initial release

.gitignore

+.pydevproject
+.project
+.cproject
+.settings
+obj
+bin
+core*
+*~
+*.pyc
+*.so
+*.so*
+.pylintrc
+.metadata
+.idea
+.cvsignore
+.nse_depinfo
+software
+oldsrc
+CVS
+*-srv
+src/ChangeLog
+test/*.csv

Makefile

+NAME = idhelical-srv
+MAIN = IdHelical.py
+DIRNAME = $(NAME:-srv=)
+MODNAME = $(MAIN:.py=)
+PY_FILES += $(wildcard src/*.py)
+
+default: bin ${PY_FILES}
+	@cp ${PY_FILES} bin/${DIRNAME}
+	@echo "#!/usr/bin/env python3\nimport sys\nsys.path.append(sys.path[0]+'/${DIRNAME}')\nfrom ${MODNAME} import main\nif __name__ == '__main__':\n    main()\n" > bin/${NAME}
+	@chmod +x bin/${NAME} bin/${DIRNAME}/${MAIN}
+
+bin:
+	@test -d $@ || mkdir -p $@/${DIRNAME}
+
+clean:
+	@rm -fr bin/ src/*~
+
+.PHONY: clean

README.md

@@ -2,4 +2,4 @@
 
 Tango simulator for helical undulator
 
-Main attributes : Gap, Phase, Tapring, Offset.
\ No newline at end of file
+Main attributes : Gap, Phase, Tapering, Offset.

docs/idhelical-lh.conf

+#
+# Resource backup , created Thu Mar 10 16:39:48 CET 2022
+#
+
+#---------------------------------------------------------
+# SERVER idhelical-srv/lh, IdHelical device declaration
+#---------------------------------------------------------
+
+idhelical-srv/lh/DEVICE/IdHelical: "lh/insertion_device/id_lh.02"
+
+
+# --- lh/insertion_device/id_lh.02 attribute properties
+
+
+#---------------------------------------------------------
+# CLASS IdHelical properties
+#---------------------------------------------------------
+
+
+# CLASS IdHelical attribute properties
+
+

src/IdHelical.py

+# -*- coding: utf-8 -*-
+#
+# This file is part of the IdHelical project
+#
+#
+#
+# Distributed under the terms of the GPL license.
+# See LICENSE.txt for more info.
+
+""" TANGO Device Server
+
+simulator for helical insertion device.
+Use for testing tango - bcs bridge and supervisor, FERMI ID
+"""
+
+# PyTango imports
+import tango
+from tango import DebugIt
+from tango.server import run
+from tango.server import Device
+from tango.server import attribute, command
+from tango.server import device_property
+from tango import AttrQuality, DispLevel, DevState
+from tango import AttrWriteType, PipeWriteType
+# Additional import
+# PROTECTED REGION ID(IdHelical.additionnal_import) ENABLED START #
+import movethread
+# PROTECTED REGION END #    //  IdHelical.additionnal_import
+
+__all__ = ["IdHelical", "main"]
+
+
+class IdHelical(Device):
+    """
+    simulator for helical insertion device.
+    Use for testing tango - bcs bridge and supervisor, FERMI ID
+
+    **Properties:**
+
+    - Device Property
+        NumAxes
+            - number of mechanical axes , 6, 4, or 2
+            - Type:'DevLong'
+        MaxGap
+            - gap value for rest position
+            - Type:'DevDouble'
+    """
+    # PROTECTED REGION ID(IdHelical.class_variable) ENABLED START #
+    # PROTECTED REGION END #    //  IdHelical.class_variable
+
+    # -----------------
+    # Device Properties
+    # -----------------
+
+    NumAxes = device_property(
+        dtype='DevLong',
+        default_value=6
+    )
+
+    MaxGap = device_property(
+        dtype='DevDouble',
+        default_value=190.0
+    )
+
+    # ----------
+    # Attributes
+    # ----------
+
+    Gap = attribute(
+        dtype='DevDouble',
+        access=AttrWriteType.READ_WRITE,
+        label="gap",
+        unit="mm",
+        standard_unit="1",
+        display_unit="mm",
+        format="%6.3f",
+        max_value=190,
+        min_value=10.0,
+        doc="magnetic gap of id",
+    )
+
+    Offset = attribute(
+        dtype='DevDouble',
+        access=AttrWriteType.READ_WRITE,
+        label="offset",
+        unit="mm",
+        standard_unit="1",
+        display_unit="mm",
+        format="%6.3f",
+        max_value=1,
+        min_value=-1,
+        doc="vertical offset of id",
+    )
+
+    Phase = attribute(
+        dtype='DevDouble',
+        access=AttrWriteType.READ_WRITE,
+        label="phase",
+        unit="mm",
+        standard_unit="1",
+        display_unit="mm",
+        format="%6.3f",
+        max_value=27.0,
+        min_value=-27.0,
+        doc="carriage magnetic phase",
+    )
+
+    Tapering = attribute(
+        dtype='DevDouble',
+        access=AttrWriteType.READ_WRITE,
+        label="taper",
+        unit="mm",
+        standard_unit="1",
+        display_unit="mm",
+        format="%6.3f",
+        max_value=10,
+        min_value=-10,
+        doc="magnetic tapering of id",
+    )
+
+    GapSetPoint = attribute(
+        dtype='DevDouble',
+        label="gap set point",
+        unit="mm",
+        standard_unit="1",
+        display_unit="mm",
+        format="%6.3f",
+        max_value=190,
+        min_value=10.0,
+        doc="set point of magnetic gap of id",
+    )
+
+    OffsetSetPoint = attribute(
+        dtype='DevDouble',
+        label="offset set point",
+        unit="mm",
+        standard_unit="1",
+        display_unit="mm",
+        format="%6.3f",
+        max_value=1,
+        min_value=-1,
+        doc="set point of offset  of id",
+    )
+
+    TaperingSetPoint = attribute(
+        dtype='DevDouble',
+        label="tapering set point",
+        unit="mm",
+        standard_unit="1",
+        display_unit="mm",
+        format="%6.3f",
+        max_value=1,
+        min_value=-1,
+        doc="set point of magnetic tapering  of id",
+    )
+
+    PhaseSetPoint = attribute(
+        dtype='DevDouble',
+        label="phase set point",
+        unit="mm",
+        standard_unit="1",
+        display_unit="mm",
+        format="%6.3f",
+        max_value=27.5,
+        min_value=-27-5,
+        doc="set point of carriage magnetic phase",
+    )
+
+    GapOffTapPha = attribute(
+        dtype=('DevDouble',),
+        access=AttrWriteType.READ_WRITE,
+        max_dim_x=4,
+        label="GapOffTapPha",
+        unit="mm",
+        standard_unit="1",
+        display_unit="mm",
+        format="%6.3f",
+        doc="Gap\nOffset\nTapering\nPhase",
+    )
+
+    GapLimits = attribute(
+        dtype=('DevDouble',),
+        max_dim_x=2,
+        label="GapLimits",
+        unit="mm",
+        standard_unit="1",
+        display_unit="mm",
+        format="%6.3f",
+        doc="Gap Low Limits\nHigh Limits",
+    )
+
+    OffsetLimits = attribute(
+        dtype=('DevDouble',),
+        max_dim_x=2,
+        label="OffsetLimits",
+        unit="mm",
+        standard_unit="1",
+        display_unit="mm",
+        format="%6.3f",
+        doc="Low Limits\nHigh Limits",
+    )
+
+    TaperingLimits = attribute(
+        dtype=('DevDouble',),
+        max_dim_x=2,
+        label="tapering limits",
+        unit="mm",
+        standard_unit="1",
+        display_unit="mm",
+        format="%6.3f",
+        doc="Low Limit\nHigh Limit",
+    )
+
+    PhaseLimits = attribute(
+        dtype=('DevDouble',),
+        max_dim_x=2,
+        label="PhaseLimits",
+        unit="mm",
+        standard_unit="1",
+        display_unit="mm",
+        format="%6.3f",
+        doc="Low Limits\nHigh Limits",
+    )
+
+    # ---------------
+    # General methods
+    # ---------------
+
+    def init_device(self):
+        """Initialises the attributes and properties of the IdHelical."""
+        Device.init_device(self)
+        # PROTECTED REGION ID(IdHelical.init_device) ENABLED START #
+        self.set_state(tango.DevState.INIT)
+        self._enabled = True
+        self._gap = 100.0
+        self._offset = 0.0
+        self._phase = 0.0
+        self._tapering = 0.0
+        self._gap_set_point = self._gap
+        self._offset_set_point = self._offset
+        self._tapering_set_point = self._tapering
+        self._phase_set_point = self._phase
+        self._stat_rf = (False, False)
+        self._gap_off_tap_pha = [100.0, 0.0, 0.0, 0.0]
+        self._gap_limits = (self.Gap.get_min_value(), self.Gap.get_max_value())
+        self._offset_limits = (self.Offset.get_min_value(), self.Offset.get_max_value())
+        self._tapering_limits = (self.Tapering.get_min_value(), self.Tapering.get_max_value())
+        self._phase_limits = (self.Phase.get_min_value(), self.Phase.get_max_value())
+        self.ready = True
+        self.moving = False
+        self.do_stop = False
+        self.set_state(tango.DevState.ON)
+        self.set_status('ON and ready')
+        # PROTECTED REGION END #    //  IdHelical.init_device
+
+    def always_executed_hook(self):
+        """Method always executed before any TANGO command is executed."""
+        # PROTECTED REGION ID(IdHelical.always_executed_hook) ENABLED START #
+        # PROTECTED REGION END #    //  IdHelical.always_executed_hook
+
+    def delete_device(self):
+        """Hook to delete resources allocated in init_device.
+
+        This method allows for any memory or other resources allocated in the
+        init_device method to be released.  This method is called by the device
+        destructor and by the device Init command.
+        """
+        # PROTECTED REGION ID(IdHelical.delete_device) ENABLED START #
+        # PROTECTED REGION END #    //  IdHelical.delete_device
+    # ------------------
+    # Attributes methods
+    # ------------------
+
+    def read_Gap(self):
+        # PROTECTED REGION ID(IdHelical.Gap_read) ENABLED START #
+        """Return the Gap attribute."""
+        return self._gap
+        # PROTECTED REGION END #    //  IdHelical.Gap_read
+
+    def write_Gap(self, value):
+        # PROTECTED REGION ID(IdHelical.Gap_write) ENABLED START #
+        """Set the Gap attribute."""
+        if not (self._enabled and self.ready):
+            msg = "gap request for " + str(value) + " RESPINTA"
+            tango.Except.throw_exception(
+                "Rejected request", msg, "HelicalID.write_Gap()"
+            )
+        self._gap_set_point = value
+        self.set_state(tango.DevState.MOVING)
+        self.moving = True
+        self.ready = False  # NOT ready
+        self.set_status("moving and not ready")
+        moveth = movethread.movethread(self)
+        moveth.start()
+        # PROTECTED REGION END #    //  IdHelical.Gap_write
+
+    def is_Gap_allowed(self, attr):
+        # PROTECTED REGION ID(IdHelical.is_Gap_allowed) ENABLED START #
+        if attr==attr.READ_REQ:
+            return self.get_state() not in [DevState.FAULT,DevState.UNKNOWN]
+        else:
+            return True
+        # PROTECTED REGION END #    //  IdHelical.is_Gap_allowed
+
+    def read_Offset(self):
+        # PROTECTED REGION ID(IdHelical.Offset_read) ENABLED START #
+        """Return the Offset attribute."""
+        return self._offset
+        # PROTECTED REGION END #    //  IdHelical.Offset_read
+
+    def write_Offset(self, value):
+        # PROTECTED REGION ID(IdHelical.Offset_write) ENABLED START #
+        """Set the Offset attribute."""
+        if not (self._enabled and self.ready):
+            msg = "offset request for " + str(value) + " RESPINTA"
+            tango.Except.throw_exception(
