fix(psi-motor): Fix wrapper for EpicsISignalWithCheck

ophyd_devices/devices/psi_motor.py

@@ -6,6 +6,7 @@ detailed interface for motors using the new ECMC-based motion systems at PSI.
 """
 
 import functools
+import time
 
 import numpy as np
 from ophyd import Component as Cpt
@@ -15,6 +16,7 @@ from ophyd.status import MoveStatus
 from ophyd.utils.epics_pvs import AlarmSeverity, fmt_time
 from ophyd.utils.errors import UnknownStatusFailure
 
+from ophyd_devices import StatusBase
 from ophyd_devices.interfaces.base_classes.psi_device_base import PSIDeviceBase
 
 
@@ -50,6 +52,49 @@ class EpicsSignalWithCheck(EpicsSignal):
         if not np.isclose(value, new_value):
             raise ValueError(f"Failed to set signal {self.name} to value: {value}.")
 
+    def set(self, value, *, timeout=None, settle_time=None, **kwargs):
+        """Set the value of the Signal and return a Status object.
+
+        Returns
+        -------
+        st : Status
+            This status object will be finished upon return in the
+            case of basic soft Signals
+        """
+
+        def set_thread():
+            try:
+                self._set_and_wait(value, timeout, **kwargs)
+            except TimeoutError as e:
+                raised_exception = e
+            except Exception as e:
+                raised_exception = e
+            else:
+                raised_exception = None
+                if settle_time is not None:
+                    self.log.debug("settling for %d seconds", settle_time)
+                    time.sleep(settle_time)
+            finally:
+                # keep a local reference to avoid any GC shenanigans
+                th = self._set_thread
+                # these two must be in this order to avoid a race condition
+                self._set_thread = None
+                if raised_exception is not None:
+                    st.set_exception(raised_exception)
+                else:
+                    st.set_finished()
+                del th
+
+        if self._set_thread is not None:
+            raise RuntimeError("Another set() call is still in progress " f"for {self.name}")
+
+        st = StatusBase(self)
+        self._status = st
+        self._set_thread = self.cl.thread_class(target=set_thread)
+        self._set_thread.daemon = True
+        self._set_thread.start()
+        return self._status
+
 
 class EpicsMotor(OphydEpicsMotor):
     """