add manual operation on 3dxrd airpads

id11/controllers/airpad.py

-from gevent import sleep
+import gevent
+import time
 
 from bliss.common.hook import MotionHook
 from bliss.common.logtools import log_debug
@@ -10,6 +11,9 @@ class AirpadWagoPulseHook(MotionHook):
         self.name = name
         self.wago = config["wago"]
         super(AirpadWagoPulseHook, self).__init__()
+        self.__air_on = False
+        self.__manual_set = False
+        self.__manual_task = None
 
     def _add_axis(self, axis):
         if len(self.axes):
@@ -20,19 +24,47 @@ class AirpadWagoPulseHook(MotionHook):
                     self.name, axis.name, axis_name
                 )
             )
-        super(WagoHook, self)._add_axis(axis)
+        super(AirpadWagoPulseHook, self)._add_axis(axis)
 
     def set(self, phase):
+        self.__air_on = False
         channel = self.config[phase]["channel"]
         wait = self.config[phase].get("wait", 0.1)
         log_debug(self, f"start {phase}, pulse on {channel} for {wait} sec.")
         self.wago.set(channel, 1)
-        sleep(wait)
+        gevent.sleep(wait)
         self.wago.set(channel, 0)
         log_debug(self, f"finished {phase}")
+        if phase == "premove":
+            self.__air_on = True
+
 
     def pre_move(self, motion_list):
-        self.set("pre_move")
+        if not self.__air_on:
+            self.set("pre_move")
 
     def post_move(self, motion_list):
+        if not self.__manual_set:
+            self.set("post_move")
+
+    def on(self, alert_timeout=10):
+        if not self.__air_on:
+            self.set("pre_move")
+            self.__manual_set = True
+        if self.__manual_task is not None:
+            self.__manual_task.kill()
+        self.__manual_task = gevent.spawn(self.__manual_check, alert_timeout)
+
+    def off(self):
+        self.__manual_set = False
         self.set("post_move")
+        if self.__manual_task is not None:
+            self.__manual_task.kill()
+
+    def __manual_check(self, timeout):
+        start_time = time.time()
+        gevent.sleep(timeout * 60.0)
+        while True:
+           elapsed = int((time.time() - start_time)/60.0)
+           print(f"\n!!! WARNING : {self.name} is ON since {elapsed} min. !!!")
+           gevent.sleep(60.0)