persistent module fixed
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@ -27,7 +27,7 @@ import struct
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from math import log10
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from secop.core import BoolType, Command, EnumType, FloatRange, IntRange, \
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HasIodev, Parameter, Property, Drivable, TupleOf, Done
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HasIodev, Parameter, Property, Drivable, TupleOf, Done, PersistentMixin, PersistentParam
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from secop.bytesio import BytesIO
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from secop.errors import CommunicationFailedError, HardwareError, BadValueError, IsBusyError
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@ -53,16 +53,19 @@ CURRENT_SCALE = 2.8/250
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ENCODER_RESOLUTION = 0.4 # 365 / 1024, rounded up
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class HwParam(Parameter):
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class HwParam(PersistentParam):
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adr = Property('parameter address', IntRange(0, 255), export=False)
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scale = Property('parameter address', FloatRange(), export=False)
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scale = Property('scale factor (physical value / unit)', FloatRange(), export=False)
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def __init__(self, description, datatype, adr, scale=1, poll=True, persistent=False, **kwds):
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def __init__(self, description, datatype, adr, scale=1, poll=True,
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readonly=True, persistent=None, **kwds):
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"""hardware parameter"""
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if isinstance(datatype, FloatRange) and not kwds.get('fmtstr'):
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datatype.fmtstr = '%%.%df' % max(0, 1 - int(log10(scale)))
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if persistent is None:
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persistent = not readonly
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if isinstance(datatype, FloatRange) and datatype.fmtstr == '%g':
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datatype.fmtstr = '%%.%df' % max(0, 1 - int(log10(scale) + 0.01))
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super().__init__(description, datatype, poll=poll, adr=adr, scale=scale,
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persistent=persistent, **kwds)
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persistent=persistent, readonly=readonly, **kwds)
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def copy(self):
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res = HwParam(self.description, self.datatype.copy(), self.adr)
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@ -71,50 +74,54 @@ class HwParam(Parameter):
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return res
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class Motor(HasIodev, Drivable):
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class Motor(PersistentMixin, HasIodev, Drivable):
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address = Property('module address', IntRange(0, 255), default=1)
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# limit_pin_mask = Property('input pin mask for lower/upper limit switch',
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# TupleOf(IntRange(0, 15), IntRange(0, 15)),
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# default=(8, 0))
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value = Parameter('motor position', FloatRange(unit='deg'))
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zero = Parameter('zero point', FloatRange(unit='$'), readonly=False, default=0, persistent=True)
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encoder = HwParam('encoder reading', FloatRange(unit='$'),
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value = Parameter('motor position', FloatRange(unit='deg', fmtstr='%.3f'))
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zero = PersistentParam('zero point', FloatRange(unit='$'), readonly=False, default=0)
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encoder = HwParam('encoder reading', FloatRange(unit='$', fmtstr='%.1f'),
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209, ANGLE_SCALE, readonly=True, initwrite=False, persistent=True)
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steppos = HwParam('position from motor steps', FloatRange(unit='$'),
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1, ANGLE_SCALE, readonly=True, initwrite=False)
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target = Parameter('_', FloatRange(unit='$'), default=0)
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movelimit = Parameter('max. angle to drive in one go', FloatRange(unit='$'),
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readonly=False, default=360, group='more', persistent=True)
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readonly=False, default=360, group='more')
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tolerance = Parameter('positioning tolerance', FloatRange(unit='$'),
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readonly=False, default=0.9)
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encoder_tolerance = HwParam('the allowed deviation between steppos and encoder\n\nmust be > tolerance',
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FloatRange(0, 360., unit='$'),
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212, ANGLE_SCALE, readonly=False, group='more', persistent=True)
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212, ANGLE_SCALE, readonly=False, group='more')
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speed = HwParam('max. speed', FloatRange(0, MAX_SPEED, unit='$/sec'),
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4, SPEED_SCALE, readonly=False, group='more', persistent=True)
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4, SPEED_SCALE, readonly=False, group='more')
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minspeed = HwParam('min. speed', FloatRange(0, MAX_SPEED, unit='$/sec'),
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130, SPEED_SCALE, readonly=False, default=SPEED_SCALE, group='motorparam')
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currentspeed = HwParam('current speed', FloatRange(-MAX_SPEED, MAX_SPEED, unit='$/sec'),
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3, SPEED_SCALE, readonly=True, group='motorparam')
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maxcurrent = HwParam('_', FloatRange(0, 2.8, unit='A'),
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6, CURRENT_SCALE, readonly=False, group='motorparam', persistent=True)
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6, CURRENT_SCALE, readonly=False, group='motorparam')
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standby_current = HwParam('_', FloatRange(0, 2.8, unit='A'),
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7, CURRENT_SCALE, readonly=False, group='motorparam')
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acceleration = HwParam('_', FloatRange(4.6 * ACCEL_SCALE, MAX_ACCEL, unit='deg/s^2'),
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5, ACCEL_SCALE, readonly=False, group='motorparam', persistent=True)
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5, ACCEL_SCALE, readonly=False, group='motorparam')
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target_reached = HwParam('_', BoolType(), 8, group='hwstatus')
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move_status = HwParam('_', IntRange(0, 3),
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207, readonly=True, persistent=False, group='hwstatus')
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207, readonly=True, group='hwstatus')
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error_bits = HwParam('_', IntRange(0, 255),
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208, readonly=True, persistent=False, group='hwstatus')
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208, readonly=True, group='hwstatus')
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# the doc says msec, but I believe the scale is 10 msec
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free_wheeling = HwParam('_', FloatRange(0, 60., unit='sec'),
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204, 0.001, readonly=False, group='motorparam', persistent=True)
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204, 0.01, default=0.1, readonly=False, group='motorparam')
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power_down_delay = HwParam('_', FloatRange(0, 60., unit='sec'),
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214, 0.01, default=0.1, readonly=False, group='motorparam')
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baudrate = Parameter('_', EnumType({'%d' % v: i for i, v in enumerate(BAUDRATES)}),
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readonly=False, default=0, poll=True, visibility=3, group='more')
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pollinterval = Parameter(group='more', persistent=True)
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pollinterval = Parameter(group='more')
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iodevClass = BytesIO
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fast_pollfactor = 0.001 # poll as fast as possible when busy
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@ -216,20 +223,13 @@ class Motor(HasIodev, Drivable):
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initialized = self.comm(GET_GLOB_PAR, 255, bank=2)
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if initialized: # no power loss
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self.saveParameters()
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if any((v==0 for v in self.persistentData.values())):
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print('SAVED', self.persistentData)
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print('SAVED', self.persistentData)
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else: # just powered up
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# get persistent values
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writeDict = self.loadParameters()
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# self.encoder now contains the last known (persistent) value
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self.log.info('set to previous saved values %r', writeDict)
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for pname, value in writeDict.items():
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try:
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getattr(self, 'write_' + pname)(value)
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except Exception as e:
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self.log.warning('can not write %r to %r (%r)' % (value, pname, e))
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# self.encoder now contains the last known (persistent) value
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self.fix_encoder(encoder)
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value = self.encoder - self.zero
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self.comm(SET_GLOB_PAR, 255, 1, bank=2) # set initialized flag
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self._started = 0
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self._need_reset = True
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@ -352,6 +352,12 @@ class Motor(HasIodev, Drivable):
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def write_free_wheeling(self, value):
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return self.set('free_wheeling', value)
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def read_power_down_delay(self):
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return self.get('power_down_delay')
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def write_power_down_delay(self, value):
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return self.set('power_down_delay', value)
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def read_move_status(self):
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return self.get('move_status')
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@ -382,7 +388,7 @@ class Motor(HasIodev, Drivable):
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return
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self.set('steppos', self.encoder - self.zero, check=False)
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self.comm(MOVE, 0, (self.encoder - self.zero) / ANGLE_SCALE)
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time.sleep(0.01)
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time.sleep(0.1)
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if itry > 5:
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tol = self.tolerance
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self.status = self.Status.ERROR, 'reset failed'
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