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improve HasConvergence mixin

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- add stop command
- fix bug in cleanup
- reset time spent on write_target

Change-Id: Iaa76cb7a9c6b4a2ccb08313f9880006ab14afe2b
Reviewed-on: https://forge.frm2.tum.de/review/c/sine2020/secop/playground/+/29355
Reviewed-by: Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
Reviewed-by: Markus Zolliker <markus.zolliker@psi.ch>
Tested-by: Markus Zolliker <markus.zolliker@psi.ch>
This commit is contained in:
zolliker
2022-09-22 10:01:08 +02:00
parent 1922578dfa
commit 270152d503
1 changed files with 19 additions and 6 deletions
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25
secop_psi/convergence.py
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@ -60,8 +60,8 @@ class HasConvergence:
def cleanup(self, state):
state.default_cleanup(state)
if self.stopped:
if self.stopped is Stop: # and not Restart
if state.stopped:
if state.stopped is Stop: # and not Restart
self.status = WARN, 'stopped'
else:
self.status = WARN, repr(state.last_error)
@ -78,11 +78,11 @@ class HasConvergence:
return dif / self.timeout # assume exponential decay of dif, with time constant <tolerance>
def get_dif_tol(self):
self.read_value()
value = self.read_value()
tol = self.tolerance
if not tol:
tol = 0.01 * max(abs(self.target), abs(self.value))
dif = abs(self.target - self.value)
tol = 0.01 * max(abs(self.target), abs(value))
dif = abs(self.target - value)
return dif, tol
def start_state(self):
@ -91,6 +91,7 @@ class HasConvergence:
def state_approach(self, state):
"""approaching, checking progress (busy)"""
state.spent_inside = 0
dif, tol = self.get_dif_tol()
if dif < tol:
state.timeout_base = state.now
@ -101,7 +102,6 @@ class HasConvergence:
state.timeout_base = state.now
state.dif_crit = dif # criterium for resetting timeout base
self.status = BUSY, 'approaching'
state.spent_inside = 0
state.dif_crit -= self.get_min_slope(dif) * state.delta()
if dif < state.dif_crit: # progress is good: reset timeout base
state.timeout_base = state.now
@ -157,3 +157,16 @@ class HasConvergence:
else:
state.spent_inside = max(0, state.spent_inside - state.delta())
return Retry()
def state_interrupt(self, state):
"""stopping"""
self.status = IDLE, 'stopped' # stop called
return self.state_instable
def stop(self):
"""set to idle when busy
does not stop control!
"""
if self.isBusy():
self.convergence_state.start(self.state_interrupt)