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Ensure motors can be stopped #688

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Dec 2, 2024
Merged

Ensure motors can be stopped #688

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9 changes: 6 additions & 3 deletions src/ophyd_async/epics/motor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@
observe_value,
)
from ophyd_async.core import StandardReadableFormat as Format
from ophyd_async.epics.core import epics_signal_r, epics_signal_rw, epics_signal_x
from ophyd_async.epics.core import epics_signal_r, epics_signal_rw, epics_signal_w


class MotorLimitsException(Exception):
Expand Down Expand Up @@ -76,7 +76,10 @@ def __init__(self, prefix: str, name="") -> None:
self.low_limit_travel = epics_signal_rw(float, prefix + ".LLM")
self.high_limit_travel = epics_signal_rw(float, prefix + ".HLM")

self.motor_stop = epics_signal_x(prefix + ".STOP")
# Note:cannot use epics_signal_x here, as the motor record specifies that
# we must write 1 to stop the motor. Simply processing the record is not
# sufficient.
self.motor_stop = epics_signal_w(int, prefix + ".STOP")
# Whether set() should complete successfully or not
self._set_success = True

Expand Down Expand Up @@ -178,7 +181,7 @@ async def stop(self, success=False):
self._set_success = success
# Put with completion will never complete as we are waiting for completion on
# the move above, so need to pass wait=False
await self.motor_stop.trigger(wait=False)
await self.motor_stop.set(1, wait=False)

async def _prepare_velocity(
self, start_position: float, end_position: float, time_for_move: float
Expand Down
6 changes: 6 additions & 0 deletions tests/epics/test_motor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
AsyncStatus,
DeviceCollector,
callback_on_mock_put,
get_mock_put,
mock_puts_blocked,
observe_value,
set_mock_put_proceeds,
Expand Down Expand Up @@ -164,6 +165,11 @@ async def test_motor_moving_stopped(sim_motor: motor.Motor):
await asyncio.sleep(0.2)
assert not s.done
await sim_motor.stop()

# Note: needs to explicitly be called with 1, not just processed.
# See https://epics.anl.gov/bcda/synApps/motor/motorRecord.html#Fields_command
get_mock_put(sim_motor.motor_stop).assert_called_once_with(1, wait=False)

set_mock_put_proceeds(sim_motor.user_setpoint, True)
await wait_for_wakeups()
assert s.done
Expand Down