trinamic and persistent

- remove methods from Modules existing in secop.persistent
- do reset on start when encoder matched and motor was power cycled

secop/modules.py

@@ -547,60 +547,6 @@ class Module(HasAccessibles):
         """
         mkthread(self.writeInitParams, started_callback)
 
-    def loadParameters(self):
-        """load persistent parameters
-
-        :return: persistent parameters which have to be written
-
-        is called upon startup and may be called from a module
-        when a hardware powerdown is detected
-        """
-        if any(pobj.persistent for pobj in self.parameters.values()):
-            persistentdir = os.path.join(getGeneralConfig()['logdir'], 'persistent')
-            self.persistentFile = os.path.join(persistentdir, '%s.%s.json' % (self.DISPATCHER.equipment_id, self.name))
-        else:
-            self.persistentFile = None
-            return {}
-        try:
-            with open(self.persistentFile, 'r') as f:
-                self.persistentData = json.load(f)
-        except FileNotFoundError:
-            self.persistentData = {}
-        writeDict = {}
-        for pname, pobj in self.parameters.items():
-            if pobj.persistent and pname in self.persistentData:
-                value = pobj.datatype.import_value(self.persistentData[pname])
-                try:
-                    pobj.value = value
-                    if not pobj.readonly:
-                        writeDict[pname] = value
-                except Exception as e:
-                    self.log.warning('can not restore %r to %r (%r)' % (pname, value, e))
-        return writeDict
-
-    def saveParameters(self):
-        """save persistent parameters
-
-        to be called regularely explicitly by the module
-        """
-        data = {k: v.export_value() for k, v in self.parameters.items() if v.persistent}
-        if data != self.persistentData:
-            self.persistentData = data
-            persistentdir = os.path.basename(self.persistentFile)
-            tmpfile = self.persistentFile + '.tmp'
-            if not os.path.isdir(persistentdir):
-                os.makedirs(persistentdir, exist_ok=True)
-            try:
-                with open(tmpfile, 'w') as f:
-                    json.dump(self.persistentData, f, indent=2)
-                    f.write('\n')
-                os.rename(tmpfile, self.persistentFile)
-            finally:
-                try:
-                    os.remove(tmpfile)
-                except FileNotFoundError:
-                    pass
-
 
 class Readable(Module):
     """basic readable module"""

secop_psi/trinamic.py

@@ -127,9 +127,7 @@ class Motor(PersistentMixin, HasIodev, Drivable):
     fast_pollfactor = 0.001  # poll as fast as possible when busy
     _started = 0
     _calcTimeout = True
-    _need_reset = False
+    _need_reset = None
-    _save_filename = None
-    # _try_count = 0
 
     def comm(self, cmd, adr, value=0, bank=0):
         """set or get a parameter
@@ -229,13 +227,18 @@ class Motor(PersistentMixin, HasIodev, Drivable):
             writeDict = self.loadParameters()
             self.log.info('set to previous saved values %r', writeDict)
             # self.encoder now contains the last known (persistent) value
-            self.fix_encoder(encoder)
+            if self._need_reset is None:
+                if self.status[0] == self.Status.IDLE:
+                    # server started, power cycled and encoder value matches last one
+                    self.reset()
+            else:
+                self.fix_encoder(encoder)
+                self._need_reset = True
+                self.status = self.Status.ERROR, 'power loss'
+                # or should we just fix instead of error status?
+                # self.set('steppos', self.steppos - self.zero, check=False)
             self.comm(SET_GLOB_PAR, 255, 1, bank=2)  # set initialized flag
             self._started = 0
-            self._need_reset = True
-            self.status = self.Status.ERROR, 'power loss'
-            # or should we just fix instead of error status?
-            # self.set('steppos', self.steppos - self.zero, check=False)
 
         return encoder if abs(encoder - steppos) > self.tolerance else steppos