def state(self, axis):
"""Returns the current axis state"""
self.log_info("state() called for axis %r" % axis.name)
# Get a unique status for all IcePAP axes
status = self.libtraj[axis].status()
self.log_info("hardware status got: 0x%08x" % status)
# Convert status from icepaplib to bliss format.
_state = AxisState()
if(libicepap.status_ismoving(status)):
self.log_info("status MOVING")
_state.set("MOVING")
return _state
if(libicepap.status_isready(status)):
self.log_info("status READY")
_state.set("READY")
if(libicepap.status_lowlim(status)):
_state.set("LIMNEG")
if(libicepap.status_highlim(status)):
_state.set("LIMPOS")
if(libicepap.status_home(status)):
_state.set("HOME")
return _state
# Abnormal end
return AxisState("FAULT")
def state(self, axis):
"""Returns the current axis state"""
self.log_info("state() called for axis %r" % axis.name)
# The axis can only be accessed through a group in IcePAP lib
# Use the default group
status = self.libgroup.status(axis.libaxis)
# Convert status from icepaplib to bliss format.
self.icestate.clear()
# first all concurrent states
if(libicepap.status_lowlim(status)):
self.icestate.set("LIMNEG")
if(libicepap.status_highlim(status)):
self.icestate.set("LIMPOS")
if(libicepap.status_home(status)):
self.icestate.set("HOME")
modcod, modstr, moddsc = libicepap.status_get_mode(status)
if modcod != None:
self.icestate.set(modstr)
sccod, scstr, scdsc = libicepap.status_get_stopcode(status)
if sccod != None:
self.icestate.set(scstr)
if(libicepap.status_isready(status)):
self.icestate.set("READY")
# if motor is ready then no need to investigate deeper
return self.icestate
if(libicepap.status_ismoving(status)):
self.icestate.set("MOVING")
if(not libicepap.status_ispoweron(status)):
self.icestate.set("POWEROFF")
discod, disstr, disdsc = libicepap.status_get_disable(status)
if discod != None:
self.icestate.set(disstr)
if not self.icestate.MOVING:
# it seems it is not safe to call warning and/or alarm commands
# while homing motor, so let's not ask if motor is moving
if(libicepap.status_warning(status)):
warn_str = self.libgroup.warning(axis.libaxis)
warn_dsc = "warning condition: \n" + str(warn_str)
self.icestate.create_state("WARNING", warn_dsc)
self.icestate.set("WARNING")
alarm_str = self.libgroup.alarm(axis.libaxis)
if alarm_str != 'NO':
alarm_dsc = "alarm condition: " + str(alarm_str)
self.icestate.create_state("ALARMDESC", alarm_dsc)
self.icestate.set("ALARMDESC")
return self.icestate
