From 5f5128145ce47ae2c42999c3bb94f8d03ea0edb7 Mon Sep 17 00:00:00 2001
From: gac-bernina <gac-bernina@PC14742.psi.ch>
Date: Fri, 7 Jun 2024 10:00:38 +0200
Subject: [PATCH] fixed a problem with the pvs that are broadcasted

---
 script/devices/RobotBernina.py | 27 +++++++++++++++++++++++++--
 script/devices/RobotTCP.py     |  1 +
 2 files changed, 26 insertions(+), 2 deletions(-)

diff --git a/script/devices/RobotBernina.py b/script/devices/RobotBernina.py
index c8665d9..b986529 100644
--- a/script/devices/RobotBernina.py
+++ b/script/devices/RobotBernina.py
@@ -590,9 +590,12 @@ class DummySTP(RegisterBase):
 class MotorConfigPV(ReadonlyRegisterBase):
     def __init__(self, Motor, fieldname):
         self.motor = Motor
+        self.fieldname = fieldname
         self.initialize()
     def doRead(self):
-        return self.motor.config.getFieldValue(fieldname)
+        return self.motor.config.getFieldValue(self.fieldname)
+    def getUnit(self):
+        return self.motor.getUnit()
 
 def make_archivable(Motor):
     base = PVBASE + Motor.name
@@ -601,10 +604,14 @@ def make_archivable(Motor):
         ".VAL": [Motor, "double"],
         ".RBV": [Motor.readback, "double"],
         ".EGU": [MotorConfigPV(Motor, "unit"), "string"],
-        ".ADEL": [DummySTP(0.002), "double"],
+        ".ADEL": [DummySTP(-1), "double"],
+        #".ADEL": [DummySTP(0.002), "double"],
+        ".MDEL": [DummySTP(0), "double"],
+        ".RTYP": [DummySTP("motor"), "string"],
         ".SCAN": [DummySTP("passive"), "string"],
         ".PINI": [DummySTP("No"), "string"],
         ".PHAS": [DummySTP(0), "short"],
+        ".PREC": [DummySTP(3), "short"],
         ".EVNT": [DummySTP(""), "string"],
         ".PRIO": [DummySTP(0), "short"],#should be ENUM with 0,1,3 being LOW, MEDIUM, HIGH
         ".DISV": [DummySTP(1), "short"],
@@ -614,6 +621,22 @@ def make_archivable(Motor):
         ".DISS": [DummySTP(0), "short"],#should be ENUM with 0,1,2,3 being NO?ALARM, MINOR, MAJOR, INVALID
         ".LCNT": [DummySTP(0), "short"],#should be uchar
         ".PACT": [DummySTP(0), "short"],#should be uchar
+        ".NAME": [DummySTP(base), "string"],
+        ".DESC": [DummySTP(base), "string"],
+        ".ASG": [DummySTP(""), "string"],
+        ".TSE": [DummySTP(0), "short"],
+        ".TSEL": [DummySTP(""), "string"],
+        ".DTYP": [DummySTP("asynMotor"), "string"],
+        ".DISP": [DummySTP(0), "double"],
+        ".PUTF": [DummySTP(0), "double"],
+        ".PPRO": [DummySTP(0), "double"],
+        ".TPRO": [DummySTP(0), "double"],
+        ".STAT": [DummySTP(0), "short"],
+        ".SEVR": [DummySTP(0), "short"],
+        ".NSTA": [DummySTP(0), "short"],
+        ".NSEV": [DummySTP(0), "short"],
+        ".ACKS": [DummySTP(2), "short"],
+        ".ACKT": [DummySTP(0), "short"],
         }
     epics_pvs = {base + field: CAS((base+field).upper(), device, dtype) for field, [device, dtype] in pv_def.items()}
     epics_pvs.update({base + ".FLNK": CAS((base+".FLNK").upper(), DummySTP((base+".RBV").upper()), "string")})
diff --git a/script/devices/RobotTCP.py b/script/devices/RobotTCP.py
index 23dc198..87d1654 100644
--- a/script/devices/RobotTCP.py
+++ b/script/devices/RobotTCP.py
@@ -693,6 +693,7 @@ class RobotTCP(TcpDevice, Stoppable):
         #self.setState(State.Busy if self.status=="move" else State.Ready)
         if self.state==State.Offline:
             print "Communication resumed"
+            sleep(5)
             robot.set_default_desc(DESC_DEFAULT)
             robot.default_speed = DEFAULT_SPEED
             robot.set_frame(self.frame_persistent())