Merge branch 'pvpositioner' into 916-PVPositionerSoftDone-update

.github/workflows/code.yml

@@ -99,7 +99,7 @@ jobs:
     strategy:
       matrix:
         python-version:
-          - "3.8"
+          # - "3.8"  # TODO: Breaking
           - "3.9"
           - "3.10"
           - "3.11"

apstools/devices/eurotherm_2216e.py

@@ -83,7 +83,7 @@ def __init__(self, prefix="", *, tolerance=1, **kwargs):
             readback_pv="ignoreRBV",
             setpoint_pv="ignore",
             tolerance=tolerance,
-            update_target=False,
+            use_target=False,
             **kwargs,
         )
         self.sensor.subscribe(self.cb_sensor)

apstools/devices/lakeshore_controllers.py

@@ -68,7 +68,7 @@ class LakeShore336_LoopControl(PVPositionerSoftDoneWithStop):
 
     def __init__(self, *args, loop_number=None, timeout=10 * HOUR, **kwargs):
         self.loop_number = loop_number
-        super().__init__(*args, timeout=timeout, tolerance=0.1, readback_pv=f"IN{loop_number}", **kwargs)
+        super().__init__(*args, timeout=timeout, tolerance=0.1, use_target=True, readback_pv=f"IN{loop_number}", **kwargs)
         self._settle_time = 0
 
     @property
@@ -171,7 +171,7 @@ class LS340_LoopBase(PVPositionerSoftDoneWithStop):
 
     def __init__(self, *args, loop_number=None, timeout=10 * HOUR, **kwargs):
         self.loop_number = loop_number
-        super().__init__(*args, readback_pv="ignore", timeout=timeout, tolerance=0.1, **kwargs)
+        super().__init__(*args, readback_pv="ignore", timeout=timeout, use_target=True, tolerance=0.1, **kwargs)
         self._settle_time = 0
 
     @property

apstools/devices/positioner_soft_done.py

@@ -18,7 +18,6 @@
 from ophyd import FormattedComponent
 from ophyd import PVPositioner
 from ophyd import Signal
-from ophyd.signal import EpicsSignalBase
 
 # from ..tests import timed_pause
 
@@ -31,36 +30,6 @@
 TARGET_UNDEFINED = "undefined"
 
 
-class _EpicsPositionerSetpointSignal(EpicsSignal):
-    """
-    Special handling when PVPositionerSoftDone setpoint is changed.
-
-    When the setpoint is changed, force`` done=False``.  For any move, ``done``
-    **must** transition to ``!= done_value``, then back to ``done_value``.
-    Without this response, a small move (within tolerance) will not return.
-    The ``cb_readback()`` method will compute ``done``.
-    """
-
-    def put(self, value, *args, **kwargs):
-        """Make sure 'done' signal goes False when setpoint is changed by us."""
-        super().put(value, *args, **kwargs)
-
-        self.parent.done.put(not self.parent.done_value)
-        if self.parent.update_target:
-            kwargs = {}
-            if issubclass(self.parent.target.__class__, EpicsSignalBase):
-                kwargs["wait"] = True  # Signal.put() warns if kwargs are given
-            self.parent.target.put(value, **kwargs)
-
-    # def get(self, *args, **kwargs):
-    #     value = super().get(*args, **kwargs)
-    #     if self.parent.update_target:
-    #         target = self.parent.target.get()
-    #         if target != TARGET_UNDEFINED:
-    #             value = target
-    #     return value
-
-
 class PVPositionerSoftDone(PVPositioner):
     """
     PVPositioner that computes ``done`` as a soft signal.
@@ -84,11 +53,11 @@ class PVPositionerSoftDone(PVPositioner):
 
         Defaults to ``10^(-1*precision)``,
         where ``precision = setpoint.precision``.
-    update_target : bool
-        ``True`` when this object updates the ``target`` Component directly.
+    use_target : bool
+        ``True`` when this object update the ``target`` Component directly.
         Use ``False`` if the ``target`` Component will be updated externally,
         such as by the controller when ``target`` is an ``EpicsSignal``.
-        Defaults to ``True``.
+        Defaults to ``False``.
     kwargs :
         Passed to `ophyd.PVPositioner`
 
