[WIP] work on CCU4

- nv control

Change-Id: I34e634d1e167f0a60d55b014c7117c9274d83c50

frappy_psi/ccu4.py

@@ -21,10 +21,14 @@
 
 """drivers for CCU4, the cryostat control unit at SINQ"""
 import time
+import math
 # the most common Frappy classes can be imported from frappy.core
-from frappy.core import EnumType, FloatRange, TupleOf, \
+from frappy.core import HasIO, Parameter, Command, Readable, Writable, Drivable, \
-    HasIO, Parameter, Command, Readable, StringIO, StatusType, \
+    Property, StringIO, BUSY, IDLE, WARN, ERROR, DISABLED, Attached
-    BUSY, IDLE, ERROR, DISABLED
+from frappy.datatypes import BoolType, EnumType, FloatRange, StructOf, \
+    StatusType, IntRange, StringType, TupleOf
+from frappy.dynamic import Pinata
+from frappy.errors import CommunicationFailedError
 from frappy.states import HasStates, status_code, Retry
 
 
@@ -36,16 +40,35 @@ class CCU4IO(StringIO):
     identification = [('cid', r'CCU4.*')]
 
 
-# inheriting HasIO allows us to use the communicate method for talking with the hardware
+class CCU4Base(HasIO):
-# Readable as a base class defines the value and status parameters
-class HeLevel(HasIO, Readable):
-    """He Level channel of CCU4"""
-
-    # define the communication class to create the IO module
     ioClass = CCU4IO
 
-    # define or alter the parameters
+    def command(self, *args, **kwds):
-    # as Readable.value exists already, we give only the modified property 'unit'
+        """send a command and get the response
+
+        :param args: the name of the parameters to query
+        :param kwds: <parameter>=<value> for changing a parameter
+        :returns: the (new) values of the parameters
+        """
+        cmds = [f'{k}={v:g}' for k, v in kwds.items()] + list(args)
+        reply = self.io.communicate(' '.join(cmds)).split()
+        names = list(args) + list(kwds)
+        if len(reply) != len(names):
+            raise CommunicationFailedError('number of reply items does not match')
+        result = []
+        for given, item in zip(names, reply):
+            name, txtvalue = item.split('=')
+            if given != name:
+                raise CommunicationFailedError('result keys do not match given keys')
+            result.append(float(txtvalue))
+        if len(result) == 1:
+            return result[0]
+        return result
+
+
+class HeLevel(CCU4Base, Readable):
+    """He Level channel of CCU4"""
+
     value = Parameter(unit='%')
     empty_length = Parameter('warm length when empty', FloatRange(0, 2000, unit='mm'),
                              readonly=False)
@@ -65,143 +88,100 @@ class HeLevel(HasIO, Readable):
         5: (DISABLED, 'disabled'),
     }
 
-    def query(self, cmd):
-        """send a query and get the response
-
-        :param cmd: the name of the parameter to query or '<parameter>=<value'
-                    for changing a parameter
-        :returns: the (new) value of the parameter
-        """
-        name, txtvalue = self.communicate(cmd).split('=')
-        assert name == cmd.split('=')[0]  # check that we got a reply to our command
-        return float(txtvalue)
-
     def read_value(self):
-        return self.query('h')
+        return self.command('h')
 
     def read_status(self):
-        return self.STATUS_MAP[int(self.query('hsf'))]
+        return self.STATUS_MAP[int(self.command('hsf'))]
-
-    def read_empty_length(self):
-        return self.query('hem')
-
-    def write_empty_length(self, value):
-        return self.query(f'hem={value:g}')
-
-    def read_full_length(self):
-        return self.query('hfu')
-
-    def write_full_length(self, value):
-        return self.query(f'hfu={value:g}')
 
     def read_sample_rate(self):
-        return self.query('hf')
+        value, self.empty_length, self.full_length = self.command('hf', 'hem', 'hfu')
+        return value
 
     def write_sample_rate(self, value):
-        return self.query(f'hf={int(value)}')
+        return self.command(hf=value)
+
+    def write_empty_length(self, value):
+        return self.command(hem=value)
+
+    def write_full_length(self, value):
+        return self.command(hfu=value)
 
 
+class Valve(CCU4Base, Writable):
+    value = Parameter('relay state', BoolType())
+    target = Parameter('relay target', BoolType())
+    ioClass = CCU4IO
+    STATE_MAP = {0: (0, (IDLE, 'off')),
+                 1: (1, (IDLE, 'on')),
+                 2: (0, (ERROR, 'no valve')),
+                 3: (0, (WARN, 'timeout')),  # timeout in filling process (takes too long to fill)
+                 4: (0, (WARN, 'timeout1')),  # timeout in filling process (takes too long to start)
+                 5: (1, (IDLE, 'boost')),
+                 }
+    _open_command = None
+    _close_command = None
+    _query_state = None
 
-class HeLevelAuto(HasStates, HeLevel):
+    def write_target(self, target):
-    fill_level = Parameter('low threshold triggering start filling',
+        if target:
-                           FloatRange(unit='%'), readonly=False)
+            self.command(**self._open_command)
-    full_level = Parameter('high threshold triggering stop filling',
+        else:
-                           FloatRange(unit='%'), readonly=False)
+            self.command(**self._close_command)
-    raw = Parameter('unsmoothed level', FloatRange(unit='%'))
-    fill_minutes_range = Parameter('range of possible fill rate',
-                                   TupleOf(FloatRange(unit='min'), FloatRange(unit='min')),
-                                   readonly=False)
-    hold_hours_range = Parameter('range of possible consumption rate',
-                                   TupleOf(FloatRange(unit='h'), FloatRange(unit='h')),
-                                   readonly=False)
-    fill_delay = Parameter('delay for cooling the transfer line',
-                           FloatRange(unit='min'), readonly=False)
-    status = Parameter(datatype=StatusType(HeLevel, 'BUSY'))
-
-    _filling = False
-    _fillstart = 0
-    _last_read = 0
-
-    def doPoll(self):
-        super().doPoll()
-        if self._filling:
-            if self._filling == 1 and
-            if self.value
-                self.query('hcd=1')
-
-    def read_value(self):
-        self.raw = super().read_value()
-        if not self._state_machine.is_active:
-            return self.raw
-        return self.value
 
     def read_status(self):
-        status = HeLevel.read_status(self)
+        state = self.command(self._query_state)
-        if status[0] == IDLE:
+        self.value, status = self.STATE_MAP[state]
-            return HasStates.read_status(self)
-        self.stop_machine(status)
         return status
 
-    @status_code(BUSY)
-    def watching(self, state):
-        delta = state.delta(10)
-        if self.raw > self.value:
-            self.value -= delta / (3600 * self.fill_hours_range[1])
-        elif self.raw < self.value:
-            self.value -= delta / (3600 * self.fill_hours_range[0])
-        else:
-            self.value = self.raw
-        if self.value < self.fill_level:
-            self.query('hcd=1 hf=1')
-            state.fillstart = state.now
-            return self.precooling
-        self.query('hcd=1 hf=1')
-        return Retry
 
-    @status_code(BUSY)
+class HeFillValve(Valve):
-    def precooling(self, state):
+    _open_command = {'hcd': 1, 'hf': 1}
-        delta = state.delta(1)
+    _close_command = {'hcd': 0,  'hf': 0}
-        if self.raw > self.value:
+    _query_state = 'hv'
-            self.value += delta / (60 * self.fill_minutes_range[0])
-        elif self.raw < self.value:
-            self.value -= delta / (60 * self.fill_minutes_range[0])
-        else:
-            self.value = self.raw
-        if self.value > self.full_level:
-            self.query('hcd=0 hf=0')
-            return self.watching
-        self.query('hcd=1 hf=1')
-        if state.now > state.fillstart + self.fill_delay * 60:
-            return self.filling
-        return Retry
-
-    @status_code(BUSY)
-    def filling(self, state):
-        delta = state.delta(1)
-        if self.raw > self.value:
-            self.value += delta / (60 * self.fill_minutes_range[0])
-        elif self.raw < self.value:
-            self.value += delta / (60 * self.fill_minutes_range[1])
-        else:
-            self.value = self.raw
-        if self.value > self.full_level:
-            self.query('hcd=0 hf=0')
-            return self.watching
-        self.query('hcd=1 hf=1')
-        return Retry
-
-    @Command()
-    def fill(self):
-        self.start_machine(self.precooling, fillstart=time.time())
-        self.query('hcd=1 hf=1')
-
-    @Command()
-    def stop(self):
-        pass
 
 
+class N2FillValve(Valve):
+    _open_command = {'nc': 1}
+    _close_command = {'nc': 0}
+    _query_state = 'nv'
+
+
+class AuxValve(Valve):
+    channel = Property('valve number', IntRange(1, 12))
+
+    def initModule(self):
+        self._open_command = {f'vc{self.channel}': 1}
+        self._close_command = {f'vc{self.channel}': 0}
+        self._query_state = f'v{self.channel}'
+
+
+class N2TempSensor(Readable):
+    value = Parameter('LN2 T sensor', FloatRange(unit='K'), default=0)
+
+
+class N2Level(CCU4Base, Pinata, Readable):
+    valve = Attached(Writable, mandatory=False)
+    lower = Attached(Readable, mandatory=False)
+    upper = Attached(Readable, mandatory=False)
+
+    value = Parameter('vessel state', EnumType(empty=0, ok=1, full=2))
+    status = Parameter(datatype=StatusType(Readable, 'BUSY'))
+    mode = Parameter('auto mode', EnumType(disabled=0, manual=1, auto=2), readonly=False)
+
+    threshold = Parameter('threshold triggering start/stop filling',
+                          FloatRange(unit='K'), readonly=False)
+    cool_delay = Parameter('max. minutes needed to cool the lower sensor',
+                           FloatRange(unit='s'), readonly=False)
+    fill_timeout = Parameter('max. minutes needed to fill',
+                             FloatRange(unit='s'), readonly=False)
+    names = Property('''names of attached modules
+
+                     configure members as empty strings to disable the creation
+                     ''',
+                     StructOf(valve=StringType(), lower=StringType(), upper=StringType()),
+                     default={'valve': '$_valve', 'lower': '$_lower', 'upper': '$_upper'})
 
-class N2Sensor(HasIO, Readable):
     # conversion of the code from the CCU4 parameter 'ns'
     STATUS_MAP = {
         0: (IDLE, 'sensor ok'),
@@ -209,6 +189,283 @@ class N2Sensor(HasIO, Readable):
         2: (ERROR, 'short circuit'),
         3: (ERROR, 'upside down'),
         4: (ERROR, 'sensor warm'),
-        5: (ERROR, 'empty'),
+        5: (WARN, 'empty'),
     }
 
+    def scanModules(self):
+        for modname, name in self.names.items():
+            if name:
+                sensor_name = name.replace('$', self.name)
+                self.setProperty(modname, sensor_name)
+                yield sensor_name, {
+                    'cls': N2FillValve if modname == 'valve' else N2TempSensor,
+                    'description': f'LN2 {modname} T sensor'}
+
+    def initialReads(self):
+        self.command(nav=1)  # tell CCU4 to activate LN2 sensor readings
+        super().initialReads()
+
+    def read_status(self):
+        auto, nstate = self.command('na', 'ns')
+        if not self.valve or not auto:
+            if self.mode == 'auto':
+                # no valve assigned
+                self.mode = 'manual'
+        if self.mode == 'disabled':
+            return DISABLED, ''
+        status = self.STATUS_MAP[nstate]
+        if status[0] // 100 != IDLE // 100:
+            return status
+        if self.mode == 'manual':
+            return IDLE, ''
+        vstatus = self.valve.status
+        if vstatus[0] // 100 == WARN // 100:
+            return ERROR, vstatus[1]
+        if vstatus[0] // 100 != IDLE // 100:
+            return vstatus
+        if self.valve.value:
+            return BUSY, 'filling'
+        return IDLE, 'watching'
+
+    def read_value(self):
+        # read sensors
+        lower, upper = self.command('nl', 'nu')
+        if self.lower:
+            self.lower.value = lower
+        if self.upper:
+            self.upper.value = upper
+        if upper < self.threshold:
+            return 'full'
+        if lower < self.threshold:
+            return 'ok'
+        return 'empty'
+
+    def write_mode(self, mode):
+        if mode == 'auto':
+            if self.isBusy():
+                return mode
+            # set to watching
+            self.command(nc=3)
+        else:
+            # set to off
+            self.command(nc=2)
+        return mode
+
+    def read_threshold(self):
+        value, self.cool_delay, self.fill_timeout = self.command('nth', 'ntc', 'ntm')
+        return value
+
+    def write_threshold(self, value):
+        return self.command(nth=value)
+
+    def write_cool_delay(self, value):
+        return self.command(ntc=value)
+
+    def write_fill_timeout(self, value):
+        return self.command(ntm=value)
+
+    @Command()
+    def fill(self):
+        self.mode = 'auto'
+        self.io.write(nc=1)
+
+    @Command()
+    def stop(self):
+        if self.mode == 'auto':
+            # set to watching
+            self.command(nc=3)
+        else:
+            # set to off
+            self.io.write(nc=0)
+
+
+class FlowPressure(CCU4Base, Readable):
+    value = Parameter(unit='mbar')
+    mbar_offset = Parameter(unit='mbar', default=0.8, readonly=False)
+    pollinterval = Parameter(default=0.25)
+
+    def read_value(self):
+        return self.filter(self.command('f')) - self.mbar_offset
+
+
+class NeedleValve(HasStates, CCU4Base, Drivable):
+    flow = Attached(Readable, mandatory=False)
+    flow_pressure = Attached(Readable, mandatory=False)
+
+    value = Parameter(unit='ln/min')
+    target = Parameter(unit='ln/min')
+
+    lnm_per_mbar = Parameter(unit='ln/min/mbar', default=0.6, readonly=False)
+    use_pressure = Parameter('use flow from pressure', BoolType(),
+                             default=False, readonly=False)
+    motor_state = Parameter('motor_state',
+                            EnumType(idle=0, opening=1, closing=2,
+                                     opened=3, closed=5, no_motor=6))
+    tolerance = Parameter('tolerance', FloatRange(0), value=0.25, readonly=False)
+    tolerance2 = Parameter('tolerance limit above 2 lnm', FloatRange(0), value=0.5, readonly=False)
+    prop = Parameter('proportional term', FloatRange(unit='s/lnm'), readonly=False)
+    deriv = Parameter('min progress time constant', FloatRange(unit='s'),
+                      default=30, readonly=False)
+    settle = Parameter('time within tolerance before getting quiet', FloatRange(unit='s'),
+                       default=30, readonly=False)
+    step_factor = Parameter('factor (no progress time) / (min step size)', FloatRange(), default=300)
+    control_active = Parameter('control active flag', BoolType(), readonly=False)
+    pollinterval = Parameter(default=1)
+    _ref_time = 0
+    _ref_dif = 0
+    _last_cycle = 0
+    _last_progress = 0
+    _step = 0
+
+    def initModule(self):
+        super().initModule()
+        if self.flow_pressure:
+            self.flow_pressure.addCallback('value', self.update_flow_pressure)
+        if self.flow:
+            self.flow.addCallback('value', self.update_flow)
+        self.write_tolerance(self.tolerance)
+
+    def write_tolerance(self, tolerance):
+        if hasattr(self.flow_pressure, 'tolerance'):
+            self.flow_pressure.tolerance = tolerance / self.lnm_per_mbar
+        if hasattr(self.flow, 'tolerance'):
+            self.flow.tolerance = tolerance
+
+    def read_use_pressure(self):
