trinamic driver and bytesio module
Change-Id: Id634e7514fecab6fd6bc3edf81e25ad41c2bb12f
This commit is contained in:
parent
c6157049d7
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90
secop/bytesio.py
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90
secop/bytesio.py
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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# *****************************************************************************
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# This program is free software; you can redistribute it and/or modify it under
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# the terms of the GNU General Public License as published by the Free Software
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# Foundation; either version 2 of the License, or (at your option) any later
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# version.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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# details.
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#
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# You should have received a copy of the GNU General Public License along with
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# this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#
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# Module authors:
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# Markus Zolliker <markus.zolliker@psi.ch>
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# *****************************************************************************
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"""byte oriented stream communication"""
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import time
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import re
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from secop.lib.asynconn import AsynConn, ConnectionClosed
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from secop.modules import Property, Command
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from secop.stringio import BaseIO
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from secop.datatypes import BLOBType, IntRange, ArrayOf, TupleOf, StringType
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from secop.errors import CommunicationFailedError, CommunicationSilentError
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HEX_CODE = re.compile(r'[0-9a-fA-F][0-9a-fA-F]$')
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class BytesIO(BaseIO):
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identification = Property(
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"""identification
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a list of tuples with commands and expected responses, to be sent on connect.
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commands and responses are whitespace separated items
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an item is either:
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- a two digit hexadecimal number (byte value)
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- a character
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- ?? indicating ignored bytes in responses
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""", datatype=ArrayOf(TupleOf(StringType(), StringType())), default=[], export=False)
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def connectStart(self):
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if not self.is_connected:
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uri = self.uri
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self._conn = AsynConn(uri, b'')
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self.is_connected = True
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for command, match in self.identification:
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cmdbytes = bytes([int(c, 16) if HEX_CODE.match(c) else ord(c) for c in command.split()])
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replypat = [int(c, 16) if HEX_CODE.match(c.replace('??', '-1')) else ord(c) for c in command.split()]
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reply = self.communicate(cmdbytes, len(replypat))
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if any(b != c and c != -1 for b, c in zip(reply, replypat)):
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self.closeConnection()
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raise CommunicationFailedError('bad response: %r does not match %r' % (command, match))
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@Command((BLOBType(), IntRange(0)), result=BLOBType())
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def communicate(self, command, nbytes):
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"""send a command and receive nbytes as reply"""
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if not self.is_connected:
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self.read_is_connected() # try to reconnect
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if not self._conn:
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raise CommunicationSilentError('can not connect to %r' % self.uri)
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try:
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with self._lock:
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# read garbage and wait before send
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try:
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if self.wait_before:
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time.sleep(self.wait_before)
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garbage = self._conn.flush_recv()
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if garbage:
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self.log.debug('garbage: %r', garbage)
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self._conn.send(command)
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self.log.debug('send: %r', command)
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reply = self._conn.readbytes(nbytes, self.timeout)
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except ConnectionClosed:
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self.closeConnection()
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raise CommunicationFailedError('disconnected')
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self.log.debug('recv: %r', reply)
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return reply
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except Exception as e:
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if str(e) == self._last_error:
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raise CommunicationSilentError(str(e))
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self._last_error = str(e)
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self.log.error(self._last_error)
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raise
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@ -79,8 +79,8 @@ class AsynConn:
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self.disconnect()
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@classmethod
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def register_scheme(cls, scheme):
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cls.SCHEME_MAP[scheme] = cls
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def __init_subclass__(cls):
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cls.SCHEME_MAP[cls.scheme] = cls
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def disconnect(self):
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raise NotImplementedError
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@ -154,6 +154,8 @@ class AsynConn:
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class AsynTcp(AsynConn):
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scheme = 'tcp'
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def __init__(self, uri, *args, **kwargs):
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super().__init__(uri, *args, **kwargs)
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self.uri = uri
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@ -202,9 +204,6 @@ class AsynTcp(AsynConn):
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raise ConnectionClosed() # marks end of connection
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AsynTcp.register_scheme('tcp')
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class AsynSerial(AsynConn):
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"""a serial connection using pyserial
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@ -221,6 +220,7 @@ class AsynSerial(AsynConn):
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and others (see documentation of serial.Serial)
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"""
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scheme = 'serial'
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PARITY_NAMES = {name[0]: name for name in ['NONE', 'ODD', 'EVEN', 'MASK', 'SPACE']}
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def __init__(self, uri, *args, **kwargs):
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@ -282,6 +282,3 @@ class AsynSerial(AsynConn):
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return self.connection.read(n)
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data = self.connection.read(1)
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return data + self.connection.read(self.connection.in_waiting)
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AsynSerial.register_scheme('serial')
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@ -20,7 +20,8 @@
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# *****************************************************************************
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"""Line oriented stream communication
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implements TCP/IP and is be used as a base for SerialIO
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StringIO: string oriented IO. May be used for TCP/IP as well for serial IO or
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other future extensions of AsynConn
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"""
