fix(psi-motor): Add new user motor imlementation that checks if the IOC is enabled.

ophyd_devices/devices/__init__.py

@@ -1,7 +1,6 @@
 from ophyd.quadem import QuadEM
 from ophyd.sim import SynAxis, SynPeriodicSignal, SynSignal
 
-from .epics_motor_ex import EpicsMotorEx
 from .psi_motor import EpicsMotor, EpicsMotorEC
 from .sls_devices import SLSInfo, SLSOperatorMessages
 from .SpmBase import SpmBase

ophyd_devices/devices/epics_motor_ex.py

@@ -1,66 +1,18 @@
-from ophyd import Component as Cpt
-from ophyd import EpicsMotor, EpicsSignal
+# """Module extending EpicsMotor for VME based User motors with extra configuration fields."""
+
+# from ophyd import Component as Cpt
+# from ophyd import EpicsSignal
+
+# # from ophyd_devices.devices.psi_motor import EpicsUserMotors
 
 
-class EpicsMotorEx(EpicsMotor):
-    """Extend EpicsMotor with extra configuration fields.
-    motor_done_move
-    motor_is_moving
-    """
+# class EpicsMotorEx(EpicsUserMotors):
+#     """
+#     EpicsMotor that extends a VME based user motor with additional configuration signals,
+#     motor_resolution, base_velocity and backlash_distance.
+#     """
 
-    # configuration
-    motor_resolution = Cpt(EpicsSignal, ".MRES", kind="config", auto_monitor=True)
-    base_velocity = Cpt(EpicsSignal, ".VBAS", kind="config", auto_monitor=True)
-    backlash_distance = Cpt(EpicsSignal, ".BDST", kind="config", auto_monitor=True)
-
-    def __init__(
-        self,
-        prefix="",
-        *,
-        name,
-        kind=None,
-        read_attrs=None,
-        configuration_attrs=None,
-        parent=None,
-        **kwargs,
-    ):
-        # get configuration attributes from kwargs and then remove them
-        attrs = {}
-        for key, value in kwargs.items():
-            if hasattr(EpicsMotorEx, key) and isinstance(getattr(EpicsMotorEx, key), Cpt):
-                attrs[key] = value
-        for key in attrs:
-            kwargs.pop(key)
-
-        super().__init__(
-            prefix,
-            name=name,
-            kind=kind,
-            read_attrs=read_attrs,
-            configuration_attrs=configuration_attrs,
-            parent=parent,
-            **kwargs,
-        )
-
-        # set configuration attributes
-        for key, value in attrs.items():
-            # print out attributes that are being configured
-            print("setting ", key, "=", value)
-            getattr(self, key).put(value)
-
-        # self.motor_done_move.subscribe(self._progress_update, run=False)
-
-    # def kickoff(self) -> DeviceStatus:
-    #     status = DeviceStatus(self)
-    #     self.move(
-    #         self._kickoff_params.get("position"),
-    #         wait = False
-    #     )
-    #     return status
-
-    # def _progress_update(self, value, **kwargs) -> None:
-    #     self._run_subs(
-    #         sub_type=self.SUB_PROGRESS,
-    #         value=value ,
-    #         done= 1,
-    #     )
+#     # configuration
+#     motor_resolution = Cpt(EpicsSignal, ".MRES", kind="config", auto_monitor=True)
+#     base_velocity = Cpt(EpicsSignal, ".VBAS", kind="config", auto_monitor=True)
+#     backlash_distance = Cpt(EpicsSignal, ".BDST", kind="config", auto_monitor=True)

ophyd_devices/devices/psi_motor.py

@@ -14,6 +14,8 @@ from ophyd.status import MoveStatus
 from ophyd.utils.epics_pvs import AlarmSeverity, fmt_time
 from ophyd.utils.errors import UnknownStatusFailure
 
+from ophyd_devices.interfaces.base_classes.psi_device_base import PSIDeviceBase
+
 
 class SpmgStates:
     """Enum for the EPICS MotorRecord's SPMG state"""
@@ -212,6 +214,45 @@ class EpicsMotor(OphydEpicsMotor):
         return status
 
 
+class EpicsUserMotorVME(PSIDeviceBase, EpicsMotor):
+    """
+    EpicsMotor for VME based user motors. It includes additional checks for DISA and DISP.
+
+    """
+
+    motor_resolution = Cpt(EpicsSignal, ".MRES", kind="config", auto_monitor=True)
+    base_velocity = Cpt(EpicsSignal, ".VBAS", kind="config", auto_monitor=True)
+    backlash_distance = Cpt(EpicsSignal, ".BDST", kind="config", auto_monitor=True)
+
+    _ioc_enable = Cpt(EpicsSignal, "_able", kind=Kind.omitted, string=True, auto_monitor=True)
+
+    def wait_for_connection(self, all_signals=False, timeout: float | None = None) -> None:
+        """
+        Wait for connection with an additional check first if the IOC is enabled.
+        """
+        if self._ioc_enable.get(use_monitor=False) != "Enable":
+            self._ioc_enable.put("Enable")
+        hl_switch = self.high_limit_switch.get(use_monitor=False)
+        ll_switch = self.low_limit_switch.get(use_monitor=False)
+        if hl_switch == 1 and ll_switch == 1:
+            raise RuntimeError(
+                f"Both limit switches are active for device {self.name}."
+                f"This often indicates that the motor is disconnected! Please double-check your hardware!"
+            )
+        return super().wait_for_connection(all_signals, timeout)
+
+    def on_connected(self):
+        self._ioc_enable.subscribe(self._ioc_enable_changed, run=False)
+
+    def _ioc_enable_changed(self, value, **kwargs):
+        """Callback for IOC enable signal changes"""
+        if self.device_manager is None:
+            return  # no device manager assigned
+        if self.name not in self.device_manager.devices:
+            return  # device not loaded in device_manager
+        self.device_manager.devices[self.name].enabled = value == "Enable"
+
+
 class EpicsMotorEC(EpicsMotor):
     """Detailed ECMC EPICS motor class