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frappy_psi.phytron: further improvements

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unfortunaely, sometimes communication errors happen.
workaround: try several times reading the status

Change-Id: I2788c6c9b4145246cdd51c31b246abffee60f93b
Reviewed-on: https://forge.frm2.tum.de/review/c/secop/frappy/+/32032
Tested-by: Jenkins Automated Tests <pedersen+jenkins@frm2.tum.de>
Reviewed-by: Markus Zolliker <markus.zolliker@psi.ch>
This commit is contained in:
zolliker 2023-08-23 13:05:18 +02:00
parent bc0133f55a
commit 255adbf8d9
1 changed files with 12 additions and 4 deletions
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16
frappy_psi/phytron.py
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@ -192,9 +192,17 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
self.hw_stop()
def read_status(self):
sysstatus = self.communicate(f'{self.address:x}SE')
sysstatus = sysstatus[1:4] if self.axis == 'X' else sysstatus[5:8]
status = self.STATUS_MAP.get(sysstatus[1:]) or (ERROR, f'unknown error {sysstatus[1:]}')
for _ in range(3):
sysstatus = self.communicate(f'{self.address:x}SE')
try:
sysstatus = sysstatus[1:4] if self.axis == 'X' else sysstatus[5:8]
status = self.STATUS_MAP[sysstatus[1:]]
except Exception: # can not interprete the reply, probably communication error
self.log.warning('bad status reply %r', sysstatus)
continue
break
else:
status = (ERROR, f'unknown status after 3 tries {sysstatus!r}')
self._running = sysstatus[0] != '1'
if status[0] == ERROR:
self._blocking_error = status[1]
@ -213,7 +221,7 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
enc = self.read_encoder()
else:
enc = self.value
if not self._running: # at target
if not self._running: # at target (self._running is updated in self.read_status())
return False
diff = abs(self.value - self._intermediate_target)
if diff > self._prev_diff and diff > self.encoder_tolerance: