* debug mot_findref / showref

* added mot_findrange

id11/motorref.py → id11/motutils.py

@@ -2,10 +2,41 @@
 from bliss.controllers.motors.icepap import Icepap
 from bliss.shell.standard import wm
 
-__all__ = ["findmotref", "showmotref"]
+__all__ = ["mot_findref", "mot_showref", "mot_findrange"]
 
 
-def findmotref(axis):
+def mot_findrange(axis, direction=+1):
+    if not isinstance(axis.controller, Icepap):
+        raise RuntimeError("findmotrange only implemented for icepap motors")
+    if direction < 0:
+        lim_dir = -1
+    else:
+        lim_dir = +1
+
+    # --- first limit
+    print("Searching {0} hardware limit {1}".format(axis.name, lim_dir>0 and "positive" or "negative"))
+    axis.hw_limit(lim_dir)
+    lim_dial1 = axis.limit_found_dial()
+    lim_user1 = axis.dial2user(lim_dial1)
+    print(f"First limit found at = dial:{lim_dial1:g} user:{lim_user1:g}")
+    print()
+
+    # --- second limit
+    lim_dir *= -1
+    print("Searching {0} hardware limit {1}".format(axis.name, lim_dir>0 and "positive" or "negative"))
+    axis.hw_limit(lim_dir)
+    lim_dial2 = axis.limit_found_dial()
+    lim_user2 = axis.dial2user(lim_dial2)
+    print(f"Second limit found at = dial:{lim_dial2:g} user:{lim_user2:g}")
+    print()
+
+    # --- motor travel range
+    travel = abs(lim_dial2 - lim_dial1)
+    print(f"Motor travel range = {travel:g}")
+    print()
+
+    
+def mot_findref(axis):
     if not isinstance(axis.controller, Icepap):
         raise RuntimeError("findmotref only implemented for icepap motors")
 
@@ -45,7 +76,7 @@ def findmotref(axis):
     offset = axis.dial - ref_pos
 
     # --- resets dial at reference
-    ans = _yes_no("Do you want to set reference dial position to {0:g} ??", False)
+    ans = _yes_no("Do you want to set reference dial position to {0:g}".format(refcfg["dial"]), False)
     if ans is True:
         axis.dial = refcfg["dial"] + offset
 
@@ -54,7 +85,7 @@ def findmotref(axis):
         print("Reference dial limits not configured. No change.")
     else:
         ans = _yes_no(
-            "Do you want to set dial limits to ({0:g}, {1:g}) ??".format(
+            "Do you want to set dial limits to ({0:g}, {1:g})".format(
                 refcfg["low_limit"], refcfg["high_limit"]
             ),
             False,
@@ -69,7 +100,7 @@ def findmotref(axis):
         print("Reference user position not configured. No change.")
     else:
         ans = _yes_no(
-            "Do you want to set user position to {0:g} ??".format(refcfg["user"]), False
+            "Do you want to set user position to {0:g}".format(refcfg["user"]), False
         )
         if ans is True:
             user_pos = refcfg["user"] + axis.sign * offset
@@ -79,7 +110,7 @@ def findmotref(axis):
     wm(axis)
 
 
-def showmotref(axis):
+def mot_showref(axis):
     refcfg = _get_motref_config(axis)
     for (key, val) in refcfg.items():
         if val is None:
@@ -93,7 +124,11 @@ def showmotref(axis):
 
 
 def _yes_no(msg, flag):
-    ans = input(msg, flag is True and "YES" or "NO")
+    defans = flag is True and "YES" or "NO"
+    ask = msg + f" [{defans}] ? "
+    ans = input(ask)
+    if not len(ans):
+        ans = defans
     if ans.upper() in ("YES", "Y"):
         return True
     return False