+                "Rejected request", msg, "HelicalID.write_Offset()"
+            )
+        self._offset_set_point = value
+        self.set_state(tango.DevState.MOVING)
+        self.moving = True
+        self.ready = False  # NOT ready
+        self.set_status("moving and not ready")
+        moveth = movethread.movethread(self)
+        moveth.start()
+        # PROTECTED REGION END #    //  IdHelical.Offset_write
+
+    def is_Offset_allowed(self, attr):
+        # PROTECTED REGION ID(IdHelical.is_Offset_allowed) ENABLED START #
+        if attr==attr.READ_REQ:
+            return self.get_state() not in [DevState.FAULT,DevState.UNKNOWN]
+        else:
+            return True
+        # PROTECTED REGION END #    //  IdHelical.is_Offset_allowed
+
+    def read_Phase(self):
+        # PROTECTED REGION ID(IdHelical.Phase_read) ENABLED START #
+        """Return the Phase attribute."""
+        return self._phase
+        # PROTECTED REGION END #    //  IdHelical.Phase_read
+
+    def write_Phase(self, value):
+        # PROTECTED REGION ID(IdHelical.Phase_write) ENABLED START #
+        """Set the Phase attribute."""
+        if not (self._enabled and self.ready):
+            msg = "phase request for " + str(value) + " RESPINTA"
+            tango.Except.throw_exception(
+                "Rejected request", msg, "HelicalID.write_Phase()"
+            )
+        self._phase_set_point = value
+        self.set_state(tango.DevState.MOVING)
+        self.moving = True
+        self.ready = False  # NOT ready
+        self.set_status("moving and not ready")
+        moveth = movethread.movethread(self)
+        moveth.start()
+        # PROTECTED REGION END #    //  IdHelical.Phase_write
+
+    def is_Phase_allowed(self, attr):
+        # PROTECTED REGION ID(IdHelical.is_Phase_allowed) ENABLED START #
+        if attr==attr.READ_REQ:
+            return self.get_state() not in [DevState.FAULT,DevState.UNKNOWN]
+        else:
+            return True
+        # PROTECTED REGION END #    //  IdHelical.is_Phase_allowed
+
+    def read_Tapering(self):
+        # PROTECTED REGION ID(IdHelical.Tapering_read) ENABLED START #
+        """Return the Tapering attribute."""
+        return self._tapering
+        # PROTECTED REGION END #    //  IdHelical.Tapering_read
+
+    def write_Tapering(self, value):
+        # PROTECTED REGION ID(IdHelical.Tapering_write) ENABLED START #
+        """Set the Tapering attribute."""
+        if not (self._enabled and self.ready):
+            msg = "tapering request for " + str(value) + " RESPINTA"
+            tango.Except.throw_exception(
+                "Rejected request", msg, "HelicalID.write_Tapering()"
+            )
+        self._tapering_set_point = value
+        self.set_state(tango.DevState.MOVING)
+        self.moving = True
+        self.ready = False  # NOT ready
+        self.set_status("moving and not ready")
+        moveth = movethread.movethread(self)
+        moveth.start()
+        # PROTECTED REGION END #    //  IdHelical.Tapering_write
+
+    def is_Tapering_allowed(self, attr):
+        # PROTECTED REGION ID(IdHelical.is_Tapering_allowed) ENABLED START #
+        if attr==attr.READ_REQ:
+            return self.get_state() not in [DevState.FAULT,DevState.UNKNOWN]
+        else:
+            return True
+        # PROTECTED REGION END #    //  IdHelical.is_Tapering_allowed
+
+    def read_GapSetPoint(self):
+        # PROTECTED REGION ID(IdHelical.GapSetPoint_read) ENABLED START #
+        """Return the GapSetPoint attribute."""
+        return self._gap_set_point
+        # PROTECTED REGION END #    //  IdHelical.GapSetPoint_read
+
+    def is_GapSetPoint_allowed(self, attr):
+        # PROTECTED REGION ID(IdHelical.is_GapSetPoint_allowed) ENABLED START #
+        return self.get_state() not in [DevState.FAULT,DevState.UNKNOWN]
+        # PROTECTED REGION END #    //  IdHelical.is_GapSetPoint_allowed
+
+    def read_OffsetSetPoint(self):
+        # PROTECTED REGION ID(IdHelical.OffsetSetPoint_read) ENABLED START #
+        """Return the OffsetSetPoint attribute."""
+        return self._offset_set_point
+        # PROTECTED REGION END #    //  IdHelical.OffsetSetPoint_read
+
+    def is_OffsetSetPoint_allowed(self, attr):
+        # PROTECTED REGION ID(IdHelical.is_OffsetSetPoint_allowed) ENABLED START #
+        return self.get_state() not in [DevState.FAULT,DevState.UNKNOWN]
+        # PROTECTED REGION END #    //  IdHelical.is_OffsetSetPoint_allowed
+
+    def read_TaperingSetPoint(self):
+        # PROTECTED REGION ID(IdHelical.TaperingSetPoint_read) ENABLED START #
+        """Return the TaperingSetPoint attribute."""
+        return self._tapering_set_point
+        # PROTECTED REGION END #    //  IdHelical.TaperingSetPoint_read
