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/trinamic.py

@@ -81,7 +81,7 @@ class Motor(PersistentMixin, HasIodev, Drivable):
     #                           TupleOf(IntRange(0, 15), IntRange(0, 15)),
     #                           default=(8, 0))
 
-    value = Parameter('motor position', FloatRange(unit='deg', fmtstr='%.3f'))
+    value = Parameter('motor position', FloatRange(unit='deg', fmtstr='%.3f'), poll=False, default=0)  # polling by read_status
     zero = PersistentParam('zero point', FloatRange(unit='$'), readonly=False, default=0)
     encoder = HwParam('encoder reading', FloatRange(unit='$', fmtstr='%.1f'),
                       209, ANGLE_SCALE, readonly=True, initwrite=False, persistent=True)
@@ -124,7 +124,8 @@ class Motor(PersistentMixin, HasIodev, Drivable):
     
 
     iodevClass = BytesIO
-    fast_pollfactor = 0.001  # poll as fast as possible when busy
+    # fast_pollfactor = 0.001  # poll as fast as possible when busy
+    fast_pollfactor = 0.05
     _started = 0
     _calcTimeout = True
     _need_reset = None
@@ -400,6 +401,7 @@ class Motor(PersistentMixin, HasIodev, Drivable):
     def stop(self):
         self.comm(MOTOR_STOP, 0)
         self.status = self.Status.IDLE, 'stopped'
+        self.target = self.value  # indicate to customers that this was stopped
         self._started = 0
 
     #@Command()