attocube: more robust moving

- try up to 10 times when end of travel or no more progress
- issue WARN instead of ERROR when moving did not work

secop_psi/attocube.py

@@ -19,7 +19,7 @@
 
 import sys
 import time
-from secop.core import Drivable, Parameter, Command, Property, ERROR, BUSY, IDLE, Done, nopoll
+from secop.core import Drivable, Parameter, Command, Property, ERROR, WARN, BUSY, IDLE, Done, nopoll
 from secop.features import HasTargetLimits, HasSimpleOffset
 from secop.datatypes import IntRange, FloatRange, StringType, BoolType
 from secop.errors import ConfigError, BadValueError
@@ -61,7 +61,7 @@ class FreezeStatus:
         self.status = code, text
 
 
-class Axis(HasTargetLimits, HasSimpleOffset, FreezeStatus, Drivable):
+class Axis(HasTargetLimits, FreezeStatus, Drivable):
     axis = Property('axis number', IntRange(0, 2), 0)
     value = Parameter('axis position', FloatRange(unit='deg'))
     frequency = Parameter('frequency', FloatRange(1, unit='Hz'), readonly=False)
@@ -89,7 +89,6 @@ class Axis(HasTargetLimits, HasSimpleOffset, FreezeStatus, Drivable):
         try:
             self._scale = self.SCALES[unit] * opts.get('gear', 1)
         except KeyError as e:
-            print(repr(e))
             raise ConfigError('unsupported unit: %s' % unit)
         super().__init__(name, logger, opts, srv)
 
@@ -102,7 +101,7 @@ class Axis(HasTargetLimits, HasSimpleOffset, FreezeStatus, Drivable):
         start_events.queue(self.read_info)
 
     def check_value(self, value):
-        """check if value allows moving in current driection"""
+        """check if value allows moving in current direction"""
         if self._direction > 0:
             if value > self.target_limits[1]:
                 raise BadValueError('above upper limit')
@@ -139,6 +138,7 @@ class Axis(HasTargetLimits, HasSimpleOffset, FreezeStatus, Drivable):
 
     def write_output(self, value):
         self._hw.setAxisOutput(self.axis, enable=value, autoDisable=0)
+        return value
 
     def read_status(self):
         statusbits = self._hw.getAxisStatus(self.axis)
@@ -166,16 +166,24 @@ class Axis(HasTargetLimits, HasSimpleOffset, FreezeStatus, Drivable):
                 beg = self._history.pop(0)
                 if abs(beg - self.target) < self.tolerance:
                     # reset normal tolerance
-                    self._hw.setTargetRange(self.axis, self.tolerance / self._scale)
+                    self._stop()
+                    self._idle_status = IDLE, 'in tolerance'
+                    return self._idle_status
+                    # self._hw.setTargetRange(self.axis, self.tolerance / self._scale)
                 if (self.value - beg) * self._direction > 0:
                     return BUSY, status_text
-                self._idle_status = ERROR, 'no progress'
+                self._try_count += 1
+                if self._try_count < 10:
+                    self.log.warn('no progress retry %d', self._try_count)
+                    return BUSY, status_text
+                self._idle_status = WARN, 'no progress'
         if self._error_state:
             self._try_count += 1
             if self._try_count < 10 and self._history is not None:
+                self.log.warn('end of travel retry %d', self._try_count)
                 self.write_target(self.target)
                 return Done
-            self._idle_status = ERROR, self._error_state
+            self._idle_status = WARN, self._error_state
         if self.status[0] != IDLE:
             self._stop()
         return self._idle_status
@@ -192,8 +200,14 @@ class Axis(HasTargetLimits, HasSimpleOffset, FreezeStatus, Drivable):
         self.write_output(1)
         # try first with 50 % of tolerance
         self._hw.setTargetRange(self.axis, self.tolerance * 0.5 / self._scale)
+        for itry in range(5):
+            try:
                 self._hw.setTargetPosition(self.axis, value / self._scale)
                 self._hw.startAutoMove(self.axis, enable=1, relative=0)
+            except Exception as e:
+                if itry == 4:
+                    raise
+                self.log.warn('%r', e)
         self._history = [self.value]
         self._idle_status = IDLE, ''
         self.freeze_status(1, BUSY, 'changed target')
@@ -219,7 +233,14 @@ class Axis(HasTargetLimits, HasSimpleOffset, FreezeStatus, Drivable):
     def _stop(self):
         self._move_steps = 0
         self._history = None
+        for _ in range(5):
+            try:
                 self._hw.startAutoMove(self.axis, enable=0, relative=0)
+                break
+            except Exception as e:
+                if itry == 4:
+                    raise
+                self.log.warn('%r', e)
         self._hw.setTargetRange(self.axis, self.tolerance / self._scale)
         self.setFastPoll(False)