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make connected keyword writable for pi-daemon #143

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make connected keyword writable for pi-daemon #143

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17 changes: 16 additions & 1 deletion daemons/hsfei/pi-daemon
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Original file line number Diff line number Diff line change
Expand Up @@ -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}",
Expand Down Expand Up @@ -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.")
Expand Down Expand Up @@ -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()

@danechever danechever Jun 8, 2026

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It looks like a request to "connect" when the daemon is already connected will lead the daemon to disconnect then reconnect. You could instead consider having it just check if the connection is good and if it is, doing nothing; no need to toggle the connection.

@mikelangmayr mikelangmayr Jun 8, 2026

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@danechever if it's connected it will just return, that's the _controller_repsonsive() check

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:
Expand Down
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