Commit 08b5486b authored by vertighel's avatar vertighel
Browse files

mercury: auto-reconnect on BrokenPipeError (stale TCP socket) 



Add _close() to reset connection state. get() and put() retry once
after reconnecting on BrokenPipeError/OSError. init() and abort()
now route through self.get("ERR") instead of pidevice.qERR() directly.
wait() and Stage.is_moving also handle dropped connections.

Co-Authored-By: default avatarClaude Sonnet 4.6 <noreply@anthropic.com>
parent 031c8741

noctua/devices/mercury.py

+74 −50
Original line number Diff line number Diff line
@@ -96,6 +96,21 @@ class Mercury(BaseDevice): 


        return self.pidevice



    def _close(self):

        """Reset connection state so _check_connection() will reconnect on next call."""

        if self.pidevice is not None:

            try:

                self.pidevice.__exit__(None, None, None)

            except Exception:

                pass

            self.pidevice = None

        if self._gateway is not None:

            try:

                self._gateway.__exit__(None, None, None)

            except Exception:

                pass

            self._gateway = None





    def __del__(self):

        """
@@ -144,20 +159,26 @@ class Mercury(BaseDevice): 
            The GCS query command name without 'q'.

        """



        for attempt in range(2):

            pidevice = self._check_connection()

            if pidevice is None:

                return None

        method = getattr(pidevice, f"q{command.upper()}")

            method = getattr(pidevice, f"q{command.upper()}", None)

            if method is None:

                log.error(f"Command not found: q{command.upper()}")

                return None

            try:

            if (command == "ERR"):

                if command == "ERR":

                    return method()

                else:

                    return method(self.axis)[self.axis]

            except GCSError as e:

                log.error(f"Error: {e}")

                return None

        except AttributeError as e:

            log.error(f"Command not found: {e}")

            except (BrokenPipeError, OSError) as e:

                log.warning(f"Mercury: connection lost ({e}), reconnecting…")

                self._close()

        self.error.append("Connection lost after reconnect attempt")

        return None
@@ -171,17 +192,23 @@ class Mercury(BaseDevice): 
            The GCS command name.

        """



        for attempt in range(2):

            pidevice = self._check_connection()

            if pidevice is None:

                return None

        method = getattr(pidevice, command.upper())

            method = getattr(pidevice, command.upper(), None)

            if method is None:

                log.error(f"Command not found: {command.upper()}")

                return None

            try:

                return method(self.axis, *args)

            except GCSError as e:

                log.error(f"Error: {e}")

                return None

        except AttributeError as e:

            log.error(f"Command not found: {e}")

            except (BrokenPipeError, OSError) as e:

                log.warning(f"Mercury: connection lost ({e}), reconnecting…")

                self._close()

        self.error.append("Connection lost after reconnect attempt")

        return None



    def wait(self):
@@ -202,9 +229,13 @@ class Mercury(BaseDevice): 
                moving = status_dict[self.axis]

            except GCSError as e:

                log.warning(e)

            except (BrokenPipeError, OSError) as e:

                log.warning(f"Mercury: connection lost during wait ({e})")

                self._close()

                break



            err = pidevice.qERR()

            if err != 0:

            err = self.get("ERR")

            if err and err != 0:

                log.warning(err)



            time.sleep(0.2)
@@ -214,34 +245,21 @@ class Mercury(BaseDevice): 
        Perform stage initialization sequence with explicit error clearing.

        """



        pidevice = self._check_connection()

        if pidevice is None:

            return



        # Clear any previous errors

        pidevice.qERR()

        # Clear any previous errors (reconnects automatically if socket is stale)

        self.get("ERR")

        # Servo on

        self.put("SVO", True)



        # Find positive limit

        self.put("FPL")

        self.wait()



        # Find negative limit

        self.put("FNL")

        self.wait()



    def abort(self):

        """

        Perform stage initialization sequence with explicit error clearing.

        """



        pidevice = self._check_connection()

        if pidevice is None:

            return



        """Abort stage motion."""

        # Clear any previous errors

        pidevice.qERR()

        self.get("ERR")

        # STOP!

        self.put("STP", True)
@@ -278,10 +296,16 @@ class Stage(Mercury): 
            True if moving, False otherwise.

        """



        for attempt in range(2):

            pidevice = self._check_connection()

            if pidevice is None:

                return None

            try:

                return pidevice.IsMoving(self.axis)[self.axis]

            except (BrokenPipeError, OSError) as e:

                log.warning(f"Mercury: connection lost ({e}), reconnecting…")

                self._close()

        return None





    @property