added CRL transfocator

id11/controllers/airpad.py

@@ -3,6 +3,7 @@ from gevent import sleep
 from bliss.common.hook import MotionHook
 from bliss.common.logtools import log_debug
 
+
 class AirpadWagoPulseHook(MotionHook):
     def __init__(self, name, config):
         self.config = config

id11/controllers/crltransfocator.py

+import gevent
+from bliss.controllers.transfocator import Transfocator
+from bliss.common.logtools import log_debug, log_error
+
+
+class CRLTransfocator(Transfocator):
+    def pos_read(self):
+        down_stat = self.wago.get("crl_stat_down")
+        up_stat = self.wago.get("crl_stat_up")
+        log_debug(self, f"pos_read: down={down_stat} up={up_stat}")
+        value = 0
+        for idx in range(self.nb_lens):
+            if down_stat[idx]:
+                if up_stat[idx]:
+                    # raise RuntimeError(f"CRL [{idx}] both IN and OUT !!")
+                    log_error(self, f"CRL [{idx}] both IN and OUT !!")
+                value |= 1 << idx
+            elif not up_stat[idx]:
+                # raise RuntimeError(f"CRL [{idx}] neither IN or OUT !!")
+                log_error(self, f"CRL [{idx}] neither IN or OUT !!")
+        return value
+
+    def pos_write(self, value):
+        log_debug(self, f"pos_write {value}")
+        down_stat = self.wago.get("crl_stat_down")
+        up_idx = list()
+        for idx in range(self.nb_lens):
+            if down_stat[idx] and not value & (1 << idx):
+                up_idx.append(idx)
+        if len(up_idx):
+            self.__pulse("crl_cmd_up", up_idx)
+
+        up_stat = self.wago.get("crl_stat_up")
+        down_idx = list()
+        for idx in range(len(up_stat)):
+            if up_stat[idx] and value & (1 << idx):
+                down_idx.append(idx)
+        if len(down_idx):
+            self.__pulse("crl_cmd_down", down_idx)
+
+    def __pulse(self, name, indexes):
+        log_debug(self, f"pulse index {indexes} on {name}")
+        cmds = [0] * self.nb_lens
+        for idx in indexes:
+            cmds[idx] = 1
+        cmds.reverse()
+        self.wago.set(name, *cmds)
+        gevent.sleep(0.5)
+        cmds = [0] * self.nb_lens
+        self.wago.set(name, *cmds)