Breaking Change: Rename and add motor fields (#174)

* Add more motor fields
* Rename motor signals to match those in ophyd
* Fix tests
* Change acceleration to be clearer that it's in time

Co-authored-by: Tom C (DLS) <[email protected]>

---------

Co-authored-by: Tom C (DLS) <[email protected]>

src/ophyd_async/epics/motion/motor.py

@@ -14,33 +14,39 @@ class Motor(StandardReadable, Movable, Stoppable):
 
     def __init__(self, prefix: str, name="") -> None:
         # Define some signals
-        self.setpoint = epics_signal_rw(float, prefix + ".VAL")
-        self.readback = epics_signal_r(float, prefix + ".RBV")
+        self.user_setpoint = epics_signal_rw(float, prefix + ".VAL")
+        self.user_readback = epics_signal_r(float, prefix + ".RBV")
         self.velocity = epics_signal_rw(float, prefix + ".VELO")
-        self.units = epics_signal_r(str, prefix + ".EGU")
+        self.max_velocity = epics_signal_r(float, prefix + ".VMAX")
+        self.acceleration_time = epics_signal_rw(float, prefix + ".ACCL")
+        self.motor_egu = epics_signal_r(str, prefix + ".EGU")
         self.precision = epics_signal_r(int, prefix + ".PREC")
-        # Signals that collide with standard methods should have a trailing underscore
-        self.stop_ = epics_signal_x(prefix + ".STOP")
+        self.deadband = epics_signal_r(float, prefix + ".RDBD")
+        self.motor_done_move = epics_signal_r(float, prefix + ".DMOV")
+        self.low_limit_travel = epics_signal_rw(int, prefix + ".LLM")
+        self.high_limit_travel = epics_signal_rw(int, prefix + ".HLM")
+
+        self.motor_stop = epics_signal_x(prefix + ".STOP")
         # Whether set() should complete successfully or not
         self._set_success = True
         # Set name and signals for read() and read_configuration()
         self.set_readable_signals(
-            read=[self.readback],
-            config=[self.velocity, self.units],
+            read=[self.user_readback],
+            config=[self.velocity, self.motor_egu],
         )
         super().__init__(name=name)
 
     def set_name(self, name: str):
         super().set_name(name)
         # Readback should be named the same as its parent in read()
-        self.readback.set_name(name)
+        self.user_readback.set_name(name)
 
     async def _move(self, new_position: float, watchers: List[Callable] = []):
         self._set_success = True
         start = time.monotonic()
         old_position, units, precision = await asyncio.gather(
-            self.setpoint.get_value(),
-            self.units.get_value(),
+            self.user_setpoint.get_value(),
+            self.motor_egu.get_value(),
             self.precision.get_value(),
         )
 
@@ -56,11 +62,11 @@ def update_watchers(current_position: float):
                     time_elapsed=time.monotonic() - start,
                 )
 
-        self.readback.subscribe_value(update_watchers)
+        self.user_readback.subscribe_value(update_watchers)
         try:
-            await self.setpoint.set(new_position)
+            await self.user_setpoint.set(new_position)
         finally:
-            self.readback.clear_sub(update_watchers)
+            self.user_readback.clear_sub(update_watchers)
         if not self._set_success:
             raise RuntimeError("Motor was stopped")
 
@@ -81,5 +87,5 @@ 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
-        status = self.stop_.trigger(wait=False)
+        status = self.motor_stop.trigger(wait=False)
         await status

tests/core/test_device_collector.py

@@ -100,8 +100,8 @@ def my_plan():
         RE(my_plan())
 
         assert (
-            checking_loop.run_until_complete(sim_motor.setpoint.read())[
-                "sim_motor-setpoint"
+            checking_loop.run_until_complete(sim_motor.user_setpoint.read())[
+                "sim_motor-user_setpoint"
             ]["value"]
             == 3.14
         )
@@ -146,8 +146,8 @@ def my_plan():
 
