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redesign of the state machine

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With the current implementation, we run into a deadlock with the lock
from the state machine interfering with the accessLock on the module.
We can not wait for the state machine to finish while having the
accessLock locked by write_target. As a consequence, when restarting
the state machine we should not wait, but remember the state function
to call and postpone the restart after the cleanup has finished.
For this, we want to know the status before calling the state function.

- create HasState mixin, using doPoll for driving the machine
- StatusCode decorator for assigning a status to a state function
- remove the state machines 'threaded' option
- 'Retry' is now a unique value instead of a class. The retry period
  is determined by the (fast) poll interval.
- return 'Finish' instead of None for finishing the machine. returning
  None for state function is now an error, as this might happen
  easily inadvertently.

Change-Id: Icb31367442f10e98be69af3e05a84f12ce5cc966
This commit is contained in:
zolliker
2022-12-06 09:59:56 +01:00
parent d09634a55d
commit a14c282993
6 changed files with 573 additions and 265 deletions
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16
frappy_psi/motorvalve.py
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@ -126,7 +126,7 @@ class MotorValve(PersistentMixin, Drivable):
self.motor.stop()
self.status = ERROR, 'opening valve failed (home switch not released)'
return None
return Retry()
return Retry
motvalue = self.motor.read_value()
if abs(motvalue - self.turns * 360) < 5:
self.read_value() # value = opened, status = IDLE
@ -147,7 +147,7 @@ class MotorValve(PersistentMixin, Drivable):
if self.motor.isBusy():
if self.motor.home:
return self.find_closed
return Retry()
return Retry
motvalue = self.motor.read_value()
if abs(motvalue) > 5:
if state.count > 0:
@ -171,7 +171,7 @@ class MotorValve(PersistentMixin, Drivable):
if not self.motor.home:
self.motor.stop()
return None
return Retry()
return Retry
motvalue = self.motor.read_value()
if motvalue < -360:
self.read_value() # status -> error
@ -180,7 +180,7 @@ class MotorValve(PersistentMixin, Drivable):
# moved by more than 5 deg
state.prev = self.motor.value
self.motor.write_target(-360)
return Retry()
return Retry
if motvalue > 5:
self.status = ERROR, 'closing valve failed (zero not reached)'
return None
@ -216,7 +216,7 @@ class MotorValve(PersistentMixin, Drivable):
self.status = ERROR, 'ref run failed, can not find home switch'
return None
if not self.motor.home:
return Retry()
return Retry
self.motor.write_speed(self.lowspeed)
state.prev = self.motor.read_value()
self.motor.write_target(state.prev - 360)
@ -226,13 +226,13 @@ class MotorValve(PersistentMixin, Drivable):
def ref_released(self, state):
if self.motor.isBusy():
if self.motor.home:
return Retry()
return Retry
elif self.motor.read_home():
if state.count > 0:
state.count -= 1
self.log.info('home switch not released, try again')
self.motor.write_target(self.motor.target)
return Retry()
return Retry
self.status = ERROR, 'ref run failed, can not release home switch'
return None
return self.ref_home
@ -242,7 +242,7 @@ class MotorValve(PersistentMixin, Drivable):
if not self.motor.home:
self.motor.stop()
return None
return Retry()
return Retry
self.motor.set_zero(max(-50, (self.motor.read_value() - state.prev) * 0.5))
self.read_value() # check home button is valid
if abs(self.motor.target - self.motor.value) < 5: