Merge branch '1389-user-message' into 'master'

Resolve "user message"

Closes #1389

See merge request !3683

bliss/common/axis.py

@@ -1268,7 +1268,7 @@ class Axis(Scannable):
     @velocity.setter
     @lazy_init
     def velocity(self, new_velocity):
-        # Write -> Converts into motor units to change velocity of axis."
+        # Write -> Converts into motor units to change velocity of axis.
         new_velocity = float(
             new_velocity
         )  # accepts both float or numpy array of 1 element
@@ -1296,6 +1296,9 @@ class Axis(Scannable):
                 f"Controller velocity ({_user_vel}) is different from set velocity ({new_velocity})",
             )
 
+        curr_vel = self.settings.get("velocity")
+        if curr_vel != _user_vel:
+            user_print(f"'{self.name}` velocity changed from {curr_vel} to {_user_vel}")
         self.settings.set("velocity", _user_vel)
 
         return _user_vel
@@ -1494,6 +1497,11 @@ class Axis(Scannable):
         self.__controller.set_acceleration(self, new_acc * abs(self.steps_per_unit))
         _ctrl_acc = self.__controller.read_acceleration(self)
         _acceleration = _ctrl_acc / abs(self.steps_per_unit)
+        curr_acc = self.settings.get("acceleration")
+        if curr_acc != _acceleration:
+            user_print(
+                f"'{self.name}` acceleration changed from {curr_acc} to {_acceleration}"
+            )
         self.settings.set("acceleration", _acceleration)
         return _acceleration
 

doc/docs/bliss_motion_control_basics.md

@@ -66,6 +66,7 @@ DEMO [11]: mot1.velocity       ⏎   # to READ the velocity
  Out [11]: 1.25
 
 DEMO [12]: mot1.velocity = 3.0 ⏎   # to SET a new velocity
+'mot1` velocity changed from 1.25 to 3.0
 DEMO [13]:
 
 DEMO [14]: mot1.velocity ⏎
@@ -128,7 +129,8 @@ position in user units. The dial position is accessible through the
 The **user position** derives from the dial, following the formula
 defined below:
 
-`velocity_low_limit` and `velocity_high_limit` are optional velocity limit defined in the configuration.
+`velocity_low_limit` and `velocity_high_limit` are optional velocity limit
+defined in the configuration.
 
 ```user_position = (sign * dial_position) + offset```
 
@@ -179,7 +181,6 @@ Thus:
 * when acceleration is changed, acctime is updated
 * when acctime is changed, acceleration is updated.
 
-
 ```python
 DEMO [17]: mot1.acceleration  ⏎
  Out [17]: 10.0
@@ -188,16 +189,18 @@ DEMO [18]: mot1.acctime  ⏎
  Out [18]: 0.4
 
 DEMO [19]: mot1.acceleration=20  ⏎
+'mot1` acceleration changed from 10.0 to 20.0
+
 DEMO [20]: mot1.acctime  ⏎
  Out [20]: 0.2
 
 DEMO [21]: mot1.acctime=1  ⏎
+'mot1` acceleration changed from 20.0 to 4.0
+
 DEMO [22]: mot1.acceleration  ⏎
  Out [22]: 4.0
-
 ```
 
-
 ### limits
 
 Read-Write  -  float  -  from config and persistant in memory

tests/motors/test_axis_messages.py

@@ -35,6 +35,22 @@ def test_axis_stdout(roby, capsys, log_shell_mode):
         == "'roby` position reset from 0.0 to 2.0 (sign: 1, offset: 1.0)\n'roby` dial position reset from 1.0 to 2.0\n"
     )
 
+    vel = roby.velocity
+    roby.velocity = vel + 1
+
+    assert (
+        capsys.readouterr().out
+        == f"'roby` velocity changed from {vel} to {roby.velocity}\n"
+    )
+
+    acc = roby.acceleration
+    roby.acceleration = acc + 1
+
+    assert (
+        capsys.readouterr().out
+        == f"'roby` acceleration changed from {acc} to {roby.acceleration}\n"
+    )
+
 
 def test_axis_stdout2(roby, bad_motor, capsys, log_shell_mode):
     """Ensure "Moving..." and "...stopped at..." messages are present.