add airpad hooks for 3dxrd (wago pulse)

id11/controllers/airpad.py

+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
+        self.name = name
+        self.wago = config["wago"]
+        super(AirpadWagoPulseHook, self).__init__()
+
+    def _add_axis(self, axis):
+        if len(self.axes):
+            axis_name = list(self.axes.keys())[0]
+            raise ValueError(
+                "Cannot attach WagoAirpadHook {0!r} to {1!r}. "
+                "It is already attached to {2!r}".format(
+                    self.name, axis.name, axis_name
+                )
+            )
+        super(WagoHook, self)._add_axis(axis)
+
+    def set(self, phase):
+        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)
+        self.wago.set(channel, 0)
+        log_debug(self, f"finished {phase}")
+
+    def pre_move(self, motion_list):
+        self.set("pre_move")
+
+    def post_move(self, motion_list):
+        self.set("post_move")