yaq-python/is-homeable


Implementing the `is-homeable` trait

The is-homeable trait is formally defined by YEP-305.

Homeable hardware have a procedure which resets to a known position. Homed devices are then returned to their destination. This trait is required to be applied to a Hardware (or a subclass like ContinuousHardware) daemon, and introduces only one additional method:

from yaqd_core import Hardware

class ExampleHomeable(Hardware):
    _kind = "example_homeable"

    def home(self):
        # Since homing is typically a long process, start a new asynchronous task
        # This may not be necessary, depending on how your device behaves,
        # but remember that home is defined as returning to the current destination
        # This method should return quickly, not wait for the homing to complete.
    self._homed_event = asyncio.Event()
        self._loop.create_task(self._home())

    async def _home(self):
        self._busy = True
        # Initiate the home
        ...
        await self._homed_event.wait()
        self.set_position(self._destination)

    ...
    # Somewhere in update_state or similar, `self._homed_event.set()` must be called
    # Usually in response to some indication from the device that it has completed motion

built 2020-09-26 00:52:26                                      CC0: no copyright