Use busy records for ease of synchronous programming - #25
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By changing moveL and moveJ records from bo to busy,
and some slightly modifications to the driver, clients can
now do synchronous motion in a much easier way. For example
with the caput command line utilty, we can now do:
`caput -w 10 -c urExample:Control:moveJ 1` and it will block
until the motion completes. From pyepics, we could similarly do:
caput("urExample:Control:moveJ", 1, wait=True).
Same idea as we did for moveJ and moveL. Now clients can easily move close/open the gripper and wait for motion to complete
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This PR changes the
borecords used to start asynchronous motion ($(P)Control:moveJ,$(P)Control:moveL, and$(P)RobotiqGripper:Openand$(P)RobotiqGripper:Close) tobusyrecords. This was primarily done so that clients can easily execute robot motion synchronously. Some minor changes to the driver code was also required to support thisWith
caputfrom the command line, the following will now block until motion completes:Previously this would return immediately regardless, and clients needed to poll the
$(P)Control:MovingPV to wait for the motion to complete.Similarly with
pyepicsyou can now do the following to block until motion is complete:In the future I plan to implement this same style of
busyrecord logic with the waypoint motion PVs. Once this is completed, it is likely the built in path logic can be fully replaced bysseqrecords with "Wait" options. However, I believe most users will be more interested in simple scripting for robot motion versus building paths from combinations ofsseq,calcout, etc. records at runtime.