From 985226e9cd8230f456cfa0a2b24044e1ed43d8b0 Mon Sep 17 00:00:00 2001
From: Ezequiel Panepucci <ezequiel.panepucci@psi.ch>
Date: Tue, 9 May 2023 12:33:19 +0200
Subject: [PATCH] improve assertInPosition

- sometimes this is called while the lid is still moving
---
 script/devices/Hexiposi.py | 10 +++++++---
 script/hexiposi_tester.py  | 13 +++++++++++++
 2 files changed, 20 insertions(+), 3 deletions(-)
 create mode 100644 script/hexiposi_tester.py

diff --git a/script/devices/Hexiposi.py b/script/devices/Hexiposi.py
index 7003fbc..96a1e16 100644
--- a/script/devices/Hexiposi.py
+++ b/script/devices/Hexiposi.py
@@ -117,14 +117,18 @@ class Hexiposi(DiscretePositionerBase):
                 
     #Retrying after end of move -> once in a while move raises a not in position exception.
     def assertInPosition(self, pos):
-        retries = 3
+        poll_interval = 2.0
+        max_turn_time = 8.0 # s
+        retries = int(max_turn_time / poll_interval)
         for i in range(retries):
+            #st = self.get_status()
+            #print "asserting hexiposi in position " + pos + " --- moving:" + str(st["moving"]) + " --- state:" + str(self.getState())
             try:
                 super(Hexiposi, self).assertInPosition(pos)
                 return
             except:                            
-                if i <(retries-1):
-                    time.sleep(0.5)            
+                if i < retries - 1:
+                    time.sleep(poll_interval)
                 else:
                     raise
             
diff --git a/script/hexiposi_tester.py b/script/hexiposi_tester.py
new file mode 100644
index 0000000..019efaf
--- /dev/null
+++ b/script/hexiposi_tester.py
@@ -0,0 +1,13 @@
+import random
+import time
+def hexiposi_tester(num_moves = 10, wait = 3.0):
+    release_safety()
+    for n in range(num_moves):
+        pos = random.choice("ABCDEF")
+        print str(n) + " of " + str(num_moves) + ") moving to " + pos
+        hexiposi.move(pos)
+        #print "   sleep " + str(wait) + " s"
+        time.sleep(wait)
+
+    print " done "
+        
\ No newline at end of file