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MLZ: fix tango WindowTimeout

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Change-Id: I4e1f7e9ab519fe1ae5b6bcc4b9898b44f017c45f
Reviewed-on: https://forge.frm2.tum.de/review/17742
Tested-by: JenkinsCodeReview <bjoern_pedersen@frm2.tum.de>
Tested-by: Jens Krueger <jens.krueger@frm2.tum.de>
Reviewed-by: Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
This commit is contained in:
Enrico Faulhaber 2018-04-17 13:45:36 +02:00
parent 851da9696c
commit 0d25dc35e0
1 changed files with 56 additions and 20 deletions
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76
secop_mlz/entangle.py
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@ -37,10 +37,11 @@ import PyTango
from secop.lib import lazy_property from secop.lib import lazy_property
from secop.protocol import status from secop.protocol import status
from secop.parse import Parser
from secop.datatypes import IntRange, FloatRange, StringType, TupleOf, \ from secop.datatypes import IntRange, FloatRange, StringType, TupleOf, \
ArrayOf, EnumType ArrayOf, EnumType
from secop.errors import ConfigError, ProgrammingError, CommunicationError, HardwareError from secop.errors import ConfigError, ProgrammingError, CommunicationError, \
HardwareError
from secop.modules import Param, Command, Override, Module, Readable, Drivable from secop.modules import Param, Command, Override, Module, Readable, Drivable
##### #####
@ -160,9 +161,11 @@ class PyTangoDevice(Module):
parameters = { parameters = {
'comtries': Param('Maximum retries for communication', 'comtries': Param('Maximum retries for communication',
datatype=IntRange(1, 100), default=3, readonly=False, group='communication'), datatype=IntRange(1, 100), default=3, readonly=False,
'comdelay': Param('Delay between retries', datatype=FloatRange(0), unit='s', default=0.1, group='communication'),
readonly=False, group='communication'), 'comdelay': Param('Delay between retries', datatype=FloatRange(0),
unit='s', default=0.1, readonly=False,
group='communication'),
'tangodevice': Param('Tango device name', 'tangodevice': Param('Tango device name',
datatype=StringType(), readonly=True, datatype=StringType(), readonly=True,
@ -432,18 +435,26 @@ class AnalogOutput(PyTangoDevice, Drivable):
'precision': Param('Precision of the device value (allowed deviation ' 'precision': Param('Precision of the device value (allowed deviation '
'of stable values from target)', 'of stable values from target)',
unit='main', datatype=FloatRange(1e-38), unit='main', datatype=FloatRange(1e-38),
readonly=False, readonly=False, group='stability',
), ),
'window': Param('Time window for checking stabilization if > 0', 'window': Param('Time window for checking stabilization if > 0',
unit='s', default=60.0, readonly=False, unit='s', default=60.0, readonly=False,
datatype=FloatRange(0, 900), datatype=FloatRange(0, 900), group='stability',
), ),
'timeout': Param('Timeout for waiting for a stable value (if > 0)',
unit='s', default=60.0, readonly=False,
datatype=FloatRange(0, 900), group='stability',
),
} }
_history = ()
_timeout = None
_moving = False
def init(self): def init(self):
super(AnalogOutput, self).init() super(AnalogOutput, self).init()
# init history # init history
self._history = [] # will keep (timestamp, value) tuple self._history = [] # will keep (timestamp, value) tuple
self._timeout = None # keeps the time at which we will timeout, or None
def late_init(self): def late_init(self):
super(AnalogOutput, self).late_init() super(AnalogOutput, self).late_init()
@ -458,7 +469,7 @@ class AnalogOutput(PyTangoDevice, Drivable):
super(AnalogOutput, self).poll(nr) super(AnalogOutput, self).poll(nr)
while len(self._history) > 2: while len(self._history) > 2:
# if history would be too short, break # if history would be too short, break
if self._history[-1][0] - self._history[1][0] < self.window: if self._history[-1][0] - self._history[1][0] <= self.window:
break break
# else: remove a stale point # else: remove a stale point
self._history.pop(0) self._history.pop(0)
@ -475,15 +486,31 @@ class AnalogOutput(PyTangoDevice, Drivable):
def _isAtTarget(self): def _isAtTarget(self):
if self.target is None: if self.target is None:
return True # avoid bootstrapping problems return True # avoid bootstrapping problems
if not self._history:
return False # no history -> no knowledge
# check subset of _history which is in window # check subset of _history which is in window
# also check if there is at least one value before window # also check if there is at least one value before window
# to know we have enough datapoints # to know we have enough datapoints
hist = self._history[:] hist = self._history[:]
window_start = currenttime() - self.window window_start = currenttime() - self.window
hist_in_window = [v for (t, v) in hist if t >= window_start] hist_in_window = [v for (t, v) in hist if t >= window_start]
stable = all(abs(v - self.target) <= self.precision
for v in hist_in_window) max_in_hist = max(hist_in_window)
return 0 < len(hist_in_window) < len(hist) and stable min_in_hist = min(hist_in_window)
stable = max_in_hist - min_in_hist <= 2*self.precision
at_target = min_in_hist <= self.target <= max_in_hist
return stable and at_target
def read_status(self, maxage=0):
if self._isAtTarget():
self._timeout = None
self._moving = False
return super(AnalogOutput, self).read_status()
if self._timeout:
if self._timeout < currenttime():
return status.UNSTABLE, 'timeout after waiting for stable value'
return (status.BUSY, 'Moving') if self._moving else (status.OK, 'stable')
@property @property
def absmin(self): def absmin(self):
@ -534,10 +561,22 @@ class AnalogOutput(PyTangoDevice, Drivable):
self.do_stop() self.do_stop()
self._hw_wait() self._hw_wait()
self._dev.value = value self._dev.value = value
# set meaningful timeout
self._timeout = currenttime() + self.window + self.timeout
if hasattr(self, 'ramp'):
self._timeout += abs((self.target or self.value) - self.value) / \
((self.ramp or 1e-8) * 60)
elif hasattr(self, 'speed'):
self._timeout += abs((self.target or self.value) - self.value) / \
(self.speed or 1e-8)
if not self.timeout:
self._timeout = None
self._moving = True
self._history = [] # clear history
self.read_status(0) # poll our status to keep it updated self.read_status(0) # poll our status to keep it updated
def _hw_wait(self): def _hw_wait(self):
while self.read_status(0)[0] == status.BUSY: while super(AnalogOutput, self).read_status()[0] == status.BUSY:
sleep(0.3) sleep(0.3)
def do_stop(self): def do_stop(self):
@ -751,11 +790,8 @@ class NamedDigitalInput(DigitalInput):
def init(self): def init(self):
super(NamedDigitalInput, self).init() super(NamedDigitalInput, self).init()
try: try:
mapping, rem = Parser().parse(self.mapping) # pylint: disable=eval-used
if rem: self.parameters['value'].datatype = EnumType(**eval(self.mapping))
raise ValueError('Illegal Value for mapping, '
'trailing garbage: %r' % rem)
self.parameters['value'].datatype = EnumType(**mapping)
except Exception as e: except Exception as e:
raise ValueError('Illegal Value for mapping: %r' % e) raise ValueError('Illegal Value for mapping: %r' % e)
@ -779,7 +815,7 @@ class PartialDigitalInput(NamedDigitalInput):
def init(self): def init(self):
super(PartialDigitalInput, self).init() super(PartialDigitalInput, self).init()
self._mask = (1 << self.bitwidth) - 1 self._mask = (1 << self.bitwidth) - 1
#self.parameters['value'].datatype = IntRange(0, self._mask) # self.parameters['value'].datatype = IntRange(0, self._mask)
def read_value(self, maxage=0): def read_value(self, maxage=0):
raw_value = self._dev.value raw_value = self._dev.value
@ -850,8 +886,8 @@ class PartialDigitalOutput(NamedDigitalOutput):
def init(self): def init(self):
super(PartialDigitalOutput, self).init() super(PartialDigitalOutput, self).init()
self._mask = (1 << self.bitwidth) - 1 self._mask = (1 << self.bitwidth) - 1
#self.parameters['value'].datatype = IntRange(0, self._mask) # self.parameters['value'].datatype = IntRange(0, self._mask)
#self.parameters['target'].datatype = IntRange(0, self._mask) # self.parameters['target'].datatype = IntRange(0, self._mask)
def read_value(self, maxage=0): def read_value(self, maxage=0):
raw_value = self._dev.value raw_value = self._dev.value