From 4bbf58bf84d0c617ba05ee75eacb982767d4e887 Mon Sep 17 00:00:00 2001
From: Generic Bliss account for Control Software <blissadm@lbm05ctrl.esrf.fr>
Date: Tue, 5 Nov 2024 14:50:28 +0100
Subject: [PATCH] Cache attr_RobotSpeed_read
---
.../sample_changer_ds/TomoSampleChanger.py | 12 ++++++++----
1 file changed, 8 insertions(+), 4 deletions(-)
diff --git a/src/samplechanger/sample_changer_ds/TomoSampleChanger.py b/src/samplechanger/sample_changer_ds/TomoSampleChanger.py
index 29c993b..5399eca 100644
--- a/src/samplechanger/sample_changer_ds/TomoSampleChanger.py
+++ b/src/samplechanger/sample_changer_ds/TomoSampleChanger.py
@@ -258,7 +258,7 @@ 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:
@@ -412,7 +412,7 @@ class TomoSampleChanger(Device):
self.attr_RemoteMode_read = False
self.attr_ParkingPosition_read = False
self.attr_SafetyChainOK_read = False
-
+ self.attr_RobotSpeed_read = "None"
# init flags for state and status
self.init_done = False
self.init_error = None
@@ -593,8 +593,9 @@ class TomoSampleChanger(Device):
def get_speed(self):
# PROTECTED REGION ID(TomoSampleChanger.get_speed) ENABLED START #
- speed = self.robot.accelForLargeMovesMultiplicator
- return speed
+ if self.is_moving == False:
+ self.attr_RobotSpeed_read = self.robot.accelForLargeMovesMultiplicator
+ return self.attr_RobotSpeed_read
# PROTECTED REGION END # // TomoSampleChanger.get_speed
def set_speed(self, speed):
@@ -819,6 +820,9 @@ class TomoSampleChanger(Device):
self.robot.emmergencyStopBlockingPrograms()
self.robot.powerOFF()
+ self.is_moving = False
+ self.is_error = True
+
# PROTECTED REGION END # // TomoSampleChanger.Abort
@command(
--
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