diff --git a/src/Smaract_mcs2.py b/src/Smaract_mcs2.py
index e209541b027b6d8a65465a8264c3334a4ab65c9d..3992b0a678d6499fd6f0d18e062559b31bd816e1 100755
--- a/src/Smaract_mcs2.py
+++ b/src/Smaract_mcs2.py
@@ -206,24 +206,29 @@ class Smaract_mcs2 (PyTango.Device_4Impl):
print "Socket connection raised exception.\n"
self.status_string = "Socket Failed: " + str(e)
self.error_stream(self.status_string)
+ self.socket_alive = False
#------------------------------------------------------------------
# Checks if the controller is connected.
# Returns True/False
#------------------------------------------------------------------
def socket_check(self):
- if self.socket.state() != PyTango.DevState.ON:
- # Try to reconnect once...
- self.debug_stream("Socket not in ON, reconnect.")
- self.socket_reconnect()
- time.sleep(0.2)
+ try:
if self.socket.state() != PyTango.DevState.ON:
- self.set_state(PyTango.DevState.FAULT)
- self.status_string = "Socket device not in ON state. INIT failed."
- self.debug_stream("Socket still not in ON, init failed.")
- return False
- self.debug_stream("Socket device is in ON.")
- return True
+ # Try to reconnect once...
+ self.debug_stream("Socket not in ON, reconnect.")
+ self.socket_reconnect()
+ time.sleep(0.2)
+ if self.socket.state() != PyTango.DevState.ON:
+ self.set_state(PyTango.DevState.FAULT)
+ self.status_string = "Socket device not in ON state. INIT failed."
+ self.debug_stream("Socket still not in ON, init failed.")
+ return False
+ self.debug_stream("Socket device is in ON.")
+ return True
+ except:
+ self.socket_alive = False
+ return False
#------------------------------------------------------------------
# Write socket utility
@@ -580,7 +585,7 @@ class Smaract_mcs2 (PyTango.Device_4Impl):
self.socket_write(cmd_str)
def is_Acceleration_allowed(self, req_type):
- return req_type is PyTango.AttReqType.READ_REQ or (self.get_state() not in (PyTango.DevState.MOVING, PyTango.DevState.FAULT,) and self.sensor_present)
+ return req_type is PyTango.AttReqType.READ_REQ or (self.sensor_present and self.get_state() not in (PyTango.DevState.MOVING, PyTango.DevState.FAULT,))
def read_Velocity(self, attr):
# self.debug_stream("In read_Velocity()")
@@ -606,7 +611,7 @@ class Smaract_mcs2 (PyTango.Device_4Impl):
self.socket_write(cmd_str)
def is_Velocity_allowed(self, req_type):
- return req_type is PyTango.AttReqType.READ_REQ or (self.get_state() not in (PyTango.DevState.MOVING, PyTango.DevState.FAULT,) and self.sensor_present)
+ return req_type is PyTango.AttReqType.READ_REQ or (self.sensor_present and self.get_state() not in (PyTango.DevState.MOVING, PyTango.DevState.FAULT,))
def read_HoldTime(self, attr):
# self.debug_stream("In read_HoldTime()")
@@ -629,7 +634,7 @@ class Smaract_mcs2 (PyTango.Device_4Impl):
self.socket_write(cmd_str)
def is_HoldTime_allowed(self, req_type):
- return self.sensor_present
+ return req_type is PyTango.AttReqType.READ_REQ or (self.sensor_present and self.get_state() not in (PyTango.DevState.MOVING, PyTango.DevState.FAULT,))
def read_LSInvert(self, attr):
# self.debug_stream("In read_LSInvert()")
@@ -684,7 +689,7 @@ class Smaract_mcs2 (PyTango.Device_4Impl):
self.socket_write(cmd_str)
def is_LSOffset_allowed(self, req_type):
- return req_type is PyTango.AttReqType.READ_REQ or (self.get_state() not in (PyTango.DevState.MOVING, PyTango.DevState.FAULT,) and self.sensor_present)
+ return req_type is PyTango.AttReqType.READ_REQ or (self.sensor_present and self.get_state() not in (PyTango.DevState.MOVING, PyTango.DevState.FAULT,))
def read_HighLimitPosition(self, attr):
