add high_speed (bool) parameters to insert/eject

socs/agents/wiregrid_actuator/agent.py

@@ -278,6 +278,7 @@ def _eject(self, main_distance=920, main_speedrate=1.0):
 
     @ocs_agent.param('speedrate', default=1.0, type=float,
                      check=lambda x: 0.0 < x <= 5.0)
+    @ocs_agent.param('high_speed', default=False, type=bool)
     def insert(self, session, params=None):
         """insert()
 
@@ -287,9 +288,13 @@ def insert(self, session, params=None):
         Parameters:
             speedrate (float): Actuator speed rate [0.0, 5.0] (default: 1.0)
                 DO NOT use speedrate > 1.0 if el != 90 deg!!
+            high_speed (bool): If False, speedrate is limited to 1.0
         """
         # Get parameters
         speedrate = params.get('speedrate')
+        high_speed = params.get('high_speed')
+        if not high_speed:
+            speedrate = min(speedrate, 1.0)
         self.log.info('insert(): set speed rate = {}'
                       .format(speedrate))
 
@@ -314,6 +319,7 @@ def insert(self, session, params=None):
 
     @ocs_agent.param('speedrate', default=1.0, type=float,
                      check=lambda x: 0.0 < x <= 5.0)
+    @ocs_agent.param('high_speed', default=False, type=bool)
     def eject(self, session, params=None):
         """eject()
 
@@ -323,9 +329,13 @@ def eject(self, session, params=None):
         Parameters:
             speedrate (float): Actuator speed rate [0.0, 5.0] (default: 1.0)
                 DO NOT use speedrate > 1.0 if el != 90 deg!!
+            high_speed (bool): If False, speedrate is limited to 1.0
         """
         # Get parameters
         speedrate = params.get('speedrate')
+        high_speed = params.get('high_speed')
+        if not high_speed:
+            speedrate = min(speedrate, 1.0)
         self.log.info('eject(): set speed rate = {}'
                       .format(speedrate))
 
@@ -472,6 +482,7 @@ def eject_homing(self, session, params=None):
     @ocs_agent.param('distance', default=10., type=float)
     @ocs_agent.param('speedrate', default=0.2, type=float,
                      check=lambda x: 0.0 < x <= 5.0)
+    @ocs_agent.param('high_speed', default=False, type=bool)
     def insert_test(self, session, params):
         """insert_test(distance=10, speedrate=0.1)
 
@@ -482,10 +493,14 @@ def insert_test(self, session, params):
             distance (float): Actuator moving distance [mm] (default: 10)
             speedrate (float): Actuator speed rate [0.0, 5.0] (default: 0.2)
                 DO NOT use speedrate > 1.0 if el != 90 deg!!
+            high_speed (bool): If False, speedrate is limited to 1.0
         """
         # Get parameters
         distance = params.get('distance')
         speedrate = params.get('speedrate')
+        high_speed = params.get('high_speed')
+        if not high_speed:
+            speedrate = min(speedrate, 1.0)
         self.log.info('insert_test(): set distance   = {} mm'
                       .format(distance))
         self.log.info('insert_test(): set speed rate = {}'
@@ -524,6 +539,7 @@ def insert_test(self, session, params):
     @ocs_agent.param('distance', default=10., type=float)
     @ocs_agent.param('speedrate', default=0.2, type=float,
                      check=lambda x: 0.0 < x <= 5.0)
+    @ocs_agent.param('high_speed', default=False, type=bool)
     def eject_test(self, session, params):
         """eject_test(distance=10, speedrate=0.1)
 
@@ -534,10 +550,14 @@ def eject_test(self, session, params):
             distance (float): Actuator moving distance [mm] (default: 10)
             speedrate (float): Actuator speed rate [0.0, 5.0] (default: 0.2)
                 DO NOT use speedrate > 1.0 if el != 90 deg!!
+            high_speed (bool): If False, speedrate is limited to 1.0
         """
         # Get parameters
         distance = params.get('distance', 10)
         speedrate = params.get('speedrate', 0.2)
+        high_speed = params.get('high_speed')
+        if not high_speed:
+            speedrate = min(speedrate, 1.0)
         self.log.info('eject_test(): set distance   = {} mm'
                       .format(distance))
         self.log.info('eject_test(): set speed rate = {}'