ophyd-async 0.3a5__tar.gz → 0.3a6__tar.gz

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/.codecov.yml

@@ -8,7 +8,7 @@ coverage:
         threshold: 1%
     patch:
       default:
-        target: auto
+        target: 90
         threshold: 1%
 github_checks:
   annotations: false

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/.github/workflows/_release.yml

@@ -23,7 +23,7 @@ jobs:
       - name: Create GitHub Release
         # We pin to the SHA, not the tag, for security reasons.
         # https://docs.github.com/en/actions/learn-github-actions/security-hardening-for-github-actions#using-third-party-actions
-        uses: softprops/action-gh-release@9d7c94cfd0a1f3ed45544c887983e9fa900f0564 # v2.0.4
+        uses: softprops/action-gh-release@69320dbe05506a9a39fc8ae11030b214ec2d1f87 # v2.0.5
         with:
           prerelease: ${{ contains(github.ref_name, 'a') || contains(github.ref_name, 'b') || contains(github.ref_name, 'rc') }}
           files: "*"

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: ophyd-async
-Version: 0.3a5
+Version: 0.3a6
 Summary: Asynchronous Bluesky hardware abstraction code, compatible with control systems like EPICS and Tango
 Author-email: Tom Cobb <tom.cobb@diamond.ac.uk>
 License: BSD 3-Clause License

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/docs/explanations/design-goals.rst

@@ -32,7 +32,7 @@ Parity with Malcolm
 
 Ophyd-async should provide the same building blocks for defining flyscans scans as malcolm_. It should support PandA and Zebra as timing masters by default, but also provide easy helpers for developers to write support for their own devices.
 
-It should enable `motor trajectory scanning <motortraj_>` and `multiple triggering rates<detectorsync_>` based around a base rate, and pausing/resuming scans. Scans should be modelled using scanspec_, which serves as a universal language for defining trajectory and time-resolved scans, and converted to the underlying format of the given motion controller. It should also be possible to define an `outer scan <outerscan_>`.
+It should enable motor trajectory scanning and multiple triggering rates based around a base rate, and pausing/resuming scans. Scans should be modelled using scanspec_, which serves as a universal language for defining trajectory and time-resolved scans, and converted to the underlying format of the given motion controller. It should also be possible to define an outer scan .
 
 
 Improved Trajectory Calculation

ophyd_async-0.3a6/docs/explanations/flyscanning.rst

@@ -0,0 +1,29 @@
+Flyscanning
+===========
+
+See the documents in the [bluesky cookbook](http://blueskyproject.io/bluesky-cookbook/glossary/flyscanning.html)
+
+Hardware
+--------
+
+Ophyd-async ships with support for Quantum Detectors' PandA_ and Zebra_ as triggering mechanisms.
+
+These are very modular and can be used to trigger a variety of detectors and handle readback signals from a variety of sample control devices. See full specs for more information.
+
+It is possible to write support for additional systems/devices.
+
+
+Role of Ophyd-Async
+-------------------
+
+Bluesky supports devices that configure acquisition and then hand over control to an external system via the ``Flyer`` protocol. 
+
+Ophyd-async's job is to provide devices that implement ``Flyer`` and can:
+
+- Configure all necessary hardware for a scan
+- Kickoff a scan and monitor progress until complete
+- Produce documents representing the progress of the scan
+- Allow handing control back and forth to enable outer scanning
+
+.. _PandA: https://quantumdetectors.com/products/pandabox/
+.. _Zebra: https://quantumdetectors.com/products/zebra/

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/src/ophyd_async/_version.py

@@ -12,5 +12,5 @@ __version__: str
 __version_tuple__: VERSION_TUPLE
 version_tuple: VERSION_TUPLE
 
-__version__ = version = '0.3a5'
+__version__ = version = '0.3a6'
 __version_tuple__ = version_tuple = (0, 3)

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/src/ophyd_async/core/__init__.py

