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feat(#118): forward soft limits to soft signals

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perl_d
2025-07-03 12:27:07 +02:00
committed by David Perl
parent af35c1ef1d
commit a2d8c4932d
2 changed files with 46 additions and 4 deletions
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14
ophyd_devices/interfaces/base_classes/psi_positioner_base.py
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@@ -5,7 +5,7 @@ from ophyd import Component as Cpt
from ophyd import Device
from ophyd.device import required_for_connection
from ophyd.positioner import PositionerBase
from ophyd.signal import EpicsSignalBase
from ophyd.signal import EpicsSignalBase, Signal
from ophyd.status import MoveStatus
from ophyd.status import wait as status_wait
from ophyd.utils.epics_pvs import AlarmSeverity, fmt_time
@@ -290,8 +290,8 @@ class PSIPositionerBase(PSISimplePositionerBase):
motor_is_moving = _OPTIONAL_SIGNAL
high_limit_switch = _OPTIONAL_SIGNAL
low_limit_switch = _OPTIONAL_SIGNAL
high_limit_travel = _OPTIONAL_SIGNAL
low_limit_travel = _OPTIONAL_SIGNAL
high_limit_travel: Signal | _SignalSentinel = _OPTIONAL_SIGNAL
low_limit_travel: Signal | _SignalSentinel = _OPTIONAL_SIGNAL
direction_of_travel = _OPTIONAL_SIGNAL
# commands
@@ -323,3 +323,11 @@ class PSIPositionerBase(PSISimplePositionerBase):
child_name_separator=child_name_separator,
**kwargs,
)
if self.limits is not None:
for sig, lim in (
(self.low_limit_travel, self.limits[0]),
(self.high_limit_travel, self.limits[1]),
):
# If the limit signals are defined as soft signals, propagate the limits there
if sig is not _OPTIONAL_SIGNAL and type(sig) is Signal:
sig.put(lim)