csaxs_bec/devices/npoint/npoint.py

@@ -442,6 +442,9 @@ class NPointAxis(Device, PositionerBase):
             self.low_limit_travel.put(limits[0])
             self.high_limit_travel.put(limits[1])
 
+    def wait_for_connection(self, all_signals=False, timeout: float = 30.0) -> bool:
+        self.controller.on(timeout=timeout)
+
     @property
     def limits(self):
         return (self.low_limit_travel.get(), self.high_limit_travel.get())

csaxs_bec/devices/omny/galil/fgalil_ophyd.py

@@ -212,8 +212,7 @@ class FlomniGalilMotor(Device, PositionerBase):
             self.low_limit_travel.put(limits[0])
             self.high_limit_travel.put(limits[1])
 
-    def wait_for_connection(self, timeout: int = 30, **kwargs) -> None:
-        """Wait for the device to be connected."""
+    def wait_for_connection(self, all_signals=False, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
 
     @property

csaxs_bec/devices/omny/galil/fupr_ophyd.py

@@ -185,8 +185,7 @@ class FuprGalilMotor(Device, PositionerBase):
             self.low_limit_travel.put(limits[0])
             self.high_limit_travel.put(limits[1])
 
-    def wait_for_connection(self, timeout: int = 30, **kwargs) -> None:
-        """Wait for the device to be connected."""
+    def wait_for_connection(self, all_signals=False, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
 
     @property

csaxs_bec/devices/omny/galil/galil_rio.py

@@ -0,0 +1,35 @@
+from ophyd_devices.utils.controller import Controller, threadlocked
+from ophyd_devices.utils.socket import SocketSignal
+
+from csaxs_bec.devices.omny.galil.galil_ophyd import GalilCommunicationError, retry_once
+
+
+class GalilRIO(Controller):
+
+    @threadlocked
+    def socket_put(self, val: str) -> None:
+        self.sock.put(f"{val}\r".encode())
+
+    @retry_once
+    def socket_put_confirmed(self, val: str) -> None:
+        """Send message to controller and ensure that it is received by checking that the socket receives a colon.
+
+        Args:
+            val (str): Message that should be sent to the socket
+
+        Raises:
+            GalilCommunicationError: Raised if the return value is not a colon.
+
+        """
+        return_val = self.socket_put_and_receive(val)
+        if return_val != ":":
+            raise GalilCommunicationError(
+                f"Expected return value of ':' but instead received {return_val}"
+            )
+
+
+class GalilRIOSignalBase(SocketSignal):
+    def __init__(self, signal_name, **kwargs):
+        self.signal_name = signal_name
+        super().__init__(**kwargs)
+        self.rio_controller = self.parent.rio_controller

csaxs_bec/devices/omny/galil/lgalil_ophyd.py

@@ -170,8 +170,7 @@ class LamniGalilMotor(Device, PositionerBase):
             self.low_limit_travel.put(limits[0])
             self.high_limit_travel.put(limits[1])
 
-    def wait_for_connection(self, timeout: int = 30, **kwargs) -> None:
-        """Wait for the device to be connected."""
+    def wait_for_connection(self, all_signals=False, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
 
     @property

csaxs_bec/devices/omny/galil/ogalil_ophyd.py

@@ -324,8 +324,7 @@ class OMNYGalilMotor(Device, PositionerBase):
             self.low_limit_travel.put(limits[0])
             self.high_limit_travel.put(limits[1])
 
-    def wait_for_connection(self, timeout: int = 30, **kwargs) -> None:
-        """Wait for the device to be connected."""
+    def wait_for_connection(self, all_signals=False, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
 
     @property

csaxs_bec/devices/omny/galil/sgalil_ophyd.py

@@ -530,8 +530,7 @@ class SGalilMotor(Device, PositionerBase):
             self.low_limit_travel.put(limits[0])
             self.high_limit_travel.put(limits[1])
 
-    def wait_for_connection(self, timeout: int = 30, **kwargs) -> None:
-        """Wait for the device to be connected."""
+    def wait_for_connection(self, all_signals=False, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
 
     @property

csaxs_bec/devices/omny/rt/rt_flomni_ophyd.py

@@ -678,8 +678,7 @@ class RtFlomniMotor(Device, PositionerBase):
             self.low_limit_travel.put(limits[0])
             self.high_limit_travel.put(limits[1])
 
-    def wait_for_connection(self, timeout: int = 30, **kwargs) -> None:
-        """Wait for the device to be connected."""
+    def wait_for_connection(self, all_signals=False, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
 
     @property

csaxs_bec/devices/omny/rt/rt_lamni_ophyd.py

@@ -588,8 +588,7 @@ class RtLamniMotor(Device, PositionerBase):
             self.low_limit_travel.put(limits[0])
             self.high_limit_travel.put(limits[1])
 
-    def wait_for_connection(self, timeout: int = 30, **kwargs) -> None:
-        """Wait for the device to be connected."""
+    def wait_for_connection(self, all_signals=False, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
 
     @property

csaxs_bec/devices/omny/rt/rt_omny_ophyd.py

@@ -1119,8 +1119,7 @@ class RtOMNYMotor(Device, PositionerBase):
             self.low_limit_travel.put(limits[0])
             self.high_limit_travel.put(limits[1])
 
-    def wait_for_connection(self, timeout: int = 30, **kwargs) -> None:
-        """Wait for the device to be connected."""
+    def wait_for_connection(self, all_signals=False, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
 
     @property

csaxs_bec/devices/smaract/smaract_ophyd.py

@@ -153,6 +153,9 @@ class SmaractMotor(Device, PositionerBase):
             self.low_limit_travel.put(limits[0])
             self.high_limit_travel.put(limits[1])
 
+    def wait_for_connection(self, all_signals=False, timeout: float = 30.0) -> bool:
+        self.controller.on(timeout=timeout)
+
     @property
     def limits(self):
         return (self.low_limit_travel.get(), self.high_limit_travel.get())

tests/tests_devices/test_galil.py

@@ -2,9 +2,19 @@ import copy
 from unittest import mock
 
 import pytest
+from bec_server.device_server.tests.utils import DMMock
 from ophyd_devices.tests.utils import SocketMock
 
+from csaxs_bec.devices.npoint.npoint import NPointAxis, NPointController
+from csaxs_bec.devices.omny.galil.fgalil_ophyd import FlomniGalilController, FlomniGalilMotor
+from csaxs_bec.devices.omny.galil.fupr_ophyd import FuprGalilController, FuprGalilMotor
 from csaxs_bec.devices.omny.galil.lgalil_ophyd import LamniGalilController, LamniGalilMotor
+from csaxs_bec.devices.omny.galil.ogalil_ophyd import OMNYGalilController, OMNYGalilMotor
+from csaxs_bec.devices.omny.galil.sgalil_ophyd import GalilController, SGalilMotor
+from csaxs_bec.devices.omny.rt.rt_flomni_ophyd import RtFlomniController, RtFlomniMotor
+from csaxs_bec.devices.omny.rt.rt_lamni_ophyd import RtLamniController, RtLamniMotor
+from csaxs_bec.devices.omny.rt.rt_omny_ophyd import RtOMNYController, RtOMNYMotor
+from csaxs_bec.devices.smaract.smaract_ophyd import SmaractController, SmaractMotor
 
 
 @pytest.fixture(scope="function")
@@ -161,3 +171,42 @@ def test_find_reference(leyex, axis_nr, socket_put_messages, socket_get_messages
     except Exception as e:
         print(e)
     assert leyex.controller.sock.buffer_put == socket_put_messages
+
+
+def test_wait_for_connection_called():
+    """Test that wait_for_connection is called on all motors that have a socket controller."""
+    dm = DMMock()
+    testable_connections = [
+        (NPointAxis, NPointController),
+        (FlomniGalilMotor, FlomniGalilController),
+        (FuprGalilMotor, FuprGalilController),
+        (LamniGalilMotor, LamniGalilController),
+        (OMNYGalilMotor, OMNYGalilController),
+        (SGalilMotor, GalilController),
+        (RtFlomniMotor, RtFlomniController),
+        (RtLamniMotor, RtLamniController),
+        (RtOMNYMotor, RtOMNYController),
+        (SmaractMotor, SmaractController),
+    ]
+    for motor_cls, controller_cls in testable_connections:
+        # Store values to restore later
+        ctrl_axis_backup = controller_cls._axes_per_controller
+        try:
+            controller_cls._reset_controller()
+            controller_cls._axes_per_controller = 3
+
+            motor = motor_cls(
+                "C",
+                name="test_motor",
+                host="mpc2680.psi.ch",
+                port=8081,
+                socket_cls=SocketMock,
+                device_manager=dm,
+            )
+            with mock.patch.object(motor.controller, "on") as mock_on:
+
+                motor.wait_for_connection(timeout=5.0)
+                assert mock_on.call_args_list[-1] == mock.call(timeout=5.0)
+        finally:
+            controller_cls._reset_controller()
+            controller_cls._axes_per_controller = ctrl_axis_backup