fix issue 2310

bliss/common/axis.py

@@ -1691,7 +1691,7 @@ class Axis(Scannable):
         dial = self.dial
         target_pos = dial_target_pos * self.steps_per_unit
         delta = target_pos - dial * self.steps_per_unit
-        if abs(delta) < (self.controller.steps_position_precision(self) / 2):
+        if self.controller._is_already_on_position(self, delta):
             return  # Already in position => no motion
         backlash = self.backlash / self.sign * self.steps_per_unit
         backlash_str = " (with %f backlash)" % self.backlash if backlash else ""

bliss/controllers/motor.py

@@ -496,6 +496,14 @@ class Controller:
         """
         raise NotImplementedError
 
+    def _is_already_on_position(self, axis, delta):
+        """ return True if the difference between current position
+            and new position (delta) is smaller than the positioning precision 
+        """
+        if abs(delta) < (self.steps_position_precision(axis) / 2):
+            return True  # Already in position
+        return False
+
 
 class CalcController(Controller):
     def __init__(self, *args, **kwargs):
@@ -929,6 +937,15 @@ class CalcController(Controller):
                     dep_real_axes, dep_real_position, final_real_axes_position
                 )
 
+    def _is_already_on_position(self, axis, delta):
+        """ With calculated axes, always return False to ensure it updates real axes that might 
+            have been moved independently (i.e outside CalcMotor context). 
+        """
+        if axis not in self.reals:
+            return False
+        else:
+            return super()._is_already_on_position(axis, delta)
+
 
 def get_real_axes(*axes):
     """Return real axes from given axis objects"""

bliss/controllers/motors/mockup.py

@@ -822,7 +822,8 @@ class FaultyCalc(CalcController):
 
     def calc_to_real(self, positions_dict):
         return {self._axis_tag(x): None for x in self.reals}
-        
+
+
 class CoupledMotionCalc(CalcController):
     def calc_from_real(self, positions_dict):
         return {"calc_mot": positions_dict["mot1"]}

tests/motors/test_axis.py

@@ -1141,23 +1141,84 @@ def test_change_velocity_limits(robz):
 
     with pytest.raises(ValueError, match="is below"):
         robz.velocity = old_min_velocity - 6
-        
-def test_coupled_calc(beacon):
-    roby = beacon.get("roby")
-    m0 = beacon.get("m0")
-    cc = beacon.get("coupled_calc1")
 
-    cc.move(1)
 
+def test_coupled_calc(default_session):
+    roby = default_session.config.get("roby")
+    m0 = default_session.config.get("m0")
+
+    robu = default_session.config.get("robu")
+    bad = default_session.config.get("bad")
+
+    cc1 = default_session.config.get("coupled_calc1")  # calc of 2 reals
+    cc2 = default_session.config.get("coupled_calc2")  # calc of 2 reals
+    cc3 = default_session.config.get("coupled_calc3")  # calc of 2 calcs
+
+    # === test CalcMotor with 2 real motors as reals ==========
+    cc1.move(1)
+
+    assert roby.position == 1
+    assert m0.position == 1
+
+    m0.move(2)
+
+    assert m0.position == 2
+    assert cc1.position == 1
+
+    cc1.move(1)
+
+    assert roby.position == 1
+    assert m0.position == 1
+
+    # === test CalcMotor with 2 calc_motors as CalcMotor.reals ==========
+
+    cc3.move(1)
+
+    assert cc1.position == 1
+    assert cc2.position == 1
     assert roby.position == 1
     assert m0.position == 1
+    assert robu.position == 1
+    assert bad.position == 1
 
     m0.move(2)
 
     assert m0.position == 2
-    assert cc.position == 1
+    assert cc3.position == 1
+    assert cc1.position == 1
+    assert cc2.position == 1
+
+    cc3.move(1)
+
+    assert roby.position == 1
+    assert m0.position == 1
+    assert robu.position == 1
+    assert bad.position == 1
+
+    # ==================
+
+    cc3.move(1)
+
+    assert cc1.position == 1
+    assert cc2.position == 1
+    assert roby.position == 1
+    assert m0.position == 1
+    assert robu.position == 1
+    assert bad.position == 1
+
+    cc2.move(2)
+
+    assert cc2.position == 2
+    assert robu.position == 2
+    assert bad.position == 2
+    assert cc3.position == 1
+    assert cc1.position == 1
 
-    cc.move(1)
+    cc3.move(1)
 
     assert roby.position == 1
     assert m0.position == 1
+    assert robu.position == 1
+    assert bad.position == 1
+    assert cc1.position == 1
+    assert cc2.position == 1

tests/test_configuration/motors/mockup.yml

@@ -356,6 +356,25 @@ hooks:
     tags: real mot1
   - name: $m0
     tags: real mot2
-  
   - name: coupled_calc1
     tags: calc_mot
+
+- class: CoupledMotionCalc
+  module: mockup
+  axes:
+  - name: $robu
+    tags: real mot1
+  - name: $bad
+    tags: real mot2
+  - name: coupled_calc2
+    tags: calc_mot
+
+- class: CoupledMotionCalc
+  module: mockup
+  axes:
+  - name: $coupled_calc1
+    tags: real mot1
+  - name: $coupled_calc2
+    tags: real mot2
+  - name: coupled_calc3
+    tags: calc_mot