mirror of
https://github.com/bec-project/ophyd_devices.git
synced 2025-07-10 10:41:53 +02:00
feat(#118): Resolve move status from readback val
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@ -69,7 +69,7 @@ class PSISimplePositionerBase(ABC, Device, PositionerBase):
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user_setpoint: EpicsSignalBase = _OPTIONAL_SIGNAL
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velocity: EpicsSignalBase = _OPTIONAL_SIGNAL
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motor_stop: EpicsSignalBase = _OPTIONAL_SIGNAL
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motor_done_move: EpicsSignalBase = _REQUIRED_SIGNAL
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motor_done_move: EpicsSignalBase = _OPTIONAL_SIGNAL
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stop_value = 1 # The value to put to the stop PV (if set) to make the motor stop
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done_value = 1 # The value expected to be reported by motor_done_move when the move is done
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@ -94,7 +94,7 @@ class PSISimplePositionerBase(ABC, Device, PositionerBase):
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Args:
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name (str): (required) the name of the device
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limits (list | tuple | None): If given, a length-2 sequence within the range of which movemnt is allowed.
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deadband (float | None): If given, set a soft deadband of this absolute value, within which positioner moves will return immediately.
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deadband (float | None): If given, set a soft deadband of this absolute value, within which positioner moves will return immediately. If the positioner has no motor_done_move signal, you must provide this.
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override_suffixes (dict[str, str]): a dictionary of signal_name: pv_suffix which will replace the values in the signal classvar.
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"""
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super().__init__(
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@ -116,6 +116,11 @@ class PSISimplePositionerBase(ABC, Device, PositionerBase):
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if (missing := self._remaining_defaults(_REQUIRED_SIGNAL)) != set():
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raise RequiredSignalNotSpecified(f"Signal(s) {missing} must be defined in a subclass")
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if self.user_readback is _OPTIONAL_SIGNAL and self.motor_done_move is _OPTIONAL_SIGNAL:
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raise ValueError(
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"Positioner must have at least one of user_readback and motor_done_move"
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)
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not_implemented = self._remaining_defaults(_OPTIONAL_SIGNAL)
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for signal_name, pv_suffix in override_suffixes.items():
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if signal_name not in not_implemented:
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@ -131,8 +136,12 @@ class PSISimplePositionerBase(ABC, Device, PositionerBase):
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f"{self.__class__} does not implement overridden signal {signal_name}"
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)
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self.user_readback.subscribe(self._pos_changed)
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self.motor_done_move.subscribe(self._move_changed)
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if self.user_readback is not _OPTIONAL_SIGNAL:
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self.user_readback.subscribe(self._pos_changed)
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if self.motor_done_move is not _OPTIONAL_SIGNAL:
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self.motor_done_move.subscribe(self._move_changed)
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elif deadband is None:
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raise ValueError("Deadband must not be None for a device with no done signal")
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# Make the default alias for the user_readback the name of the motor itself
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# for compatibility with EpicsMotor
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@ -232,14 +241,27 @@ class PSISimplePositionerBase(ABC, Device, PositionerBase):
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self.log.debug(
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f"[ts={fmt_time(timestamp)}] {self.name} moving: {self._moving} (value={value})"
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)
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if started:
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self._run_subs(sub_type=self.SUB_START, timestamp=timestamp, value=value, **kwargs)
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if self.motor_done_move is _OPTIONAL_SIGNAL:
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if not self._moving:
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# we got a position update within the deadband of the setpoint, close out move statuses.
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self._run_subs(
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sub_type=self._SUB_REQ_DONE, timestamp=timestamp, value=value, **kwargs
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)
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@required_for_connection
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def _pos_changed(self, timestamp=None, value=None, **kwargs):
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"""Callback from EPICS, indicating a change in position"""
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self._set_position(value)
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if self.motor_done_move is _OPTIONAL_SIGNAL:
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# No DMOV, so we compare to the setpoint to see if we are done
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self._move_changed(
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timestamp=timestamp,
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value=(abs(self.user_setpoint.get() - value) < self._deadband),
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**kwargs,
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)
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def stop(self, *, success=False):
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if self.motor_stop is not _OPTIONAL_SIGNAL:
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@ -51,8 +51,8 @@ def test_override_suffixes_warns_on_nonimplemented(ophyd_logger):
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)
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@pytest.fixture(scope="function")
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def mock_psi_positioner() -> PSISimplePositioner:
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@pytest.fixture()
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def mock_psi_positioner():
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name = "positioner"
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prefix = "SIM:MOTOR"
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with patch.object(ophyd, "cl") as mock_cl:
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@ -117,3 +117,46 @@ def test_psi_positioner_soft_limits():
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assert isinstance(device.high_limit_travel, Signal)
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assert device.low_limit_travel.get() == -1.5
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assert device.high_limit_travel.get() == 1.5
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class ReadbackPositioner(PSISimplePositionerBase):
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user_readback = Cpt(FakeEpicsSignalRO, "R")
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user_setpoint = Cpt(FakeEpicsSignal, "S")
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@pytest.fixture()
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def mock_readback_positioner():
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name = "positioner"
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prefix = "SIM:MOTOR"
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with patch.object(ophyd, "cl") as mock_cl:
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mock_cl.get_pv = MockPV
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mock_cl.thread_class = threading.Thread
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dev = ReadbackPositioner(name=name, prefix=prefix, deadband=0.0013)
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patch_dual_pvs(dev)
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dev._set_position(0)
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yield dev
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@pytest.mark.parametrize(
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"setpoint,move_positions,completes",
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[
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(5, [2, 4, 5], True),
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(-5, [-2, -4, -4.9986], False),
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(-5, [-2, -4, -4.9988], True),
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(2, [2], True),
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(2, [0.2, 0.3, 0.4, 0.5], False),
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],
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)
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def test_done_move_based_on_readback(mock_readback_positioner, setpoint, move_positions, completes):
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mock_readback_positioner.wait_for_connection()
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st = mock_readback_positioner.move(setpoint, wait=False)
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final_pos = move_positions.pop()
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assert mock_readback_positioner.user_setpoint.get() == setpoint
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assert not st.done
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for pos in move_positions:
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mock_readback_positioner.user_readback.sim_put(pos)
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assert not st.done
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mock_readback_positioner.user_readback.sim_put(final_pos)
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assert st.done == completes
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