+
+    def is_TaperingSetPoint_allowed(self, attr):
+        # PROTECTED REGION ID(IdHelical.is_TaperingSetPoint_allowed) ENABLED START #
+        return self.get_state() not in [DevState.FAULT,DevState.UNKNOWN]
+        # PROTECTED REGION END #    //  IdHelical.is_TaperingSetPoint_allowed
+
+    def read_PhaseSetPoint(self):
+        # PROTECTED REGION ID(IdHelical.PhaseSetPoint_read) ENABLED START #
+        """Return the PhaseSetPoint attribute."""
+        return self._phase_set_point
+        # PROTECTED REGION END #    //  IdHelical.PhaseSetPoint_read
+
+    def is_PhaseSetPoint_allowed(self, attr):
+        # PROTECTED REGION ID(IdHelical.is_PhaseSetPoint_allowed) ENABLED START #
+        return self.get_state() not in [DevState.FAULT,DevState.UNKNOWN]
+        # PROTECTED REGION END #    //  IdHelical.is_PhaseSetPoint_allowed
+
+    def read_GapOffTapPha(self):
+        # PROTECTED REGION ID(IdHelical.GapOffTapPha_read) ENABLED START #
+        """Return the GapOffTapPha attribute."""
+        return self._gap_off_tap_pha
+        # PROTECTED REGION END #    //  IdHelical.GapOffTapPha_read
+
+    def write_GapOffTapPha(self, value):
+        # PROTECTED REGION ID(IdHelical.GapOffTapPha_write) ENABLED START #
+        """Set the GapOffTapPha attribute."""
+        if not (self._enabled and self.ready):
+            msg = "GapOffTapPha request for " + str(value) + " RESPINTA"
+            tango.Except.throw_exception(
+                "Rejected request", msg, "HelicalID.write_GapOffTapPha()"
+            )
+        self._gap_set_point = value[0]
+        self._offset_set_point = value[1]
+        self._tapering_set_point = value[2]
+        self._phase_set_point = value[3]
+        self.set_state(tango.DevState.MOVING)
+        self.moving = True
+        self.ready = False  # NOT ready
+        self.set_status("moving and not ready")
+        moveth = movethread.movethread(self)
+        moveth.start()
+        # PROTECTED REGION END #    //  IdHelical.GapOffTapPha_write
+
+    def read_GapLimits(self):
+        # PROTECTED REGION ID(IdHelical.GapLimits_read) ENABLED START #
+        """Return the GapLimits attribute."""
+        return self._gap_limits
+        # PROTECTED REGION END #    //  IdHelical.GapLimits_read
+
+    def read_OffsetLimits(self):
+        # PROTECTED REGION ID(IdHelical.OffsetLimits_read) ENABLED START #
+        """Return the OffsetLimits attribute."""
+        return self._offset_limits
+        # PROTECTED REGION END #    //  IdHelical.OffsetLimits_read
+
+    def read_TaperingLimits(self):
+        # PROTECTED REGION ID(IdHelical.TaperingLimits_read) ENABLED START #
+        """Return the TaperingLimits attribute."""
+        return self._tapering_limits
+        # PROTECTED REGION END #    //  IdHelical.TaperingLimits_read
+
+    def read_PhaseLimits(self):
+        # PROTECTED REGION ID(IdHelical.PhaseLimits_read) ENABLED START #
+        """Return the PhaseLimits attribute."""
+        return self._phase_limits
+        # PROTECTED REGION END #    //  IdHelical.PhaseLimits_read
+
+    # --------
+    # Commands
+    # --------
+
+    @command(
+    )
+    @DebugIt()
+    def MoveMaxGap(self):
+        # PROTECTED REGION ID(IdHelical.MoveMaxGap) ENABLED START #
+        """
+            go to max gap , rest position
+
+        :return:None
+        """
+        valin = [self.Gap.get_max_value(), 0.0, 0.0, 0.0 ]
+        self.write_GapOffTapPha(valin)
+        # PROTECTED REGION END #    //  IdHelical.MoveMaxGap
+
+    @command(
+        dtype_in='DevVarDoubleArray',
+        doc_in="gap, taper, phase",
+    )
+    @DebugIt()
+    def SetGapTapPha(self, argin):
+        # PROTECTED REGION ID(IdHelical.SetGapTapPha) ENABLED START #
+        """
+            set new working point in one go
+
+        :param argin: 'DevVarDoubleArray'
+        gap, taper, phase
+
+        :return:None
+        """
+        valin = [argin[0], 0.0, argin[1], argin[2]  ]
+        self.write_GapOffTapPha(valin)
+        # PROTECTED REGION END #    //  IdHelical.SetGapTapPha
+
+    @command(
+    )
+    @DebugIt()
+    def Stop(self):
+        # PROTECTED REGION ID(IdHelical.Stop) ENABLED START #
+        """
+            Stop movement
+
+        :return:None
+        """
+        if self.moving:
+            self.do_stop = True
+        return
+        # PROTECTED REGION END #    //  IdHelical.Stop
+
+# ----------
+# Run server
+# ----------
+
+
+def main(args=None, **kwargs):
+    """Main function of the IdHelical module."""
+    # PROTECTED REGION ID(IdHelical.main) ENABLED START #
+    return run((IdHelical,), args=args, **kwargs)
+    # PROTECTED REGION END #    //  IdHelical.main
+
+
+if __name__ == '__main__':
+    main()

