Merge branch 'icepap_error_explicit' into 'master'

added icepap connection errors mangement.

Closes #731

See merge request !1411

bliss/controllers/motors/icepap/__init__.py

@@ -21,6 +21,8 @@ from bliss.comm.tcp import Command
 import struct
 import numpy
 import sys
+import os
+import errno
 
 
 def _object_method_filter(obj):
@@ -662,6 +664,28 @@ def _vdata_header(data, axis, vdata_type):
 
 @protect_from_kill
 def _command(cnx, cmd, data=None, pre_cmd=None):
+    try:
+        return _command_raw(cnx, cmd, data, pre_cmd)
+    except IOError as ioex:
+        if ioex.errno == 113:
+            _msg = f"IOError {ioex.errno}:{errno.errorcode[ioex.errno]}"
+            _msg += f"\nmessage={os.strerror(ioex.errno)} "
+            _msg += f"\nPlease check that icepap controller '{cnx._host}' is ON"
+            raise RuntimeError(_msg)
+        elif ioex.errno == -2:
+            _msg = f"IOError {ioex.errno}"
+            _msg += f"\nPlease check icepap controller: '{cnx._host}'"
+            raise RuntimeError(_msg)
+        else:
+            raise ioex
+    except OSError as osex:
+        _msg = f"OSError no:{osex.errno}"
+        _msg += f"err code:{errno.errorcode[osex.errno]}"
+        _msg += f"err message:{os.strerror(osex.errno)}"
+        raise RuntimeError(_msg)
+
+
+def _command_raw(cnx, cmd, data=None, pre_cmd=None):
     reply_flag = _check_reply.match(cmd)
     cmd = cmd.encode()
     if data is not None:

tests/config/test_config.py

@@ -147,3 +147,10 @@ def test_config_save_reference(beacon, beacon_directory):
         rw_cfg2["dict_list"][2]["instance"].name
         == rw_cfg["dict_list"][2]["instance"].name
     )
+
+
+def test_bad_icepap_host(beacon):
+    bad_mot = beacon.get("v6biturbo")
+
+    with pytest.raises(RuntimeError):
+        a = bad_mot.position

tests/test_configuration/motors/bad_icepap.yml

+controller:
+  class: icepap
+  host: iceid666
+  name: iceid666
+  axes:
+  - name: v6biturbo
+    address: 1
+    steps_per_unit: 10000
+    sign: 1
+    velocity: 0.2
+    acceleration: 0.8
+    backlash: 0.005
+    high_limit: -84.0007
+    low_limit: -154.501