fscan.reset() : add mono velocity restore, events clearing, WP reset and a flush

id26/controllers/fscan_controller.py

@@ -1157,7 +1157,6 @@ class ID26FScanController:
             "_cleanup ..."
         )
 
-
         print("FSCAN ENDING")
 
         if self.event_trajectory_started.is_set():
@@ -1341,11 +1340,19 @@ class ID26FScanController:
         )
 
         self.pm600.stop_trajectory()
+        self.pm600.flush()
+        self.pm600.io_command("WP22222221",self.mono.channel)
+
         self.energy.sync_hard()
-       
+        self.mono.velocity = self.mono.config_velocity
+
+        self.event_trajectory_started.clear()
+        self.event_runtime_error.clear()
+        
         self._last_scan = {}
         self.mono.trajectory_prog.clear() 
-        self._reset_id_sync()
+        if self.fscan_par['id_linked']:
+            self._reset_id_sync()
 
         if len(self.greenlet_id_set_vel) > 0 :                            
             gevent.joinall(list(self.greenlet_id_set_vel.values()))
@@ -1369,17 +1376,19 @@ class ID26FScanController:
             print('MOVE BACK GREENLET KILLED: fscan motors have stopped')
             self.mono.velocity = self.mono.config_velocity
             
-            print("- PM600 position:", self.mono.position)
-            print("- PM600 velocity:", self.mono.velocity)
-            print("- musst_enc_pm.energy() : ", self.enc_pm.energy())
-            print("- musst_enc_hdh.energy() : ", self.enc_hdh.energy())
-            print('- READY for next fscan')
-            
             log_debug(
                 self,
                 "move back greenlet killed"
             )
 
+        print("- PM600 state :", self.mono.state)
+        print("- energy state:", self.energy.state)
+        print("- PM600 velocity:", self.mono.velocity)
+        print("- PM600 position        :", self.mono.position)
+        print("- musst_enc_hdh.angle() : ", self.enc_hdh.angle())
+        print("- musst_enc_hdh.energy() : ", self.enc_hdh.energy())
+        print('- READY for next fscan')
+            
         log_debug(
             self,
             "reset done."