Merge branch 'wip' of gitlab.psi.ch:samenv/frappy into wip

cfg/main/ma10.cfg

@@ -67,5 +67,6 @@ uri = ma10-ts.psi.ch:3004
 description = stick rotation, typically used for omega
 class = secop_psi.phytron.Motor
 io = om_io
+sign = -1
 encoder_mode = CHECK
 

cfg/phytron.cfg

@@ -8,7 +8,7 @@ uri = tcp://5000
 [drv_io]
 description = 
 class = secop_psi.phytron.PhytronIO
-uri = ma10-ts.psi.ch:3004
+uri = ma7-ts.psi.ch:3007
 # uri = serial:///dev/tty.usbserial?baudrate=57600
 # uri = serial:///dev/ttyUSB0?baudrate=9600
 
@@ -16,4 +16,5 @@ uri = ma10-ts.psi.ch:3004
 description = a phytron motor
 class = secop_psi.phytron.Motor
 io = drv_io
+abslimits = -180,360
 encoder_mode = CHECK

cfg/ppmssim.cfg

@@ -14,111 +14,111 @@ io = ppms
 class = secop_psi.ppms.Field
 target.min = -9
 target.max = 9
-.description = magnetic field
+description = magnetic field
-.io = ppms
+io = ppms
 
 [pos]
 class = secop_psi.ppms.Position
-.description = sample rotator
+description = sample rotator
-.io = ppms
+io = ppms
 
 [lev]
 class = secop_psi.ppms.Level
-.description = helium level
+description = helium level
-.io = ppms
+io = ppms
 
 [chamber]
 class = secop_psi.ppms.Chamber
-.description = chamber state
+description = chamber state
-.io = ppms
+io = ppms
 
 [r1]
 class = secop_psi.ppms.BridgeChannel
-.description = resistivity channel 1
+description = resistivity channel 1
-.no = 1
+no = 1
 value.unit = Ohm
-.io = ppms
+io = ppms
 
 [r2]
 class = secop_psi.ppms.BridgeChannel
-.description = resistivity channel 2
+description = resistivity channel 2
-.no = 2
+no = 2
 value.unit = Ohm
-.io = ppms
+io = ppms
 
 [r3]
 class = secop_psi.ppms.BridgeChannel
-.description = resistivity channel 3
+description = resistivity channel 3
-.no = 3
+no = 3
 value.unit = Ohm
-.io = ppms
+io = ppms
 
 [r4]
 class = secop_psi.ppms.BridgeChannel
-.description = resistivity channel 4
+description = resistivity channel 4
-.no = 4
+no = 4
 value.unit = Ohm
-.io = ppms
+io = ppms
 
 [i1]
 class = secop_psi.ppms.Channel
-.description = current channel 1
+description = current channel 1
-.no = 1
+no = 1
 value.unit = uA
-.io = ppms
+io = ppms
 
 [i2]
 class = secop_psi.ppms.Channel
-.description = current channel 2
+description = current channel 2
-.no = 2
+no = 2
 value.unit = uA
-.io = ppms
+io = ppms
 
 [i3]
 class = secop_psi.ppms.Channel
-.description = current channel 3
+description = current channel 3
-.no = 3
+no = 3
 value.unit = uA
-.io = ppms
+io = ppms
 
 [i4]
 class = secop_psi.ppms.Channel
-.description = current channel 4
+description = current channel 4
-.no = 4
+no = 4
 value.unit = uA
-.io = ppms
+io = ppms
 
 [v1]
 class = secop_psi.ppms.DriverChannel
-.description = voltage channel 1
+description = voltage channel 1
-.no = 1
+no = 1
 value.unit = V
-.io = ppms
+io = ppms
 
 [v2]
 class = secop_psi.ppms.DriverChannel
-.description = voltage channel 2
+description = voltage channel 2
-.no = 2
+no = 2
 value.unit = V
-.io = ppms
+io = ppms
 
 [tv]
 class = secop_psi.ppms.UserChannel
-.description = VTI temperature
+description = VTI temperature
 enabled = 1
 value.unit = K
-.io = ppms
+io = ppms
 
 [ts]
 class = secop_psi.ppms.UserChannel
-.description = sample temperature
+description = sample temperature
 enabled = 1
 value.unit = K
-.io = ppms
+io = ppms
 
