feat: implement put method for aerotech controller

pxii_bec/devices/aerotech.py

@@ -1,14 +1,19 @@
 from ophyd import Component as Cpt
-from ophyd_devices import PSIDeviceBase
 
 from .http import TIMESTAMP_ID, HttpDeviceController, HttpDeviceSignal, HttpOphydDevice
 
 
 class AerotechController(HttpDeviceController):
+    _readback_endpoint = "status"
+    _target_endpoint = "position"
+
     def __init__(self, *, prefix, **kwargs):
         self._readbacks: dict[str, dict[str, float | bool]] = {}
         super().__init__(prefix=prefix, **kwargs)
 
+    def put(self, axis: str, val: float):
+        self._rest_post(body={axis: val})
+
     def get_readback(self, axis_id: str) -> tuple[float, float] | None:
         with self._readback_lock:
             if axis_id not in self._readbacks or TIMESTAMP_ID not in self._readbacks:
@@ -23,6 +28,7 @@ class Aerotech(HttpOphydDevice):
     y = Cpt(HttpDeviceSignal, axis_identifier="y", tolerance=0.01)
     z = Cpt(HttpDeviceSignal, axis_identifier="z", tolerance=0.01)
     u = Cpt(HttpDeviceSignal, axis_identifier="u", tolerance=0.01)
+    vel_u_deg_s = Cpt(HttpDeviceSignal, axis_identifier="vel_u_deg_s", tolerance=0.01)
 
 
 def _test():

pxii_bec/devices/http.py

@@ -86,10 +86,15 @@ class HttpDeviceController(OphydObject, ABC):
             raise HttpRestError(resp)
         return resp.json()
 
-    def _rest_put(self, val: dict[str, float]):
-        resp = self._session.put(self._prefix + self._target_endpoint, params=val)
+    def _rest_put(self, params: dict | None = None, body: dict | None = None):
+        resp = self._session.put(self._prefix + self._target_endpoint, params=params)
         if not resp.ok:
-            raise HttpRestError(resp, value=val)
+            raise HttpRestError(resp, value=params)
+
+    def _rest_post(self, params: dict | None = None, body: dict | None = None):
+        resp = self._session.post(self._prefix + self._target_endpoint, params=params, data=body)
+        if not resp.ok:
+            raise HttpRestError(resp, value=params)
 
     def start_monitor(self):
         """Start or restart the automonitor thread."""

pxii_bec/devices/smargopolo_smargon.py

@@ -24,12 +24,12 @@ class SmargonController(HttpDeviceController):
             return self._readbacks.get(axis_id), self._readbacks.get(_TIMESTAMP_ID)  # type: ignore
 
     def put(self, axis: str, val: float):
-        self._rest_put({axis: val})
+        self._rest_put(params={axis: val})
 
     def stop(self):
         # There doesn't appear to be a stop endpoint on the server
         # Best effort: set the target to the current position
-        self._rest_put(self._readbacks)
+        self._rest_put(params=self._readbacks)
 
 
 class Smargon(PSIDeviceBase):