reduce communication traffic

- expermental change: no updates of unchanged values within 1 sec
- reduce fast_pollfactor in trinamic
- improve stop behaviour of dpm.DPM

secop_psi/dpm.py

@@ -116,28 +116,37 @@ class DPM3(HasIodev, Drivable):
  
     def read_value(self):
         value = float(self._iodev.communicate('*1B1'))
-        if self._target is not None:
-            mot = self._motor
-            if self._direction * (self._target - value) > 0:
-                if not mot.isBusy():
-                    step = self.step * self._direction
-                    mot.write_target(mot.value + step)
+        mot = self._motor
+        if self._target is None:
+            if mot.isBusy():
+                self.status = self.Status.IDLE, 'stopping'
+            else:
+                self.status = self.Status.IDLE, ''
+        else:
+            if self._direction * (self._target - value) > 0:
+                if self._mot_target != mot.target:
+                    self.stop()
+                    self.status = self.Status.IDLE, 'motor was stopped'
+                elif not mot.isBusy():
+                    step = self.step * self._direction
+                    mot_target = mot.value + step
+                    self._mot_target = mot.write_target(mot_target)
             else:
-                print(value)
                 self.stop()
                 self.status = self.Status.IDLE, 'target reached'
         return value
     
     def write_target(self, target):
         self._target = target
+        self._started = True
         if target - self.value > 0:
             self._direction = 1
         else:
             self._direction = -1
-        print('direction', self._direction)
         self.status = self.Status.BUSY, 'moving motor'
         if self._motor.status[0] == self.Status.ERROR:
             self._motor.reset()
+        self._mot_target = self._motor.target
         return target
 
     @Command()