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resolve EpicsMotor stalls sometimes at end of move #783

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resolve EpicsMotor stalls sometimes at end of move #783

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33e3d38
fixes #782
prjemian Dec 13, 2019
39a0a43
MNT #782 per review comments
prjemian Dec 14, 2019
a3aeb27
MNT #782 per review, finish the status
prjemian Dec 14, 2019
e3890c8
MNT #782 remove commented code
prjemian Dec 14, 2019
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20 changes: 19 additions & 1 deletion ophyd/epics_motor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -146,7 +146,17 @@ def move(self, position, wait=True, **kwargs):
'''
self._started_moving = False

def dmov_callback(old_value, value, **kwargs):
self.log.debug('dmov_callback(): new=%d old=%d', value, old_value)
if self._started_moving and value == 1:
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What is setting self._started_moving to True?

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Good question. This is tangly code.

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It's in the _move_changed() method:

        if not self._started_moving:
            started = self._started_moving = (not was_moving and self._moving)


self.motor_done_move.clear_sub(dmov_callback)
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Only one of these should be required.

self.motor_done_move.unsubscribe(cbid)
status._finished(success=True)

cbid = self.motor_done_move.subscribe(dmov_callback, run=False)
status = super().move(position, **kwargs)

self.user_setpoint.put(position, wait=False)
try:
if wait:
Expand Down Expand Up @@ -240,7 +250,10 @@ def _move_changed(self, timestamp=None, value=None, sub_type=None,
self._run_subs(sub_type=self.SUB_START, timestamp=timestamp,
value=value, **kwargs)

if was_moving and not self._moving:
self.log.debug('_move_changed(): %d moving: %d',
self._started_moving, self._moving)

if self._started_moving and not self._moving:
success = True
# Check if we are moving towards the low limit switch
if self.direction_of_travel.get() == 0:
Expand All @@ -267,6 +280,11 @@ def _move_changed(self, timestamp=None, value=None, sub_type=None,
self.log.warning('Motor %s raised an alarm during motion '
'status=%s severity %s',
self.name, status, severity)

self.log.debug('detected moving DONE=%s, .DMOV=%s, success=%s',
self._started_moving,
self.motor_done_move.get(),
success)
self._done_moving(success=success, timestamp=timestamp,
value=value)

Expand Down