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import re
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@ -37,66 +38,23 @@ from secop.modules import Attached, Command, \
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from secop.poller import REGULAR
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class StringIO(Communicator):
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"""line oriented communicator
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self healing is assured by polling the parameter 'is_connected'
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"""
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class BaseIO(Communicator):
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"""base of StringIO and BytesIO"""
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uri = Property('hostname:portnumber', datatype=StringType())
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end_of_line = Property('end_of_line character', datatype=ValueType(),
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default='\n', settable=True)
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encoding = Property('used encoding', datatype=StringType(),
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default='ascii', settable=True)
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identification = Property('''
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identification
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a list of tuples with commands and expected responses as regexp,
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to be sent on connect''',
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datatype=ArrayOf(TupleOf(StringType(), StringType())), default=[], export=False)
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timeout = Parameter('timeout', datatype=FloatRange(0), default=2)
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wait_before = Parameter('wait time before sending', datatype=FloatRange(), default=0)
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is_connected = Parameter('connection state', datatype=BoolType(), readonly=False, poll=REGULAR)
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pollinterval = Parameter('reconnect interval', datatype=FloatRange(0), readonly=False, default=10)
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_reconnectCallbacks = None
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_conn = None
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_last_error = None
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def earlyInit(self):
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self._conn = None
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self._lock = threading.RLock()
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eol = self.end_of_line
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if isinstance(eol, (tuple, list)):
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if len(eol) not in (1, 2):
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raise ValueError('invalid end_of_line: %s' % eol)
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else:
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eol = [eol]
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# eol for read and write might be distinct
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self._eol_read = self._convert_eol(eol[0])
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if not self._eol_read:
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raise ValueError('end_of_line for read must not be empty')
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self._eol_write = self._convert_eol(eol[-1])
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self._last_error = None
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def _convert_eol(self, value):
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if isinstance(value, str):
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return value.encode(self.encoding)
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if isinstance(value, int):
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return bytes([value])
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if isinstance(value, bytes):
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return value
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raise ValueError('invalid end_of_line: %s' % repr(value))
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def connectStart(self):
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if not self.is_connected:
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uri = self.uri
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self._conn = AsynConn(uri, self._eol_read)
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self.is_connected = True
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for command, regexp in self.identification:
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reply = self.communicate(command)
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if not re.match(regexp, reply):
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self.closeConnection()
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raise CommunicationFailedError('bad response: %s does not match %s' %
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(reply, regexp))
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raise NotImplementedError
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def closeConnection(self):
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"""close connection
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@ -158,6 +116,62 @@ class StringIO(Communicator):
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if removeme:
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self._reconnectCallbacks.pop(key)
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def communicate(self, command):
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return NotImplementedError
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class StringIO(BaseIO):
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"""line oriented communicator
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self healing is assured by polling the parameter 'is_connected'
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"""
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end_of_line = Property('end_of_line character', datatype=ValueType(),
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default='\n', settable=True)
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encoding = Property('used encoding', datatype=StringType(),
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default='ascii', settable=True)
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identification = Property('''
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identification
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a list of tuples with commands and expected responses as regexp,
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to be sent on connect''',
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datatype=ArrayOf(TupleOf(StringType(), StringType())), default=[], export=False)
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def _convert_eol(self, value):
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if isinstance(value, str):
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return value.encode(self.encoding)
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if isinstance(value, int):
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return bytes([value])
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if isinstance(value, bytes):
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return value
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raise ValueError('invalid end_of_line: %s' % repr(value))
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def earlyInit(self):
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super().earlyInit()
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eol = self.end_of_line
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if isinstance(eol, (tuple, list)):
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if len(eol) not in (1, 2):
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raise ValueError('invalid end_of_line: %s' % eol)
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else:
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eol = [eol]
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# eol for read and write might be distinct
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self._eol_read = self._convert_eol(eol[0])
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if not self._eol_read:
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raise ValueError('end_of_line for read must not be empty')
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self._eol_write = self._convert_eol(eol[-1])
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def connectStart(self):
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if not self.is_connected:
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uri = self.uri
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self._conn = AsynConn(uri, self._eol_read)
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self.is_connected = True
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for command, regexp in self.identification:
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reply = self.communicate(command)
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if not re.match(regexp, reply):
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self.closeConnection()
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raise CommunicationFailedError('bad response: %s does not match %s' %
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(reply, regexp))
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@Command(StringType(), result=StringType())
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def communicate(self, command):
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"""send a command and receive a reply
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@ -165,6 +179,7 @@ class StringIO(Communicator):
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for commands without reply, the command must be joined with a query command,
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wait_before is respected for end_of_lines within a command.
