Bug corrections + add functions to handle robot speed

SampleChangerDS/TomoSampleChanger.py

@@ -260,7 +260,7 @@ class TomoSampleChanger(Device):
                     
                     self.robot_status_time = now
                     self.info_stream ("robot_status() at %d" % int(now))
-                    self.status_lock = False
+                self.status_lock = False
             
         # catch all exceptions, convert to Tango exception and rethrow
         except:
@@ -558,6 +558,23 @@ class TomoSampleChanger(Device):
         
         # PROTECTED REGION END #    //  TomoSampleChanger.RobotLibraryName_read
 
+    speed = attribute(
+        label="Speed",
+        dtype=float,
+        max_value=1,
+        fget="get_speed", fset="set_speed",
+        doc="sample changer acceleration speed")
+
+    def get_speed(self):
+        # PROTECTED REGION ID(TomoSampleChanger.get_speed) ENABLED START #
+        speed = self.robot.accelForLargeMovesMultiplicator
+        return speed
+        # PROTECTED REGION END #    //  TomoSampleChanger.get_speed
+
+    def set_speed(self, speed):
+        # PROTECTED REGION ID(TomoSampleChanger.set_speed) ENABLED START #
+        self.robot.accelForLargeMovesMultiplicator = speed
+        # PROTECTED REGION END #    //  TomoSampleChanger.set_speed
     # --------
     # Commands
     # --------
@@ -808,7 +825,7 @@ class TomoSampleChanger(Device):
     def ForceParkingPosition(self):
         # PROTECTED REGION ID(TomoSampleChanger.ForceParkingPosition) ENABLED START #
         
-        if self.attr_ParkingPosition_read == False:
+        if self.robot.isAtParking == False:
             self.running_task = gevent.spawn(self.parking_task)
             print ("Bring robot back to parking position")
         

SamplesDS/TomoSamples.py

@@ -398,7 +398,7 @@ class TomoSamples(Device):
     def Reset(self):
         # PROTECTED REGION ID(TomoSamples.Reset) ENABLED START #
         
-        for i in self.tomo_samples.keys():
+        for i in list(self.tomo_samples.keys()):
             # do not reset samples with protected names
             found = False
             for psn in self.ProtectedSampleNames: