ForceReference(dir) becomes ReferenceForward and ReferenceBackward. Additional...

ForceReference(dir) becomes ReferenceForward and ReferenceBackward. Additional attribute permission modifications.

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,