axis] - new_pos
                 maxtime = max(maxtime, abs(change) / self.speed.value[axis])
-            else:  # for axes which are not of type float
-                maxtime = max(maxtime, 1 / self.speed.value[axis])
+
             self._position[axis] = new_pos
             logging.info("moving axis %s to %s", axis, self._position[axis])
 
+        logging.debug("Sleeping %g s", maxtime)
         time.sleep(maxtime)
         self._updatePosition()
 
diff --git a/src/odemis/driver/test/simulated_test.py b/src/odemis/driver/test/simulated_test.py
index c304cf2254..3dab21bb23 100644
--- a/src/odemis/driver/test/simulated_test.py
+++ b/src/odemis/driver/test/simulated_test.py
@@ -105,6 +105,24 @@ def test_moveAbs(self):
         f.result()  # wait
         testing.assert_pos_almost_equal(move, self.dev.position.value, atol=1e-7)
 
+        # Move to 0 (int), which used to cause a bug in the speed computation
+        speed = {}
+        for axis in self.dev.axes:
+            rng = self.dev.axes[axis].range
+            move[axis] = rng[0]
+            print(rng)
+            speed[axis] = (rng[1] - rng[0]) / 1  # 1 s to go to whole range
+        self.dev.moveAbsSync(move)
+        logging.info("Updating speed to %s", speed)
+        self.dev.speed.value = speed
+
+        # Should take ~1s (used to take 5s)
+        move = {a: 0 for a in self.dev.axes}
+        t_start = time.time()
+        self.dev.moveAbsSync(move)
+        t_end = time.time()
+        self.assertLess(t_end - t_start, 2)
+
     def test_moveRel(self):
         prev_pos = self.dev.position.value
         move = {}