fix(hardware-testing): stacker qc script add error handling (#16988)

Author: ahiuchingau

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

@@ -117,7 +117,7 @@ def __init__(self, port: str, simulating: bool = False) -> None:
         """Constructor."""
         self._simulating = simulating
         if not self._simulating:
-            self._serial = serial.Serial(port, baudrate=STACKER_FREQ)
+            self._serial = serial.Serial(port, baudrate=STACKER_FREQ, timeout=60)
 
     def _send_and_recv(self, msg: str, guard_ret: str = "") -> str:
         """Internal utility to send a command and receive the response."""
@@ -155,6 +155,12 @@ def set_serial_number(self, sn: str) -> None:
             return
         self._send_and_recv(f"M996 {sn}\n", "M996 OK")
 
+    def stop_motor(self) -> None:
+        """Stop motor movement."""
+        if self._simulating:
+            return
+        self._send_and_recv("M0\n")
+
     def get_limit_switch(self, axis: StackerAxis, direction: Direction) -> bool:
         """Get limit switch status.
 
@@ -243,4 +249,5 @@ def move_to_limit_switch(
     def __del__(self) -> None:
         """Close serial port."""
         if not self._simulating:
+            self.stop_motor()
             self._serial.close()

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

@@ -14,7 +14,7 @@ def test_limit_switches_per_direction(
     direction: Direction,
     report: CSVReport,
     section: str,
-    speed: float = 50.0,
+    speed: float = 10.0,
 ) -> None:
     """Sequence to test the limit switch for one direction."""
     ui.print_header(f"{axis} Limit Switch - {direction} direction")
@@ -26,7 +26,7 @@ def test_limit_switches_per_direction(
 
     # move until the limit switch is reached
     print(f"moving towards {direction} limit switch...\n")
-    driver.move_to_limit_switch(axis, direction, MoveParams(max_speed=speed))
+    driver.move_to_limit_switch(axis, direction, MoveParams(max_speed_discont=speed))
     result = driver.get_limit_switch(axis, direction)
     opposite_result = not driver.get_limit_switch(axis, direction.opposite())
     print(f"{direction} switch triggered: {result}")