backport fixes from MLZ repo

- unification of secop.stringio/bytesio to secop.io
- persistent parameters

Change-Id: I76307cccc5191ac8cbb5cfec6fb7450fcf6945f1

secop_psi/trinamic.py

@@ -27,7 +27,7 @@ import struct
 from math import log10
 
 from secop.core import BoolType, Command, EnumType, FloatRange, IntRange, \
-    HasIodev, Parameter, Property, Drivable, TupleOf, Done, PersistentMixin, PersistentParam
+    HasIodev, Parameter, Property, Drivable, PersistentMixin, PersistentParam
 from secop.bytesio import BytesIO
 from secop.errors import CommunicationFailedError, HardwareError, BadValueError, IsBusyError
 
@@ -77,10 +77,6 @@ class HwParam(PersistentParam):
 class Motor(PersistentMixin, HasIodev, Drivable):
     address = Property('module address', IntRange(0, 255), default=1)
 
-    # limit_pin_mask = Property('input pin mask for lower/upper limit switch',
-    #                           TupleOf(IntRange(0, 15), IntRange(0, 15)),
-    #                           default=(8, 0))
-
     value = Parameter('motor position', FloatRange(unit='deg', fmtstr='%.3f'))
     zero = PersistentParam('zero point', FloatRange(unit='$'), readonly=False, default=0)
     encoder = HwParam('encoder reading', FloatRange(unit='$', fmtstr='%.1f'),
@@ -121,7 +117,7 @@ class Motor(PersistentMixin, HasIodev, Drivable):
     baudrate = Parameter('_', EnumType({'%d' % v: i for i, v in enumerate(BAUDRATES)}),
                          readonly=False, default=0, poll=True, visibility=3, group='more')
     pollinterval = Parameter(group='more')
-    
+
 
     iodevClass = BytesIO
     fast_pollfactor = 0.001  # poll as fast as possible when busy
@@ -155,7 +151,7 @@ class Motor(PersistentMixin, HasIodev, Drivable):
                     raise CommunicationFailedError('checksum error')
             except Exception as e:
                 if itry == 1:
-                   raise
+                    raise
                 exc = e
                 continue
             break
@@ -208,7 +204,8 @@ class Motor(PersistentMixin, HasIodev, Drivable):
         adjusted_encoder = encoder_from_hw + round((self.encoder - encoder_from_hw) / 360.) * 360
         if abs(self.encoder - adjusted_encoder) >= self.encoder_tolerance:
             # encoder module0 360 has changed
-            self.log.error('saved encoder value (%.2f) does not match reading (%.2f %.2f)', self.encoder, encoder_from_hw, adjusted_encoder)
+            self.log.error('saved encoder value (%.2f) does not match reading (%.2f %.2f)',
+                           self.encoder, encoder_from_hw, adjusted_encoder)
             if adjusted_encoder != encoder_from_hw:
                 self.log.info('take next closest encoder value (%.2f)' % adjusted_encoder)
             self._need_reset = True
@@ -252,7 +249,6 @@ class Motor(PersistentMixin, HasIodev, Drivable):
                     self.log.error('encoder (%.2f) does not match internal pos (%.2f)', self.encoder, self.steppos)
                     return self.Status.ERROR, 'encoder does not match internal pos'
             return self.status
-        now = time.time()
         if oldpos != self.steppos or not (self.read_target_reached() or self.read_move_status()
                                           or self.read_error_bits()):
             return self.Status.BUSY, 'moving'
@@ -260,15 +256,6 @@ class Motor(PersistentMixin, HasIodev, Drivable):
         if abs(diff) <= self.tolerance:
             self._started = 0
             return self.Status.IDLE, ''
-        #if (abs(self.target - self.steppos) < self.tolerance and
-        #        abs(self.encoder - self.steppos) < self.encoder_tolerance):
-        #    self._try_count += 1
-        #    if self._try_count < 3:
-        #        # occasionaly, two attempts are needed, as steppos and encoder might have been
-        #        # off by 1-2 full steps before moving
-        #        self.fix_steppos(self.tolerance, self.target)
-        #        self.log.warning('try move again')
-        #        return self.Status.BUSY, 'try again'
         self.log.error('out of tolerance by %.3g', diff)
         self._started = 0
         return self.Status.ERROR, 'out of tolerance'
@@ -286,9 +273,7 @@ class Motor(PersistentMixin, HasIodev, Drivable):
                 self.status = self.Status.ERROR, 'encoder does not match internal pos'
                 raise HardwareError('need reset (encoder does not match internal pos)')
             self.set('steppos', self.encoder - self.zero)
-            # self.fix_steppos(self.encoder_tolerance)
         self._started = time.time()
-        # self._try_count = 0
         self.log.info('move to %.1f', target)
         self.comm(MOVE, 0, (target - self.zero) / ANGLE_SCALE)
         self.status = self.Status.BUSY, 'changed target'