Merge branch 'wip' of gitlab.psi.ch:samenv/frappy into wip

cfg/main/ma6_cfg.py

@@ -74,7 +74,7 @@ Mod('om',
     'frappy_psi.phytron.Motor',
     'stick rotation, typically used for omega',
     io='om_io',
-    encoder_mode='NO',
+    encoder_mode='CHECK',
     target_min=-180,
     target_max=360,
 )

frappy/client/interactive.py

@@ -28,8 +28,8 @@ import code
 import signal
 import os
 import traceback
+import threading
 from os.path import expanduser
-from queue import Queue
 from frappy.client import SecopClient
 from frappy.errors import SECoPError
 from frappy.datatypes import get_datatype, StatusType
@@ -66,7 +66,7 @@ class Logger:
 
     def __init__(self, loglevel='info'):
         func = self.noop
-        for lev in 'debug', 'info', 'warning', 'error':
+        for lev in 'debug', 'info', 'warning', 'error', 'exception':
             if lev == loglevel:
                 func = self.emit
             setattr(self, lev, func)
@@ -120,7 +120,8 @@ class Module:
         else:
             self._watched_params = {'value', 'status'}
             self._log_level = 'info'
-        self._running = None
+        self._is_driving = False
+        self._driving_event = threading.Event()
         self._status = None
         props = secnode.modules[name]['properties']
         self._title = f"# {props.get('implementation', '')} ({(props.get('interface_classes') or ['Module'])[0]})"
@@ -139,13 +140,9 @@ class Module:
         return self.status[0] // 100 == StatusType.BUSY // 100
 
     def _status_value_update(self, m, p, status, t, e):
-        if self._running:
-            try:
-                self._running.put(True)
-                if self._running and not self._isBusy():
-                    self._running.put(False)
-            except TypeError:  # may happen when _running is removed during above lines
-                pass
+        if self._is_driving and not self._isBusy():
+            self._is_driving = False
+        self._driving_event.set()
 
     def _watch_parameter(self, m, pname, *args, forced=False, mininterval=0):
         """show parameter update"""
@@ -215,15 +212,17 @@ class Module:
     def __call__(self, target=None):
         if target is None:
             return self.read()
-        self.target = target  # this sets self._running
+        self.target = target  # this sets self._is_driving
         type(self).value.prev = None  # show at least one value
         try:
-            while self._running.get():
+            while self._is_driving:
+                self._driving_event.wait()
                 self._watch_parameter(self._name, 'value', mininterval=self._secnode.mininterval)
                 self._watch_parameter(self._name, 'status')
+                self._driving_event.clear()
         except KeyboardInterrupt:
+            self.stop()
             self._secnode.log.info('-- interrupted --')
-        self._running = None
         self._watch_parameter(self._name, 'status')
         self._secnode.readParameter(self._name, 'value')
         self._watch_parameter(self._name, 'value', forced=True)
@@ -269,10 +268,10 @@ class Param:
         return self.format(value)
 
     def __set__(self, obj, value):
-        if self.name == 'target':
-            obj._running = Queue()
         try:
             obj._secnode.setParameter(obj._name, self.name, value)
+            if self.name == 'target':
+                obj._is_driving = obj._isBusy()
             return
         except SECoPError as e:
             clientenv.raise_with_short_traceback(e)

frappy_psi/sea.py

@@ -142,6 +142,8 @@ class SeaClient(ProxyClient, Module):
                 # make sure no more connect thread is running
                 if self._connect_thread and self._connect_thread.isAlive():
                     return
+                if not self._last_connect:
+                    self.log.info('reconnect to SEA %s', self.service)
                 self._connect_thread = mkthread(self._connect, None)
 
     def register_obj(self, module, obj):
@@ -151,6 +153,14 @@ class SeaClient(ProxyClient, Module):
         self.register_callback(module.name, module.updateEvent)
 
     def _connect(self, started_callback):
+        self.asynio = None
+        if self.syncio:
+            # trigger syncio reconnect in self.request()
+            try:
+                self.syncio.disconnect()
+            except Exception:
+                pass
+        self.syncio = None
         self._last_connect = time.time()
         if self._instance:
             if not self._service_manager:
@@ -192,7 +202,9 @@ class SeaClient(ProxyClient, Module):
                         self._connect_thread.join()
                     except AttributeError:
                         pass
-                    self._connect(None)
+                    # let doPoll do the reconnect
+                    self.pollInfo.trigger(True)
+                    raise ConnectionClosed('disconnected - reconnect later')
                 self.syncio = AsynConn(self.uri)
                 assert self.syncio.readline() == b'OK'
                 self.syncio.writeline(b'seauser seaser')
@@ -232,6 +244,7 @@ class SeaClient(ProxyClient, Module):
                 except Exception:
                     pass
                 self.syncio = None
+                raise
         raise TimeoutError('no response within 10s')
 
     def _rxthread(self, started_callback):
@@ -681,6 +694,10 @@ class SeaDrivable(SeaModule, Drivable):
     _sea_status = ''
     _is_running = 0
 
+    def earlyInit(self):
+        super().earlyInit()
+        self._run_event = threading.Event()
+
     def read_status(self):
         return self.status
 
@@ -688,8 +705,10 @@ class SeaDrivable(SeaModule, Drivable):
     #    return self.target
 
     def write_target(self, value):
+        self._run_event.clear()
         self.io.query(f'run {self.sea_object} {value}')
-        # self.status = [self.Status.BUSY, 'driving']
+        if not self._run_event.wait(5):
+            self.log.warn('target changed but is_running stays 0')
         return value
 
     def update_status(self, value, timestamp, readerror):
@@ -701,6 +720,8 @@ class SeaDrivable(SeaModule, Drivable):
         if not readerror:
             self._is_running = value
             self.updateStatus()
+            if value:
+                self._run_event.set()
 
     def updateStatus(self):
         if self._sea_status: