Implement limit switches and the SC and TS commands on fake Galil motors

site_ansto/instrument/TEST_SICS/fakeGalil/galilcontroller.py

@@ -112,7 +112,7 @@ class GalilController(object):
     def doCommand(self, cmd, arg):
         action = cmd[0:2]
         #print "Command %s(%s) = %s" % (action, cmd[2:], arg)
-        if action in ["BG", "ST", "TP", "TD", "SH", "MO"]:
+        if action in ["BG", "ST", "TP", "TD", "SH", "MO", "SC", "TS"]:
             self.doMotorCommand(cmd, arg)
         if action == "LV":
             self.doCommandLV(cmd, arg)

site_ansto/instrument/TEST_SICS/fakeGalil/galilmotor.py

@@ -1,5 +1,5 @@
 #!/usr//bin/env python
-# vim: ts=8 sts=4 sw=4 expandtab
+# vim: ts=8 sts=4 sw=4 ft=python expandtab
 # Author: Douglas Clowes (dcl@ansto.gov.au) 2012-06-29
 import inspect
 import time
@@ -169,8 +169,18 @@ class GalilMotor(object):
             currentPosition = self.getPosition()
             if not self.moveCallback == None:
                 self.moveCallback(self)
-            # TODO Forward Limit
-            # TODO Reverse Limit
+            if self.targetSteps > self.motorStartSteps and currentPosition >= self.upperLim:
+                # Forward Limit
+                self.motorState = "STOPPED"
+                self.stopcode = 2 # stopped by forward limit
+                self.switches = 44 - 8 # stopped, reverse limit clear
+                pass
+            if self.targetSteps < self.motorStartSteps and currentPosition <= self.lowerLim:
+                # Reverse Limit
+                self.motorState = "STOPPED"
+                self.stopcode = 3 # stopped by reverse limit
+                self.switches = 44 - 4 # stopped, forward limit clear
+                pass
             if self.motorState == "STOPPED":
                 print "Axis %s stopped at:" % self.axis, currentPosition
                 self.currentSteps = self.targetSteps
@@ -243,6 +253,12 @@ class GalilMotor(object):
     def doCommandTP(self, arg):
         return self.doQuery("TP")
 
+    def doCommandSC(self, arg):
+        return self.doQuery("SC")
+
+    def doCommandTS(self, arg):
+        return self.doQuery("TS")
+
     def doCommandST(self, arg):
         if self.motorState in ["MOVING"]:
             self.motorState = "STOPPED"