motion: add support for units

bliss/common/standard.py

@@ -33,6 +33,7 @@ from bliss.config.settings import QueueSetting
 
 from bliss.controllers.motor_group import Group
 
+from bliss.common.units import ureg as ur
 
 _ERR = '!ERR'
 _MAX_COLS = 9
@@ -302,7 +303,14 @@ def __row_positions(positions, motors, fmt, sep=' '):
 
 
 def __row(cols, fmt, sep=' '):
-    return sep.join([format(col, fmt) for col in cols])
+    data = []
+    for col in cols:
+        if isinstance(col, ur.Quantity):
+            col = str(col)
+        else:
+            col = format(col, fmt)
+        data.append(col)
+    return sep.join(data)
 
 
 def __umove(*args, **kwargs):

bliss/common/units.py

+from pint import UnitRegistry
+ureg = UnitRegistry()
+
+# use short ASCII print format
+ureg.default_format = '~'

bliss/controllers/motors/mockup.py

@@ -11,7 +11,7 @@ import random
 
 from bliss.controllers.motor import Controller
 from bliss.common import log as elog
-from bliss.common.axis import AxisState
+from bliss.common.axis import AxisState, to_magnitude
 from bliss.common import event
 
 from bliss.common.utils import object_method
@@ -90,13 +90,13 @@ class Mockup(Controller):
         if axis.config.get("persistent_position", bool, 
                            default=False, inherited=True):
             try:
-                dial_pos = axis.settings.get("dial_position")
+                dial_pos = axis.settings.get("dial_position") or 0
             except:
                 pass
-
         def set_pos(move_done, axis=axis):
             if move_done:
-                self.set_position(axis, axis.dial()*axis.steps_per_unit)
+                dial = to_magnitude(axis.dial(), axis.unit)
+                self.set_position(axis, dial*axis.steps_per_unit)
 
         self._axis_moves[axis] = {
             "measured_simul": False,

requirements.txt

@@ -20,6 +20,7 @@ six >= 1.10
 tabulate
 sphinx >= 1.4
 pyserial >= 3.0
+pint
 
 # --- optional dependencies --------------------------------