     # The set should fail since the run engine is on a different event loop
     assert (
-        device_connector_loop.run_until_complete(sim_motor.setpoint.read())[
-            "sim_motor-setpoint"
+        device_connector_loop.run_until_complete(sim_motor.user_setpoint.read())[
+            "sim_motor-user_setpoint"
         ]["value"]
         != 3.14
     )

tests/epics/motion/test_motor.py

@@ -20,14 +20,14 @@ async def sim_motor():
         # Signals connected here
 
     assert sim_motor.name == "sim_motor"
-    set_sim_value(sim_motor.units, "mm")
+    set_sim_value(sim_motor.motor_egu, "mm")
     set_sim_value(sim_motor.precision, 3)
     set_sim_value(sim_motor.velocity, 1)
     yield sim_motor
 
 
 async def test_motor_moving_well(sim_motor: motor.Motor) -> None:
-    set_sim_put_proceeds(sim_motor.setpoint, False)
+    set_sim_put_proceeds(sim_motor.user_setpoint, False)
     s = sim_motor.set(0.55)
     watcher = Mock()
     s.watch(watcher)
@@ -45,10 +45,10 @@ async def test_motor_moving_well(sim_motor: motor.Motor) -> None:
         time_elapsed=pytest.approx(0.0, abs=0.05),
     )
     watcher.reset_mock()
-    assert 0.55 == await sim_motor.setpoint.get_value()
+    assert 0.55 == await sim_motor.user_setpoint.get_value()
     assert not s.done
     await asyncio.sleep(0.1)
-    set_sim_value(sim_motor.readback, 0.1)
+    set_sim_value(sim_motor.user_readback, 0.1)
     assert watcher.call_count == 1
     assert watcher.call_args == call(
         name="sim_motor",
@@ -59,20 +59,20 @@ async def test_motor_moving_well(sim_motor: motor.Motor) -> None:
         precision=3,
         time_elapsed=pytest.approx(0.1, abs=0.05),
     )
-    set_sim_put_proceeds(sim_motor.setpoint, True)
+    set_sim_put_proceeds(sim_motor.user_setpoint, True)
     await asyncio.sleep(A_BIT)
     assert s.done
     done.assert_called_once_with(s)
 
 
 async def test_motor_moving_stopped(sim_motor: motor.Motor):
-    set_sim_put_proceeds(sim_motor.setpoint, False)
+    set_sim_put_proceeds(sim_motor.user_setpoint, False)
     s = sim_motor.set(1.5)
     s.add_callback(Mock())
     await asyncio.sleep(0.2)
     assert not s.done
     await sim_motor.stop()
-    set_sim_put_proceeds(sim_motor.setpoint, True)
+    set_sim_put_proceeds(sim_motor.user_setpoint, True)
     await asyncio.sleep(A_BIT)
     assert s.done
     assert s.success is False
@@ -85,12 +85,14 @@ async def test_read_motor(sim_motor: motor.Motor):
         "source"
     ] == "sim://BLxxI-MO-TABLE-01:X.RBV"
     assert (await sim_motor.read_configuration())["sim_motor-velocity"]["value"] == 1
-    assert (await sim_motor.describe_configuration())["sim_motor-units"]["shape"] == []
-    set_sim_value(sim_motor.readback, 0.5)
+    assert (await sim_motor.describe_configuration())["sim_motor-motor_egu"][
+        "shape"
+    ] == []
+    set_sim_value(sim_motor.user_readback, 0.5)
     assert (await sim_motor.read())["sim_motor"]["value"] == 0.5
     sim_motor.unstage()
     # Check we can still read and describe when not staged
-    set_sim_value(sim_motor.readback, 0.1)
+    set_sim_value(sim_motor.user_readback, 0.1)
     assert (await sim_motor.read())["sim_motor"]["value"] == 0.1
     assert await sim_motor.describe()