raise exception on failed motion

ophyd_devices/devices/psi_motor.py

@@ -4,12 +4,14 @@ This module extends the basic EpicsMotor with additional functionality. It
 exposes additional parameters of the EPICS MotorRecord and provides a more
 detailed interface for motors using the new ECMC-based motion systems at PSI.
 """
+import functools
 
 from ophyd import Component as Cpt
 from ophyd import EpicsMotor as OphydEpicsMotor
 from ophyd import EpicsSignal, EpicsSignalRO, Kind
 from ophyd.status import MoveStatus
-from ophyd.utils.epics_pvs import AlarmSeverity
+from ophyd.utils.epics_pvs import AlarmSeverity, fmt_time
+from ophyd.utils.errors import UnknownStatusFailure
 
 
 class SpmgStates:
@@ -81,7 +83,88 @@ class EpicsMotor(OphydEpicsMotor):
     high_limit_travel = Cpt(EpicsSignalWithCheck, ".HLM", kind=Kind.omitted, auto_monitor=True)
     low_limit_travel = Cpt(EpicsSignalWithCheck, ".LLM", kind=Kind.omitted, auto_monitor=True)
 
-    def move(self, position, wait=False, **kwargs) -> MoveStatus:
+    def _check_motion_status(self) -> tuple[bool, Exception | None]:
+        """Check if the motion finished successfully"""
+        success = True
+        exc = None
+        # Check if we are at limit switches
+        if self.low_limit_switch.get(use_monitor=False) == 1:
+            success = False
+            exc = RuntimeError(
+                f"Motor {self.name} hit the low limit switch during motion")
+        if self.high_limit_switch.get(use_monitor=False) == 1:
+            success = False
+            exc = RuntimeError(
+                f"Motor {self.name} hit the high limit switch during motion")
+
+        # Check the severity of the alarm field after motion is complete.
+        # If there is any alarm at all warn the user, and if the alarm is
+        # greater than what is tolerated, mark the move as unsuccessful
+        severity = self.user_readback.alarm_severity
+
+        if severity != AlarmSeverity.NO_ALARM:
+            status = self.user_readback.alarm_status
+            if severity > self.tolerated_alarm:
+                self.log.error(
+                    "Motion failed: %s is in an alarm state "
+                    "status=%s severity=%s",
+                    self.name,
+                    status,
+                    severity,
+                )
+                success = False
+                exc = RuntimeError(
+                    f"Motor {self.name} is in an alarm state "
+                    f"status={status} severity={severity}"
+                )
+            else:
+                self.log.warning(
+                    "Motor %s raised an alarm during motion "
+                    "status=%s severity %s",
+                    self.name,
+                    status,
+                    severity,
+                )
+
+        return success, exc
+
+    def _move_changed(self, timestamp=None, value=None, sub_type=None, **kwargs):
+        """Callback from EPICS, indicating that movement status has changed"""
+        was_moving = self._moving
+        self._moving = value != 1
+
+        started = False
+        if not self._started_moving:
+            started = self._started_moving = not was_moving and self._moving
+
+        self.log.debug(
+            "[ts=%s] %s moving: %s (value=%s)",
+            fmt_time(timestamp),
+            self,
+            self._moving,
+            value,
+        )
+
+        if started:
+            self._run_subs(
+                sub_type=self.SUB_START, timestamp=timestamp, value=value, **kwargs
+            )
+
+        if was_moving and not self._moving:
+            success, exc = self._check_motion_status()
+            self._done_moving(success=success, timestamp=timestamp, value=value, exception=exc)
+
+    def _done_moving(self, success=True, timestamp=None, value=None, **kwargs):
+        """Overload PositionerBase._done_moving to pass kwargs to _SUB_REQ_DONE callbacks."""
+        if success:
+            self._run_subs(sub_type=self.SUB_DONE, timestamp=timestamp, value=value)
+
+        self._run_subs(
+            sub_type=self._SUB_REQ_DONE, success=success, timestamp=timestamp, **kwargs
+        )
+        self._reset_sub(self._SUB_REQ_DONE)
+
+    def move(self, position, wait=False, moved_cb=None, timeout=None, **kwargs) -> MoveStatus:
         """Extended move function with a few sanity checks
 
         Note that the default EpicsMotor only supports the 'GO' movement mode.
@@ -102,8 +185,44 @@ class EpicsMotor(OphydEpicsMotor):
         if self.low_limit_switch.get(use_monitor=False) and position < self.position:
             self.log.warning("Attempting to move below active LLS")
 