@@ -57,6 +57,8 @@ from .soft_signal_backend import SoftSignalBackend
 from .standard_readable import ConfigSignal, HintedSignal, StandardReadable
 from .utils import (
     DEFAULT_TIMEOUT,
+    CalculatableTimeout,
+    CalculateTimeout,
     Callback,
     NotConnected,
     ReadingValueCallback,
@@ -108,6 +110,8 @@ __all__ = [
     "TriggerInfo",
     "TriggerLogic",
     "HardwareTriggeredFlyable",
+    "CalculateTimeout",
+    "CalculatableTimeout",
     "DEFAULT_TIMEOUT",
     "Callback",
     "NotConnected",

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/src/ophyd_async/core/async_status.py

@@ -9,7 +9,6 @@ from typing import (
     Awaitable,
     Callable,
     Generic,
-    SupportsFloat,
     Type,
     TypeVar,
     cast,
@@ -27,15 +26,11 @@ WAS = TypeVar("WAS", bound="WatchableAsyncStatus")
 class AsyncStatusBase(Status):
     """Convert asyncio awaitable to bluesky Status interface"""
 
-    def __init__(self, awaitable: Awaitable, timeout: SupportsFloat | None = None):
-        if isinstance(timeout, SupportsFloat):
-            timeout = float(timeout)
+    def __init__(self, awaitable: Awaitable):
         if isinstance(awaitable, asyncio.Task):
             self.task = awaitable
         else:
-            self.task = asyncio.create_task(
-                asyncio.wait_for(awaitable, timeout=timeout)
-            )
+            self.task = asyncio.create_task(awaitable)
         self.task.add_done_callback(self._run_callbacks)
         self._callbacks: list[Callback[Status]] = []
 
@@ -49,9 +44,8 @@ class AsyncStatusBase(Status):
             self._callbacks.append(callback)
 
     def _run_callbacks(self, task: asyncio.Task):
-        if not task.cancelled():
-            for callback in self._callbacks:
-                callback(self)
+        for callback in self._callbacks:
+            callback(self)
 
     def exception(self, timeout: float | None = 0.0) -> BaseException | None:
         if timeout != 0.0:
@@ -93,14 +87,11 @@ class AsyncStatusBase(Status):
 class AsyncStatus(AsyncStatusBase):
     @classmethod
     def wrap(cls: Type[AS], f: Callable[P, Awaitable]) -> Callable[P, AS]:
+        """Wrap an async function in an AsyncStatus."""
+
         @functools.wraps(f)
         def wrap_f(*args: P.args, **kwargs: P.kwargs) -> AS:
-            # We can't type this more properly because Concatenate/ParamSpec doesn't
-            # yet support keywords
-            # https://peps.python.org/pep-0612/#concatenating-keyword-parameters
-            timeout = kwargs.get("timeout")
-            assert isinstance(timeout, SupportsFloat) or timeout is None
-            return cls(f(*args, **kwargs), timeout=timeout)
+            return cls(f(*args, **kwargs))
 
         # type is actually functools._Wrapped[P, Awaitable, P, AS]
         # but functools._Wrapped is not necessarily available
@@ -110,15 +101,11 @@ class AsyncStatus(AsyncStatusBase):
 class WatchableAsyncStatus(AsyncStatusBase, Generic[T]):
     """Convert AsyncIterator of WatcherUpdates to bluesky Status interface."""
 
-    def __init__(
-        self,
-        iterator: AsyncIterator[WatcherUpdate[T]],
-        timeout: SupportsFloat | None = None,
-    ):
+    def __init__(self, iterator: AsyncIterator[WatcherUpdate[T]]):
         self._watchers: list[Watcher] = []
         self._start = time.monotonic()
         self._last_update: WatcherUpdate[T] | None = None
-        super().__init__(self._notify_watchers_from(iterator), timeout)
+        super().__init__(self._notify_watchers_from(iterator))
 
     async def _notify_watchers_from(self, iterator: AsyncIterator[WatcherUpdate[T]]):
         async for update in iterator:
@@ -146,14 +133,10 @@ class WatchableAsyncStatus(AsyncStatusBase, Generic[T]):
         cls: Type[WAS],
         f: Callable[P, AsyncIterator[WatcherUpdate[T]]],
     ) -> Callable[P, WAS]:
-        """Wrap an AsyncIterator in a WatchableAsyncStatus. If it takes
-        'timeout' as an argument, this must be a float or None, and it
-        will be propagated to the status."""
+        """Wrap an AsyncIterator in a WatchableAsyncStatus."""
 
         @functools.wraps(f)
         def wrap_f(*args: P.args, **kwargs: P.kwargs) -> WAS:
-            timeout = kwargs.get("timeout")
-            assert isinstance(timeout, SupportsFloat) or timeout is None
-            return cls(f(*args, **kwargs), timeout=timeout)
+            return cls(f(*args, **kwargs))
 
         return cast(Callable[P, WAS], wrap_f)

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/src/ophyd_async/core/detector.py

@@ -332,7 +332,7 @@ class StandardDetector(
         # Collect stream datum documents for all indices written.
         # The index is optional, and provided for fly scans, however this needs to be
         # retrieved for step scans.
-        if not index:
+        if index is None:
             index = await self.writer.get_indices_written()
         async for doc in self.writer.collect_stream_docs(index):
             yield doc

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/src/ophyd_async/core/device.py

@@ -1,7 +1,5 @@
 """Base device"""
 
-from __future__ import annotations
-
 import asyncio
 import sys
 from functools import cached_property
@@ -32,7 +30,7 @@ class Device(HasName):
 
     _name: str = ""
     #: The parent Device if it exists
-    parent: Optional[Device] = None
+    parent: Optional["Device"] = None
     # None if connect hasn't started, a Task if it has
     _connect_task: Optional[asyncio.Task] = None
     _connect_mock_arg: bool = False
@@ -51,7 +49,7 @@ class Device(HasName):
             getLogger("ophyd_async.devices"), {"ophyd_async_device_name": self.name}
         )
 
-    def children(self) -> Iterator[Tuple[str, Device]]:
+    def children(self) -> Iterator[Tuple[str, "Device"]]:
         for attr_name, attr in self.__dict__.items():
             if attr_name != "parent" and isinstance(attr, Device):
                 yield attr_name, attr

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/src/ophyd_async/core/flyer.py

@@ -39,7 +39,7 @@ class HardwareTriggeredFlyable(
     def __init__(
         self,
         trigger_logic: TriggerLogic[T],
-        configuration_signals: Sequence[SignalR],
+        configuration_signals: Sequence[SignalR] = (),
         name: str = "",
     ):
         self._trigger_logic = trigger_logic

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/src/ophyd_async/core/mock_signal_utils.py

@@ -1,5 +1,5 @@
 from contextlib import asynccontextmanager, contextmanager
-from typing import Any, Callable, Generator, Iterable, Iterator, List
+from typing import Any, Callable, Iterable, Iterator, List
 from unittest.mock import ANY, Mock
 
 from ophyd_async.core.signal import Signal
@@ -127,11 +127,7 @@ def _unset_side_effect_cm(put_mock: Mock):
     put_mock.side_effect = None
 
 
-# linting isn't smart enought to realize @contextmanager will give use a
-# ContextManager[None]
-def callback_on_mock_put(
-    signal: Signal, callback: Callable[[T], None]
-) -> Generator[None, None, None]:
+def callback_on_mock_put(signal: Signal, callback: Callable[[T], None]):
     """For setting a callback when a backend is put to.
 
     Can either be used in a context, with the callback being

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/src/ophyd_async/core/signal.py

@@ -32,7 +32,7 @@ from .async_status import AsyncStatus
 from .device import Device
 from .signal_backend import SignalBackend
 from .soft_signal_backend import SoftSignalBackend
-from .utils import DEFAULT_TIMEOUT, Callback, T
+from .utils import DEFAULT_TIMEOUT, CalculatableTimeout, CalculateTimeout, Callback, T
 
 
 def _add_timeout(func):
@@ -213,15 +213,14 @@ class SignalR(Signal[T], AsyncReadable, AsyncStageable, Subscribable):
         self._del_cache(self._get_cache().set_staged(False))
 
 
-USE_DEFAULT_TIMEOUT = "USE_DEFAULT_TIMEOUT"
-
-
 class SignalW(Signal[T], Movable):
     """Signal that can be set"""
 
-    def set(self, value: T, wait=True, timeout=USE_DEFAULT_TIMEOUT) -> AsyncStatus:
+    def set(
+        self, value: T, wait=True, timeout: CalculatableTimeout = CalculateTimeout
+    ) -> AsyncStatus:
         """Set the value and return a status saying when it's done"""
-        if timeout is USE_DEFAULT_TIMEOUT:
+        if timeout is CalculateTimeout:
             timeout = self._timeout
 
         async def do_set():
@@ -248,9 +247,11 @@ class SignalRW(SignalR[T], SignalW[T], Locatable):
 class SignalX(Signal):
     """Signal that puts the default value"""
 
-    def trigger(self, wait=True, timeout=USE_DEFAULT_TIMEOUT) -> AsyncStatus:
+    def trigger(
+        self, wait=True, timeout: CalculatableTimeout = CalculateTimeout
+    ) -> AsyncStatus:
         """Trigger the action and return a status saying when it's done"""
-        if timeout is USE_DEFAULT_TIMEOUT:
+        if timeout is CalculateTimeout:
             timeout = self._timeout
         coro = self._backend.put(None, wait=wait, timeout=timeout)
         return AsyncStatus(coro)
@@ -270,7 +271,7 @@ def soft_signal_r_and_setter(
     datatype: Optional[Type[T]] = None,
     initial_value: Optional[T] = None,
     name: str = "",
-) -> Tuple[SignalR[T], Callable[[T]]]:
+) -> Tuple[SignalR[T], Callable[[T], None]]:
     """Returns a tuple of a read-only Signal and a callable through
     which the signal can be internally modified within the device. Use
     soft_signal_rw if you want a device that is externally modifiable
@@ -394,7 +395,7 @@ def assert_emitted(docs: Mapping[str, list[dict]], **numbers: int):
 
 
 async def observe_value(
-    signal: SignalR[T], timeout=None, done_status: Status | None = None
+    signal: SignalR[T], timeout: float | None = None, done_status: Status | None = None
 ) -> AsyncGenerator[T, None]:
     """Subscribe to the value of a signal so it can be iterated from.
 
@@ -403,8 +404,12 @@ async def observe_value(
     signal:
         Call subscribe_value on this at the start, and clear_sub on it at the
         end
+    timeout:
+        If given, how long to wait for each updated value in seconds. If an update
+        is not produced in this time then raise asyncio.TimeoutError
     done_status:
         If this status is complete, stop observing and make the iterator return.
+        If it raises an exception then this exception will be raised by the iterator.
 
     Notes
     -----
@@ -414,9 +419,7 @@ async def observe_value(
             do_something_with(value)
     """
 
-    class StatusIsDone: ...
-
-    q: asyncio.Queue[T | StatusIsDone] = asyncio.Queue()
+    q: asyncio.Queue[T | Status] = asyncio.Queue()
     if timeout is None:
         get_value = q.get
     else:
@@ -425,16 +428,19 @@ async def observe_value(
             return await asyncio.wait_for(q.get(), timeout)
 
     if done_status is not None:
-        done_status.add_callback(lambda _: q.put_nowait(StatusIsDone()))
+        done_status.add_callback(q.put_nowait)
 
     signal.subscribe_value(q.put_nowait)
     try:
         while True:
             item = await get_value()
-            if not isinstance(item, StatusIsDone):
-                yield item
+            if done_status and item is done_status:
+                if exc := done_status.exception():
+                    raise exc
+                else:
+                    break
             else:
-                break
+                yield item
     finally:
         signal.clear_sub(q.put_nowait)
 

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/src/ophyd_async/core/utils.py

@@ -31,6 +31,17 @@ DEFAULT_TIMEOUT = 10.0
 ErrorText = Union[str, Dict[str, Exception]]
 
 
+class CalculateTimeout:
+    """Sentinel class used to implement ``myfunc(timeout=CalculateTimeout)``
+
+    This signifies that the function should calculate a suitable non-zero
+    timeout itself
+    """
+
+
+CalculatableTimeout = float | None | Type[CalculateTimeout]
+
+
 class NotConnected(Exception):
     """Exception to be raised if a `Device.connect` is cancelled"""
 

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/src/ophyd_async/epics/areadetector/drivers/ad_base.py

@@ -9,7 +9,7 @@ from ophyd_async.core import (
     set_and_wait_for_value,
 )
 
-from ...signal.signal import epics_signal_r, epics_signal_rw, epics_signal_rw_rbv
+from ...signal.signal import epics_signal_r, epics_signal_rw_rbv
 from ..utils import ImageMode
 from ..writers.nd_plugin import NDArrayBase
 
@@ -43,18 +43,12 @@ DEFAULT_GOOD_STATES: FrozenSet[DetectorState] = frozenset(
 class ADBase(NDArrayBase):
     def __init__(self, prefix: str, name: str = "") -> None:
         # Define some signals
-        self.acquire = epics_signal_rw_rbv(bool, prefix + "Acquire")
         self.acquire_time = epics_signal_rw_rbv(float, prefix + "AcquireTime")
         self.num_images = epics_signal_rw_rbv(int, prefix + "NumImages")
         self.image_mode = epics_signal_rw_rbv(ImageMode, prefix + "ImageMode")
-        self.array_counter = epics_signal_rw_rbv(int, prefix + "ArrayCounter")
-        self.array_size_x = epics_signal_r(int, prefix + "ArraySizeX_RBV")
-        self.array_size_y = epics_signal_r(int, prefix + "ArraySizeY_RBV")
         self.detector_state = epics_signal_r(
             DetectorState, prefix + "DetectorState_RBV"
         )
-        # There is no _RBV for this one
-        self.wait_for_plugins = epics_signal_rw(bool, prefix + "WaitForPlugins")
         super().__init__(prefix, name=name)
 
 

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/src/ophyd_async/epics/areadetector/writers/hdf_writer.py

@@ -43,12 +43,13 @@ class HDFWriter(DetectorWriter):
     async def open(self, multiplier: int = 1) -> Dict[str, DataKey]:
         self._file = None
         info = self._directory_provider()
+        file_path = str(info.root / info.resource_dir)
         await asyncio.gather(
             self.hdf.num_extra_dims.set(0),
             self.hdf.lazy_open.set(True),
             self.hdf.swmr_mode.set(True),
             # See https://github.com/bluesky/ophyd-async/issues/122
-            self.hdf.file_path.set(str(info.root / info.resource_dir)),
+            self.hdf.file_path.set(file_path),
             self.hdf.file_name.set(f"{info.prefix}{self.hdf.name}{info.suffix}"),
             self.hdf.file_template.set("%s/%s.h5"),
             self.hdf.file_write_mode.set(FileWriteMode.stream),
@@ -59,7 +60,7 @@ class HDFWriter(DetectorWriter):
 
         assert (
             await self.hdf.file_path_exists.get_value()
-        ), f"File path {self.hdf.file_path.get_value()} for hdf plugin does not exist"
+        ), f"File path {file_path} for hdf plugin does not exist"
 
         # Overwrite num_capture to go forever
         await self.hdf.num_capture.set(0)

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/src/ophyd_async/epics/areadetector/writers/nd_file_hdf.py

@@ -36,7 +36,5 @@ class NDFileHDF(NDPluginBase):
         self.lazy_open = epics_signal_rw_rbv(bool, prefix + "LazyOpen")
         self.capture = epics_signal_rw_rbv(bool, prefix + "Capture")
         self.flush_now = epics_signal_rw(bool, prefix + "FlushNow")
-        self.array_size0 = epics_signal_r(int, prefix + "ArraySize0_RBV")
-        self.array_size1 = epics_signal_r(int, prefix + "ArraySize1_RBV")
         self.xml_file_name = epics_signal_rw_rbv(str, prefix + "XMLFileName")
         super().__init__(prefix, name)

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/src/ophyd_async/epics/areadetector/writers/nd_plugin.py

@@ -14,6 +14,13 @@ class NDArrayBase(Device):
     def __init__(self, prefix: str, name: str = "") -> None:
         self.unique_id = epics_signal_r(int, prefix + "UniqueId_RBV")
         self.nd_attributes_file = epics_signal_rw(str, prefix + "NDAttributesFile")
+        self.acquire = epics_signal_rw_rbv(bool, prefix + "Acquire")
+        self.array_size_x = epics_signal_r(int, prefix + "ArraySizeX_RBV")
+        self.array_size_y = epics_signal_r(int, prefix + "ArraySizeY_RBV")
+        self.array_counter = epics_signal_rw_rbv(int, prefix + "ArrayCounter")
+        # There is no _RBV for this one
+        self.wait_for_plugins = epics_signal_rw(bool, prefix + "WaitForPlugins")
+
         super().__init__(name=name)
 
 
@@ -22,6 +29,8 @@ class NDPluginBase(NDArrayBase):
         self.nd_array_port = epics_signal_rw_rbv(str, prefix + "NDArrayPort")
         self.enable_callback = epics_signal_rw_rbv(Callback, prefix + "EnableCallbacks")
         self.nd_array_address = epics_signal_rw_rbv(int, prefix + "NDArrayAddress")
+        self.array_size0 = epics_signal_r(int, prefix + "ArraySize0_RBV")
+        self.array_size1 = epics_signal_r(int, prefix + "ArraySize1_RBV")
         super().__init__(prefix, name)
 
 

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/src/ophyd_async/epics/demo/__init__.py

@@ -6,7 +6,6 @@ import random
 import string
 import subprocess
 import sys
-from dataclasses import replace
 from enum import Enum
 from pathlib import Path
 
@@ -22,7 +21,13 @@ from ophyd_async.core import (
     WatchableAsyncStatus,
     observe_value,
 )
-from ophyd_async.core.utils import WatcherUpdate
+from ophyd_async.core.async_status import AsyncStatus
+from ophyd_async.core.utils import (
+    DEFAULT_TIMEOUT,
+    CalculatableTimeout,
+    CalculateTimeout,
+    WatcherUpdate,
+)
 
 from ..signal.signal import epics_signal_r, epics_signal_rw, epics_signal_x
 
@@ -66,11 +71,9 @@ class Mover(StandardReadable, Movable, Stoppable):
         # Define some signals
         with self.add_children_as_readables(HintedSignal):
             self.readback = epics_signal_r(float, prefix + "Readback")
-
         with self.add_children_as_readables(ConfigSignal):
             self.velocity = epics_signal_rw(float, prefix + "Velocity")
             self.units = epics_signal_r(str, prefix + "Readback.EGU")
-
         self.setpoint = epics_signal_rw(float, prefix + "Setpoint")
         self.precision = epics_signal_r(int, prefix + "Readback.PREC")
         # Signals that collide with standard methods should have a trailing underscore
@@ -85,41 +88,42 @@ class Mover(StandardReadable, Movable, Stoppable):
         # Readback should be named the same as its parent in read()
         self.readback.set_name(name)
 
-    async def _move(self, new_position: float):
+    @WatchableAsyncStatus.wrap
+    async def set(
+        self, new_position: float, timeout: CalculatableTimeout = CalculateTimeout
+    ):
         self._set_success = True
-        # time.monotonic won't go backwards in case of NTP corrections
-        old_position, units, precision = await asyncio.gather(
+        old_position, units, precision, velocity = await asyncio.gather(
             self.setpoint.get_value(),
             self.units.get_value(),
             self.precision.get_value(),
+            self.velocity.get_value(),
         )
+        if timeout is CalculateTimeout:
+            assert velocity > 0, "Mover has zero velocity"
+            timeout = abs(new_position - old_position) / velocity + DEFAULT_TIMEOUT
+        # Make an Event that will be set on completion, and a Status that will
+        # error if not done in time
+        done = asyncio.Event()
+        done_status = AsyncStatus(asyncio.wait_for(done.wait(), timeout))
         # Wait for the value to set, but don't wait for put completion callback
-        move_status = self.setpoint.set(new_position, wait=True)
-        if not self._set_success:
-            raise RuntimeError("Motor was stopped")
-        # return a template to set() which it can use to yield progress updates
-        return (
-            WatcherUpdate(
+        await self.setpoint.set(new_position, wait=False)
+        async for current_position in observe_value(
+            self.readback, done_status=done_status
+        ):
+            yield WatcherUpdate(
+                current=current_position,
                 initial=old_position,
-                current=old_position,
                 target=new_position,
+                name=self.name,
                 unit=units,
                 precision=precision,
-            ),
-            move_status,
-        )
-
-    @WatchableAsyncStatus.wrap  # uses the timeout argument from the function it wraps
-    async def set(self, new_position: float, timeout: float | None = None):
-        update, _ = await self._move(new_position)
-        async for current_position in observe_value(self.readback):
-            yield replace(
-                update,
-                name=self.name,
-                current=current_position,
             )
             if np.isclose(current_position, new_position):
+                done.set()
                 break
+        if not self._set_success:
+            raise RuntimeError("Motor was stopped")
 
