csaxs_bec/devices/npoint/npoint.py

@@ -346,7 +346,9 @@ class NpointSetpointSignal(NpointSignalBase):
     Signal to set the target position of an nPoint piezo stage.
     """
 
-    setpoint = 0
+    def __init__(self, signal_name, **kwargs):
+        super().__init__(signal_name, **kwargs)
+        self.setpoint = 0.0
 
     @threadlocked
     def _socket_get(self):
@@ -444,6 +446,14 @@ class NPointAxis(Device, PositionerBase):
 
     def wait_for_connection(self, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
+        self._update_setpoint_from_readback()
+
+    def _update_setpoint_from_readback(self):
+        """
+        The setpoint is only stored locally. After a restart,
+        we need to update it to match the current readback value.
+        """
+        self.user_setpoint.setpoint = self.readback.get()
 
     def destroy(self):
         """Make sure to turn off the controller socket on destroy."""

csaxs_bec/devices/omny/galil/fgalil_ophyd.py

@@ -214,6 +214,14 @@ class FlomniGalilMotor(Device, PositionerBase):
 
     def wait_for_connection(self, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
+        self._update_setpoint_from_readback()
+
+    def _update_setpoint_from_readback(self):
+        """
+        The setpoint is only stored locally. After a restart,
+        we need to update it to match the current readback value.
+        """
+        self.user_setpoint.setpoint = self.readback.get()
 
     def destroy(self):
         """Make sure to turn off the controller socket on destroy."""

csaxs_bec/devices/omny/galil/fupr_ophyd.py

@@ -187,6 +187,14 @@ class FuprGalilMotor(Device, PositionerBase):
 
     def wait_for_connection(self, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
+        self._update_setpoint_from_readback()
+
+    def _update_setpoint_from_readback(self):
+        """
+        The setpoint is only stored locally. After a restart,
+        we need to update it to match the current readback value.
+        """
+        self.user_setpoint.setpoint = self.readback.get()
 
     def destroy(self):
         """Make sure to turn off the controller socket on destroy."""

csaxs_bec/devices/omny/galil/galil_ophyd.py

@@ -381,7 +381,10 @@ class GalilReadbackSignal(GalilSignalRO):
 
 
 class GalilSetpointSignal(GalilSignalBase):
-    setpoint = 0
+
+    def __init__(self, signal_name, **kwargs):
+        super().__init__(signal_name, **kwargs)
+        self.setpoint = 0.0
 
     def _socket_get(self) -> float:
         """Get command for receiving the setpoint / target value.

csaxs_bec/devices/omny/galil/lgalil_ophyd.py

@@ -262,6 +262,14 @@ class LamniGalilMotor(Device, PositionerBase):
 
     def wait_for_connection(self, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
+        self._update_setpoint_from_readback()
+
+    def _update_setpoint_from_readback(self):
+        """
+        The setpoint is only stored locally. After a restart,
+        we need to update it to match the current readback value.
+        """
+        self.user_setpoint.setpoint = self.readback.get()
 
     def destroy(self):
         """Make sure to turn off the controller socket on destroy."""

csaxs_bec/devices/omny/galil/ogalil_ophyd.py

@@ -326,6 +326,14 @@ class OMNYGalilMotor(Device, PositionerBase):
 
     def wait_for_connection(self, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
+        self._update_setpoint_from_readback()
+
+    def _update_setpoint_from_readback(self):
+        """
+        The setpoint is only stored locally. After a restart,
+        we need to update it to match the current readback value.
+        """
+        self.user_setpoint.setpoint = self.readback.get()
 
     def destroy(self):
         """Make sure to turn off the controller socket on destroy."""

csaxs_bec/devices/omny/galil/sgalil_ophyd.py

@@ -388,7 +388,10 @@ class GalilReadbackSignal(GalilSignalRO):
 
 
 class GalilSetpointSignal(GalilSignalBase):
-    setpoint = 0
+
+    def __init__(self, signal_name, **kwargs):
+        super().__init__(signal_name, **kwargs)
+        self.setpoint = 0.0
 
     def _socket_get(self) -> float:
         """Get command for receiving the setpoint / target value.
@@ -532,6 +535,14 @@ class SGalilMotor(Device, PositionerBase):
 
     def wait_for_connection(self, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
+        self._update_setpoint_from_readback()
+
+    def _update_setpoint_from_readback(self):
+        """
+        The setpoint is only stored locally. After a restart,
+        we need to update it to match the current readback value.
+        """
+        self.user_setpoint.setpoint = self.readback.get()
 
     def destroy(self):
         """Make sure to turn off the controller socket on destroy."""

csaxs_bec/devices/omny/rt/rt_flomni_ophyd.py

@@ -490,7 +490,6 @@ class RtFlomniReadbackSignal(RtReadbackSignal):
 
 
 class RtFlomniSetpointSignal(RtSetpointSignal):
-    setpoint = 0
 
     @retry_once
     @threadlocked
@@ -605,6 +604,14 @@ class RtFlomniMotor(Device, PositionerBase):
 
     def wait_for_connection(self, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
+        self._update_setpoint_from_readback()
+
+    def _update_setpoint_from_readback(self):
+        """
+        The setpoint is only stored locally. After a restart,
+        we need to update it to match the current readback value.
+        """
+        self.user_setpoint.setpoint = self.readback.get()
 
     def destroy(self):
         """Make sure to turn off the controller socket on destroy."""

csaxs_bec/devices/omny/rt/rt_lamni_ophyd.py

@@ -441,7 +441,10 @@ class RtLamniReadbackSignal(RtLamniSignalRO):
 
 
 class RtLamniSetpointSignal(RtLamniSignalBase):
-    setpoint = 0
+
+    def __init__(self, signal_name, **kwargs):
+        super().__init__(signal_name, **kwargs)
+        self.setpoint = 0.0
 
     def _socket_get(self) -> float:
         """Get command for receiving the setpoint / target value.
@@ -563,6 +566,14 @@ class RtLamniMotor(Device, PositionerBase):
 
     def wait_for_connection(self, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
+        self._update_setpoint_from_readback()
+
+    def _update_setpoint_from_readback(self):
+        """
+        The setpoint is only stored locally. After a restart,
+        we need to update it to match the current readback value.
+        """
+        self.user_setpoint.setpoint = self.readback.get()
 
     def destroy(self):
         """Make sure to turn off the controller socket on destroy."""

csaxs_bec/devices/omny/rt/rt_omny_ophyd.py

@@ -901,7 +901,6 @@ class RtOMNYReadbackSignal(RtReadbackSignal):
 
 
 class RtOMNYSetpointSignal(RtSetpointSignal):
-    setpoint = 0
 
     @retry_once
     @threadlocked
@@ -1002,6 +1001,14 @@ class RtOMNYMotor(Device, PositionerBase):
 
     def wait_for_connection(self, timeout: float = 30.0) -> bool:
         self.controller.on(timeout=timeout)
+        self._update_setpoint_from_readback()
+
+    def _update_setpoint_from_readback(self):
+        """
+        The setpoint is only stored locally. After a restart,
+        we need to update it to match the current readback value.
+        """
+        self.user_setpoint.setpoint = self.readback.get()
 
     def destroy(self):
         """Make sure to turn off the controller socket on destroy."""

csaxs_bec/devices/omny/rt/rt_ophyd.py

@@ -81,7 +81,10 @@ class RtReadbackSignal(RtSignalRO):
 
 
 class RtSetpointSignal(RtSignalBase):
-    setpoint = 0
+
+    def __init__(self, signal_name, **kwargs):
+        super().__init__(signal_name, **kwargs)
+        self.setpoint = 0.0
 
     def _socket_get(self) -> float:
         """Get command for receiving the setpoint / target value.

tests/tests_devices/test_galil.py

@@ -217,7 +217,8 @@ def test_wait_for_connection_called(dm_with_devices):
             }
             motor = motor_cls(*args, **kwargs)
             with mock.patch.object(motor.controller, "on") as mock_on:
-                motor.controller.get_position = mock.MagicMock(return_value=0)
+                if motor_cls != GalilRIO:  # galilrio does not have a proper setpoint
+                    motor._update_setpoint_from_readback = mock.MagicMock()
                 motor.wait_for_connection(timeout=5.0)
                 assert mock_on.call_args_list[-1] == mock.call(timeout=5.0)