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"""
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command = command.encode(self.encoding)
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if not self.is_connected:
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self.read_is_connected() # try to reconnect
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if not self._conn:
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@ -173,9 +188,9 @@ class StringIO(Communicator):
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with self._lock:
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# read garbage and wait before send
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if self.wait_before and self._eol_write:
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cmds = command.encode(self.encoding).split(self._eol_write)
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cmds = command.split(self._eol_write)
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else:
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cmds = [command.encode(self.encoding)]
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cmds = [command]
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garbage = None
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try:
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for cmd in cmds:
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@ -186,6 +201,7 @@ class StringIO(Communicator):
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if garbage:
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self.log.debug('garbage: %r', garbage)
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self._conn.send(cmd + self._eol_write)
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self.log.debug('send: %s', cmd + self._eol_write)
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reply = self._conn.readline(self.timeout)
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except ConnectionClosed:
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self.closeConnection()
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347
secop_psi/trinamic.py
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347
secop_psi/trinamic.py
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# -*- coding: utf-8 -*-
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# *****************************************************************************
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#
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# This program is free software; you can redistribute it and/or modify it under
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# the terms of the GNU General Public License as published by the Free Software
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# Foundation; either version 2 of the License, or (at your option) any later
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# version.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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# details.
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#
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# You should have received a copy of the GNU General Public License along with
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# this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#
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# Module authors:
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# Markus Zolliker <markus.zolliker@psi.ch>
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#
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# *****************************************************************************
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"""drivers for trinamic PD-1161 motors"""
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import time
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import os
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import struct
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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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from secop.bytesio import BytesIO
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from secop.lib import getGeneralConfig
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from secop.errors import CommunicationFailedError, HardwareError
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MOTOR_STOP = 3
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MOVE = 4
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SET_AXIS_PAR = 5
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GET_AXIS_PAR = 6
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SAVE_AXIS_PAR = 7
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LOAD_AXIS_PAR = 8
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SET_GLOB_PAR = 9
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GET_GLOB_PAR = 10
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SAVE_GLOB_PAR = 11
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LOAD_GLOB_PAR = 12
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SET_IO = 14
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GET_IO = 15
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MOT_FACT = object()
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CONFIG = getGeneralConfig()
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class AxisPar(Parameter):
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SET = SET_AXIS_PAR
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GET = GET_AXIS_PAR
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def __init__(self, adr, min=None, max=None, unit=None, scale=1, readonly=False, poll=True):
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if unit:
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datatype = FloatRange(min, max, unit=unit)
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else:
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datatype = IntRange(min, max)
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super().__init__('_', datatype, readonly=readonly, poll=poll)
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self.adr = adr
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self.scale = scale
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def to_raw(self, motor, value):
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return round(value / self.scale)
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def from_raw(self, motor, value):
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return value * self.scale
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def read(self, motor):
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return round(self.from_raw(motor, motor.comm(self.GET, self.adr)), 3)
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def write(self, motor, value):
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rvalue = self.to_raw(motor, value)
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motor.comm(self.SET, self.adr, rvalue)
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reply = motor.comm(self.GET, self.adr)
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if rvalue != reply:
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raise HardwareError('%s: reply does not match: %r != %r' % (self.name, rvalue, reply))
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return round(self.from_raw(motor,reply), 3)
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def __set_name__(self, owner, name):
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super().__set_name__(owner, name)
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setattr(owner, 'read_' + name, lambda self, pobj=self: pobj.read(self))
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if not self.readonly:
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setattr(owner, 'write_' + name, lambda self, value, pobj=self: pobj.write(self, value))
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class IoPar(AxisPar):
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SET = SET_IO
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GET = GET_IO
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def __init__(self, adr, bank, datatype=EnumType(CLOSED=0, OPEN=1), scale=1, readonly=False, poll=True):
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Parameter.__init__(self, '_', datatype, readonly=readonly, poll=poll)
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self.adr = adr + 1000 * bank
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self.scale = scale
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def read(self, motor):
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return motor.comm(self.GET, self.adr)
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def write(self, motor, value):
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motor.comm(self.SET, self.adr, int(value))
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return value
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class AxisDiffPar(AxisPar):
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@staticmethod
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def to_raw(motor, value):
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return round(value / motor.fact)
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@staticmethod
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def from_raw(motor, value):
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return round(value * motor.fact, 3)
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class AxisZeroPar(AxisPar):