src/IdHelical.xmi

+<?xml version="1.0" encoding="ASCII"?>
+<pogoDsl:PogoSystem xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:pogoDsl="http://www.esrf.fr/tango/pogo/PogoDsl">
+  <classes name="IdHelical" pogoRevision="9.6">
+    <description description="simulator for helical insertion device.&#xA;Use for testing tango - bcs bridge and supervisor, FERMI ID" title="TANGO Device Server" sourcePath="/home/claudio/src/gitlab/dt/ds/idhelical/src" language="PythonHL" filestogenerate="XMI   file,Code files,Protected Regions" license="GPL" copyright="" hasMandatoryProperty="false" hasConcreteProperty="true" hasAbstractCommand="false" hasAbstractAttribute="false">
+      <inheritances classname="Device_4Impl" sourcePath=""/>
+      <identification contact="at elettra.trieste.it - claudio.scafuri" author="claudio.scafuri" emailDomain="elettra.trieste.it" classFamily="Simulators" siteSpecific="" platform="All Platforms" bus="Not Applicable" manufacturer="none" reference=""/>
+    </description>
+    <deviceProperties name="NumAxes" description="number of mechanical axes , 6, 4, or 2">
+      <type xsi:type="pogoDsl:IntType"/>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+      <DefaultPropValue>6</DefaultPropValue>
+    </deviceProperties>
+    <deviceProperties name="MaxGap" description="gap value for rest position">
+      <type xsi:type="pogoDsl:DoubleType"/>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+      <DefaultPropValue>190.0</DefaultPropValue>
+    </deviceProperties>
+    <commands name="State" description="This command gets the device state (stored in its &lt;i>device_state&lt;/i> data member) and returns it to the caller." execMethod="dev_state" displayLevel="OPERATOR" polledPeriod="0">
+      <argin description="none.">
+        <type xsi:type="pogoDsl:VoidType"/>
+      </argin>
+      <argout description="State Code">
+        <type xsi:type="pogoDsl:StateType"/>
+      </argout>
+      <status abstract="true" inherited="true" concrete="true" concreteHere="false"/>
+    </commands>
+    <commands name="Status" description="This command gets the device status (stored in its &lt;i>device_status&lt;/i> data member) and returns it to the caller." execMethod="dev_status" displayLevel="OPERATOR" polledPeriod="0">
+      <argin description="none.">
+        <type xsi:type="pogoDsl:VoidType"/>
+      </argin>
+      <argout description="Status description">
+        <type xsi:type="pogoDsl:ConstStringType"/>
+      </argout>
+      <status abstract="true" inherited="true" concrete="true" concreteHere="false"/>
+    </commands>
+    <commands name="MoveMaxGap" description="go to max gap , rest position&#xA;" execMethod="move_max_gap" displayLevel="OPERATOR" polledPeriod="0">
+      <argin description="">
+        <type xsi:type="pogoDsl:VoidType"/>
+      </argin>
+      <argout description="">
+        <type xsi:type="pogoDsl:VoidType"/>
+      </argout>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+    </commands>
+    <commands name="SetGapTapPha" description="set new working point in one go&#xA;" execMethod="set_gap_tap_pha" displayLevel="OPERATOR" polledPeriod="0">
+      <argin description="gap, taper, phase">
+        <type xsi:type="pogoDsl:DoubleArrayType"/>
+      </argin>
+      <argout description="">
+        <type xsi:type="pogoDsl:VoidType"/>
+      </argout>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+    </commands>
+    <commands name="Stop" description="Stop movement&#xA;" execMethod="stop" displayLevel="OPERATOR" polledPeriod="0">
+      <argin description="">
+        <type xsi:type="pogoDsl:VoidType"/>
+      </argin>
+      <argout description="">
+        <type xsi:type="pogoDsl:VoidType"/>
+      </argout>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+    </commands>
+    <attributes name="Gap" attType="Scalar" rwType="READ_WRITE" displayLevel="OPERATOR" polledPeriod="0" maxX="1" maxY="1">
+      <dataType xsi:type="pogoDsl:DoubleType"/>
+      <changeEvent fire="false" libCheckCriteria="false"/>
+      <archiveEvent fire="false" libCheckCriteria="false"/>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+      <properties description="magnetic gap of id" label="gap" unit="mm" standardUnit="1" displayUnit="mm" format="%6.3f" maxValue="190" minValue="10.0" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
+      <readExcludedStates>FAULT</readExcludedStates>
+      <readExcludedStates>UNKNOWN</readExcludedStates>
+    </attributes>
+    <attributes name="Offset" attType="Scalar" rwType="READ_WRITE" displayLevel="OPERATOR" polledPeriod="0" maxX="1" maxY="1">
+      <dataType xsi:type="pogoDsl:DoubleType"/>
+      <changeEvent fire="false" libCheckCriteria="false"/>
+      <archiveEvent fire="false" libCheckCriteria="false"/>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+      <properties description="vertical offset of id" label="offset" unit="mm" standardUnit="1" displayUnit="mm" format="%6.3f" maxValue="1" minValue="-1" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
+      <readExcludedStates>FAULT</readExcludedStates>
+      <readExcludedStates>UNKNOWN</readExcludedStates>
+    </attributes>
+    <attributes name="Phase" attType="Scalar" rwType="READ_WRITE" displayLevel="OPERATOR" polledPeriod="0" maxX="1" maxY="1" allocReadMember="false" isDynamic="false">
+      <dataType xsi:type="pogoDsl:DoubleType"/>
+      <changeEvent fire="false" libCheckCriteria="false"/>
+      <archiveEvent fire="false" libCheckCriteria="false"/>
+      <dataReadyEvent fire="false" libCheckCriteria="true"/>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+      <properties description="carriage magnetic phase" label="phase" unit="mm" standardUnit="1" displayUnit="mm" format="%6.3f" maxValue="27.0" minValue="-27.0" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
+      <readExcludedStates>FAULT</readExcludedStates>
+      <readExcludedStates>UNKNOWN</readExcludedStates>
+    </attributes>
+    <attributes name="Tapering" attType="Scalar" rwType="READ_WRITE" displayLevel="OPERATOR" polledPeriod="0" maxX="1" maxY="1" allocReadMember="false" isDynamic="false">
+      <dataType xsi:type="pogoDsl:DoubleType"/>
+      <changeEvent fire="false" libCheckCriteria="false"/>
+      <archiveEvent fire="false" libCheckCriteria="false"/>
+      <dataReadyEvent fire="false" libCheckCriteria="true"/>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+      <properties description="magnetic tapering of id" label="taper" unit="mm" standardUnit="1" displayUnit="mm" format="%6.3f" maxValue="10" minValue="-10" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
