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

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This commit is contained in:
l_samenv 2022-05-19 18:10:14 +02:00
commit 7fc030191d
6 changed files with 106 additions and 68 deletions
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1
cfg/main/ma10.cfg
View File

@ -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

3
cfg/phytron.cfg
View File

@ -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

90
cfg/ppmssim.cfg
View File

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

2
cfg/stick/ma10stick.cfg
View File

@ -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

66
secop_psi/phytron.py
View File

@ -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
from secop.errors import CommunicationFailedError, HardwareError
HasIO, Parameter, Property, Drivable, PersistentMixin, PersistentParam, \
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):
self.zero = value
def read_userlimits(self):
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
pos = self.value - self.zero
enc = self.encoder + self.offset
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, ''

12
secop_psi/sea.py
View File

@ -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: