From 1407514458dc703c974c47582cc4a39701f2ce5a Mon Sep 17 00:00:00 2001
From: Markus Zolliker <markus.zolliker@psi.ch>
Date: Tue, 16 May 2023 09:39:20 +0200
Subject: [PATCH] phytron

better handling of restart status

Change-Id: I28f97b49d39ed7c6b781f0d8edb218e63e1b1fc9
---
 frappy/states.py      | 27 +++++++++++++++------------
 frappy_psi/phytron.py | 18 ++++++++----------
 2 files changed, 23 insertions(+), 22 deletions(-)

diff --git a/frappy/states.py b/frappy/states.py
index c2489e7..53dcfde 100644
--- a/frappy/states.py
+++ b/frappy/states.py
@@ -183,13 +183,13 @@ class HasStates:
         override for code to be executed after stopping
         """
 
-    def start_machine(self, statefunc, fast_poll=True, restart_text='restarting', **kwds):
+    def start_machine(self, statefunc, fast_poll=True, status=None, **kwds):
         """start or restart the state machine
 
         :param statefunc: the initial state to be called
         :param fast_poll: flag to indicate that polling has to switched to fast
         :param cleanup: a cleanup function
-        :param restart_text: status text when machine was already running
+        :param status: override automatic immediate status before first state
         :param kwds: attributes to be added to the state machine on start
 
         If the state machine is already running, the following happens:
@@ -203,10 +203,12 @@ class HasStates:
         4) the state machine continues at the given statefunc
         """
         sm = self._state_machine
-        if sm.statefunc:
-            sm.status = sm.status[0], restart_text
-        else:
+        if status is None:
             sm.status = self.get_status(statefunc, BUSY)
+            if sm.statefunc:
+                sm.status = sm.status[0], 'restarting'
+        else:
+            sm.status = status
         sm.start(statefunc, cleanup=kwds.pop('cleanup', self.on_cleanup), **kwds)
         self.read_status()
         if fast_poll:
@@ -214,23 +216,24 @@ class HasStates:
             self.setFastPoll(True)
         self.pollInfo.trigger(True)  # trigger poller
 
-    def stopping(self, sm):
-        return self.final_status(IDLE, 'stopped')
-
-    def stop_machine(self):
+    def stop_machine(self, stopped_status=(IDLE, 'stopped')):
         """stop the currently running machine
 
         :param stopped_status: status to be set after stopping
 
         If the state machine is not running, nothing happens.
-        Else the state machine is stopped, the predefined cleanup
+        Else the state machine is stoppen, the predefined cleanup
         sequence is executed and then the status is set to the value
-        given in the stopped_status argument.
+        given in the sopped_status argument.
         An already running cleanup sequence is not executed again.
         """
         sm = self._state_machine
         if sm.is_active:
-            self.start_machine(self.stopping, restart_text='stopping')
+            sm.idle_status = stopped_status
+            sm.stop()
+            sm.status = self.get_status(sm.statefunc, sm.status[0])[0], 'stopping'
+            self.read_status()
+            self.pollInfo.trigger(True)  # trigger poller
 
     @Command
     def stop(self):
diff --git a/frappy_psi/phytron.py b/frappy_psi/phytron.py
index 4f4d8ba..36062db 100644
--- a/frappy_psi/phytron.py
+++ b/frappy_psi/phytron.py
@@ -20,7 +20,10 @@
 #
 # *****************************************************************************
 
-"""driver for phytron motors"""
+"""driver for phytron motors
+
+limits switches are not yet implemented
+"""
 
 import time
 from frappy.core import Done, Command, EnumType, FloatRange, IntRange, \
@@ -175,10 +178,9 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
             # drive first to target + backlash
             # we do not optimize when already driving from the right side
             self.set('A', self.sign * (value + self.backlash))
-            self.start_machine(self.predriving)
         else:
             self.set('A', self.sign * value)
-            self.start_machine(self.driving)
+        self.start_machine(self.driving)
         self._running = True
         return value
 
@@ -219,11 +221,11 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
         if self.backlash:
             # drive to real target
             self.set('A', self.sign * self.target)
-            return self.driving_to_final
+            return self.driving_to_final_position
         return self.finishing
 
     @status_code(BUSY)
-    def driving_to_final(self, sm):
+    def driving_to_final_position(self, sm):
         if self.check_moving():
             return Retry
         return self.finishing
@@ -256,7 +258,7 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
     @Command
     def stop(self):
         self.get('S')
-        self.start_machine(self.stopping, status=(BUSY, 'stopping0'))
+        self.start_machine(self.stopping, status=(BUSY, 'stopping'))
 
     @Command
     def reset_error(self):
@@ -284,7 +286,3 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
             self.read_value()
             self.status = 'IDLE', 'after error reset'
             self._blocking_error = None
-
-# TODO:
-#  '=E' electronics status
-#  '=I+' / '=I-': limit switches