Merge branch 'online_changes' into 'master'

Online changes

See merge request bec/ophyd_devices!2

.gitlab-ci.yml

@@ -1,7 +1,8 @@
 # This file is a template, and might need editing before it works on your project.
 # Official language image. Look for the different tagged releases at:
 # https://hub.docker.com/r/library/python/tags/
-image: "python:3.8" 
+image: python:3.8
+
 #commands to run in the Docker container before starting each job.
 before_script:
   - pip install -r ./requirements.txt
@@ -18,7 +19,6 @@ formatter:
 pytest:
   stage: Test
   script:
-  - apt-get update && apt-get install -y git
     - git clone https://oauth2:$CI_BEC_KEY@gitlab.psi.ch/bec/bec.git
     - pip install -e ./bec/bec_utils
     - pytest -v ./tests

ophyd_devices/galil/galil_ophyd.py

@@ -134,8 +134,10 @@ class GalilController(Controller):
                 f"Expected return value of ':' but instead received {return_val}"
             )
 
-    def is_axis_moving(self, axis_Id) -> bool:
-        return bool(float(self.socket_put_and_receive(f"MG_BG{axis_Id}")))
+    def is_axis_moving(self, axis_Id, axis_Id_numeric) -> bool:
+        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:
         val = float(self.socket_put_and_receive(f"MG_XQ{thread_id}"))
@@ -250,12 +252,13 @@ class GalilReadbackSignal(GalilSignalRO):
         return current_pos / step_mm
 
     def read(self):
+        self._metadata["timestamp"] = time.time()
         val = super().read()
         if self.parent.axis_Id_numeric == 2:
             try:
-                self.parent.device_manager.devices[
-                    self.parent.rt
-                ].obj.controller.set_rotation_angle(val[self.parent.name]["value"])
+                rt = self.parent.device_manager.devices[self.parent.rt]
+                if rt.enabled:
+                    rt.obj.controller.set_rotation_angle(val[self.parent.name]["value"])
             except KeyError:
                 logger.warning("Failed to set RT value during readback.")
         return val
@@ -305,6 +308,8 @@ class GalilSetpointSignal(GalilSignalBase):
             self.controller.socket_put_confirmed(f"ntarget={target_val:.3f}")
             self.controller.socket_put_confirmed("movereq=1")
             self.controller.socket_put_confirmed("XQ#NEWPAR")
+            while self.controller.is_thread_active(0):
+                time.sleep(0.005)
         else:
             raise GalilError("Not all axes are referenced.")
 
@@ -322,7 +327,7 @@ class GalilMotorIsMoving(GalilSignalRO):
     @threadlocked
     def _socket_get(self):
         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(2)
         )
@@ -493,9 +498,10 @@ class GalilMotor(Device, PositionerBase):
                 position,
                 atol=self.tolerance,
             )
-            self._done_moving(success=success)
+
             if not success:
                 print(" stop")
+            self._done_moving(success=success)
             logger.info("Move finished")
 
         threading.Thread(target=move_and_finish, daemon=True).start()

ophyd_devices/rt_lamni/rt_lamni_ophyd.py

@@ -363,7 +363,7 @@ class RtLamniController(Controller):
             mode, number_of_positions_planned, current_position_in_scan = self.get_scan_status()
             time.sleep(0.01)
             if current_position_in_scan > 5:
-                while current_position_in_scan > read_counter:
+                while current_position_in_scan > read_counter + 1:
                     return_table = (self.socket_put_and_receive(f"r{read_counter}")).split(",")
                     # logger.info(f"{return_table}")
                     logger.info(f"Read {read_counter} out of {number_of_positions_planned}")

ophyd_devices/utils/socket.py

@@ -6,10 +6,12 @@ import time
 import typing
 
 import numpy as np
+from bec_utils import bec_logger
 from ophyd import Signal
 from ophyd.utils.errors import DisconnectedError
 
-logger = logging.getLogger("socket")
+logger = bec_logger.logger
+# logger = bec_logger.logger("socket")
 
 
 def raise_if_disconnected(fcn):

tests/test_galil.py

@@ -40,6 +40,7 @@ def test_axis_get(pos, msg, sign):
                 b"ntarget=0.000\r",
                 b"movereq=1\r",
                 b"XQ#NEWPAR\r",
+                b"MG_XQ0\r",
             ],
             [
                 b"1.00",
@@ -48,6 +49,7 @@ def test_axis_get(pos, msg, sign):
                 b":",
                 b":",
                 b":",
+                b"-1",
             ],
         ),
     ],

tests/test_socket.py

@@ -1,5 +1,5 @@
-import pytest
 import socket
+
 from ophyd_devices.utils.socket import SocketIO