+        if self.flow_pressure:
+            if self.flow:
+                return self.use_pressure
+            return True
+        return False
+
+    def update_flow(self, value):
+        if not self.use_pressure:
+            self.value = value
+            self.doPoll()
+
+    def update_flow_pressure(self, value):
+        if self.use_pressure:
+            self.value = value * self.lnm_per_mbar
+            self.doPoll()
+
+    def write_target(self, value):
+        self.start_machine(self.controlling, in_tol_time=0,
+                           ref_time=0, ref_dif=0, prev_dif=0)
+
+    @status_code(BUSY)
+    def unblock_from_open(self, state):
+        self.motor_state = self.command('fm')
+        if self.motor_state == 'opened':
+            self.command(mp=-60)
+            return Retry
+        if self.motor_state == 'closing':
+            return Retry
+        if self.motor_state == 'closed':
+            if self.value > max(1, self.target):
+                return Retry
+            state.flow_before = self.value
+            state.wiggle = 1
+            state.start_wiggle = state.now
+            self.command(mp=60)
+            return self.unblock_open
+        return self.approaching
+
+    @status_code(BUSY)
+    def unblock_open(self, state):
+        self.motor_state = self.command('fm')
+        if self.value < state.flow_before:
+            state.flow_before_open = self.value
+        elif self.value > state.flow_before + 1:
+            state.wiggle = -state.wiggle / 2
+            self.command(mp=state.wiggle)
+            state.start_wiggle = state.now
+            return self.unblock_close
+        if self.motor_state == 'opening':
+            return Retry
+        if self.motor_state == 'idle':
+            self.command(mp=state.wiggle)
+            return Retry
+        if self.motor_state == 'opened':
+            if state.now < state.start_wiggle + 20:
+                return Retry
+            return self.final_status(ERROR, 'can not open')
+        return self.controlling
+
+    @status_code(BUSY)
+    def unblock_close(self, state):
+        self.motor_state = self.command('fm')
+        if self.value > state.flow_before:
+            state.flow_before_open = self.value
+        elif self.value < state.flow_before - 1:
+            if state.wiggle < self.prop * 2:
+                return self.final_status(IDLE, '')
+            state.wiggle = -state.wiggle / 2
+            self.command(mp=state.wiggle)
+            state.start_wiggle = state.now
+            return self.unblock_open
+        if self.motor_state == 'closing':
+            return Retry
+        if self.motor_state == 'idle':
+            self.command(mp=state.wiggle)
+            return Retry
+        if self.motor_state == 'closed':
+            if state.now < state.start_wiggle + 20:
+                return Retry
+            return self.final_status(ERROR, 'can not close')
+        return self.final_status(WARN, 'unblock interrupted')
+
+    def _tolerance(self):
+        return min(self.tolerance * min(1, self.value / 2), self.tolerance2)
+
+    @status_code(IDLE)
+    def at_target(self, state):
+        dif = self.target - self.value
+        if abs(dif) > self._tolerance():
+            state.in_tol_time = 0
+            return self.unstable
+        return Retry
+
+    @status_code(IDLE, 'unstable')
+    def unstable(self, state):
+        return self.controlling(state)
+
+    @status_code(BUSY)
+    def controlling(self, state):
+        delta = state.delta(0)
+        dif = self.target - self.value
+        difdif = dif - state.prev_dif
+        state.prev_dif = dif
+        self.motor_state = self.command('fm')
+        if self.motor_state == 'closed':
+            if dif < 0 or difdif < 0:
+                return Retry
+            return self.unblock_from_open
+        elif self.motor_state == 'opened':  # trigger also when flow too high?
+            if dif > 0 or difdif > 0:
+                return Retry
+            self.command(mp=-60)
+            return self.unblock_from_open
+
+        tolerance = self._tolerance()
+        if abs(dif) < tolerance:
+            state.in_tol_time += delta
+            if state.in_tol_time > self.settle:
+                return self.at_target
+            return Retry
+        expected_dif = state.ref_dif * math.exp((state.now - state.ref_time) / self.deriv)
+        if abs(dif) < expected_dif:
+            if abs(dif) < expected_dif / 1.25:
+                state.ref_time = state.now
+                state.ref_dif = abs(dif) * 1.25
+            state.last_progress = state.now
+            return Retry  # progress is fast enough
+        state.ref_time = state.now
+        state.ref_dif = abs(dif)
+        state.step += dif * delta * self.prop
+        if abs(state.step) < (state.now - state.last_progress) / self.step_factor:
+            # wait until step size is big enough
+            return Retry
+        self.command(mp=state.step)
+        return Retry
+
+