ioc now successfully runs

pyproject.toml

@@ -12,7 +12,7 @@ classifiers = [
 ]
 description = "A softioc to control a PandABlocks-FPGA."
 dependencies = [
-    "fastcs~=0.6.0",
+    "fastcs@git+https://github.com/DiamondLightSource/FastCS@panda-conversion-improvements",
     "pandablocks~=0.10.0",
     "numpy<2",    # until https://github.com/mdavidsaver/p4p/issues/145 is fixed
     "pydantic>2",

src/fastcs_pandablocks/__init__.py

@@ -4,6 +4,7 @@
 
 from fastcs.backends.epics.backend import EpicsBackend
 from fastcs.backends.epics.gui import EpicsGUIFormat
+from fastcs.backends.epics.ioc import EpicsIOCOptions, PvNamingConvention
 
 from ._version import __version__
 from .gui import PandaGUIOptions
@@ -21,7 +22,10 @@ def ioc(
     clear_bobfiles: bool = False,
 ):
     controller = PandaController(hostname, poll_period)
-    backend = EpicsBackend(controller, pv_prefix=str(prefix))
+    epics_ioc_options = EpicsIOCOptions(
+        terminal=True, pv_naming_convention=PvNamingConvention.CAPITALIZED
+    )
+    backend = EpicsBackend(controller, pv_prefix=str(prefix), options=epics_ioc_options)
 
     if clear_bobfiles and not screens_directory:
         raise ValueError("`clear_bobfiles` is True with no `screens_directory`")

src/fastcs_pandablocks/gui.py

@@ -1,5 +1,4 @@
 from fastcs.backends.epics.gui import EpicsGUIOptions
 
 
-class PandaGUIOptions(EpicsGUIOptions):
-    ...
+class PandaGUIOptions(EpicsGUIOptions): ...

src/fastcs_pandablocks/panda/blocks.py

@@ -1,14 +1,15 @@
 from collections.abc import Generator
 
+from fastcs.attributes import AttrR, AttrRW, AttrW
 from fastcs.controller import SubController
 from pandablocks.responses import BlockInfo
 
-from fastcs_pandablocks.types import EpicsName, PandaName, ResponseType
+from fastcs_pandablocks.types import AttrType, EpicsName, PandaName, ResponseType
 
 from .fields import FIELD_TYPE_TO_FASTCS_TYPE, FieldType
 
 
-class Block(SubController):
+class BlockController(SubController):
     fields: dict[str, FieldType]
 
     def __init__(
@@ -25,17 +26,24 @@ def __init__(
         self.fields = {}
 
         for field_raw_name, field_info in raw_fields.items():
-            field_panda_name = PandaName(field=field_raw_name)
-            print(field_raw_name)
+            field_panda_name = self.panda_name + PandaName(field=field_raw_name)
 
             field = FIELD_TYPE_TO_FASTCS_TYPE[field_info.type][field_info.subtype](
-                field_panda_name, field_info.description
+                # TODO make type safe after match statment
+                field_panda_name,
+                field_info,  # type: ignore
             )
             self.fields[field_raw_name] = field
-            self.register_sub_controller(field_panda_name.attribute_name, field)
+            if field.block_attribute:
+                setattr(self, *field.block_attribute)
+            if field.sub_field_controller:
+                self.register_sub_controller(
+                    field_panda_name.attribute_name, field.sub_field_controller
+                )
+
 
 class Blocks:
-    _blocks: dict[str, dict[int | None, Block]]
+    _blocks: dict[str, dict[int | None, BlockController]]
     epics_prefix: EpicsName
 
     def __init__(self):
@@ -51,11 +59,15 @@ def parse_introspected_data(
         ):
             iterator = (
                 range(1, block_info.number + 1)
-                if block_info.number > 1 else iter([None,])
+                if block_info.number > 1
+                else iter(
+                    [
+                        None,
+                    ]
+                )
             )
             self._blocks[block_name] = {
-                number:
-                Block(
+                number: BlockController(
                     PandaName(block=block_name, block_number=number),
                     block_info.number,
                     block_info.description,
@@ -65,26 +77,25 @@ def parse_introspected_data(
             }
 
     async def update_field_value(self, panda_name: PandaName, value: str):
-        assert panda_name.block
-        assert panda_name.field
-        field = (
-            self._blocks[panda_name.block][panda_name.block_number].fields[panda_name.field]
-        )
-        if panda_name.sub_field:
-            field = field.sub_fields[panda_name.sub_field]
-        await field.update_value(value)
+        attribute = self[panda_name]
+
+        if isinstance(attribute, AttrW):
+            await attribute.process(value)
+        elif isinstance(attribute, (AttrRW | AttrR)):
+            await attribute.set(value)
+        else:
+            raise RuntimeError(f"Couldn't find panda field for {panda_name}.")
 
     def flattened_attribute_tree(
-        self
-    ) -> Generator[tuple[str, Block], None, None]:
+        self,
+    ) -> Generator[tuple[str, BlockController], None, None]:
         for blocks in self._blocks.values():
             for block in blocks.values():
                 yield (block.panda_name.attribute_name, block)
 
     def __getitem__(
-        self,
-        name: EpicsName | PandaName
-    ) -> dict[int | None, Block] | Block | FieldType:
+        self, name: EpicsName | PandaName
+    ) -> dict[int | None, BlockController] | BlockController | AttrType:
         if name.block is None:
             raise ValueError(f"Cannot find block for name {name}.")
         blocks = self._blocks[name.block]
@@ -94,6 +105,9 @@ def __getitem__(
         if name.field is None:
             return block
         field = block.fields[name.field]
-        if name.sub_field is None:
-            return field
-        return field.sub_fields[name.sub_field]
+        if not name.sub_field:
+            assert field.block_attribute
+            return field.block_attribute.attribute
+
+        sub_field = getattr(field.sub_field_controller, name.sub_field)
+        return sub_field

src/fastcs_pandablocks/panda/controller.py

@@ -3,7 +3,6 @@
 from fastcs.controller import Controller
 from fastcs.wrappers import scan
 
-from fastcs_pandablocks import DEFAULT_POLL_PERIOD
 from fastcs_pandablocks.types import PandaName
 
 from .blocks import Blocks
@@ -12,16 +11,16 @@
 
 class PandaController(Controller):
     def __init__(self, hostname: str, poll_period: float) -> None:
-        super().__init__()
         self._raw_panda = RawPanda(hostname)
         self._blocks = Blocks()
+        self.is_connected = False
 
-        # TODO https://github.com/DiamondLightSource/FastCS/issues/62
-        #self.fastcs_method = Scan(self.update(), poll_period)
-
-    async def initialise(self) -> None: ...
+        super().__init__()
 
     async def connect(self) -> None:
+        if self.is_connected:
+            return
+
         await self._raw_panda.connect()
 
         assert self._raw_panda.blocks
@@ -32,7 +31,17 @@ async def connect(self) -> None:
         for attr_name, controller in self._blocks.flattened_attribute_tree():
             self.register_sub_controller(attr_name, controller)
 
-    @scan(DEFAULT_POLL_PERIOD) # TODO https://github.com/DiamondLightSource/FastCS/issues/62
+        self.is_connected = True
+
+    async def initialise(self) -> None:
+        """
+        We connect in initialise since FastCS doesn't connect until
+        it's already parsed sub controllers.
+        """
+        await self.connect()
+
+    # TODO https://github.com/DiamondLightSource/FastCS/issues/62
+    @scan(0.1)
     async def update(self):
         await self._raw_panda.get_changes()
         assert self._raw_panda.changes