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https://github.com/bec-project/ophyd_devices.git
synced 2026-02-08 08:08:41 +01:00
refactor(psi-motor): cleanup and fix tests
This commit is contained in:
Christian Appel
@@ -4,6 +4,7 @@ This module extends the basic EpicsMotor with additional functionality. It
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exposes additional parameters of the EPICS MotorRecord and provides a more
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detailed interface for motors using the new ECMC-based motion systems at PSI.
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"""
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import functools
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from ophyd import Component as Cpt
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@@ -57,7 +58,7 @@ class EpicsMotor(OphydEpicsMotor):
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before movement. Usage is the same as EpicsMotor.
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"""
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tolerated_alarm = AlarmSeverity.INVALID
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tolerated_alarm = AlarmSeverity.MINOR
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motor_deadband = Cpt(
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EpicsSignal, ".RDBD", auto_monitor=True, kind=Kind.omitted, doc="Retry Deadband (EGU)"
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@@ -90,12 +91,10 @@ class EpicsMotor(OphydEpicsMotor):
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# Check if we are at limit switches
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if self.low_limit_switch.get(use_monitor=False) == 1:
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success = False
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exc = RuntimeError(
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f"Motor {self.name} hit the low limit switch during motion")
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exc = RuntimeError(f"Motor {self.name} hit the low limit switch during motion")
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if self.high_limit_switch.get(use_monitor=False) == 1:
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success = False
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exc = RuntimeError(
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f"Motor {self.name} hit the high limit switch during motion")
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exc = RuntimeError(f"Motor {self.name} hit the high limit switch during motion")
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# Check the severity of the alarm field after motion is complete.
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# If there is any alarm at all warn the user, and if the alarm is
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@@ -106,8 +105,7 @@ class EpicsMotor(OphydEpicsMotor):
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status = self.user_readback.alarm_status
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if severity > self.tolerated_alarm:
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self.log.error(
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"Motion failed: %s is in an alarm state "
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"status=%s severity=%s",
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"Motion failed: %s is in an alarm state " "status=%s severity=%s",
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self.name,
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status,
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severity,
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@@ -119,8 +117,7 @@ class EpicsMotor(OphydEpicsMotor):
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)
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else:
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self.log.warning(
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"Motor %s raised an alarm during motion "
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"status=%s severity %s",
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"Motor %s raised an alarm during motion " "status=%s severity %s",
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self.name,
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status,
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severity,
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@@ -138,17 +135,11 @@ class EpicsMotor(OphydEpicsMotor):
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started = self._started_moving = not was_moving and self._moving
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self.log.debug(
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"[ts=%s] %s moving: %s (value=%s)",
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fmt_time(timestamp),
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self,
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self._moving,
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value,
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"[ts=%s] %s moving: %s (value=%s)", fmt_time(timestamp), self, self._moving, value
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)
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if started:
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self._run_subs(
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sub_type=self.SUB_START, timestamp=timestamp, value=value, **kwargs
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)
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self._run_subs(sub_type=self.SUB_START, timestamp=timestamp, value=value, **kwargs)
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if was_moving and not self._moving:
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success, exc = self._check_motion_status()
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@@ -159,9 +150,7 @@ class EpicsMotor(OphydEpicsMotor):
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if success:
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self._run_subs(sub_type=self.SUB_DONE, timestamp=timestamp, value=value)
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self._run_subs(
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sub_type=self._SUB_REQ_DONE, success=success, timestamp=timestamp, **kwargs
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)
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self._run_subs(sub_type=self._SUB_REQ_DONE, success=success, timestamp=timestamp, **kwargs)
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self._reset_sub(self._SUB_REQ_DONE)
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def move(self, position, wait=False, moved_cb=None, timeout=None, **kwargs) -> MoveStatus:
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@@ -197,9 +186,7 @@ class EpicsMotor(OphydEpicsMotor):
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self._run_subs(sub_type=self._SUB_REQ_DONE, success=False)
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self._reset_sub(self._SUB_REQ_DONE)
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status = MoveStatus(
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self, position, timeout=timeout, settle_time=self._settle_time
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)
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status = MoveStatus(self, position, timeout=timeout, settle_time=self._settle_time)
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if moved_cb is not None:
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status.add_callback(functools.partial(moved_cb, obj=self))
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@@ -210,9 +197,9 @@ class EpicsMotor(OphydEpicsMotor):
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status.set_finished()
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else:
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if exception is None:
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exception = UnknownStatusFailure(
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f"{self.name} failed to move to {position}")
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exception = UnknownStatusFailure(f"{self.name} failed to move to {position}")
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status.set_exception(exception)
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self.subscribe(set_status, event_type=self._SUB_REQ_DONE, run=False)
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self.user_setpoint.put(position, wait=False)
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@@ -224,6 +211,7 @@ class EpicsMotor(OphydEpicsMotor):
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raise
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return status
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class EpicsMotorEC(EpicsMotor):
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"""Detailed ECMC EPICS motor class
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@@ -276,9 +264,7 @@ class EpicsMotorEC(EpicsMotor):
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if error:
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success = False
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message_text = self.message_text.get(use_monitor=False)
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exception = RuntimeError(
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f"Motor {self.name} reported ECMC error '{message_text}'"
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)
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exception = RuntimeError(f"Motor {self.name} reported ECMC error '{message_text}'")
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return success, exception
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def move(self, position, wait=False, **kwargs) -> MoveStatus:
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@@ -316,11 +302,9 @@ class EpicsMotorEC(EpicsMotor):
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might need to push physical buttons.
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"""
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# Reset the error
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self.error_reset.set(1, settle_time=0.2).wait()
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self.error_reset.set(1, settle_time=0.2).wait(timeout=5) # block for 5s
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# Check if it disappeared
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error = self.error.get(auto_monitor=False)
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if error:
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message_text = self.message_text.get(auto_monitor=False)
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raise RuntimeError(
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f"Failed to reset axis, still in error '{message_text}'"
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)
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raise RuntimeError(f"Failed to reset axis, still in error '{message_text}'")
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