feat: extension for epics motors from xiaoqiang

ophyd_devices/epics/devices/epics_motor_ex.py

@@ -0,0 +1,44 @@
+from ophyd import Component as Cpt, EpicsSignal, EpicsMotor
+
+
+class EpicsMotorEx(EpicsMotor):
+    """Extend EpicsMotor with extra configuration fields."""
+
+    # configuration
+    motor_resolution = Cpt(EpicsSignal, ".MRES", kind="config", auto_monitor=True)
+    base_velocity = Cpt(EpicsSignal, ".VBAS", kind="config", auto_monitor=True)
+    backlash_distance = Cpt(EpicsSignal, ".BDST", kind="config", auto_monitor=True)
+
+    def __init__(
+        self,
+        prefix="",
+        *,
+        name,
+        kind=None,
+        read_attrs=None,
+        configuration_attrs=None,
+        parent=None,
+        **kwargs
+    ):
+        # get configuration attributes from kwargs and then remove them
+        attrs = {}
+        for key, value in kwargs.items():
+            if hasattr(EpicsMotorEx, key) and isinstance(getattr(EpicsMotorEx, key), Cpt):
+                attrs[key] = value
+        for key in attrs:
+            kwargs.pop(key)
+
+        super().__init__(
+            prefix,
+            name=name,
+            kind=kind,
+            read_attrs=read_attrs,
+            configuration_attrs=configuration_attrs,
+            parent=parent,
+            **kwargs
+        )
+
+        # set configuration attributes
+        for key, value in attrs.items():
+            print("setting ", key, "=", value)
+            getattr(self, key).put(value)