uniax, version 7.10.2021

- driving with a generator
- 3 phases
  1) find active range (low current, far movement until force over hysteresis)
  2) release force until well below target
  3) adjusting using pid_p. (this is in fact an integral factor)

secop/modules.py

@@ -495,15 +495,15 @@ class Module(HasAccessibles):
         for pname in self.parameters:
             errfunc = getattr(modobj, 'error_update_' + pname, None)
             if errfunc:
-                def errcb(err, p=pname, efunc=errfunc):
+                def errcb(err, p=pname, m=modobj, efunc=errfunc):
                     try:
                         efunc(err)
                     except Exception as e:
-                        modobj.announceUpdate(p, err=e)
+                        m.announceUpdate(p, err=e)
                 self.errorCallbacks[pname].append(errcb)
             else:
-                def errcb(err, p=pname):
-                    modobj.announceUpdate(p, err=err)
+                def errcb(err, p=pname, m=modobj):
+                    m.announceUpdate(p, err=err)
                 if pname in autoupdate:
                     self.errorCallbacks[pname].append(errcb)
 
@@ -516,8 +516,8 @@ class Module(HasAccessibles):
                         efunc(e)
                 self.valueCallbacks[pname].append(cb)
             elif pname in autoupdate:
-                def cb(value, p=pname):
-                    modobj.announceUpdate(p, value)
+                def cb(value, p=pname, m=modobj):
+                    m.announceUpdate(p, value)
                 self.valueCallbacks[pname].append(cb)
 
     def isBusy(self, status=None):
@@ -642,7 +642,7 @@ class Writable(Readable):
     """basic writable module"""
 
     target = Parameter('target value of the module',
-                       default=0, readonly=False, datatype=FloatRange())
+                       default=0, readonly=False, datatype=FloatRange(unit='$'))
 
 
 class Drivable(Writable):

secop/persistent.py

@@ -56,12 +56,14 @@ import os
 import json
 
 from secop.lib import getGeneralConfig
+from secop.datatypes import EnumType
 from secop.params import Parameter, Property, BoolType, Command
 from secop.modules import HasAccessibles
 
 
 class PersistentParam(Parameter):
-    persistent = Property('persistence flag', BoolType(), default=True)
+    persistent = Property('persistence flag (auto means: save automatically on any change)',
+                          EnumType(off=0, on=1, auto=2), default=1)
 
 
 class PersistentMixin(HasAccessibles):
@@ -73,8 +75,12 @@ class PersistentMixin(HasAccessibles):
         self.initData = {}
         for pname in self.parameters:
             pobj = self.parameters[pname]
-            if not pobj.readonly and getattr(pobj, 'persistent', False):
+            if not pobj.readonly and getattr(pobj, 'persistent', 0):
                 self.initData[pname] = pobj.value
+                if pobj.persistent == 'auto':
+                    def cb(value, m=self):
+                        m.saveParameters()
+                    self.valueCallbacks[pname].append(cb)
         self.writeDict.update(self.loadParameters(write=False))
 
     def loadParameters(self, write=True):