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fixed bug that lead galil to quit unexpectedly

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This commit is contained in:
e20216 2022-10-12 15:59:49 +02:00
parent e66208ca18
commit 0b774f25dd
1 changed files with 12 additions and 7 deletions
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19
ophyd_devices/galil/galil_ophyd.py
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@ -134,8 +134,10 @@ class GalilController(Controller):
f"Expected return value of ':' but instead received {return_val}" f"Expected return value of ':' but instead received {return_val}"
) )
def is_axis_moving(self, axis_Id) -> bool: def is_axis_moving(self, axis_Id, axis_Id_numeric) -> bool:
return bool(float(self.socket_put_and_receive(f"MG_BG{axis_Id}"))) is_moving = bool(float(self.socket_put_and_receive(f"MG_BG{axis_Id}")) != 0)
backlash_is_active = bool(float(self.socket_put_and_receive(f"MGbcklact[axis]")) != 0)
return bool(is_moving or backlash_is_active)
def is_thread_active(self, thread_id: int) -> bool: def is_thread_active(self, thread_id: int) -> bool:
val = float(self.socket_put_and_receive(f"MG_XQ{thread_id}")) val = float(self.socket_put_and_receive(f"MG_XQ{thread_id}"))
@ -254,9 +256,9 @@ class GalilReadbackSignal(GalilSignalRO):
val = super().read() val = super().read()
if self.parent.axis_Id_numeric == 2: if self.parent.axis_Id_numeric == 2:
try: try:
self.parent.device_manager.devices[ rt = self.parent.device_manager.devices[self.parent.rt]
self.parent.rt if rt.enabled:
].obj.controller.set_rotation_angle(val[self.parent.name]["value"]) rt.obj.controller.set_rotation_angle(val[self.parent.name]["value"])
except KeyError: except KeyError:
logger.warning("Failed to set RT value during readback.") logger.warning("Failed to set RT value during readback.")
return val return val
@ -306,6 +308,8 @@ class GalilSetpointSignal(GalilSignalBase):
self.controller.socket_put_confirmed(f"ntarget={target_val:.3f}") self.controller.socket_put_confirmed(f"ntarget={target_val:.3f}")
self.controller.socket_put_confirmed("movereq=1") self.controller.socket_put_confirmed("movereq=1")
self.controller.socket_put_confirmed("XQ#NEWPAR") self.controller.socket_put_confirmed("XQ#NEWPAR")
while self.controller.is_thread_active(0):
time.sleep(0.005)
else: else:
raise GalilError("Not all axes are referenced.") raise GalilError("Not all axes are referenced.")
@ -323,7 +327,7 @@ class GalilMotorIsMoving(GalilSignalRO):
@threadlocked @threadlocked
def _socket_get(self): def _socket_get(self):
return ( return (
self.controller.is_axis_moving(self.parent.axis_Id) self.controller.is_axis_moving(self.parent.axis_Id, self.parent.axis_Id_numeric)
or self.controller.is_thread_active(0) or self.controller.is_thread_active(0)
or self.controller.is_thread_active(2) or self.controller.is_thread_active(2)
) )
@ -494,9 +498,10 @@ class GalilMotor(Device, PositionerBase):
position, position,
atol=self.tolerance, atol=self.tolerance,
) )
self._done_moving(success=success)
if not success: if not success:
print(" stop") print(" stop")
self._done_moving(success=success)
logger.info("Move finished") logger.info("Move finished")
threading.Thread(target=move_and_finish, daemon=True).start() threading.Thread(target=move_and_finish, daemon=True).start()