From ea8570d422f7a181919cc09b3242081fc6b4b239 Mon Sep 17 00:00:00 2001
From: l_samenv <l_samenv@pc10780.psi.ch>
Date: Wed, 20 Mar 2024 16:11:40 +0100
Subject: [PATCH] wip: fix attocube

---
 cfg/attocube_cfg.py    | 15 +++++++++++++++
 frappy_psi/attocube.py | 18 +++++++++++-------
 2 files changed, 26 insertions(+), 7 deletions(-)
 create mode 100644 cfg/attocube_cfg.py

diff --git a/cfg/attocube_cfg.py b/cfg/attocube_cfg.py
new file mode 100644
index 0000000..a1764dc
--- /dev/null
+++ b/cfg/attocube_cfg.py
@@ -0,0 +1,15 @@
+Node('attocube_test.psi.ch',
+    'a single attocube axis',
+    interface='tcp://5000',
+)
+
+Mod('r',
+    'frappy_psi.attocube.Axis',
+    'ANRv220-F3-02882',
+    axis = 1,
+    unit = 'deg',
+    tolerance = 0.01,
+    target_limits = (0, 360),
+    # gear = 1.2,
+)
+
diff --git a/frappy_psi/attocube.py b/frappy_psi/attocube.py
index c923fca..62ba423 100644
--- a/frappy_psi/attocube.py
+++ b/frappy_psi/attocube.py
@@ -19,8 +19,8 @@
 
 import sys
 import time
-from frappy.core import Drivable, Parameter, Command, Property, ERROR, WARN, BUSY, IDLE, Done, nopoll
-from frappy.features import HasTargetLimits, HasSimpleOffset
+from frappy.core import Drivable, Parameter, Command, Property, ERROR, WARN, BUSY, IDLE, Done, nopoll, TupleOf
+# from frappy.features import HasSimpleOffset
 from frappy.datatypes import IntRange, FloatRange, StringType, BoolType
 from frappy.errors import ConfigError, BadValueError
 sys.path.append('/home/l_samenv/Documents/anc350/Linux64/userlib/lib')
@@ -52,6 +52,7 @@ class FreezeStatus:
                 return Done
             return inner(self)
 
+        wrapped.poll = True
         cls.read_status = wrapped
         super().__init_subclass__()
 
@@ -61,16 +62,18 @@ class FreezeStatus:
         self.status = code, text
 
 
-class Axis(HasTargetLimits, FreezeStatus, Drivable):
+class Axis(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)
     amplitude = Parameter('amplitude', FloatRange(0, unit='V'), readonly=False)
-    gear = Parameter('gear factor', FloatRange(), readonly=False, default=1, initwrite=True)
+    gear = Parameter('gear factor', FloatRange(), readonly=False, default=1)
     tolerance = Parameter('positioning tolerance', FloatRange(0, unit='$'), readonly=False, default=0.01)
     output = Parameter('enable output', BoolType(), readonly=False)
     info = Parameter('axis info', StringType())
     statusbits = Parameter('status bits', StringType())
+    target_limits = Parameter('target limits', TupleOf(FloatRange(), FloatRange()), readonly=False)
+
 
     _hw = Positioner()
     _scale = 1  # scale for custom units
@@ -85,9 +88,10 @@ class Axis(HasTargetLimits, FreezeStatus, Drivable):
 
     def __init__(self, name, logger, opts, srv):
         unit = opts.pop('unit', 'deg')
-        opts['value.unit'] = unit
+        # opts['value.unit'] = unit
         try:
-            self._scale = self.SCALES[unit] * opts.get('gear', 1)
+            # self._scale = self.SCALES[unit] * opts.get('gear', 1)
+            self._scale = self.SCALES['deg'] * opts.get('gear', 1)
         except KeyError as e:
             raise ConfigError('unsupported unit: %s' % unit)
         super().__init__(name, logger, opts, srv)
@@ -191,7 +195,7 @@ class Axis(HasTargetLimits, FreezeStatus, Drivable):
     def write_target(self, value):
         if value == self.read_value():
             return value
-        self.check_limits(value)
+        # self.check_limits(value)
         self._try_count = 0
         self._direction = 1 if value > self.value else -1
         # if self._error_state and DIRECTION_NAME[-self._direction] not in self._error_state: