make motor locatable (#541)

* make motor locatable

* trying to get the test right

* update the test

src/ophyd_async/epics/motor.py

@@ -1,7 +1,13 @@
 import asyncio
 from typing import Optional
 
-from bluesky.protocols import Flyable, Movable, Preparable, Stoppable
+from bluesky.protocols import (
+ Flyable,
+ Locatable,
+ Location,
+ Preparable,
+ Stoppable,
+)
 from pydantic import BaseModel, Field
 
 from ophyd_async.core import (
@@ -51,7 +57,7 @@ class FlyMotorInfo(BaseModel):
  timeout: CalculatableTimeout = Field(frozen=True, default=CalculateTimeout)
 
 
-class Motor(StandardReadable, Movable, Stoppable, Flyable, Preparable):
+class Motor(StandardReadable, Locatable, Stoppable, Flyable, Preparable):
  """Device that moves a motor record"""
 
  def __init__(self, prefix: str, name="") -> None:
@@ -193,6 +199,13 @@ async def _prepare_velocity(
  await self.velocity.set(abs(max_speed))
  return fly_velocity
 
+ async def locate(self) -> Location[float]:
+ location: Location = {
+ "setpoint": await self.user_setpoint.get_value(),
+ "readback": await self.user_readback.get_value(),
+ }
+ return location
+
  async def _prepare_motor_path(
  self, fly_velocity: float, start_position: float, end_position: float
  ) -> float:

tests/epics/test_motor.py

@@ -13,6 +13,7 @@
  MockSignalBackend,
  SignalRW,
  callback_on_mock_put,
+ mock_puts_blocked,
  observe_value,
  set_mock_put_proceeds,
  set_mock_value,
@@ -317,3 +318,17 @@ async def test_complete(sim_motor: motor.Motor) -> None:
  assert not sim_motor._fly_status.done
  await sim_motor.complete()
  assert sim_motor._fly_status.done
+
+
+async def test_locatable(sim_motor: motor.Motor) -> None:
+ callback_on_mock_put(
+ sim_motor.user_setpoint,
+ lambda x, *_, **__: set_mock_value(sim_motor.user_readback, x),
+ )
+ assert (await sim_motor.locate())["readback"] == 0
+ async with mock_puts_blocked(sim_motor.user_setpoint):
+ move_status = sim_motor.set(10)
+ assert (await sim_motor.locate())["readback"] == 0
+ await move_status
+ assert (await sim_motor.locate())["readback"] == 10
+ assert (await sim_motor.locate())["setpoint"] == 10