 [ppms]
 class = secop_psi.ppms.Main
-.description = the main and poller module
+description = the main and poller module
-.class_id = QD.MULTIVU.PPMS.1
+class_id = QD.MULTIVU.PPMS.1
-.visibility = 3
+visibility = 3
 pollinterval = 2

cfg/stick/ma10stick.cfg

@@ -10,7 +10,7 @@ service = stick
 
 [ts]
 class = secop_psi.sea.SeaReadable
-iodev = sea_stick
+io = sea_stick
 sea_object = tt
 json_file = ma10.config.json
 rel_paths = ts

secop_psi/phytron.py

@@ -20,11 +20,13 @@
 #
 # *****************************************************************************
 
-"""driver for pythron motors"""
+"""driver for phytron motors"""
 
 from secop.core import Done, Command, EnumType, FloatRange, IntRange, \
-    HasIO, Parameter, Property, Drivable, PersistentMixin, PersistentParam, StringIO, StringType
+    HasIO, Parameter, Property, Drivable, PersistentMixin, PersistentParam, \
-from secop.errors import CommunicationFailedError, HardwareError
+    StringIO, StringType, TupleOf
+from secop.errors import CommunicationFailedError, HardwareError, BadValueError
+from secop.lib import clamp
 
 
 class PhytronIO(StringIO):
@@ -60,18 +62,29 @@ class Motor(PersistentMixin, HasIO, Drivable):
     speed = Parameter('', FloatRange(0, 20, unit='deg/s'), readonly=False)
     accel = Parameter('', FloatRange(2, 250, unit='deg/s/s'), readonly=False)
     encoder_tolerance = Parameter('', FloatRange(unit='deg'), readonly=False, default=0.01)
-    zero = PersistentParam('', FloatRange(unit='deg'), readonly=False, default=0)
+    offset = PersistentParam('', FloatRange(unit='deg'), readonly=False, default=0)
+    sign = PersistentParam('', IntRange(-1,1), readonly=False, default=1)
     encoder = Parameter('encoder reading', FloatRange(unit='deg'))
     sameside_offset = Parameter('offset when always approaching from the same side',
                                 FloatRange(unit='deg'), readonly=False, default=0)
+    abslimits = Parameter('abs limits (raw values)', default=(0, 0),
+                          datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
+    userlimits = PersistentParam('user limits', readonly=False, default=(0, 0), initwrite=True,
+                                 datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
 
     ioClass = PhytronIO
     fast_poll = 0.1
     _sameside_pending = False
     _mismatch_count = 0
+    _rawlimits = None
 
     def earlyInit(self):
         super().earlyInit()
+        if self.abslimits == (0, 0):
+            self.abslimits = -9e99, 9e99
+        if self.userlimits == (0, 0):
+            self._rawlimits = self.abslimits
+            self.read_userlimits()
         self.loadParameters()
 
     def get(self, cmd):
@@ -86,7 +99,7 @@ class Motor(PersistentMixin, HasIO, Drivable):
 
     def read_value(self):
         prev_enc = self.encoder
-        pos = float(self.get('P20R')) + self.zero
+        pos = float(self.get('P20R')) * self.sign - self.offset
         if self.encoder_mode != 'NO':
             enc = self.read_encoder()
         else:
@@ -111,7 +124,7 @@ class Motor(PersistentMixin, HasIO, Drivable):
         else:
             if self._sameside_pending:
                 # drive to real target
-                self.set('A', self.target - self.zero)
+                self.set('A', self.sign * (self.target + self.offset))
                 self._sameside_pending = False
                 return pos
             if (self.encoder_mode == 'CHECK' and
@@ -131,7 +144,7 @@ class Motor(PersistentMixin, HasIO, Drivable):
     def read_encoder(self):
         if self.encoder_mode == 'NO':
             return self.value
-        return float(self.get('P22R')) + self.zero
+        return float(self.get('P22R')) * self.sign - self.offset
 
     def read_speed(self):
         return float(self.get('P14R')) / self.speed_factor
@@ -150,22 +163,42 @@ class Motor(PersistentMixin, HasIO, Drivable):
             raise HardwareError('speed factor does not match')
         return float(self.set_get('P15S', int(value * self.speed_factor), 'P15R')) / self.speed_factor
 
+    def _check_limits(self, *values):
+        for name, (mn, mx) in ('user', self._rawlimits), ('abs', self.abslimits):
+            mn -= self.offset
+            mx -= self.offset
+            for v in values:
+                if not (mn <= v <= mx):
+                    raise BadValueError('%s limits violation: %g <= %g <= %g' % (name, mn, v, mx))
+                v += self.offset
+
     def write_target(self, value):
         if self.status[0] == self.Status.ERROR:
             raise HardwareError('need reset')
         self.status = self.Status.BUSY, 'changed target'
+        self._check_limits(value, value + self.sameside_offset)
         if self.sameside_offset:
             # drive first to target + sameside_offset
             # we do not optimize when already driving from the right side
             self._sameside_pending = True
-            self.set('A', value - self.zero + self.sameside_offset)
+            self.set('A', self.sign * (value + self.offset + self.sameside_offset))
         else:
-            self.set('A', value - self.zero)
+            self.set('A', self.sign * (value + self.offset))
         self.setFastPoll(True, self.fast_poll)
         return value
 
-    def write_zero(self, value):
+    def read_userlimits(self):
-        self.zero = value
+        return self._rawlimits[0] - self.offset, self._rawlimits[1] - self.offset
+
+    def write_userlimits(self, value):
+        self._rawlimits = [clamp(self.abslimits[0], v + self.offset, self.abslimits[1]) for v in value]
+        value = self.read_userlimits()
+        self.saveParameters()
+        return value
+
+    def write_offset(self, value):
+        self.offset = value
+        self.read_userlimits()
         self.saveParameters()
         return Done
 
@@ -177,16 +210,17 @@ class Motor(PersistentMixin, HasIO, Drivable):
         """reset error, set position to encoder"""
         self.read_value()
         if self.status[0] == self.Status.ERROR:
-            enc = self.encoder - self.zero
+            enc = self.encoder + self.offset
-            pos = self.value - self.zero
+            pos = self.value + self.offset
             if abs(enc - pos) > self.encoder_tolerance:
                 if enc < 0:
+                    # assume we have a rotation (not a linear motor)
                     while enc < 0:
-                        self.zero -= 360
+                        self.offset += 360
                         enc += 360
-                    self.set('P22S', enc)
+                    self.set('P22S', enc * self.sign)
                     self.saveParameters()
-                self.set('P20S', enc)  # set pos to encoder
+                self.set('P20S', enc * self.sign)  # set pos to encoder
             self.read_value()
         # self.status = self.Status.IDLE, ''
 

secop_psi/sea.py

@@ -163,7 +163,7 @@ class SeaClient(ProxyClient, Module):
         self._connect_thread = None
         mkthread(self._rxthread, started_callback)
 
-    def request(self, command):
+    def request(self, command, quiet=False):
         """send a request and wait for reply"""
         with self._write_lock:
             if not self.syncio or not self.syncio.connection:
@@ -181,7 +181,8 @@ class SeaClient(ProxyClient, Module):
                 print('connected to %s' % self.uri)
             self.syncio.flush_recv()
             # print('> %s' % command)
-            self.syncio.writeline(('fulltransact %s' % command).encode())
+            ft = 'fulltransAct' if quiet else 'fulltransact'
+            self.syncio.writeline(('%s %s' % (ft, command)).encode())
             result = None
             deadline = time.time() + 10
             while time.time() < deadline:
@@ -292,11 +293,11 @@ class SeaClient(ProxyClient, Module):
         return reply
 
     @Command(StringType(), result=StringType())
-    def query(self, cmd):
+    def query(self, cmd, quiet=False):
         """a request checking for errors and accepting 0 or 1 line as result"""
         errors = []
         reply = None
-        for line in self.request(cmd).split('\n'):
+        for line in self.request(cmd, quiet).split('\n'):
             if line.strip().startswith('ERROR:'):
                 errors.append(line[6:].strip())
             elif reply is None:
@@ -408,6 +409,7 @@ class SeaModule(Module):
             if issubclass(cls, SeaWritable):
                 if paramdesc.get('readonly', True):
                     raise ConfigError('%s/%s is not writable' % (sea_object, paramdesc['path']))
+                params.insert(0, paramdesc.copy())  # copy value
                 paramdesc['key'] = 'target'
                 paramdesc['readonly'] = False
             extra_module_set = ()
@@ -543,7 +545,7 @@ class SeaModule(Module):
             #     print('override %s.read_%s' % (cls.__name__, key))
 
             def rfunc(self, cmd='hval %s/%s' % (base, path)):
-                reply = self.io.query(cmd)
+                reply = self.io.query(cmd, True)
                 try:
                     reply = float(reply)
                 except ValueError: