fixed dilsc, fist try before tests
Change-Id: Iaac5f07c27879c7c17be2e25defde19e9ddd1566
This commit is contained in:
@ -1,3 +1,4 @@
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# -*- coding: utf-8 -*-
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# *****************************************************************************
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# This program is free software; you can redistribute it and/or modify it under
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# the terms of the GNU General Public License as published by the Free Software
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@ -18,79 +19,78 @@
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# *****************************************************************************
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"""vector field"""
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from frappy.core import Drivable, Done, BUSY, IDLE, WARN, ERROR
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from frappy.errors import BadValueError
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import math
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from frappy.core import Drivable, Done, BUSY, IDLE, ERROR, Parameter, TupleOf, ArrayOf, FloatRange
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from frappy.errors import RangeError
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from frappy_psi.vector import Vector
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from frappy.states import HasStates, Retry, status_code
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DECREASE = 1
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INCREASE = 2
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class VectorField(Vector, Drivable):
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_state = None
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class VectorField(HasStates, Vector, Drivable):
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sphere_radius = Parameter('max. sphere', datatype=FloatRange(0, 0.7, unit='T'), readonly=True, default=0.6)
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cylinders = Parameter('allowed cylinders (list of radius and height)',
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datatype=ArrayOf(TupleOf(FloatRange(0, 0.6, unit='T'), FloatRange(0, 5.2, unit='T')), 1, 9),
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readonly=True, default=((0.23, 5.2), (0.45, 0.8)))
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def doPoll(self):
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"""periodically called method"""
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try:
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if self._starting:
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# first decrease components
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driving = False
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for target, component in zip(self.target, self.components):
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if target * component.value < 0:
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# change sign: drive to zero first
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target = 0
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if abs(target) < abs(component.target):
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if target != component.target:
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component.write_target(target)
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if component.isDriving():
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driving = True
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if driving:
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return
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# now we can go to the final targets
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for target, component in zip(self.target, self.components):
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component.write_target(target)
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self._starting = False
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else:
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for component in self.components:
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if component.isDriving():
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return
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self.setFastPoll(False)
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finally:
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super().doPoll()
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def initModule(self):
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super().initModule()
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# override check_limits of the components with a check for restrictions on the vector
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for idx, component in enumerate(self.components):
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def outer_check(target, vector=self, i=idx, inner_check=component.check_target):
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inner_check(target)
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value = [c.value - math.copysign(c.tolerance, c.value)
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for c in vector.components]
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value[i] = target
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vector._check_limits(value)
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component.check_target = outer_check
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def merge_status(self):
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names = [c.name for c in self.components if c.status[0] >= ERROR]
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if names:
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return ERROR, 'error in %s' % ', '.join(names)
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names = [c.name for c in self.components if c.isDriving()]
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if self._state:
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# self.log.info('merge %r', [c.status for c in self.components])
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if names:
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direction = 'down ' if self._state == DECREASE else ''
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return BUSY, 'ramping %s%s' % (direction, ', '.join(names))
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if self.status[0] == BUSY:
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return self.status
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return BUSY, 'driving'
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if names:
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return WARN, 'moving %s directly' % ', '.join(names)
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names = [c.name for c in self.components if c.status[0] >= WARN]
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if names:
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return WARN, 'warnings in %s' % ', '.join(names)
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return IDLE, ''
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return self.status
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def write_target(self, value):
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def _check_limits(self, value):
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"""check if value is within one of the safe shapes"""
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if sum((v ** 2 for v in value)) <= self.sphere_radius ** 2:
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return
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for r, h in self.cylinders:
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if sum(v ** 2 for v in value[0:2]) <= r ** 2 and abs(value[2]) <= h:
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return
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raise RangeError('vector %s does not fit in any limiting shape' % repr(value))
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def write_target(self, target):
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"""initiate target change"""
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# first make sure target is valid
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for target, component in zip(self.target, self.components):
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# check against limits if individual components
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component.check_limits(target)
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if sum(v * v for v in value) > 1:
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raise BadValueError('norm of vector too high')
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self.log.info('decrease')
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self.setFastPoll(True)
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self.target = value
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self._state = DECREASE
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self.doPoll()
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self.log.info('done write_target %r', value)
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return Done
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# check limits first
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for component_target, component in zip(target, self.components):
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# check against limits of individual components
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component.check_target(component_target, vector=None) # no outer check here!
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self._check_limits(target)
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for component_target, component in zip(target, self.components):
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if component_target * component.value < 0:
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# change sign: drive to zero first
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component_target = 0
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if abs(component_target) > abs(component.value):
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continue # do not drive yet
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component.write_target(component_target)
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self.start_machine(self.ramp_down, target=target)
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return target
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@status_code(BUSY)
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def ramp_down(self, state):
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for target, component in zip(state.target, self.components):
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if component.isDriving():
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return Retry()
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for target, component in zip(state.target, self.components):
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component.write_target(target)
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return self.final_ramp
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@status_code(BUSY)
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def final_ramp(self, state):
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for component in self.components:
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if component.isDriving():
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return Retry()
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return self.final_status()
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