fixes in convergence and statemachine

- set spent_inside to 0 on set_target
- additional debug log messages in statemachine

secop/lib/statemachine.py

@@ -186,6 +186,7 @@ class StateMachine:
                     ret = self.state(self)
                     self.init = False
                     if self.stopped:
+                        self.log.debug('%r', self.stopped)
                         self.last_error = self.stopped
                         self.cleanup(self)
                         self.stopped = False
@@ -268,6 +269,7 @@ class StateMachine:
             self.stopped = Restart
             with self._lock:  # wait for running cycle finished
                 if self.stopped:  # cleanup is not yet done
+                    self.log.debug('restart')
                     self.last_error = self.stopped
                     self.cleanup(self)  # ignore return state on restart
                     self.stopped = False

secop_psi/convergence.py

@@ -78,11 +78,11 @@ class HasConvergence:
         return dif / self.timeout  # assume exponential decay of dif, with time constant <tolerance>
 
     def get_dif_tol(self):
-        self.read_value()
+        value = self.read_value()
         tol = self.tolerance
         if not tol:
-            tol = 0.01 * max(abs(self.target), abs(self.value))
-        dif = abs(self.target - self.value)
+            tol = 0.01 * max(abs(self.target), abs(value))
+        dif = abs(self.target - value)
         return dif, tol
 
     def start_state(self):
@@ -91,6 +91,7 @@ class HasConvergence:
 
     def state_approach(self, state):
         """approaching, checking progress (busy)"""
+        state.spent_inside = 0
         dif, tol = self.get_dif_tol()
         if dif < tol:
             state.timeout_base = state.now
@@ -101,7 +102,6 @@ class HasConvergence:
             state.timeout_base = state.now
             state.dif_crit = dif  # criterium for resetting timeout base
             self.status = BUSY, 'approaching'
-        state.spent_inside = 0
         state.dif_crit -= self.get_min_slope(dif) * state.delta()
         if dif < state.dif_crit:  # progress is good: reset timeout base
             state.timeout_base = state.now