feat: undulator gap control

ophyd_devices/devices/undulator.py

@@ -0,0 +1,62 @@
+"""
+Module for undulator control
+"""
+
+from ophyd.device import Component as Cpt
+from ophyd.status import MoveStatus
+from ophyd import EpicsSignal, EpicsSignalRO, PVPositioner
+
+
+class UndulatorGap(PVPositioner):
+    """
+    SLS Undulator gap control
+    """
+
+    setpoint = Cpt(EpicsSignal, suffix="GAP-SP")
+    readback = Cpt(EpicsSignal, suffix="GAP-RBV", kind="hinted", auto_monitor=True)
+
+    stop_signal = Cpt(EpicsSignal, suffix="STOP")
+    done = Cpt(EpicsSignalRO, suffix="DONE", auto_monitor=True)
+
+    select_control = Cpt(EpicsSignalRO, suffix="SCTRL", auto_monitor=True)
+
+    def __init__(
+        self,
+        prefix="",
+        *,
+        limits=None,
+        name=None,
+        read_attrs=None,
+        configuration_attrs=None,
+        parent=None,
+        egu="",
+        **kwargs,
+    ):
+        super().__init__(
+            prefix=prefix,
+            limits=limits,
+            name=name,
+            read_attrs=read_attrs,
+            configuration_attrs=configuration_attrs,
+            parent=parent,
+            egu=egu,
+            **kwargs,
+        )
+        # Make the default alias for the user_readback the name of the
+        # motor itself.
+        self.readback.name = self.name
+
+    def move(self, position, wait=True, timeout=None, moved_cb=None):
+
+        # If it is operator controlled, undulator will not move.
+        if self.select_control.get() == 0:
+            raise Exception("Undulator is operator controlled!")
+
+        # If it is already there, undulator will not move. The done flag
+        # will not change, the moving change callback will not be called.
+        # The status will not change.
+        if abs(position - self._position) < 0.0008:
+            status = MoveStatus(self, position, done=True, success=True)
+            return status
+
+        return super().move(position, wait=wait, timeout=timeout, moved_cb=moved_cb)