fix new statemachine with ips magfield

+ add on_error, on_restart etc. to states.py
+ add n_retry argument to mercury change/multichange

secop_psi/ips_mercury.py

@@ -26,7 +26,7 @@ from secop.lib.enum import Enum
 from secop.errors import BadValueError, HardwareError
 from secop_psi.magfield import Magfield, SimpleMagfield, Status
 from secop_psi.mercury import MercuryChannel, off_on, Mapped
-from secop.lib.statemachine import Retry
+from secop.states import Retry
 
 Action = Enum(hold=0, run_to_set=1, run_to_zero=2, clamped=3)
 hold_rtoz_rtos_clmp = Mapped(HOLD=Action.hold, RTOS=Action.run_to_set,
@@ -65,6 +65,13 @@ class SimpleField(MercuryChannel, SimpleMagfield):
         obj = object.__new__(newclass)
         return obj
 
+    def initModule(self):
+        super().initModule()
+        try:
+            self.write_action(Action.hold)
+        except Exception as e:
+            self.log.error('can not set to hold %r', e)
+
     def read_value(self):
         return self.query('PSU:SIG:FLD')
 
@@ -94,12 +101,12 @@ class SimpleField(MercuryChannel, SimpleMagfield):
 
     def set_and_go(self, value):
         self.setpoint = self.change('PSU:SIG:FSET', value)
-        assert self.write_action('hold') == 'hold'
-        assert self.write_action('run_to_set') == 'run_to_set'
+        assert self.write_action(Action.hold) == Action.hold
+        assert self.write_action(Action.run_to_set) == Action.run_to_set
 
     def start_ramp_to_target(self, sm):
-        # if self.action != 'hold':
-        #     assert self.write_action('hold') == 'hold'
+        # if self.action != Action.hold:
+        #     assert self.write_action(Action.hold) == Action.hold
         #     return Retry
         self.set_and_go(sm.target)
         sm.try_cnt = 5
@@ -116,13 +123,11 @@ class SimpleField(MercuryChannel, SimpleMagfield):
             return Retry
 
     def final_status(self, *args, **kwds):
-        print('FINAL-hold')
-        self.write_action('hold')
+        self.write_action(Action.hold)
         return super().final_status(*args, **kwds)
 
     def on_restart(self, sm):
-        print('ON_RESTART-hold', sm.sm)
-        self.write_action('hold')
+        self.write_action(Action.hold)
         return super().on_restart(sm)
 
 
@@ -136,7 +141,7 @@ class Field(SimpleField, Magfield):
 
     _field_mismatch = None
     __init = True
-    __switch_heater_fix = 0
+    __switch_fixed_until = 0
 
     def doPoll(self):
         super().doPoll()
@@ -208,7 +213,8 @@ class Field(SimpleField, Magfield):
         value = self.query('PSU:SIG:SWHT', off_on)
         now = time.time()
         if value != self.switch_heater:
-            if now < self.__switch_heater_fix:
+            if now < self.__switch_fixed_until:
+                self.log.debug('correct fixed switch time')
                 # probably switch heater was changed, but IPS reply is not yet updated
                 if self.switch_heater:
                     self.switch_on_time = time.time()
@@ -228,8 +234,10 @@ class Field(SimpleField, Magfield):
             self.log.info('switch heater already %r', value)
             # we do not want to restart the timer
             return value
-        self.__switch_heater_fix = time.time() + 10
-        return self.change('PSU:SIG:SWHT', value, off_on)
+        self.__switch_fixed_until = time.time() + 10
+        self.log.debug('switch time fixed for 10 sec')
+        result = self.change('PSU:SIG:SWHT', value, off_on, n_retry=0)  # no readback check
+        return result
 
     def start_ramp_to_field(self, sm):
         if abs(self.current - self.persistent_field) <= self.tolerance:
@@ -241,9 +249,7 @@ class Field(SimpleField, Magfield):
             if self.switch_heater:
                 self.log.warn('switch is already on!')
                 return self.ramp_to_field
-            self.log.warn('wait first for switch off current=%g pf=%g', self.current, self.persistent_field)
-            return Retry
-            self.status = Status.PREPARING, 'wait for switch off'
+            self.log.warn('wait first for switch off current=%g pf=%g %r', self.current, self.persistent_field, e)
             sm.after_wait = self.ramp_to_field
             return self.wait_for_switch
         return self.ramp_to_field
@@ -270,7 +276,7 @@ class Field(SimpleField, Magfield):
             return Retry
 
     def wait_for_switch(self, sm):
-        if not self.delay(10):
+        if not sm.delta(10):
             return Retry
         try:
             self.log.warn('try again')
@@ -282,8 +288,8 @@ class Field(SimpleField, Magfield):
 
     def start_ramp_to_zero(self, sm):
         try:
-            assert self.write_action('hold') == 'hold'
-            assert self.write_action('run_to_zero') == 'run_to_zero'
+            assert self.write_action(Action.hold) == Action.hold
+            assert self.write_action(Action.run_to_zero) == Action.run_to_zero
         except (HardwareError, AssertionError) as e:
             self.log.warn('switch not yet ready %r', e)
             self.status = Status.PREPARING, 'wait for switch off'
@@ -298,6 +304,6 @@ class Field(SimpleField, Magfield):
             sm.try_cnt -= 1
             if sm.try_cnt < 0:
                 raise
-            assert self.write_action('hold') == 'hold'
-            assert self.write_action('run_to_zero') == 'run_to_zero'
+            assert self.write_action(Action.hold) == Action.hold
+            assert self.write_action(Action.run_to_zero) == Action.run_to_zero
             return Retry