+      <readExcludedStates>FAULT</readExcludedStates>
+      <readExcludedStates>UNKNOWN</readExcludedStates>
+    </attributes>
+    <attributes name="GapSetPoint" attType="Scalar" rwType="READ" displayLevel="OPERATOR" polledPeriod="0" maxX="1" maxY="1">
+      <dataType xsi:type="pogoDsl:DoubleType"/>
+      <changeEvent fire="false" libCheckCriteria="false"/>
+      <archiveEvent fire="false" libCheckCriteria="false"/>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+      <properties description="set point of magnetic gap of id" label="gap set point" unit="mm" standardUnit="1" displayUnit="mm" format="%6.3f" maxValue="190" minValue="10.0" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
+      <readExcludedStates>FAULT</readExcludedStates>
+      <readExcludedStates>UNKNOWN</readExcludedStates>
+    </attributes>
+    <attributes name="OffsetSetPoint" attType="Scalar" rwType="READ" displayLevel="OPERATOR" polledPeriod="0" maxX="1" maxY="1">
+      <dataType xsi:type="pogoDsl:DoubleType"/>
+      <changeEvent fire="false" libCheckCriteria="false"/>
+      <archiveEvent fire="false" libCheckCriteria="false"/>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+      <properties description="set point of offset  of id" label="offset set point" unit="mm" standardUnit="1" displayUnit="mm" format="%6.3f" maxValue="1" minValue="-1" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
+      <readExcludedStates>FAULT</readExcludedStates>
+      <readExcludedStates>UNKNOWN</readExcludedStates>
+    </attributes>
+    <attributes name="TaperingSetPoint" attType="Scalar" rwType="READ" displayLevel="OPERATOR" polledPeriod="0" maxX="1" maxY="1">
+      <dataType xsi:type="pogoDsl:DoubleType"/>
+      <changeEvent fire="false" libCheckCriteria="false"/>
+      <archiveEvent fire="false" libCheckCriteria="false"/>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+      <properties description="set point of magnetic tapering  of id" label="tapering set point" unit="mm" standardUnit="1" displayUnit="mm" format="%6.3f" maxValue="1" minValue="-1" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
+      <readExcludedStates>FAULT</readExcludedStates>
+      <readExcludedStates>UNKNOWN</readExcludedStates>
+    </attributes>
+    <attributes name="PhaseSetPoint" attType="Scalar" rwType="READ" displayLevel="OPERATOR" polledPeriod="0" maxX="1" maxY="1">
+      <dataType xsi:type="pogoDsl:DoubleType"/>
+      <changeEvent fire="false" libCheckCriteria="false"/>
+      <archiveEvent fire="false" libCheckCriteria="false"/>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+      <properties description="set point of carriage magnetic phase" label="phase set point" unit="mm" standardUnit="1" displayUnit="mm" format="%6.3f" maxValue="27.5" minValue="-27-5" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
+      <readExcludedStates>FAULT</readExcludedStates>
+      <readExcludedStates>UNKNOWN</readExcludedStates>
+    </attributes>
+    <attributes name="GapOffTapPha" attType="Spectrum" rwType="READ_WRITE" displayLevel="OPERATOR" polledPeriod="0" maxX="4" maxY="1" allocReadMember="false" isDynamic="false">
+      <dataType xsi:type="pogoDsl:DoubleType"/>
+      <changeEvent fire="false" libCheckCriteria="false"/>
+      <archiveEvent fire="false" libCheckCriteria="false"/>
+      <dataReadyEvent fire="false" libCheckCriteria="true"/>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+      <properties description="Gap&#xA;Offset&#xA;Tapering&#xA;Phase" label="GapOffTapPha" unit="mm" standardUnit="1" displayUnit="mm" format="%6.3f" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
+    </attributes>
+    <attributes name="GapLimits" attType="Spectrum" rwType="READ" displayLevel="OPERATOR" polledPeriod="0" maxX="2" maxY="1">
+      <dataType xsi:type="pogoDsl:DoubleType"/>
+      <changeEvent fire="false" libCheckCriteria="false"/>
+      <archiveEvent fire="false" libCheckCriteria="false"/>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+      <properties description="Gap Low Limits\nHigh Limits" label="GapLimits" unit="mm" standardUnit="1" displayUnit="mm" format="%6.3f" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
+    </attributes>
+    <attributes name="OffsetLimits" attType="Spectrum" rwType="READ" displayLevel="OPERATOR" polledPeriod="0" maxX="2" maxY="1">
+      <dataType xsi:type="pogoDsl:DoubleType"/>
+      <changeEvent fire="false" libCheckCriteria="false"/>
+      <archiveEvent fire="false" libCheckCriteria="false"/>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+      <properties description="Low Limits\nHigh Limits" label="OffsetLimits" unit="mm" standardUnit="1" displayUnit="mm" format="%6.3f" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
+    </attributes>
+    <attributes name="TaperingLimits" attType="Spectrum" rwType="READ" displayLevel="OPERATOR" polledPeriod="0" maxX="2" maxY="1" allocReadMember="false" isDynamic="false">
+      <dataType xsi:type="pogoDsl:DoubleType"/>
+      <changeEvent fire="false" libCheckCriteria="false"/>
+      <archiveEvent fire="false" libCheckCriteria="false"/>
+      <dataReadyEvent fire="false" libCheckCriteria="true"/>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+      <properties description="Low Limit&#xA;High Limit" label="tapering limits" unit="mm" standardUnit="1" displayUnit="mm" format="%6.3f" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
+    </attributes>
+    <attributes name="PhaseLimits" attType="Spectrum" rwType="READ" displayLevel="OPERATOR" polledPeriod="0" maxX="2" maxY="1">
+      <dataType xsi:type="pogoDsl:DoubleType"/>
+      <changeEvent fire="false" libCheckCriteria="false"/>
+      <archiveEvent fire="false" libCheckCriteria="false"/>
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+      <properties description="Low Limits\nHigh Limits" label="PhaseLimits" unit="mm" standardUnit="1" displayUnit="mm" format="%6.3f" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
+    </attributes>
+    <states name="ON" description="">
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+    </states>
+    <states name="FAULT" description="">
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+    </states>
+    <states name="UNKNOWN" description="">
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+    </states>
+    <states name="MOVING" description="">
+      <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+    </states>
+    <preferences docHome="./doc_html" makefileHome="/usr/local/tango-9.3.4/share/pogo/preferences"/>
+  </classes>
+</pogoDsl:PogoSystem>

src/movethread.py

+
+import tango
+import time
+from tango import DebugIt
+from tango.server import run
+from tango.server import Device
+from tango.server import attribute, command
+from tango.server import device_property
+from tango import AttrQuality, DispLevel, DevState
+from tango import AttrWriteType, PipeWriteType
+
+import threading
+
+class movethread(threading.Thread):
+    def __init__(self, master):
+        threading.Thread.__init__(self)
+        self.master = master
+
+    # do simulated movement
+    def run(self):
+        gap_moving = False 
+        phase_moving = False
+        tapering_moving = False
+        offset_moving = False
+        moving = True
+        while moving:
+            if self.master._gap_set_point != self.master._gap:
+                delta = self.master._gap_set_point - self.master._gap
+                if delta >= -1.0 and delta <= 1.0:
+                    self.master._gap = self.master._gap_set_point
+                    gap_moving = False
+                elif delta < -1.0:
+                    self.master._gap -= 1.0
+                    gap_moving = True
+                elif delta > 1.0:
+                    self.master._gap += 1.0
+                    gap_moving = True
+                    
+            if self.master._phase_set_point != self.master._phase:
+                delta = self.master._phase_set_point - self.master._phase
+                if delta >= -1.0 and delta <= 1.0:
+                    self.master._phase = self.master._phase_set_point
+                    phase_moving = False
+                elif delta < -1.0:
+                    self.master._phase -= 1.0
+                    phase_moving = True
+                elif delta > 1.0:
+                    self.master._phase += 1.0
+                    phase_moving = True
+
+            if self.master._tapering_set_point != self.master._tapering:
+                delta = self.master._tapering_set_point - self.master._tapering
+                if delta >= -0.01 and delta <= 0.01:
+                    self.master._tapering = self.master._tapering_set_point
+                    tapering_moving = False
+                elif delta < -0.01:
+                    self.master._tapering -= 0.01
+                    tapering_moving = True
+                elif delta > 0.01:
+                    self.master._tapering += 0.01
+                    tapering_moving = True
+    
+            if self.master._offset_set_point != self.master._offset:
+                delta = self.master._offset_set_point - self.master._offset
+                if delta >= -0.01 and delta <= 0.01:
+                    self.master._offset = self.master._offset_set_point
+                    offset_moving = False
+                elif delta < -0.01:
+                    self.master._offset -= 0.01
+                    offset_moving = True
+                elif delta > 0.01:
+                    self.master._offset += 0.01
+                    offset_moving = True
+
+            self.master._gap_off_tap_pha[0] = self.master._gap
+            self.master._gap_off_tap_pha[1] = self.master._offset
+            self.master._gap_off_tap_pha[2] = self.master._tapering
+            self.master._gap_off_tap_pha[3] = self.master._phase
+            moving = gap_moving or offset_moving or tapering_moving or phase_moving
+            if  not moving or self.master.do_stop:
+                self.master.set_state(tango.DevState.ON)
+                self.master.ready = True  # ready
+                self.master.moving = False
+                self.master.set_status("ON and ready")
+                self.master.do_stop = False
+                moving = False #handle do_stop
+            else:
+                self.master.set_state(tango.DevState.MOVING)
+                self.master.set_status("moving")
+                self.master.ready = False  # not ready
+                self.master.moving = True
+                time.sleep(1)
+        return