Tests pass in parts due to positionerror

tomcat_bec/devices/aerotech/AerotechPso.py

@@ -39,6 +39,7 @@ class AerotechPsoBase(PSIDeviceBase, Device):
     output = Component(EpicsSignalRO, "OUTPUT-RBV", auto_monitor=True, kind=Kind.normal)
     address = Component(EpicsSignalRO, "ARRAY-ADDR", kind=Kind.config)
     _eventSingle = Component(EpicsSignal, "EVENT:SINGLE", put_complete=True, kind=Kind.omitted)
+    switch = Component(EpicsSignal, "SWITCH", put_complete=True, kind=Kind.omitted)
 
     # ########################################################################
     # PSO Distance event module
@@ -138,6 +139,8 @@ class AerotechPsoBase(PSIDeviceBase, Device):
         w_pulse = d.get("pso_w_pulse", 200)
         n_pulse = d.get("pso_n_pulse", 1)
 
+        self.switch.set("Manual").wait()
+
         # Configure the pulsed/toggled waveform
         if wmode in ["toggle", "toggled"]:
             # Switching to simple toggle mode
@@ -160,12 +163,6 @@ class AerotechPsoBase(PSIDeviceBase, Device):
         else:
             raise RuntimeError(f"Unsupported window mode: {wmode}")
 
-        # Set PSO output data source
-        # FIXME : This is essentially staging...
-        if wmode in ["toggle", "toggled", "pulse", "pulsed"]:
-            self.outSource.set("Waveform").wait()
-        elif wmode in ["output", "flag"]:
-            self.outSource.set("Window").wait()
 
 
 class aa1AxisPsoDistance(AerotechPsoBase):
@@ -226,10 +223,6 @@ class aa1AxisPsoDistance(AerotechPsoBase):
             raise RuntimeError(f"Unsupported distace triggering mode: {pso_wavemode}")
 
         old = self.read_configuration()
-        # Disable everything
-        self.winEvents.set("Off").wait()
-        self.dstCounterEna.set("Off").wait()
-        self.dstEventsEna.set("Off").wait()
 
         # Configure distance generator (also resets counter to 0)
         self._distance_value = pso_distance
@@ -291,29 +284,21 @@ class aa1AxisPsoDistance(AerotechPsoBase):
         return self.fire(settle_time)
 
     def arm(self) -> None:
-        """Bluesky style stage"""
+        """Bluesky style stage
+        
+        It re-arms the distance array and re-sets the distance counter at current position
+        """
         # Stage the PSO distance module and zero counter
         if isinstance(self._distance_value, (np.ndarray, list, tuple)):
             self.dstArrayRearm.set(1).wait()
-        # Wait for polling
+        # Set distance and wait for polling
-        sleep(0.5)
+        self.switch.set("Distance", settle_time=0.2).wait()
-        # Start monitoring the counters if distance is valid
-        if self.dstDistanceVal.get() > 0:
-            self.dstEventsEna.set("On").wait()
-            self.dstCounterEna.set("On").wait()
 
     def disarm(self):
         """Standard bluesky unstage"""
-        # Ensure output is set to low
+        self.switch.set("Manual", settle_time=0.2).wait()
-        # if self.output.value:
+
-        #     self.toggle()
+    def launch(self):
-        # Turn off window mode
+        """Re-set the counters"""
-        self.winOutput.set("Off").wait()
+        if isinstance(self._distance_value, (np.ndarray, list, tuple)):
-        self.winEvents.set("Off").wait()
+            self.dstArrayRearm.set(1).wait()
-        # Turn off distance mode
-        self.dstEventsEna.set("Off").wait()
-        self.dstCounterEna.set("Off").wait()
-        # Disable output
-        self.outSource.set("None").wait()
-        # Sleep for one poll period
-        sleep(0.2)