fixes in convergence, mercury, phytron, triton

secop_psi/convergence.py

@@ -60,8 +60,8 @@ class HasConvergence:
 
     def cleanup(self, state):
         state.default_cleanup(state)
-        if self.stopped:
-            if self.stopped is Stop:  # and not Restart
+        if state.stopped:
+            if state.stopped is Stop:  # and not Restart
                 self.status = WARN, 'stopped'
         else:
             self.status = WARN, repr(state.last_error)

secop_psi/mercury.py

@@ -341,6 +341,7 @@ class TemperatureLoop(TemperatureSensor, Loop, Drivable):
     enable_ramp = Parameter('enable ramp rate', BoolType(), readonly=False)
     setpoint = Parameter('working setpoint (differs from target when ramping)', FloatRange(0, unit='$'))
     auto_flow = Parameter('enable auto flow', BoolType(), readonly=False)
+    tolerance = Parameter(default=0.1)
     _last_setpoint_change = None
 
     def doPoll(self):
@@ -452,6 +453,7 @@ class ValvePos(HasInput, MercuryChannel, Drivable):
 class PressureLoop(PressureSensor, Loop, Drivable):
     channel_type = 'PRES,AUX'
     output_module = Attached(ValvePos, mandatory=False)
+    tolerance = Parameter(default=0.1)
 
     def read_control_active(self):
         active = self.query('PRES:LOOP:FAUT', off_on)

secop_psi/phytron.py

@@ -31,7 +31,7 @@ from secop.lib import clamp
 
 class PhytronIO(StringIO):
     end_of_line = '\x03'  # ETX
-    timeout = 0.2
+    timeout = 0.5
     identification = [('0IVR', 'MCC Minilog .*')]
 
     def communicate(self, command, expect_response=True):
@@ -65,8 +65,9 @@ class Motor(PersistentMixin, HasIO, Drivable):
     offset = PersistentParam('', FloatRange(unit='deg'), readonly=False, default=0)
     sign = PersistentParam('', IntRange(-1,1), readonly=False, default=1)
     encoder = Parameter('encoder reading', FloatRange(unit='deg'))
-    sameside_offset = Parameter('offset when always approaching from the same side',
-                                FloatRange(unit='deg'), readonly=False, default=0)
+    backlash = Parameter("""backlash compensation\n
+                         offset for always approaching from the same side""",
+                         FloatRange(unit='deg'), readonly=False, default=0)
     abslimits = Parameter('abs limits (raw values)', default=(0, 0),
                           datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
     userlimits = PersistentParam('user limits', readonly=False, default=(0, 0), initwrite=True,
@@ -74,7 +75,7 @@ class Motor(PersistentMixin, HasIO, Drivable):
 
     ioClass = PhytronIO
     fast_poll = 0.1
-    _sameside_pending = False
+    _backlash_pending = False
     _mismatch_count = 0
     _rawlimits = None
 
@@ -122,10 +123,10 @@ class Motor(PersistentMixin, HasIO, Drivable):
             else:
                 self.status = self.Status.BUSY, 'driving'
         else:
-            if self._sameside_pending:
+            if self._backlash_pending:
                 # drive to real target
                 self.set('A', self.sign * (self.target + self.offset))
-                self._sameside_pending = False
+                self._backlash_pending = False
                 return pos
             if (self.encoder_mode == 'CHECK' and
                     abs(enc - pos) > self.encoder_tolerance):
@@ -176,12 +177,12 @@ class Motor(PersistentMixin, HasIO, Drivable):
         if self.status[0] == self.Status.ERROR:
             raise HardwareError('need reset')
         self.status = self.Status.BUSY, 'changed target'
-        self._check_limits(value, value + self.sameside_offset)
-        if self.sameside_offset:
-            # drive first to target + sameside_offset
+        self._check_limits(value, value + self.backlash)
+        if self.backlash:
+            # drive first to target + backlash
             # we do not optimize when already driving from the right side
-            self._sameside_pending = True
-            self.set('A', self.sign * (value + self.offset + self.sameside_offset))
+            self._backlash_pending = True
+            self.set('A', self.sign * (value + self.offset + self.backlash))
         else:
             self.set('A', self.sign * (value + self.offset))
         self.setFastPoll(True, self.fast_poll)
@@ -207,7 +208,7 @@ class Motor(PersistentMixin, HasIO, Drivable):
 
     @Command
     def reset(self):
-        """reset error, set position to encoder"""
+        """Reset error, set position to encoder"""
         self.read_value()
         if self.status[0] == self.Status.ERROR:
             enc = self.encoder + self.offset

secop_psi/triton.py

@@ -32,7 +32,7 @@ open_close = Mapped(CLOSE=False, OPEN=True)
 actions_map = Mapped(NONE=actions.none, COND=actions.condense, COLL=actions.collect)
 
 
-class Action(MercuryChannel):
+class Action(MercuryChannel, Writable):
     channel_type = 'ACTN'
     value = Parameter('running action', EnumType(actions))
     target = Parameter('valve target', EnumType(none=0, condense=1, collect=3), readonly=False)