Revert "mercury: auto-reconnect on BrokenPipeError (stale TCP socket)" (103d0c78) · Commits · Davide Ricci / noctua

noctua/devices/mercury.py

+50 −74

Original line number	Diff line number	Diff line
		@@ -96,21 +96,6 @@ 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):
		"""
		@@ -159,26 +144,20 @@ 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()}", None)
		if method is None:
		log.error(f"Command not found: q{command.upper()}")
		return None
		method = getattr(pidevice, f"q{command.upper()}")
		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 (BrokenPipeError, OSError) as e:
		log.warning(f"Mercury: connection lost ({e}), reconnecting…")
		self._close()
		self.error.append("Connection lost after reconnect attempt")
		except AttributeError as e:
		log.error(f"Command not found: {e}")
		return None


		@@ -192,23 +171,17 @@ 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(), None)
		if method is None:
		log.error(f"Command not found: {command.upper()}")
		return None
		method = getattr(pidevice, command.upper())
		try:
		return method(self.axis, *args)
		except GCSError as e:
		log.error(f"Error: {e}")
		return None
		except (BrokenPipeError, OSError) as e:
		log.warning(f"Mercury: connection lost ({e}), reconnecting…")
		self._close()
		self.error.append("Connection lost after reconnect attempt")
		except AttributeError as e:
		log.error(f"Command not found: {e}")
		return None

		def wait(self):
		@@ -229,13 +202,9 @@ 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 = self.get("ERR")
		if err and err != 0:
		err = pidevice.qERR()
		if err != 0:
		log.warning(err)

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

		# Clear any previous errors (reconnects automatically if socket is stale)
		self.get("ERR")
		pidevice = self._check_connection()
		if pidevice is None:
		return

		# Clear any previous errors
		pidevice.qERR()
		# 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):
		"""Abort stage motion."""
		"""
		Perform stage initialization sequence with explicit error clearing.
		"""

		pidevice = self._check_connection()
		if pidevice is None:
		return

		# Clear any previous errors
		self.get("ERR")
		pidevice.qERR()
		# STOP!
		self.put("STP", True)

		@@ -296,16 +278,10 @@ 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