further work on needle valve, pump and lakeshore

frappy_psi/trinamic.py

@@ -26,7 +26,8 @@ import struct
 
 from frappy.core import BoolType, Command, EnumType, FloatRange, IntRange, \
     HasIO, Parameter, Property, Drivable, PersistentMixin, PersistentParam, Done, \
-    IDLE, BUSY, ERROR, Limit
+    IDLE, BUSY, ERROR, Limit, nopoll, ArrayOf
+from frappy.properties import HasProperties
 from frappy.io import BytesIO
 from frappy.errors import CommunicationFailedError, HardwareError, RangeError, IsBusyError
 from frappy.rwhandler import ReadHandler, WriteHandler
@@ -119,9 +120,6 @@ class Motor(PersistentMixin, HasIO, Drivable):
     move_status = Parameter('', EnumType(ok=0, stalled=1, encoder_deviation=2, stalled_and_encoder_deviation=3),
                             group='hwstatus')
     error_bits = Parameter('', IntRange(0, 255), group='hwstatus')
-    home = Parameter('state of home switch (input 3)', BoolType(), group='more')
-    has_home = Parameter('enable home and activate pullup resistor', BoolType(),
-                         default=True, group='more')
     auto_reset = Parameter('automatic reset after failure', BoolType(), group='more', readonly=False, default=False)
     free_wheeling = writable('', FloatRange(0, 60., unit='sec', fmtstr='%.2f'),
                              value=0.1, group='motorparam')
@@ -132,6 +130,20 @@ class Motor(PersistentMixin, HasIO, Drivable):
                          readonly=False, default=0, visibility=3, group='more')
     max_retry = Parameter('maximum number of retries', IntRange(0, 99), readonly=False, default=0)
     stall_thr = Parameter('stallGuard threshold', IntRange(-64, 63), readonly=False, value=0)
+    input_bits = Parameter('input bits', IntRange(0, 255), group='more', export=False)
+    input1 = Parameter('input 1', BoolType(), export=False, group='more')
+    input2 = Parameter('input 2', BoolType(), export=False, group='more')
+    input3 = Parameter('input 3', BoolType(), export=False, group='more')
+    output0 = Parameter('output 0', BoolType(), readonly=False, export=False, group='more', default=0)
+    output1 = Parameter('output 1', BoolType(), readonly=False, export=False, group='more', default=0)
+    home = Parameter('state of home switch (input 3)', BoolType(), group='more', export=False)
+    has_home = Property('enable home and activate pullup resistor', BoolType(), export=False,
+                        default=True)
+    has_inputs = Property('inputs are polled', BoolType(), export=False,
+                          default=False)
+    with_pullup = Property('activate pullup', BoolType(), export=False,
+                           default=True)
+
     pollinterval = Parameter(group='more')
     target_min = Limit()
     target_max = Limit()
@@ -145,6 +157,18 @@ class Motor(PersistentMixin, HasIO, Drivable):
     _loading = False  # True when loading parameters
     _drv_try = 0
 
+    def checkProperties(self):
+        super().checkProperties()
+        if self.has_home:
+            self.parameters['home'].export = '_home'
+            self.setProperty('has_inputs', True)
+        if not self.has_inputs:
+            self.setProperty('with_pullup', False)
+
+    def writeInitParams(self):
+        super().writeInitParams()
+        self.comm(SET_IO, 0, self.with_pullup)
+
     def comm(self, cmd, adr, value=0, bank=0):
         """set or get a parameter
 
@@ -402,13 +426,6 @@ class Motor(PersistentMixin, HasIO, Drivable):
     def read_steppos(self):
         return self._read_axispar(STEPPOS_ADR, ANGLE_SCALE) + self.zero
 
-    def read_home(self):
-        return not self.comm(GET_IO, 255) & 8
-
-    def write_has_home(self, value):
-        """activate pullup resistor"""
-        return bool(self.comm(SET_IO, 0, value))
-
     @Command(FloatRange())
     def set_zero(self, value):
         """adapt zero to make current position equal to given value"""
@@ -459,3 +476,47 @@ class Motor(PersistentMixin, HasIO, Drivable):
     def set_axis_par(self, adr, value):
         """set arbitrary motor parameter"""
         return self.comm(SET_AXIS_PAR, adr, value)
+
+    def read_input_bits(self):
+        if not self.has_inputs:
+            return 0
+        bits = self.comm(GET_IO, 255)
+        self.input1 = bool(bits & 2)
+        self.input2 = bool(bits & 4)
+        self.input3 = bool(bits & 8)
+        self.home = not self.input3
+        return bits
+
+    @nopoll
+    def read_home(self):
+        self.read_input_bits()
+        return self.home
+
+    @nopoll
+    def read_input1(self):
+        self.read_input_bits()
+        return self.input1
+
+    @nopoll
+    def read_input2(self):
+        self.read_input_bits()
+        return self.input2
+
+    @nopoll
+    def read_input3(self):
+        self.read_input_bits()
+        return self.input3
+
+    def write_output0(self, value):
+        return self.comm(SET_IO, 0, value, bank=2)
+
+    @nopoll
+    def read_output0(self):
+        return self.comm(GET_IO, 0, bank=2)
+
+    def write_output1(self, value):
+        return self.comm(SET_IO, 1, value, bank=2)
+
+    @nopoll
+    def read_output1(self):
+        return self.comm(GET_IO, 1, bank=2)