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@staticmethod
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def to_raw(motor, value):
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return round(value / motor.fact - motor.zero)
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@staticmethod
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def from_raw(motor, value):
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return round(value * motor.fact + motor.zero, 3)
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BAUDRATES = [9600, 0, 19200, 0, 38400, 57600, 0, 115200]
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class Motor(HasIodev, Drivable):
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address = Property('module address', IntRange(0, 255), default=1)
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fact = Property('gear factor', FloatRange(unit='deg/step'), default=1.8/256)
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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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target = Parameter('_', FloatRange(unit='$'), default=0)
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zero = Parameter('zero point', FloatRange(unit='$'), readonly=False, default=0)
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tolerance = Parameter('positioning tolerance', FloatRange(unit='$'), readonly=False, default=0.9)
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encoder = Parameter('encoder value', FloatRange(unit='$'), needscfg=False)
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steppos = Parameter('motor steps position', FloatRange(unit='$'), needscfg=False)
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at_upper_limit = Parameter('upper limit switch touched', BoolType(), needscfg=False)
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at_lower_limit = Parameter('lower limit switch touched', BoolType(), needscfg=False)
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pull_up = Parameter('activate pull up resistors', BoolType(), needscfg=False)
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baudrate = Parameter('baud rate code', EnumType({'%d' % v: i for i, v in enumerate(BAUDRATES)}),
|
||||
readonly=False, default=0, poll=True)
|
||||
|
||||
temperature = IoPar(9, 1, IntRange(), readonly=True)
|
||||
operating_voltage = IoPar(8, 1, IntRange(), readonly=True)
|
||||
|
||||
enc_tolerance = AxisDiffPar(212, 0, 360., '$')
|
||||
maxspeed = AxisPar(4, 0, 2047)
|
||||
minspeed = AxisPar(130, 0, 2047)
|
||||
maxcurrent = AxisPar(6, 0, 2.8, 'A', 2.8/250)
|
||||
standby_current = AxisPar(7, 0, 2.8, 'A', 2.8/250)
|
||||
acceleration = AxisPar(5, 0, 2047)
|
||||
internal_target = AxisZeroPar(0, unit='$')
|
||||
target_reached = AxisPar(8, readonly=True)
|
||||
move_status = AxisPar(207, readonly=True)
|
||||
error_bits = AxisPar(208, readonly=True)
|
||||
free_wheeling = AxisPar(204, 0, 60, 'sec', scale=0.001)
|
||||
|
||||
fast_pollfactor = 0.001
|
||||
_targettime = None
|
||||
_prevconn = None
|
||||
iodevClass = BytesIO
|
||||
_commcnt = 0
|
||||
_pollcnt = 0
|
||||
_lastpoll = 0
|
||||
_calcTimeout = True
|
||||
|
||||
def earlyInit(self):
|
||||
self.resetValues = dict(self.writeDict)
|
||||
|
||||
def startModule(self, started_callback):
|
||||
loaded_pos = None
|
||||
try:
|
||||
print(self.save_filename())
|
||||
with open(self.save_filename()) as f:
|
||||
loaded_pos = float(f.read())
|
||||
except FileNotFoundError:
|
||||
pass
|
||||
super().startModule(started_callback)
|
||||
encoder = self.read_encoder()
|
||||
if loaded_pos is not None:
|
||||
diff = loaded_pos - encoder + 180
|
||||
if abs(diff % 360 - 180) < self.enc_tolerance:
|
||||
diff = round(diff / 180) * 180
|
||||
if diff:
|
||||
self.comm(SET_AXIS_PAR, 209, AxisZeroPar.to_raw(self, encoder + diff))
|
||||
else:
|
||||
msg = 'loaded pos (%g) does not match encoder reading' % loaded_pos
|
||||
self.status = self.Status.ERROR, msg
|
||||
self.log.error(msg + ' (%g)' % encoder)
|
||||
|
||||
def comm(self, cmd, adr=0, value=0):
|
||||
if self._calcTimeout:
|
||||
self._calcTimeout = False
|
||||
baudrate = getattr(self._iodev._conn.connection, 'baudrate', None)
|
||||
if baudrate:
|
||||
if baudrate not in BAUDRATES:
|
||||
raise CommunicationFailedError('unsupported baud rate: %d' % baudrate)
|
||||
self._iodev.timeout = 0.03 + 200 / baudrate
|
||||
|
||||
self._commcnt = self._commcnt + 1
|
||||
bank = adr // 1000
|
||||
iadr = adr % 1000
|
||||
for itry in range(3):
|
||||
byt = struct.pack('>BBBBi', self.address, cmd, iadr, bank, round(value))
|
||||
try:
|
||||
reply = self._iodev.communicate(byt + bytes([sum(byt) & 0xff]), 9)
|
||||
except Exception as e:
|
||||
print(repr(e), adr, bank)
|
||||
continue
|
||||
if sum(reply[:-1]) & 0xff == reply[-1]:
|
||||
break
|
||||
else:
|
||||
