fix motor children

bliss/controllers/motors/moco.py

@@ -7,17 +7,18 @@ class Moco(Controller):
     bliss.controllers.motor.Controller
     """
 
-    def __init__(self, name, config, axes, *args):
+    def _load_config(self):
 
-        if len(axes) > 1:
+        super()._load_config()
+
+        axnum = len(self.config.get("axes"))
+        if axnum > 1:
             raise RuntimeError(
-                f"moco: only 1 motor is allowed, but {len(axes)} are configured."
+                f"moco: only 1 motor is allowed, but {axnum} are configured."
             )
 
-        self.moco = config.get("moco")
-
-        super().__init__(self.moco.name + "_motor", config, axes, *args)
-
+        self.moco = self.config.get("moco")
+        self._name = self.moco.name + "_motor"
         self.moco.motor = self
 
     def initialize(self):

bliss/controllers/motors/spec.py

@@ -39,27 +39,17 @@ _log = logging.getLogger("bliss.controllers.motors.spec")
 
 
 class Spec(Controller):
-    def __init__(self, name, config, axes, *args, **kwargs):
-        new_axes = {}
-
-        # _log.warning(f"axes[{axes}]")
-
-        for axis_name, axis_cfg in axes.items():
-            axis_cfg = list(axis_cfg)
-
-            # change class name for axes created by this controller
-            # to NoSettingsAxis: no settings will be stored in redis,
-            # thus forcing to ask spec every time (no cache)
-            axis_cfg[0] = NoSettingsAxis
-
-            # make sure steps per unit is 1, to avoid conversions
-            # between spec units and Bliss units
-            assert (
-                axis_cfg[1].get("steps_per_unit", int) == 1
-            ), "steps_per_unit must be defined and equal to 1"
-            new_axes[axis_name] = axis_cfg
-
-        Controller.__init__(self, name, config, new_axes, *args, **kwargs)
+    def _load_config(self):
+        super()._load_config()
+        for ax_cfg in self.config.get("axes", []):
+            if ax_cfg.get("steps_per_unit") != 1:
+                raise ValueError(f"steps_per_unit must be defined and equal to 1")
+
+    def _get_subitem_default_class_name(self, cfg, parent_key):
+        if parent_key == "axes":
+            return "NoSettingsAxis"
+        else:
+            return super()._get_subitem_default_class_name(cfg, parent_key)
 
     def initialize(self):
         self.connection = SpecConnection(self.config.get("spec"))

bliss/controllers/motors/speedgoat.py

@@ -50,9 +50,9 @@ from bliss.common.utils import object_attribute_get
 
 
 class SpeedgoatMotor(Controller):
-    def __init__(self, name, config, *args, **kwargs):
-        Controller.__init__(self, name, config, *args, **kwargs)
-        self.speedgoat = config.get("speedgoat")
+    def _load_config(self):
+        super()._load_config()
+        self.speedgoat = self.config.get("speedgoat")
         self._axis_init_done = {}
 
     def initialize(self):

bliss/controllers/motors/tangoemot.py

@@ -23,14 +23,12 @@ computer.
 
 
 class TangoEMot(Controller):
-    def __init__(self, *args, **kwargs):
-        Controller.__init__(self, *args, **kwargs)
+    def _load_config(self):
+        super()._load_config()
 
         # Gets DS name from xml config.
         self.ds_name = self.config.get("ds_name")
 
-        # tests if DS is responding.
-
     def initialize(self):
         pass
 

bliss/controllers/motors/wago.py

@@ -8,10 +8,6 @@ class Wago:
 
 
 class WagoMotor(Controller):
-    def __init__(self, *args, **kwargs):
-
-        super().__init__(*args, **kwargs)
-
     def initialize(self):
         # initialize hardware communication
         self.wago = self.config.get("wago", converter=None)

bliss/tango/servers/axis_ds.py

@@ -1136,9 +1136,10 @@ def get_server_axis_names(instance_name=None):
     result = []
     for item_name in cfg.names_list:
         item_cfg = cfg.get_config(item_name)
-        if item_cfg.plugin == "bliss_controller" and instance_name in item_cfg.get(
-            "tango_server", ()
-        ):
+        if item_cfg.plugin in [
+            "bliss_controller",
+            "emotion",
+        ] and instance_name in item_cfg.get("tango_server", ()):
             result.append(item_name)
     return result
 
@@ -1351,7 +1352,7 @@ def initialize_bliss(info, db=None):
         # if tango_server is defined it means it is manually added
         if "tango_server" in obj_cfg:
             continue
-        if obj_cfg.plugin == "bliss_controller":
+        if obj_cfg.plugin in ["bliss_controller", "emotion"]:
             try:
                 if name in [x["name"] for x in obj_cfg.parent["axes"]]:
                     axis_names.append(name)