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branch develop: recent changes from branch wip

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Change-Id: I2e1173423f2aa164a8a7158921b354c2aff1ab2c
This commit is contained in:
zolliker
2023-06-20 10:57:27 +02:00
parent fcca3801a4
commit 87830a1473
18 changed files with 238 additions and 119 deletions
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13
frappy_psi/phytron.py
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@ -83,7 +83,7 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
ioClass = PhytronIO
_step_size = None # degree / step
_blocking_error = None # None or a string indicating the reason of an error needing reset
_blocking_error = None # None or a string indicating the reason of an error needing clear_errors
_running = False # status indicates motor is running
STATUS_MAP = {
@ -121,10 +121,10 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
if not axisbit & active_axes: # power cycle detected and this axis not yet active
self.set('P37S', axisbit | active_axes) # activate axis
if now < self.alive_time + 7 * 24 * 3600: # the device was running within last week
# inform the user about the loss of position by the need of doing reset_error
# inform the user about the loss of position by the need of doing clear_errors
self._blocking_error = 'lost position'
else: # do reset silently
self.reset_error()
else: # do silently
self.clear_errors()
self.alive_time = now
self.saveParameters()
return now
@ -171,7 +171,7 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
def write_target(self, value):
self.read_alive_time()
if self._blocking_error:
self.status = ERROR, 'reset needed after ' + self._blocking_error
self.status = ERROR, 'clear_errors needed after ' + self._blocking_error
raise HardwareError(self.status[1])
self.saveParameters()
if self.backlash:
@ -261,7 +261,7 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
self.start_machine(self.stopping, status=(BUSY, 'stopping'))
@Command
def reset_error(self):
def clear_errors(self):
"""Reset error, set position to encoder"""
self.read_value()
if self._blocking_error:
@ -286,3 +286,4 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
self.read_value()
self.status = 'IDLE', 'after error reset'
self._blocking_error = None
self.target = self.value # clear error in target