ensure FAULT state exits move loop with exception

bliss/common/axis.py

@@ -44,6 +44,10 @@ class AxisOnLimitError(RuntimeError):
     pass
 
 
+class AxisFaultError(RuntimeError):
+    pass
+
+
 def _prepare_one_controller_motions(controller, motions):
     try:
         controller.prepare_all(*motions)
@@ -1911,6 +1915,8 @@ class Axis:
             if not state.MOVING:
                 if limit_error and (state.LIMPOS or state.LIMNEG):
                     raise AxisOnLimitError(str(state))
+                elif state.FAULT:
+                    raise AxisFaultError(str(state))
                 return state
             gevent.sleep(polling_time)
 

bliss/controllers/motors/mockup.py

@@ -620,6 +620,7 @@ class FaultyMockup(Mockup):
         Mockup.__init__(self, *args, **kwargs)
 
         self.bad_state = False
+        self.fault_state = False
         self.bad_start = False
         self.bad_state_after_start = False
         self.bad_stop = False
@@ -633,6 +634,9 @@ class FaultyMockup(Mockup):
         if self.bad_state:
             self.state_msg_index += 1
             raise RuntimeError("BAD STATE %d" % self.state_msg_index)
+        elif self.fault_state:
+            self._axis_moves[axis]["motion"] = None  # stop motion immediately
+            return AxisState("FAULT")
         else:
             return Mockup.state(self, axis)
 

tests/motors/test_bad_controller.py

@@ -12,6 +12,7 @@ import math
 from bliss.common.standard import Group
 from bliss.common.standard import sync
 from bliss.common import event
+from bliss.common.axis import AxisFaultError
 
 
 def test_bad_start(bad_motor):
@@ -153,3 +154,20 @@ def test_issue_1719(bad_motor, capsys):
         not "TypeError: '<=' not supported between instances of 'NoneType' and 'int'"
         in capsys.readouterr().err
     )
+
+
+def test_fault_state(bad_motor):
+    bad_motor.move(1000, wait=False)
+
+    gevent.sleep(bad_motor.acctime)
+
+    bad_motor.controller.fault_state = True
+
+    with pytest.raises(AxisFaultError):
+        bad_motor.wait_move()
+
+    bad_motor.controller.fault_state = False
+
+    bad_motor.move(0)
+
+    assert "READY" in bad_motor.state