-        return super().move(position, wait, **kwargs)
+        self._started_moving = False
 
+        # Modified PositionerBase.move method to call set_finished/set_exception instead of
+        # deprecated _finished on the status object.
+        if timeout is None:
+            timeout = self._timeout
+
+        self.check_value(position)
+
+        self._run_subs(sub_type=self._SUB_REQ_DONE, success=False)
+        self._reset_sub(self._SUB_REQ_DONE)
+
+        status = MoveStatus(
+            self, position, timeout=timeout, settle_time=self._settle_time
+        )
+
+        if moved_cb is not None:
+            status.add_callback(functools.partial(moved_cb, obj=self))
+            # the status object will run this callback when finished
+
+        def set_status(success, exception=None, **kwargs):
+            if success:
+                status.set_finished()
+            else:
+                if exception is None:
+                    exception = UnknownStatusFailure(
+                        f"{self.name} failed to move to {position}")
+                status.set_exception(exception)
+        self.subscribe(set_status, event_type=self._SUB_REQ_DONE, run=False)
+
+        self.user_setpoint.put(position, wait=False)
+        try:
+            if wait:
+                status.wait(timeout)
+        except KeyboardInterrupt:
+            self.stop()
+            raise
+        return status
 
 class EpicsMotorEC(EpicsMotor):
     """Detailed ECMC EPICS motor class
@@ -114,9 +233,10 @@ class EpicsMotorEC(EpicsMotor):
     """
 
     USER_ACCESS = ["reset"]
-    motor_enable_readback = Cpt(
+    motor_enabled = Cpt(
         EpicsSignalRO,
         "-EnaAct",
+        auto_monitor=True,
         kind=Kind.omitted,
         doc="[ECMC] Reflects whether the axis is enabled in the hardware level.",
     )
@@ -143,10 +263,23 @@ class EpicsMotorEC(EpicsMotor):
     error = Cpt(
         EpicsSignalRO, "-ErrId", auto_monitor=True, kind=Kind.omitted, doc="[ECMC] Error ID"
     )
-    error_msg = Cpt(
-        EpicsSignalRO, "-MsgTxt", auto_monitor=True, kind=Kind.omitted, doc="[ECMC] Error message"
-    )
     error_reset = Cpt(EpicsSignal, "-ErrRst", put_complete=True, kind=Kind.omitted)
+    message_text = Cpt(
+        EpicsSignalRO, "-MsgTxt", auto_monitor=True, kind=Kind.omitted, doc="[ECMC] Message text"
+    )
+
+    def _check_motion_status(self) -> tuple[bool, Exception | None]:
+        success, exception = super()._check_motion_status()
+        if success:
+            # Additionally check for ECMC errors
+            error = self.error.get(use_monitor=False)
+            if error:
+                success = False
+                message_text = self.message_text.get(use_monitor=False)
+                exception = RuntimeError(
+                    f"Motor {self.name} reported ECMC error '{message_text}'"
+                )
+        return success, exception
 
     def move(self, position, wait=False, **kwargs) -> MoveStatus:
         """Extended move function with a few sanity checks
@@ -157,7 +290,7 @@ class EpicsMotorEC(EpicsMotor):
         # Check ECMC error status before move
         error = self.error.get()
         if error:
-            self.log.warning(f"Motor is in error state with message: '{self.error_msg.get()}'")
+            self.log.warning(f"Motor is in error state with message: '{self.message_text.get()}'")
 
         # Warn if trying to move beyond an active limit
         if self.high_interlock.get(use_monitor=False) and position > self.position:
@@ -167,8 +300,8 @@ class EpicsMotorEC(EpicsMotor):
 
         return super().move(position, wait, **kwargs)
 
-    def reset(self):
-        """Resets an ECMC axis
+    def reset_error(self):
+        """Resets an ECMC axis error.
 
         Recovers an ECMC axis from a previous error. Note that this does not
         solve the cause of the error, that you'll have to do yourself.
@@ -187,7 +320,7 @@ class EpicsMotorEC(EpicsMotor):
         # Check if it disappeared
         error = self.error.get(auto_monitor=False)
         if error:
-            error_msg = self.error_msg.get(auto_monitor=False)
+            message_text = self.message_text.get(auto_monitor=False)
             raise RuntimeError(
-                f"Failed to reset axis, still in error with id: '{error}, msg: {error_msg}'"
+                f"Failed to reset axis, still in error '{message_text}'"
             )