@@ -128,7 +97,7 @@ class PVPositionerSoftDone(PVPositioner):
         EpicsSignalRO, "{prefix}{_readback_pv}", kind="hinted", auto_monitor=True
     )
     setpoint = FormattedComponent(
-        _EpicsPositionerSetpointSignal, "{prefix}{_setpoint_pv}", kind="normal", put_complete=True
+        EpicsSignal, "{prefix}{_setpoint_pv}", kind="normal", put_complete=True
     )
     # fmt: on
     done = Component(Signal, value=True, kind="config")
@@ -146,7 +115,7 @@ def __init__(
         readback_pv="",
         setpoint_pv="",
         tolerance=None,
-        update_target=True,
+        use_target=False,
         **kwargs,
     ):
         # fmt: off
@@ -165,10 +134,12 @@ def __init__(
         # Make the default alias for the readback the name of the
         # positioner itself as in EpicsMotor.
         self.readback.name = self.name
-        self.update_target = update_target
+        self.use_target = use_target
 
         self.readback.subscribe(self.cb_readback)
         self.setpoint.subscribe(self.cb_setpoint)
+        self.setpoint.subscribe(self.cb_update_target, event_type="setpoint")
+
         # cancel subscriptions before object is garbage collected
         weakref.finalize(self.readback, self.readback.unsubscribe_all)
         weakref.finalize(self.setpoint, self.setpoint.unsubscribe_all)
@@ -192,6 +163,9 @@ def actual_tolerance(self):
         )
     # fmt: on
 
+    def cb_update_target(self, value, *args, **kwargs):
+        self.target.put(value)
+
     def cb_readback(self, *args, **kwargs):
         """
         Called when readback changes (EPICS CA monitor event) or on-demand.
@@ -213,12 +187,17 @@ def cb_setpoint(self, *args, **kwargs):
         """
         Called when setpoint changes (EPICS CA monitor event).
 
-        This method is called when the setpoint is changed by this code or from
-        some other EPICS client.
+        When the setpoint is changed, force`` done=False``.  For any move, ``done``
+        **must** transition to ``!= done_value``, then back to ``done_value``.
 
-        The 'done' signal is set to False in the custom
-        _EpicsPositionerSetpointSignal class.
+        Without this response, a small move (within tolerance) will not return.
+        The ``cb_readback()`` method will compute ``done``.
+
+        Since other code will also call this method, check the keys in kwargs
+        and do not react to the "wrong" signature.
         """
+        if "value" in kwargs and "status" not in kwargs:
+            self.done.put(not self.done_value)
         logger.debug("cb_setpoint: done=%s, setpoint=%s", self.done.get(), self.setpoint.get())
 
     @property
@@ -233,7 +212,7 @@ def inposition(self):
         # Since this method must execute quickly, do NOT force
         # EPICS CA gets using `use_monitor=False`.
         rb = self.readback.get()
-        sp = self.setpoint.get()
+        sp = self.setpoint.get() if self.use_target is False else self.target.get()
         tol = self.actual_tolerance
         inpos = math.isclose(rb, sp, abs_tol=tol)
         logger.debug("inposition: inpos=%s rb=%s sp=%s tol=%s", inpos, rb, sp, tol)
@@ -246,18 +225,12 @@ def precision(self):
     def _setup_move(self, position):
         """Move and do not wait until motion is complete (asynchronous)"""
         self.log.debug("%s.setpoint = %s", self.name, position)
-
-        # Write the setpoint value.
         self.setpoint.put(position, wait=True)
-        # The 'done' and 'target' signals are handled by
-        # the custom '_EpicsPositionerSetpointSignal' class.
-
+        self.done.put(False)
         if self.actuate is not None:
             self.log.debug("%s.actuate = %s", self.name, self.actuate_value)
             self.actuate.put(self.actuate_value, wait=False)
-
-        # Force the first check for done.
-        self.cb_readback()
+        self.cb_readback()  # This is needed to force the first check.
 
 
 class PVPositionerSoftDoneWithStop(PVPositionerSoftDone):
@@ -279,14 +252,3 @@ def stop(self, *, success=False):
             self.setpoint.put(self.position)
             time.sleep(2.0 / 60)  # two clock ticks, allow for EPICS record processing
             self.cb_readback()  # re-evaluate soft done Signal
-
-
-# -----------------------------------------------------------------------------
-# :author:    Pete R. Jemian
-# :email:     [email protected]
-# :copyright: (c) 2017-2024, UChicago Argonne, LLC
-#
-# Distributed under the terms of the Argonne National Laboratory Open Source License.
-#
-# The full license is in the file LICENSE.txt, distributed with this software.
-# -----------------------------------------------------------------------------

apstools/devices/tests/test_eurotherm_2216e.py

@@ -15,7 +15,7 @@ def test_device():
     assert not euro.connected
 
     assert euro.tolerance.get() == 1
-    assert euro.update_target is False
+    assert euro.use_target is False
     assert euro.target is None
 
     cns = """

apstools/devices/tests/test_positioner_soft_done.py

@@ -36,7 +36,7 @@ def pos():
     """Test Positioner based on two analogout PVs."""
     # fmt: off
     pos = PVPositionerSoftDoneWithStop(
-        PV_PREFIX, readback_pv="float1", setpoint_pv="float2", name="pos"
+        PV_PREFIX, readback_pv="float1", setpoint_pv="float2", use_target=True, name="pos"
     )
     # fmt: on
     pos.wait_for_connection()