From 204274ff8c10d6e57b7b5e2dd8f28be0093f06c1 Mon Sep 17 00:00:00 2001
From: mohacsi_i <istvan.mohacsi@psi.ch>
Date: Fri, 23 Feb 2024 16:15:09 +0100
Subject: [PATCH] Extended motor class

---
 .../epics/db/office_teststand_bec_config.yaml |  3 +-
 .../epics/devices/AerotechAutomation1.py      | 46 +++++++++++++++----
 2 files changed, 40 insertions(+), 9 deletions(-)

diff --git a/ophyd_devices/epics/db/office_teststand_bec_config.yaml b/ophyd_devices/epics/db/office_teststand_bec_config.yaml
index 77866eb..8d704d4 100644
--- a/ophyd_devices/epics/db/office_teststand_bec_config.yaml
+++ b/ophyd_devices/epics/db/office_teststand_bec_config.yaml
@@ -1,6 +1,7 @@
 es1_roty:
   description: 'Test rotation stage'
-  deviceClass: EpicsMotor 
+#  deviceClass: EpicsMotor 
+  deviceClass: epics:devices:EpicsMotorX 
   deviceConfig: {prefix: 'X02DA-ES1-SMP1:ROTY'}
   onFailure: buffer
   enabled: true
diff --git a/ophyd_devices/epics/devices/AerotechAutomation1.py b/ophyd_devices/epics/devices/AerotechAutomation1.py
index f1011c8..aa6a255 100644
--- a/ophyd_devices/epics/devices/AerotechAutomation1.py
+++ b/ophyd_devices/epics/devices/AerotechAutomation1.py
@@ -1,5 +1,6 @@
 from ophyd import Device, Component, EpicsMotor, EpicsSignal, EpicsSignalRO, Kind, DerivedSignal
 from ophyd.status import Status, SubscriptionStatus, StatusBase, DeviceStatus
+from ophyd.flyers import FlyerInterface
 from time import sleep
 import warnings
 import numpy as np
@@ -14,16 +15,45 @@ from typing import Union
 from collections import OrderedDict
 
 
-class EpicsMotorX(Device):
-    mot = Component(EpicsMotor, "", name='mot')
-    def move(position):
-        self.mot.move(position, wait=True)
+#class EpicsMotorX(EpicsMotor):
+#    pass
+
+
+class EpicsMotorX(EpicsMotor):
+    SUB_PROGRESS = "progress"
+
+    def __init__(self, prefix="", *, name, kind=None, read_attrs=None, configuration_attrs=None, parent=None, **kwargs):
+        super().__init__(prefix=prefix, name=name, kind=kind, read_attrs=read_attrs, configuration_attrs=configuration_attrs, parent=parent, **kwargs)
+        self._startPosition = None
+        self._targetPosition = None
+        self.subscribe(self._progress_update, run=False)
+
+    def configure(self, d: dict):
+        if "target" in d:
+            self._targetPosition = d['target']
+        if "position" in d:
+            self._targetPosition = d['position']
+        #super().configure(d)
+
+    def kickoff(self):
+        self._startPosition = float( self.position)
+        return self.move(self._targetPosition, wait=False)
+
+    def _progress_update(self, value, **kwargs) -> None:
+        """Progress update on the scan"""
+        if (self._startPosition is None) or (self._targetPosition is None) or (not self.moving):
+            self._run_subs( sub_type=self.SUB_PROGRESS, value=1, max_value=1, done=1, )
+            return
+
+        progress = np.abs( (value-self._startPosition)/(self._targetPosition-self._startPosition) )
+        max_value = 100
+        self._run_subs(
+            sub_type=self.SUB_PROGRESS,
+            value=int(100*progress), max_value=max_value, done=int(np.isclose(max_value, progress, 1e-3)), )
+
+
 
-    def goto(position, wait=True):
-        super().move(position, wait)
 
-    def sleep(time_ms):
-        sleep(time_ms)
 
 
 def epicsCharArray2String(raw: bytes) -> str: