backport fixes from MLZ repo
- unification of secop.stringio/bytesio to secop.io - persistent parameters Change-Id: I76307cccc5191ac8cbb5cfec6fb7450fcf6945f1
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@ -1,90 +0,0 @@
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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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@ -36,5 +36,5 @@ from secop.params import Command, Parameter
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from secop.poller import AUTO, DYNAMIC, REGULAR, SLOW
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from secop.properties import Property
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from secop.proxy import Proxy, SecNode, proxy_class
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from secop.stringio import HasIodev, StringIO
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from secop.io import HasIodev, StringIO, BytesIO
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from secop.persistent import PersistentMixin, PersistentParam
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@ -233,7 +233,7 @@ class Parameter(Accessible):
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def copy(self):
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# deep copy, as datatype might be altered from config
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res = Parameter()
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res = type(self)()
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res.name = self.name
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res.init(self.propertyValues)
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res.datatype = res.datatype.copy()
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@ -363,7 +363,7 @@ class Command(Accessible):
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return self
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def copy(self):
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res = Command()
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res = type(self)()
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res.name = self.name
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res.func = self.func
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res.init(self.propertyValues)
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@ -24,15 +24,14 @@
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For hardware not keeping parameters persistent, we might want to store them in Frappy.
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The following example will make 'param1' and 'param2' persistent, i.e. whenever
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one of the parameters is changed, either by a change command or by access from
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an other interface to the hardware, it is saved to a file, and reloaded after
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one of the parameters is changed, either by a change command or when reading back
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from the hardware, it is saved to a file, and reloaded after
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a power down / power up cycle. In order to make this work properly, there is a
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mechanism needed to detect power down (i.e. a reading a hardware parameter
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taking a special value on power up).
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An additional use might be the example of a motor with cyclic reading of an
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encoder value, which looses the counts of how many turns already happened on
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power down.
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An additional use might be the example of a motor with an encoder which looses
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the counts of how many turns already happened on power down.
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This can be solved by comparing the loaded encoder value self.encoder with a
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fresh value from the hardware and then adjusting the zero point accordingly.
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@ -56,8 +55,6 @@ class MyClass(PersistentMixin, ...):
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import os
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import json
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from secop.errors import BadValueError, ConfigError, InternalError, \
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ProgrammingError, SECoPError, SilentError, secop_error
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from secop.lib import getGeneralConfig
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from secop.params import Parameter, Property, BoolType, Command
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from secop.modules import HasAccessibles
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@ -70,14 +67,15 @@ class PersistentParam(Parameter):
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class PersistentMixin(HasAccessibles):
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def __init__(self, *args, **kwds):
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super().__init__(*args, **kwds)
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# write=False: write will happen later
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persistentdir = os.path.join(getGeneralConfig()['logdir'], 'persistent')
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os.makedirs(persistentdir, exist_ok=True)
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self.persistentFile = os.path.join(persistentdir, '%s.%s.json' % (self.DISPATCHER.equipment_id, self.name))
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self.initData = {}
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for pname in self.parameters:
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pobj = self.parameters[pname]
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if not pobj.readonly and getattr(pobj, 'persistent', False):
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self.initData[pname] = pobj.value
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self.writeDict.update(self.loadParameters(write=False))
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print('initData', self.initData)
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def loadParameters(self, write=True):
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"""load persistent parameters
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@ -87,8 +85,6 @@ class PersistentMixin(HasAccessibles):
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is called upon startup and may be called from a module
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when a hardware powerdown is detected
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"""
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persistentdir = os.path.join(getGeneralConfig()['logdir'], 'persistent')
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self.persistentFile = os.path.join(persistentdir, '%s.%s.json' % (self.DISPATCHER.equipment_id, self.name))
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try:
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with open(self.persistentFile, 'r') as f:
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self.persistentData = json.load(f)
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@ -140,8 +136,7 @@ class PersistentMixin(HasAccessibles):
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except FileNotFoundError:
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pass
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@Command()
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def factory_reset(self):
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self.writeDict.update(self.initData)
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self.writeInitParams()
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self.writeDict.update(self.initData)
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self.writeInitParams()
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@ -27,7 +27,7 @@ import struct
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from math import log10
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from secop.core import BoolType, Command, EnumType, FloatRange, IntRange, \
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HasIodev, Parameter, Property, Drivable, TupleOf, Done, PersistentMixin, PersistentParam
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HasIodev, Parameter, Property, Drivable, PersistentMixin, PersistentParam
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from secop.bytesio import BytesIO
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from secop.errors import CommunicationFailedError, HardwareError, BadValueError, IsBusyError
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@ -77,10 +77,6 @@ class HwParam(PersistentParam):
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class Motor(PersistentMixin, HasIodev, Drivable):
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address = Property('module address', IntRange(0, 255), default=1)
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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', fmtstr='%.3f'))
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zero = PersistentParam('zero point', FloatRange(unit='$'), readonly=False, default=0)
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encoder = HwParam('encoder reading', FloatRange(unit='$', fmtstr='%.1f'),
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@ -121,7 +117,7 @@ class Motor(PersistentMixin, HasIodev, Drivable):
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baudrate = Parameter('_', EnumType({'%d' % v: i for i, v in enumerate(BAUDRATES)}),
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readonly=False, default=0, poll=True, visibility=3, group='more')
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pollinterval = Parameter(group='more')
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iodevClass = BytesIO
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fast_pollfactor = 0.001 # poll as fast as possible when busy
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@ -155,7 +151,7 @@ class Motor(PersistentMixin, HasIodev, Drivable):
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raise CommunicationFailedError('checksum error')
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except Exception as e:
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if itry == 1:
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raise
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raise
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exc = e
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continue
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break
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@ -208,7 +204,8 @@ class Motor(PersistentMixin, HasIodev, Drivable):
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adjusted_encoder = encoder_from_hw + round((self.encoder - encoder_from_hw) / 360.) * 360
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if abs(self.encoder - adjusted_encoder) >= self.encoder_tolerance:
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# encoder module0 360 has changed
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self.log.error('saved encoder value (%.2f) does not match reading (%.2f %.2f)', self.encoder, encoder_from_hw, adjusted_encoder)
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self.log.error('saved encoder value (%.2f) does not match reading (%.2f %.2f)',
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self.encoder, encoder_from_hw, adjusted_encoder)
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if adjusted_encoder != encoder_from_hw:
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self.log.info('take next closest encoder value (%.2f)' % adjusted_encoder)
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self._need_reset = True
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@ -252,7 +249,6 @@ class Motor(PersistentMixin, HasIodev, Drivable):
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self.log.error('encoder (%.2f) does not match internal pos (%.2f)', self.encoder, self.steppos)
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return self.Status.ERROR, 'encoder does not match internal pos'
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return self.status
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now = time.time()
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if oldpos != self.steppos or not (self.read_target_reached() or self.read_move_status()
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or self.read_error_bits()):
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return self.Status.BUSY, 'moving'
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@ -260,15 +256,6 @@ class Motor(PersistentMixin, HasIodev, Drivable):
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if abs(diff) <= self.tolerance:
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self._started = 0
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return self.Status.IDLE, ''
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#if (abs(self.target - self.steppos) < self.tolerance and
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# abs(self.encoder - self.steppos) < self.encoder_tolerance):
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# self._try_count += 1
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# if self._try_count < 3:
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# # occasionaly, two attempts are needed, as steppos and encoder might have been
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# # off by 1-2 full steps before moving
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# self.fix_steppos(self.tolerance, self.target)
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# self.log.warning('try move again')
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# return self.Status.BUSY, 'try again'
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self.log.error('out of tolerance by %.3g', diff)
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self._started = 0
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return self.Status.ERROR, 'out of tolerance'
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@ -286,9 +273,7 @@ class Motor(PersistentMixin, HasIodev, Drivable):
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self.status = self.Status.ERROR, 'encoder does not match internal pos'
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raise HardwareError('need reset (encoder does not match internal pos)')
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self.set('steppos', self.encoder - self.zero)
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# self.fix_steppos(self.encoder_tolerance)
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self._started = time.time()
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# self._try_count = 0
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self.log.info('move to %.1f', target)
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self.comm(MOVE, 0, (target - self.zero) / ANGLE_SCALE)
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self.status = self.Status.BUSY, 'changed target'
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