phytron next version
with adaption of HasStates Change-Id: I167ac8031bc5f7120c30031e7cfcb7587b42b61d
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@ -183,12 +183,13 @@ class HasStates:
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override for code to be executed after stopping
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"""
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def start_machine(self, statefunc, fast_poll=True, **kwds):
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def start_machine(self, statefunc, fast_poll=True, restart_text='restarting', **kwds):
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"""start or restart the state machine
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:param statefunc: the initial state to be called
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:param fast_poll: flag to indicate that polling has to switched to fast
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:param cleanup: a cleanup function
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:param restart_text: status text when machine was already running
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:param kwds: attributes to be added to the state machine on start
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If the state machine is already running, the following happens:
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@ -202,9 +203,10 @@ class HasStates:
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4) the state machine continues at the given statefunc
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"""
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sm = self._state_machine
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sm.status = self.get_status(statefunc, BUSY)
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if sm.statefunc:
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sm.status = sm.status[0], 'restarting'
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sm.status = sm.status[0], restart_text
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else:
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sm.status = self.get_status(statefunc, BUSY)
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sm.start(statefunc, cleanup=kwds.pop('cleanup', self.on_cleanup), **kwds)
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self.read_status()
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if fast_poll:
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@ -212,24 +214,23 @@ class HasStates:
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self.setFastPoll(True)
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self.pollInfo.trigger(True) # trigger poller
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def stop_machine(self, stopped_status=(IDLE, 'stopped')):
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def stopping(self, sm):
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return self.final_status(IDLE, 'stopped')
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def stop_machine(self):
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"""stop the currently running machine
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:param stopped_status: status to be set after stopping
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If the state machine is not running, nothing happens.
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Else the state machine is stoppen, the predefined cleanup
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Else the state machine is stopped, the predefined cleanup
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sequence is executed and then the status is set to the value
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given in the sopped_status argument.
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given in the stopped_status argument.
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An already running cleanup sequence is not executed again.
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"""
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sm = self._state_machine
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if sm.is_active:
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sm.idle_status = stopped_status
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sm.stop()
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sm.status = self.get_status(sm.statefunc, sm.status[0])[0], 'stopping'
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self.read_status()
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self.pollInfo.trigger(True) # trigger poller
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self.start_machine(self.stopping, restart_text='stopping')
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@Command
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def stop(self):
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@ -77,11 +77,11 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
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target_max = Limit()
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alive_time = PersistentParam('alive time for detecting restarts',
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FloatRange(), default=0, export=False)
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sim_error = Parameter('run time error simulation', StringType(), readonly=False, default='')
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ioClass = PhytronIO
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_step_size = None # degree / step
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_reset_needed = False
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_blocking_error = None # None or a string indicating the reason of an error needing reset
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_running = False # status indicates motor is running
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STATUS_MAP = {
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'08': (IDLE, ''),
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@ -119,7 +119,7 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
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self.set('P37S', axisbit | active_axes) # activate axis
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if now < self.alive_time + 7 * 24 * 3600: # the device was running within last week
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# inform the user about the loss of position by the need of doing reset_error
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self._reset_needed = True
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self._blocking_error = 'lost position'
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else: # do reset silently
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self.reset_error()
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self.alive_time = now
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@ -167,9 +167,8 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
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def write_target(self, value):
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self.read_alive_time()
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if self._reset_needed:
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if not self.status[1].startswith('reset needed'):
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self.status = ERROR, 'reset needed after ' + self.status[1]
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if self._blocking_error:
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self.status = ERROR, 'reset needed after ' + self._blocking_error
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raise HardwareError(self.status[1])
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self.saveParameters()
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if self.backlash:
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@ -180,17 +179,16 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
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else:
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self.set('A', self.sign * value)
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self.start_machine(self.driving)
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self._running = True
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return value
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def read_status(self):
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if self.sim_error:
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sysstatus = self.sim_error
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else:
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sysstatus = self.communicate(f'{self.address:x}SE')
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sysstatus = sysstatus[2:4] if self.axis == 'X' else sysstatus[6:8]
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status = self.STATUS_MAP.get(sysstatus) or (ERROR, f'unknown error {sysstatus}')
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sysstatus = self.communicate(f'{self.address:x}SE')
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sysstatus = sysstatus[1:4] if self.axis == 'X' else sysstatus[5:8]
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self._running = sysstatus[0] != '1'
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status = self.STATUS_MAP.get(sysstatus[1:]) or (ERROR, f'unknown error {sysstatus[1:]}')
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if status[0] == ERROR:
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self._reset_needed = True
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self._blocking_error = status[1]
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return status
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return super().read_status() # status from state machine
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@ -200,8 +198,7 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
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enc = self.read_encoder()
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else:
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enc = self.value
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status = self.get('=H')
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if status != 'N': # at target
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if not self._running: # at target
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return False
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if self.encoder_mode != 'CHECK':
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return True
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@ -212,8 +209,8 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
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self.value, e1, e2)
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self.get('S') # stop
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self.saveParameters()
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self._reset_needed = True
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raise HardwareError('encoder lag error')
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self._blocking_error = 'encoder lag error'
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raise HardwareError(self._blocking_error)
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@status_code(BUSY)
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def driving(self, sm):
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@ -243,21 +240,29 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
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if sm.mismatch_count > 2:
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self.log.error('encoder mismatch: abs(%g - %g) < %g',
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enc, pos, self.encoder_tolerance)
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self._reset_needed = True
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raise HardwareError('encoder does not match pos')
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self._blocking_error = 'encoder does not match pos'
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raise HardwareError(self._blocking_error)
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sm.mismatch_count += 1
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return Retry
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self.saveParameters()
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return self.final_status(IDLE, '')
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@status_code(BUSY)
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def stopping(self, sm):
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if self._running:
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return Retry
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return self.final_status(IDLE, 'stopped')
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@Command
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def stop(self):
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self.get('S')
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self.start_machine(self.stopping, status=(BUSY, 'stopping0'))
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@Command
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def reset_error(self):
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"""Reset error, set position to encoder"""
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self.read_value()
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if self._reset_needed:
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if self._blocking_error:
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newenc = enc = self.read_encoder()
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pos = self.value
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if abs(enc - pos) > self.encoder_tolerance or self.encoder_mode == 'NO':
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@ -278,7 +283,7 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
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self.set('P20S', newenc * self.sign) # set pos to encoder
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self.read_value()
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self.status = 'IDLE', 'after error reset'
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self._reset_needed = False
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self._blocking_error = None
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# TODO:
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# '=E' electronics status
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