raise CommunicationFailedError('checksum error')
|
||||
radr, modadr, status, rcmd, result = struct.unpack('>BBBBix', reply)
|
||||
if status != 100:
|
||||
self.log.warning('bad status from cmd %r %s: %d', cmd, adr, status)
|
||||
if radr != 2 or modadr != self.address or cmd != rcmd:
|
||||
raise CommunicationFailedError('bad reply %r to command %s %d' % (reply, cmd, adr))
|
||||
return result
|
||||
|
||||
def read_value(self):
|
||||
now = time.time()
|
||||
if now > self._lastpoll + 1:
|
||||
print(now - self._lastpoll, self._commcnt, self._pollcnt)
|
||||
self._commcnt = 0
|
||||
self._pollcnt = 0
|
||||
self._lastpoll = now
|
||||
self._pollcnt = self._pollcnt + 1
|
||||
|
||||
init = self.comm(GET_GLOB_PAR, 2255) # bank 2 adr 255
|
||||
if not init or self._prevconn != self._iodev._conn:
|
||||
# reset to initial parameters when either motor lost power or connection has changed
|
||||
self.log.info('reset initial values')
|
||||
for pname, value in self.resetValues.items():
|
||||
getattr(self, 'write_' + pname)(value)
|
||||
self.comm(SET_GLOB_PAR, 2255, 1)
|
||||
self._prevconn = self._iodev._conn
|
||||
rawenc = self.comm(GET_AXIS_PAR, 209)
|
||||
rawpos = self.comm(GET_AXIS_PAR, 1)
|
||||
self.encoder = AxisZeroPar.from_raw(self, rawenc)
|
||||
self.save_pos()
|
||||
self.steppos = AxisZeroPar.from_raw(self, rawpos)
|
||||
if abs(rawenc - rawpos) > 128:
|
||||
return self.encoder
|
||||
return self.steppos
|
||||
|
||||
def save_filename(self):
|
||||
savedir = os.path.join(CONFIG['logdir'], 'persistent')
|
||||
os.makedirs(savedir, exist_ok=True)
|
||||
return os.path.join(savedir, '%s.%s' % (type(self).__name__, self.name))
|
||||
|
||||
def save_pos(self):
|
||||
with open(self.save_filename(), 'w') as f:
|
||||
f.write('%g' % self.value)
|
||||
|
||||
def read_status(self):
|
||||
if not self._targettime:
|
||||
return self.status
|
||||
self.get_limits()
|
||||
if self.at_lower_limit or self.at_upper_limit:
|
||||
self.stop()
|
||||
return self.Status.ERROR, 'at limit'
|
||||
target_reached = self.read_target_reached()
|
||||
if target_reached or self.read_move_status():
|
||||
self._targettime = None
|
||||
if abs(self.target - self.value) < self.tolerance:
|
||||
return self.Status.IDLE, ''
|
||||
self.log.warning('out of tolerance (%d)', self.move_status)
|
||||
return self.Status.WARN, 'out of tolerance (%d)' % self.move_status
|
||||
if time.time() > self._targettime:
|
||||
self.log.warning('move timeout')
|
||||
return self.Status.WARN, 'move timeout'
|
||||
return self.Status.BUSY, 'moving'
|
||||
|
||||
def write_target(self, target):
|
||||
rawenc = self.comm(GET_AXIS_PAR, 209)
|
||||
rawpos = self.comm(GET_AXIS_PAR, 1)
|
||||
if abs(rawenc - rawpos) > 128:
|
||||
# adjust missing steps
|
||||
missing_steps = round((rawenc - rawpos) / 256.0)
|
||||
self.log.warning('correct %s missing steps', missing_steps)
|
||||
rawpos += missing_steps * 256
|
||||
self.comm(SET_AXIS_PAR, 1, rawpos)
|
||||
rawtarget = round((target - self.zero) / self.fact)
|
||||
delay = (abs(rawtarget - rawpos) / 30.5 / self.maxspeed
|
||||
+ self.maxspeed / self.acceleration / 15.25 + 0.5)
|
||||
self._targettime = time.time() + delay
|
||||
self.log.info('move to %.1f', target)
|
||||
self.comm(MOVE, 0, rawtarget)
|
||||
print('write_target')
|
||||
self.target_reached = 0
|
||||
self.status = self.Status.BUSY, 'changed target'
|
||||
return target
|
||||
|
||||
def get_limits(self):
|
||||
self.input_bits = self.comm(GET_IO, 255)
|
||||
bits = (~ self.input_bits) & 0xf
|
||||
self.at_lower_limit = bool(bits & self.limit_pin_mask[0])
|
||||
self.at_upper_limit = bool(bits & self.limit_pin_mask[1])
|
||||
|
||||
def read_at_upper_limit(self):
|
||||
self.get_limits()
|
||||
return Done
|
||||
|
||||
def read_at_lower_limit(self):
|
||||
self.get_limits()
|
||||
return Done
|
||||
|
||||
def write_pull_up(self, value):
|
||||
self.comm(SET_IO, 0, int(value))
|
||||
return value
|
||||
|
||||
def write_baudrate(self, value):
|
||||
self.comm(SET_GLOB_PAR, 65, int(value))
|
||||
|
||||
def read_baudrate(self):
|
||||
reply = self.comm(GET_GLOB_PAR, 65)
|
||||
print('BAUD', reply)
|
||||
return reply
|
||||
|
||||
@Command(FloatRange())
|
||||
def set_zero(self, value):
|
||||
self.zero += value - self.read_value()
|
||||
|
||||
@Command
|
||||
def stop(self):
|
||||
self.comm(MOTOR_STOP)
|
||||
self.status = self.Status.IDLE, 'stopped'
|
||||
self._targettime = None
|
||||
|
||||
@Command(FloatRange())
|
||||
def step(self, value):
|
||||
self.comm(MOVE, 1, value / self.fact)
|
||||
|
||||
@Command(IntRange(), result=IntRange())
|
||||
def get_axis_par(self, adr):
|
||||
return self.comm(GET_AXIS_PAR, adr)
|
||||
|
||||
@Command(IntRange())
|
||||
def set_axis_par(self, adr, value):
|
||||
return self.comm(SET_AXIS_PAR, adr, value)
|
||||
Loading…
x
Reference in New Issue
Block a user