From d6ef80c5469984cf84851cfd56c10e88e1d54db7 Mon Sep 17 00:00:00 2001
From: Mike Langmayr <1809691+mikelangmayr@users.noreply.github.com>
Date: Mon, 8 Jun 2026 13:57:39 -0700
Subject: [PATCH] make connected keyword writable for pi-daemon

---
 daemons/hsfei/pi-daemon | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

diff --git a/daemons/hsfei/pi-daemon b/daemons/hsfei/pi-daemon
index dd07ad6..953c56d 100755
--- a/daemons/hsfei/pi-daemon
+++ b/daemons/hsfei/pi-daemon
@@ -51,6 +51,7 @@ class _Stage:
         """Add this stage's keywords to the given KeywordRegistry."""
         s = self.suffix
         registry.bool(f"isloopclosed{s}",
+                      setter=lambda v: self.controller.close_loop(self.device_key, self.axis, enable=bool(v)),
                       getter=lambda: self.controller.is_loop_closed(self.device_key, self.axis),
                       description="Servo control loop is closed.")
         registry.bool(f"isreferenced{s}",
@@ -171,7 +172,8 @@ class PiDaemon(HispecDaemon):
             stage.register_keywords(self.keyword_registry)
         self.keyword_registry.bool("isconnected",
                                    getter=self._controller_responsive,
-                                   description="Check if daemon can talk to the PI controller.")
+                                   setter=self._set_connected,
+                                   description="Daemon's connection to the PI controller; write true to connect, false to disconnect.")
         self.keyword_registry.int("error",
                                   getter=self._error_code,
                                   description="Latest PI controller error code (0 = no error). Reading clears the register.")
@@ -199,6 +201,19 @@ class PiDaemon(HispecDaemon):
         except Exception:
             return False
 
+    def _set_connected(self, value: bool) -> None:
+        """Connect to or disconnect from the controller in response to a write."""
+        if value:
+            if self._controller_responsive():
+                return
+            if not (self.ip_address and self.tcp_port):
+                raise RuntimeError("no hardware ip_address/tcp_port configured")
+            # Disconnect the whole daisy chain before reconnecting
+            self.controller.disconnect_all()
+            self._connect_hardware()
+        else:
+            self.controller.disconnect_all()
+
     def _error_code(self) -> int:
         """Return the controller's latest qERR? code (0 = no error, -1 = lookup failed)."""
         if not self.stages: