normalize getPosition and status() with fullturn

sdss · Mar 11, 2024 · 62b43e5 · 62b43e5
1 parent 6b0ba08
commit 62b43e5
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Showing 4 changed files with 13 additions and 7 deletions.
diff --git a/python/lvmtan/BasdaCluPythonServiceWorker.py b/python/lvmtan/BasdaCluPythonServiceWorker.py
@@ -132,7 +132,7 @@ def init(self):
             self.service = Basda.Basdard.interface(self.cfgNode.node("SERVICE").String)
             dev_name = self.service.config().node("DEVICE").String
 
-            self.device = Basda.Basdard.device(dev_name)q
+            self.device = Basda.Basdard.device(dev_name)
 
             self.simulate = self.device.config().node("LOAD").MapStringString["LIB"] == "BasdaMoccaNDeviceDummy"
             I_LOG(f"simulate: {self.simulate}")
@@ -151,6 +151,7 @@ def init(self):
             self.unit = self.cfgNode.node("UNIT").String
 
 
+        # needed for wheel device
         if (
             self.device.config().exist("CFG.FULLTURN")
             and self.device.config().node("CFG.FULLTURN").hasLeaf()
@@ -160,7 +161,6 @@ def init(self):
         else:
             self.fullturn = 0
 
-
     def abort(self):
         self.terminated = True
         Nice.U8_LOG("abort")

diff --git a/python/lvmtan/BasdaMoccaBaseCluPythonServiceWorker.py b/python/lvmtan/BasdaMoccaBaseCluPythonServiceWorker.py
@@ -89,6 +89,10 @@ async def stopMovement(self, command: Command):
             command.fail(error=e)
 
 
+    def _getPosition(self):
+        return self.service.getPosition()
+
+
     async def _status(self, reachable=True):
         """Status implementation"""
         lock = asyncio.Lock()
@@ -113,7 +117,7 @@ async def _status(self, reachable=True):
                             "AtHome": self.service.isAtHome() if reachable else "Unknown",
                             "Moving": self.service.isMoving() if reachable else "Unknown",
                             switchStatusName: switchStatusValue,
-                            "Position": self.service.getPosition() if reachable else nan,
+                            "Position": self._getPosition() if reachable else nan,
                             "DeviceEncoder": {"Position": self.service.getDeviceEncoderPosition("STEPS") if reachable else nan,
                                               "Unit": "STEPS"},
                             "Velocity": self.service.getVelocity() if reachable else nan,

diff --git a/python/lvmtan/BasdaMoccaCluPythonServiceWorker.py b/python/lvmtan/BasdaMoccaCluPythonServiceWorker.py
@@ -54,10 +54,7 @@ async def getAbsoluteEncoderPosition(self, command: Command):
     async def getPosition(self, command: Command):
         """Returns internal motorcontroller position counter"""
         try:
-            if self.fullturn:
-                return command.finish(Position=((self.service.getPosition()%self.fullturn)+self.fullturn)%self.fullturn)
-            else:
-                return command.finish(Position=self.service.getPosition())
+            return command.finish(Position=self._getPosition())
         except Exception as e:
             command.fail(error=e)
 

diff --git a/python/lvmtan/BasdaMoccaWheelCluPythonServiceWorker.py b/python/lvmtan/BasdaMoccaWheelCluPythonServiceWorker.py
@@ -22,6 +22,11 @@ def __init__(self, _svcName):
         BasdaMoccaCluPythonServiceWorker.__init__(self, _svcName)
         self.hasLimitSwitch=False
 
+    def _getPosition(self):
+        if self.fullturn:
+            return ((self.service.getPosition()%self.fullturn)+self.fullturn)%self.fullturn
+        else:
+            return self.service.getPosition()
 
     @command_parser.command("scanAllReferenceSwitches")
     @BasdaCluPythonServiceWorker.wrapper