# self.debug_stream("In read_HighLimitPosition()")
@@ -708,7 +713,7 @@ class Smaract_mcs2 (PyTango.Device_4Impl):
self.socket_write(cmd_str)
def is_HighLimitPosition_allowed(self, req_type):
- return req_type is PyTango.AttReqType.READ_REQ or (self.get_state() not in (PyTango.DevState.MOVING, PyTango.DevState.FAULT,) and self.sensor_present)
+ return req_type is PyTango.AttReqType.READ_REQ or (self.sensor_present and self.get_state() not in (PyTango.DevState.MOVING, PyTango.DevState.FAULT,))
def read_LowLimitPosition(self, attr):
# self.debug_stream("In read_LowLimitPosition()")
@@ -732,7 +737,7 @@ class Smaract_mcs2 (PyTango.Device_4Impl):
self.socket_write(cmd_str)
def is_LowLimitPosition_allowed(self, req_type):
- return req_type is PyTango.AttReqType.READ_REQ or (self.get_state() not in (PyTango.DevState.MOVING, PyTango.DevState.FAULT,) and self.sensor_present)
+ return req_type is PyTango.AttReqType.READ_REQ or (self.sensor_present and self.get_state() not in (PyTango.DevState.MOVING, PyTango.DevState.FAULT,))
def read_Amplitude(self, attr):
# self.debug_stream("In read_Amplitude()")
@@ -892,13 +897,14 @@ class Smaract_mcs2 (PyTango.Device_4Impl):
PyTango.Except.throw_exception("Read Sensor Enabled Failed", "Unexpected reply format", "read_SensorEnabled()")
attr.set_value(self.attr_SensorEnabled_read)
-
def write_SensorPowerMode(self, attr):
# self.debug_stream("In write_SensorEnabled()")
data = attr.get_write_value()
cmd_str = ":CHAN" + self.chan + ":SENS:MODE " + str(data)
self.socket_write(cmd_str)
+ def is_SensorPowerMode_allowed(self, req_type):
+ return req_type is PyTango.AttReqType.READ_REQ or (self.sensor_present and self.get_state() not in (PyTango.DevState.MOVING, PyTango.DevState.FAULT,))
def read_IsReferenced(self, attr):
attr.set_value(self.attr_IsReferenced_read)
@@ -907,7 +913,6 @@ class Smaract_mcs2 (PyTango.Device_4Impl):
attr.set_value(self.attr_IsCalibrated_read)
-
#-----------------------------------------------------------------------------
# Smaract_mcs2 command methods
#-----------------------------------------------------------------------------
@@ -945,9 +950,9 @@ class Smaract_mcs2 (PyTango.Device_4Impl):
def Reference(self):
self.debug_stream("In Reference()")
- if self.attr_IsReferenced_read:
- self.debug_stream("Already referenced. Do nothing.")
- return
+ # if self.attr_IsReferenced_read:
+ # self.debug_stream("Already referenced. Do nothing.")
+ # return
# Evaluate the last known physical position based on the values stored in tango db
# and pick the referencing direction accordingly:
# Referencing/Calibrating mode 0 is forward (default), 1 is backward
@@ -1000,23 +1005,38 @@ class Smaract_mcs2 (PyTango.Device_4Impl):
return self.sensor_present
- def ForceReference(self, ref_mode):
- self.debug_stream("In ForceReference()")
- if self.attr_IsReferenced_read:
- self.debug_stream("Already referenced. Do nothing.")
- return
- if ref_mode not in [0, 1]:
- return
+ def ReferenceForward(self):
+ self.debug_stream("In ReferenceForward()")
+ # if self.attr_IsReferenced_read:
+ # self.debug_stream("Already referenced. Do nothing.")
+ # return
+ ref_mode = 0
cmd_str = ":CHAN" + self.chan + ":REF:OPT " + str(ref_mode)
self.socket_write(cmd_str)
# start actual referencing:
cmd_str = ":REF" + self.chan
self.socket_write(cmd_str)
- def is_ForceReference_allowed(self):
+ def is_ReferenceForward_allowed(self):
return self.sensor_present
+ def ReferenceBackward(self):
+ self.debug_stream("In ReferenceBackward()")
+ # if self.attr_IsReferenced_read:
+ # self.debug_stream("Already referenced. Do nothing.")
+ # return
+ ref_mode = 1
+ cmd_str = ":CHAN" + self.chan + ":REF:OPT " + str(ref_mode)
+ self.socket_write(cmd_str)
+ # start actual referencing:
+ cmd_str = ":REF" + self.chan
+ self.socket_write(cmd_str)
+
+ def is_ReferenceBackward_allowed(self):
+ return self.sensor_present
+
+
def Go(self):
# self.debug_stream("In Go()")
if self.attr_NextPosition_read != self.attr_Position_read:
@@ -1024,7 +1044,7 @@ class Smaract_mcs2 (PyTango.Device_4Impl):
self.move_abs(self.attr_NextPosition_read)
def is_Go_allowed(self):
- return self.get_state() in (PyTango.DevState.ON,) and self.sensor_present
+ return self.sensor_present and self.get_state() in (PyTango.DevState.ON,)
def StepUp(self):
@@ -1111,7 +1131,7 @@ class Smaract_mcs2 (PyTango.Device_4Impl):
self.socket_write(cmd_str)
def is_DefinePosition_allowed(self):
- return self.get_state() in (PyTango.DevState.ON,) and self.sensor_present
+ return self.sensor_present and self.get_state() in (PyTango.DevState.ON,)
def GoToHighLimit(self):
@@ -1122,7 +1142,7 @@ class Smaract_mcs2 (PyTango.Device_4Impl):
self.move_abs(self.attr_HighLimitPosition_read)
def is_GoToHighLimit_allowed(self):
- return self.get_state() in (PyTango.DevState.ON,) and self.sensor_present
+ return self.sensor_present and self.get_state() in (PyTango.DevState.ON,)
def GoToLowLimit(self):
@@ -1133,7 +1153,7 @@ class Smaract_mcs2 (PyTango.Device_4Impl):
self.move_abs(self.attr_LowLimitPosition_read)
def is_GoToLowLimit_allowed(self):
- return self.get_state() in (PyTango.DevState.ON,) and self.sensor_present
+ return self.sensor_present and self.get_state() in (PyTango.DevState.ON,)
def Stop(self):
@@ -1236,8 +1256,11 @@ class Smaract_mcs2Class(PyTango.DeviceClass):
'Reference':
[[PyTango.DevVoid, "none"],
[PyTango.DevVoid, "none"]],
- 'ForceReference':
- [[PyTango.DevShort, "direction 0=fwd, 1=bkw"],
+ 'ReferenceForward':
+ [[PyTango.DevShort, "none"],
+ [PyTango.DevVoid, "none"]],
+ 'ReferenceBackward':
+ [[PyTango.DevShort, "none"],
[PyTango.DevVoid, "none"]],
'Go':
[[PyTango.DevVoid, "none"],
@@ -1295,7 +1318,7 @@ class Smaract_mcs2Class(PyTango.DeviceClass):
positioners and in degrees/s^2 for rotary positioners. \
The valid range is 0..10. A value of 0 (default) deactivates \
the acceleration control feature.",
- 'memorized':"false",
+ 'memorized':"true",
}],
'Velocity':
[[PyTango.DevDouble,
@@ -1307,7 +1330,7 @@ class Smaract_mcs2Class(PyTango.DeviceClass):
'description': "Defines the speed in mm/s for linear positioners \
and in degrees/s for rotary positioners. The valid range is 0..100. \
A value of 0 (default) deactivates the speed control feature.",
- 'memorized':"false",
+ 'memorized':"true",
}],
'Frequency':
[[PyTango.DevLong,
@@ -1318,7 +1341,7 @@ class Smaract_mcs2Class(PyTango.DeviceClass):
'min value': "1",
'description': "Open-loop steps frequency in Hertz.\
The default value is 100. Used in stepper mode only.",
- 'memorized':"false",
+ 'memorized':"true",
}],
'Amplitude':
[[PyTango.DevLong,
@@ -1330,7 +1353,7 @@ class Smaract_mcs2Class(PyTango.DeviceClass):
'description': "Voltage in binary form, the valid range is 1..65535 \
A value of 65535 (max) equals to 100 Volts. Lower amplitude values \
result in a smaller step width. Used in stepper mode only.",
- 'memorized':"false",
+ 'memorized':"true",
}],
'Voltage':
[[PyTango.DevDouble,
@@ -1435,7 +1458,7 @@ class Smaract_mcs2Class(PyTango.DeviceClass):
'description': "If selected, write Position is disabled. \
Instead, the next position attribute must be set and \
Go command executed.",
- 'memorized':"true"
+ 'memorized':"true",
}],
'HighLimitPosition':
[[PyTango.DevDouble,
@@ -1444,7 +1467,7 @@ class Smaract_mcs2Class(PyTango.DeviceClass):
{
'description': "High limit position in mm for linear sensors \
and in degrees for rotary sensors.",
- 'memorized':"false",
+ 'memorized':"true",
}],
'LowLimitPosition':
[[PyTango.DevDouble,
@@ -1453,7 +1476,7 @@ class Smaract_mcs2Class(PyTango.DeviceClass):
{
'description': "Low limit position in mm for linear sensors \
and in degrees for rotary sensors.",
- 'memorized':"false",
+ 'memorized':"true",
}],
'PositionBackup':
[[PyTango.DevDouble,
@@ -1473,7 +1496,7 @@ class Smaract_mcs2Class(PyTango.DeviceClass):
'min value':"0",
'description': "Selects the mode. Must be either \
0 (disabled), 1 (enabled) or 2 (powersave).",
- 'memorized':"false",
+ 'memorized':"true",
}],
'IsCalibrated':
[[PyTango.DevBoolean,