add limits to phytron
Change-Id: I431374efab7a858db6a652f78533b13b12ba6d57
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@ -8,7 +8,7 @@ uri = tcp://5000
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[drv_io]
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description =
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class = secop_psi.phytron.PhytronIO
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uri = ma10-ts.psi.ch:3004
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uri = ma7-ts.psi.ch:3007
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# uri = serial:///dev/tty.usbserial?baudrate=57600
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# uri = serial:///dev/ttyUSB0?baudrate=9600
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@ -16,4 +16,5 @@ uri = ma10-ts.psi.ch:3004
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description = a phytron motor
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class = secop_psi.phytron.Motor
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io = drv_io
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abslimits = -180,360
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encoder_mode = CHECK
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@ -14,111 +14,111 @@ io = ppms
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class = secop_psi.ppms.Field
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target.min = -9
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target.max = 9
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.description = magnetic field
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.io = ppms
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description = magnetic field
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io = ppms
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[pos]
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class = secop_psi.ppms.Position
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.description = sample rotator
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.io = ppms
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description = sample rotator
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io = ppms
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[lev]
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class = secop_psi.ppms.Level
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.description = helium level
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.io = ppms
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description = helium level
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io = ppms
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[chamber]
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class = secop_psi.ppms.Chamber
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.description = chamber state
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.io = ppms
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description = chamber state
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io = ppms
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[r1]
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class = secop_psi.ppms.BridgeChannel
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.description = resistivity channel 1
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.no = 1
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description = resistivity channel 1
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no = 1
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value.unit = Ohm
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.io = ppms
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io = ppms
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[r2]
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class = secop_psi.ppms.BridgeChannel
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.description = resistivity channel 2
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.no = 2
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description = resistivity channel 2
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no = 2
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value.unit = Ohm
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.io = ppms
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io = ppms
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[r3]
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class = secop_psi.ppms.BridgeChannel
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.description = resistivity channel 3
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.no = 3
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description = resistivity channel 3
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no = 3
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value.unit = Ohm
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.io = ppms
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io = ppms
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[r4]
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class = secop_psi.ppms.BridgeChannel
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.description = resistivity channel 4
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.no = 4
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description = resistivity channel 4
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no = 4
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value.unit = Ohm
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.io = ppms
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io = ppms
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[i1]
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class = secop_psi.ppms.Channel
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.description = current channel 1
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.no = 1
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description = current channel 1
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no = 1
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value.unit = uA
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.io = ppms
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io = ppms
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[i2]
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class = secop_psi.ppms.Channel
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.description = current channel 2
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.no = 2
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description = current channel 2
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no = 2
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value.unit = uA
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.io = ppms
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io = ppms
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[i3]
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class = secop_psi.ppms.Channel
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.description = current channel 3
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.no = 3
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description = current channel 3
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no = 3
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value.unit = uA
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.io = ppms
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io = ppms
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[i4]
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class = secop_psi.ppms.Channel
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.description = current channel 4
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.no = 4
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description = current channel 4
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no = 4
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value.unit = uA
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.io = ppms
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io = ppms
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[v1]
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class = secop_psi.ppms.DriverChannel
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.description = voltage channel 1
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.no = 1
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description = voltage channel 1
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no = 1
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value.unit = V
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.io = ppms
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io = ppms
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[v2]
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class = secop_psi.ppms.DriverChannel
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.description = voltage channel 2
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.no = 2
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description = voltage channel 2
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no = 2
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value.unit = V
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.io = ppms
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io = ppms
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[tv]
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class = secop_psi.ppms.UserChannel
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.description = VTI temperature
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description = VTI temperature
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enabled = 1
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value.unit = K
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.io = ppms
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io = ppms
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[ts]
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class = secop_psi.ppms.UserChannel
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.description = sample temperature
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description = sample temperature
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enabled = 1
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value.unit = K
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.io = ppms
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io = ppms
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[ppms]
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class = secop_psi.ppms.Main
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.description = the main and poller module
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.class_id = QD.MULTIVU.PPMS.1
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.visibility = 3
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description = the main and poller module
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class_id = QD.MULTIVU.PPMS.1
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visibility = 3
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pollinterval = 2
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@ -20,11 +20,13 @@
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#
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# *****************************************************************************
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"""driver for pythron motors"""
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"""driver for phytron motors"""
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from secop.core import Done, Command, EnumType, FloatRange, IntRange, \
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HasIO, Parameter, Property, Drivable, PersistentMixin, PersistentParam, StringIO, StringType
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from secop.errors import CommunicationFailedError, HardwareError
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HasIO, Parameter, Property, Drivable, PersistentMixin, PersistentParam, \
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StringIO, StringType, TupleOf
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from secop.errors import CommunicationFailedError, HardwareError, BadValueError
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from secop.lib import clamp
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class PhytronIO(StringIO):
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@ -65,14 +67,24 @@ class Motor(PersistentMixin, HasIO, Drivable):
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encoder = Parameter('encoder reading', FloatRange(unit='deg'))
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sameside_offset = Parameter('offset when always approaching from the same side',
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FloatRange(unit='deg'), readonly=False, default=0)
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abslimits = Parameter('abs limits (raw values)', default=(0, 0),
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datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
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userlimits = PersistentParam('user limits', readonly=False, default=(0, 0), initwrite=True,
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datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
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ioClass = PhytronIO
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fast_poll = 0.1
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_sameside_pending = False
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_mismatch_count = 0
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_rawlimits = None
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def earlyInit(self):
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super().earlyInit()
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if self.abslimits == (0, 0):
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self.abslimits = -9e99, 9e99
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if self.userlimits == (0, 0):
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self._rawlimits = self.abslimits
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self.read_userlimits()
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self.loadParameters()
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def get(self, cmd):
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@ -151,10 +163,20 @@ class Motor(PersistentMixin, HasIO, Drivable):
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raise HardwareError('speed factor does not match')
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return float(self.set_get('P15S', int(value * self.speed_factor), 'P15R')) / self.speed_factor
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def _check_limits(self, *values):
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for name, (mn, mx) in ('user', self._rawlimits), ('abs', self.abslimits):
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mn -= self.offset
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mx -= self.offset
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for v in values:
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if not (mn <= v <= mx):
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raise BadValueError('%s limits violation: %g <= %g <= %g' % (name, mn, v, mx))
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v += self.offset
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def write_target(self, value):
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if self.status[0] == self.Status.ERROR:
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raise HardwareError('need reset')
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self.status = self.Status.BUSY, 'changed target'
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self._check_limits(value, value + self.sameside_offset)
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if self.sameside_offset:
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# drive first to target + sameside_offset
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# we do not optimize when already driving from the right side
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@ -165,8 +187,18 @@ class Motor(PersistentMixin, HasIO, Drivable):
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self.setFastPoll(True, self.fast_poll)
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return value
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def read_userlimits(self):
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return self._rawlimits[0] - self.offset, self._rawlimits[1] - self.offset
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def write_userlimits(self, value):
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self._rawlimits = [clamp(self.abslimits[0], v + self.offset, self.abslimits[1]) for v in value]
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value = self.read_userlimits()
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self.saveParameters()
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return value
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def write_offset(self, value):
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self.offset = value
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self.read_userlimits()
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self.saveParameters()
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return Done
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@ -182,6 +214,7 @@ class Motor(PersistentMixin, HasIO, Drivable):
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pos = self.value + self.offset
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if abs(enc - pos) > self.encoder_tolerance:
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if enc < 0:
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# assume we have a rotation (not a linear motor)
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while enc < 0:
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self.offset += 360
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enc += 360
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