     async def stop(self, success=True):
         self._set_success = success

{ophyd_async-0.3a5 → ophyd_async-0.3a6}/src/ophyd_async/epics/motion/motor.py

@@ -1,17 +1,20 @@
 import asyncio
-from dataclasses import replace
 
 from bluesky.protocols import Movable, Stoppable
 
 from ophyd_async.core import (
-    AsyncStatus,
     ConfigSignal,
     HintedSignal,
     StandardReadable,
     WatchableAsyncStatus,
 )
 from ophyd_async.core.signal import observe_value
-from ophyd_async.core.utils import WatcherUpdate
+from ophyd_async.core.utils import (
+    DEFAULT_TIMEOUT,
+    CalculatableTimeout,
+    CalculateTimeout,
+    WatcherUpdate,
+)
 
 from ..signal.signal import epics_signal_r, epics_signal_rw, epics_signal_x
 
@@ -47,42 +50,45 @@ class Motor(StandardReadable, Movable, Stoppable):
         # Readback should be named the same as its parent in read()
         self.user_readback.set_name(name)
 
-    async def _move(
-        self, new_position: float
-    ) -> tuple[WatcherUpdate[float], AsyncStatus]:
+    @WatchableAsyncStatus.wrap
+    async def set(
+        self, new_position: float, timeout: CalculatableTimeout = CalculateTimeout
+    ):
         self._set_success = True
-        old_position, units, precision = await asyncio.gather(
+        (
+            old_position,
+            units,
+            precision,
+            velocity,
+            acceleration_time,
+        ) = await asyncio.gather(
             self.user_setpoint.get_value(),
             self.motor_egu.get_value(),
             self.precision.get_value(),
+            self.velocity.get_value(),
+            self.acceleration_time.get_value(),
         )
-        move_status = self.user_setpoint.set(new_position, wait=True)
-        if not self._set_success:
-            raise RuntimeError("Motor was stopped")
-        return (
-            WatcherUpdate(
-                initial=old_position,
-                current=old_position,
-                target=new_position,
-                unit=units,
-                precision=precision,
-            ),
-            move_status,
-        )
-
-    @WatchableAsyncStatus.wrap
-    async def set(self, new_position: float, timeout: float | None = None):
-        update, move_status = await self._move(new_position)
+        if timeout is CalculateTimeout:
+            assert velocity > 0, "Motor has zero velocity"
+            timeout = (
+                abs(new_position - old_position) / velocity
+                + 2 * acceleration_time
+                + DEFAULT_TIMEOUT
+            )
+        move_status = self.user_setpoint.set(new_position, wait=True, timeout=timeout)
         async for current_position in observe_value(
             self.user_readback, done_status=move_status
         ):
-            if not self._set_success:
-                raise RuntimeError("Motor was stopped")
-            yield replace(
-                update,
-                name=self.name,
+            yield WatcherUpdate(
                 current=current_position,
+                initial=old_position,
+                target=new_position,
+                name=self.name,
+                unit=units,
+                precision=precision,
             )
+        if not self._set_success:
+            raise RuntimeError("Motor was stopped")
 
     async def stop(self, success=False):
         self._set_success = success