feat: trigger iterates steps in bg thread

mx_bec/devices/beam_steering.py

@@ -2,14 +2,14 @@
 
 from __future__ import annotations
 
+import threading
 from typing import Literal, cast
 
 from bec_lib.logger import bec_logger
 from ophyd import Component as Cpt
-from ophyd import Kind, Signal
+from ophyd import DeviceStatus, Kind, Signal
 from ophyd_devices import EpicsMotorEC
 from ophyd_devices.interfaces.base_classes.psi_device_base import PSIDeviceBase
-from ophyd_devices.utils.psi_device_base_utils import Status
 
 from mx_bec.devices.beam_profile import BeamProfile
 
@@ -20,6 +20,21 @@ class BeamSteerer(PSIDeviceBase):
     """Based on the beam profile, step towards the centre by moving the focussing mirrors.
     Assumes everything is done at max zoom."""
 
+    def __init__(
+        self,
+        *,
+        name: str,
+        prefix: str = "",
+        scan_info: ScanInfo | None = None,
+        device_manager: DeviceManagerBase | None = None,
+        **kwargs,
+    ):
+        super().__init__(
+            name=name, prefix=prefix, scan_info=scan_info, device_manager=device_manager, **kwargs
+        )
+        self._busy = threading.Lock()
+        self._abort = threading.Event()
+
     # Config
     hfm_step_per_x_px = Cpt(Signal, name="hfm_step_per_x_px", kind=Kind.config)
     vfm_step_per_y_px = Cpt(Signal, name="hfm_step_per_y_px", kind=Kind.config)
@@ -93,8 +108,37 @@ class BeamSteerer(PSIDeviceBase):
             return x_status
         if y_status is not None:
             return y_status
-        return Status(done=True)
+        return None
+
+    def _iterate_steps(self, status):
+        logger.info("Running beam steering...")
+        step_count = 1
+        try:
+            while (_step_status := self.step_towards_centre()) is not None:
+                logger.info(f"Beam steering iteration: {step_count}")
+                step_count += 1
+                if self._abort.is_set():
+                    raise RuntimeError(f"{self.name}: aborted")
+                _step_status.wait()
+        except Exception as exc:
+            status.set_exception(exc)
+        else:
+            status.set_finished()
+        finally:
+            self._busy.release()
 
     def trigger(self):
-        """External interface for 'step_towards_centre'"""
+        """External interface for to iterate stepping towards the centre until finished"""
-        return self.step_towards_centre()
+
+        if not self._busy.acquire(blocking=False):
+            raise RuntimeError(f"{self.name} is still busy")
+        self._abort.clear()
+        status = DeviceStatus(self, timeout=60, settle_time=0.0)
+        threading.Thread(
+            target=self._routine, args=(status,), daemon=True, name=f"{self.name}_trigger"
+        ).start()
+        return status
+
+    def stop(self, *, success=False):
+        self._abort.set()
+        super().stop(success=success)