add shortcut for acquisition modules

acq(<goal>) sets goal, starts and waits for completion

frappy/client/interactive.py

@@ -64,6 +64,8 @@ LOG_LEVELS = {
     'off': logging.ERROR+1}
 CLR = '\r\x1b[K'  # code to move to the left and clear current line
 
+UNDEF = object()
+
 
 class Handler(logging.StreamHandler):
     def emit(self, record):
@@ -213,8 +215,8 @@ class Module:
             clientenv.raise_with_short_traceback(error)
         return value
 
-    def __call__(self, target=None):
-        if target is None:
+    def __call__(self, target=UNDEF):
+        if target is UNDEF:
             return self.read()
         watch_params = ['value', 'status']
         for pname in watch_params:
@@ -222,7 +224,15 @@ class Module:
                                             updateEvent=self._watch_parameter,
                                             callimmediately=False)
 
-        self.target = target  # this sets self._is_driving
+        if 'go' in self._commands:
+            if 'goal' in self._parameters and target is not None:
+                self.goal_enable = True
+                self.goal = target
+            if 'target' in self._parameters:
+                self.target = target
+            self.go()
+        elif 'target' in self._parameters:
+            self.target = target  # this sets self._is_driving
 
         def loop():
             while self._is_driving:
@@ -232,7 +242,10 @@ class Module:
             loop()
         except KeyboardInterrupt as e:
             self._secnode.log.info('-- interrupted --')
-            self.stop()
+            try:
+                self.stop()
+            except Exception as e:
+                print(f'while stopping: {e!r}')
             try:
                 loop()  # wait for stopping to be finished
             except KeyboardInterrupt:
@@ -297,6 +310,8 @@ class Param:
 
 
 class Command:
+    _obj = None
+
     def __init__(self, name, modname, secnode):
         self.name = name
         self.modname = modname
@@ -311,11 +326,14 @@ class Command:
             result, _ = self.exec(self.modname, self.name, *args)
         else:
             result, _ = self.exec(self.modname, self.name, args or None)
+        if self.name == 'go' and self._obj:
+            self._obj._is_driving = self._obj._isBusy()
         return result
 
     def __get__(self, obj, owner=None):
         if obj is None:
             return self
+        self._obj = obj
         return self.call