fix(omny): report gripper force aborts from the v136 forceab flag

Firmware v136 sets forceab when the force check stops all programs, so
a trip is reported even when the voltage has recovered by the time BEC
looks. ForceAbort is also shown in the status line of describe().

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01M8zoDz1DGZxhmZy9jzaUYf

csaxs_bec/devices/omny/galil/ogalil_ophyd.py

@@ -174,10 +174,10 @@ class OMNYGalilController(GalilController):
         """Clear the init-motion flags left behind by a #FES/#FRM that was killed.
 
         #FES and #FRM set initmv and clear it only on their last lines. If they are
-        killed partway (AB from the temperature, following error or gripper force
-        checks, AB/HX from #CMDERR), initmv stays 1 and every later #NEWPAR, #FES
-        and #FRM exits silently. Both routines run on thread 0, so initmv=1 with
-        thread 0 idle can only be such a leftover.
+        killed partway, initmv stays 1 and every later #NEWPAR, #FES and #FRM exits
+        silently. Since firmware v136 the abort paths clear it themselves, this covers
+        a routine stopped any other way, e.g. HX from a terminal. Both routines run on
+        thread 0, so initmv=1 with thread 0 idle can only be such a leftover.
         """
         if float(self.socket_put_and_receive("MG initmv")) != 1 or self.is_thread_active(0):
             return
@@ -193,19 +193,17 @@ class OMNYGalilController(GalilController):
             return "Motor over temperature (tempab)."
         if float(self.socket_put_and_receive("MG folerr")) == 1:
             return "Following error (folerr)."
-        if (
-            float(self.socket_put_and_receive("MG contrID")) == 1
-            and float(self.socket_put_and_receive("MG _IHH2")) == -2
-        ):
+        if float(self.socket_put_and_receive("MG forceab")) == 1:
+            # only controller 1 sets forceab, the flag stays until the next #GRFCAL
             voltage = float(self.socket_put_and_receive("MG @AN[8001]"))
             force0 = float(self.socket_put_and_receive("MG force0"))
             limit = float(self.socket_put_and_receive("MG forcablm"))
-            if abs(voltage - force0) > limit:
-                return (
-                    f"Gripper force check stopped all programs: sensor {voltage:.2f} V, "
-                    f"force0 {force0:.2f} V, limit {limit:.2f} V. Check that the gripper "
-                    "is free, then run omny_calibrate_gripper_force()."
-                )
+            return (
+                "Gripper force check stopped all programs since the last calibration "
+                f"(forceab): sensor now {voltage:.2f} V, force0 {force0:.2f} V, limit "
+                f"{limit:.2f} V. Check that the gripper is free, then run "
+                "omny_calibrate_gripper_force()."
+            )
         if float(self.socket_put_and_receive("MG initmv")) == 1:
             return "The routine was killed before it finished, no reason found."
         return "The controller reports no abort."
@@ -276,9 +274,10 @@ class OMNYGalilController(GalilController):
         allaxref = float(self.socket_put_and_receive("MGallaxref"))
         tempab = float(self.socket_put_and_receive("MGtempab"))
         timeab = float(self.socket_put_and_receive("MGtimeab"))
+        forceab = float(self.socket_put_and_receive("MGforceab"))
         IgNoFol = float(self.socket_put_and_receive("MGIgNoFol"))
         print(
-            f"OMNY galil firmware {swver:2.0f}, TempAbort: {tempab:1.0f}, Allaxref: {allaxref:1.0f}, TimeAbort: {timeab:1.0f}, Ignore Folerr: {IgNoFol:1.0f}\n"
+            f"OMNY galil firmware {swver:2.0f}, TempAbort: {tempab:1.0f}, Allaxref: {allaxref:1.0f}, TimeAbort: {timeab:1.0f}, ForceAbort: {forceab:1.0f}, Ignore Folerr: {IgNoFol:1.0f}\n"
         )
         if self.sock.port == 8083:
             self._ogalil_switchsocket_status()

csaxs_bec/devices/sim/sim_galil.py

@@ -186,6 +186,8 @@ class SimGalilState:
             "initmv": 0.0,
             "folerr": 0.0,
             "force0": 0.0,
+            "fcalok": 0.0,
+            "forceab": 0.0,
             "forcablm": 2.0,
             "_IHH2": -2.0,
             # dialect status variables (LamNI / OMNY); overridable via sim_variables
@@ -652,6 +654,8 @@ class SimGalilSocket(SimSocketBase):
         if routine == "#GRFCAL":
             with state.lock:
                 state.variables["force0"] = state.analog_inputs[8001]
+                state.variables["fcalok"] = 1.0
+                state.variables["forceab"] = 0.0
             return ":"
         if routine == "#CRESET":
             with state.lock:

csaxs_bec/devices/sim/sim_omny.py

@@ -4,7 +4,7 @@ Simulated OMNY endstation devices.
 Galil (controller1.dmc and siblings): reuses the shared SimGalilState — same base move
 mechanics as flOMNI and the *identical* gripper transfer variable protocol
 (getaprch/mntaprch/mntprgs/mntmod/confirm/atconfir, with mntax=4 and signed mntprgs),
-plus OMNY status variables (swver=134, tempab/timeab, IgNoFol, grstat/relpos/toppin)
+plus OMNY status variables (swver=136, tempab/timeab, IgNoFol, grstat/relpos/toppin)
 and direct axis commands for the shuttle/dewar handling (AC/DC/SP/PR/BG/SH/MO/LD).
 Motor resolutions are hardcoded Python-side (51200; 89565.87 for the rotation axis on
 port 8083) and seeded accordingly.
@@ -102,7 +102,7 @@ class SimOMNYGalilMotor(OMNYGalilMotor):
         stppermm = _OMNY_RESOLUTION
         if int(port) == _OMNY_ROTATION_PORT and self.axis_Id_numeric == _OMNY_ROTATION_AXIS:
             stppermm = _OMNY_ROTATION_RESOLUTION
-        variables = {"swver": 134, "mntax": 4}
+        variables = {"swver": 136, "mntax": 4}
         variables.update(sim_variables or {})
         state.configure_axis(
             self.axis_Id_numeric,

tests/tests_devices/test_ogalil_init_motion.py

@@ -42,8 +42,7 @@ NO_ABORT = {
     "MG tempab": "0.0000",
     "MG timeab": "0.0000",
     "MG folerr": "0.0000",
-    "MG contrID": "1.0000",
-    "MG _IHH2": "-2.0000",
+    "MG forceab": "0.0000",
     "MG @AN[8001]": "-2.1826",
     "MG force0": "-2.1826",
     "MG forcablm": "2.0000",
@@ -55,14 +54,15 @@ NO_ABORT = {
     "changes, expected",
     [
         ({}, "no abort"),
-        ({"MG force0": "2.5488"}, "Gripper force check"),
+        ({"MG forceab": "1.0000", "MG force0": "2.5488"}, "Gripper force check"),
+        # a brief spike: the flag is set although the voltage is back within the limit
+        ({"MG forceab": "1.0000"}, "sensor now -2.18 V"),
         ({"MG tempab": "1.0000"}, "over temperature"),
         ({"MG tempab": "1.0000", "MG timeab": "1.0000"}, "timeab"),
         ({"MG folerr": "1.0000"}, "Following error"),
         ({"MG initmv": "1.0000"}, "killed"),
-        # the force check only exists on controller 1 and only with the RIO connected
-        ({"MG contrID": "2.0000", "MG force0": "2.5488"}, "no abort"),
-        ({"MG _IHH2": "0.0000", "MG force0": "2.5488"}, "no abort"),
+        # the flag decides, not the voltage difference
+        ({"MG force0": "2.5488"}, "no abort"),
     ],
 )
 def test_abort_reason(changes, expected):