XMCD ID24 magnet control via wagobox

XMCD test - typo fixes

id26/bcolor.py

+
+class bcolor:
+    PURPLE = "\033[95m"
+    CYAN = "\033[96m"
+    DARKCYAN = "\033[36m"
+    BLUE = "\033[94m"
+    GREEN = "\033[92m"
+    YELLOW = "\033[93m"
+    RED = "\033[91m"
+    BOLD = "\033[1m"
+    UNDERLINE = "\033[4m"
+    END = "\033[0m"

id26/controllers/xmcd.py

+import gevent
+
+from bliss.controllers.motors.wago import WagoMotor
+
+from id26.bcolor import bcolor
+
+class XMCD (WagoMotor):
+
+    def initialize(self):
+        super().initialize()
+        self._polkey = self.config.get("polarity_key")
+        self._itlckey = self.config.get("interlock_key")
+        self._curkey = self.config.get("current_key")
+        self.scale = self.config.get("scale", 1)
+        if self.scale == 0:
+            self.scale = 1
+        
+    def read_position(self, axis):
+        pos = super().read_position(axis)
+        return pos*self.polarity*self.scale
+        
+    def start_one(self, motion):
+
+        self.check_interlock()
+        
+        logical_name = motion.axis.config.get("logical_name")
+        logical_channel = int(motion.axis.config.get("logical_channel"))
+        polarity = self.polarity
+        
+        if (motion.target_pos < 0 and polarity > 0) or (motion.target_pos > 0 and polarity < 0):
+            print ("need to switch polarity, first go to 0")
+            self.wago.controller.devwritephys(
+                (
+                    self.wago.controller.devname2key(logical_name),
+                    logical_channel,
+                    0,
+                )
+            )
+            gevent.sleep(0.5)
+            self.polarity = -polarity
+
+        
+        self.wago.controller.devwritephys(
+            (
+                self.wago.controller.devname2key(logical_name),
+                logical_channel,
+                abs(motion.target_pos/self.scale),
+            )
+        )
+
+        
+    #TODO    
+    #def state(self, axis):
+    #    return AxisState("READY")
+
+    #TODO do we need it ?
+    def stop(self, axis):
+        pass
+
+
+
+    #XMCD
+    @property
+    def polarity (self):
+        #0 --> inverted ie -1
+        #1 --> normal   ie +1
+        pol = self.wago.get(self._polkey)
+        if pol == 0:
+            return -1
+        elif pol == 1:
+            return 1
+        else:
+            raise Exception (f'{pol} not significant wago {self._polkey} value as a polarity')
+
+    @polarity.setter
+    def polarity (self, value):
+        #0 --> inverted ie -1
+        #1 --> normal   ie +1
+        
+        cur = self.wago.get(self._curkey)
+
+        if abs(cur)>0.0001:
+            raise Exception ("impossible to set magnet polarity, current is on {cur} : first move current to 0")
+
+        self.wago.set(self._polkey, 1 if value > 0 else 0)
+        
+
+    def check_interlock (self):
+        itlck = self.wago.get(self._itlckey)
+        if itlck == 1:
+            print('MAGNET interlock is ok (SAFE)')
+        else:
+            print(f'{bcolor.RED}MAGNET interlock FAULT{bcolor.END}')
+            print('moving current to zero')
+            self.wago.set(self._curkey, 0)
+            raise Exception ('MAGNET interlock Fault')
+
+        
+