Fix #120: send axis position signal to controller output

bliss/controllers/motors/icepap/__init__.py

@@ -412,6 +412,69 @@ class Icepap(Controller):
                 _ackcommand(self._cnx, "%d:POS INPOS 0" % address)
             _ackcommand(self._cnx,"%d:LTRACK %s" % (address,mode))
 
+    @object_method(types_info=(("bool", "str", "sense"), "None"))
+    def activate_axis_to_sync(self, axis, activate=True, signal='MEASURE',
+                              sense='NORMAL'):
+        """
+        Send the given motor position to IcePAP controller
+        "SYNCRO" output (DB9 on controller front panel)
+
+        Valid values for *signal* are:
+            - AXIS - axis nominal position
+            - MOTOR - axis electrical phase (MOTOR internal variable)
+            - MEASURE (default) - signal used as axis measurement
+            - SHFTENC
+            - CTRLENC
+            - ENCIN
+            - INPOS
+            - ABSENC
+
+        Valid values for *sense* are:
+            - NORMAL (default)
+            - INVERTED
+
+        Args:
+            axis (Axis): concerned axis object
+
+        Keyword Args:
+            activate (bool): activate or de-activate axis to sync [default: True]
+            signal (str): position signal [default: MEASURE]
+            sense (str): position signal sense [default: NORMAL]
+        """
+        address = axis.address
+
+        if not activate:
+            # only remove pmux if the axis is active (avoid deactivating
+            # other axes unintentionally)
+            if self.is_axis_to_sync_active(axis):
+                self.pmux_remove()
+            return
+
+        # remove any previous multiplexer rule
+        self.pmux_remove()
+
+	# set the new multiplexer rule
+        cmd = "PMUX HARD B{0}".format(address)
+        _ackcommand(self._cnx, cmd)
+
+	# set which signal the DRIVER has to send to multiplexer
+        cmd = '{0}:SYNCPOS {1} {2}'.format(address, signal, sense)
+        _ackcommand(self._cnx, cmd)
+
+    @object_method(types_info=("None","bool"))
+    def is_axis_to_sync_active(self, axis):
+        """
+        Tell if the given axis is feeding a position signal to the
+        "SYNCRO" output (DB9 on controller front panel)
+
+        Returns:
+            bool: True if active or False otherwise
+        """
+        return 'B{0}'.format(axis.address) in _command(self._cnx, '?PMUX')
+
+    def pmux_remove(self):
+        _command(self._cnx, "PMUX REMOVE")
+
     def reset(self):
         _command(self._cnx,"RESET")