[WIP] further work on CCU4
Change-Id: Icdd6e253f276a5ade44fb4103306160fc348556b
This commit is contained in:
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d3280474c3
commit
a6c86a5fe7
@ -10,7 +10,7 @@ rack = Rack(Mod)
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rack.lakeshore()
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rack.sensor('Ts', channel='C', calcurve='x186350')
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rack.loop('T', channel='B', calcurve='x174786', output_module='htr', target=10)
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rack.heater('htr', 1, '100W', 25)
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rack.heater('htr', output_no=1, max_heater='100W', resistance=25)
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rack.he()
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rack.n2()
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@ -186,9 +186,9 @@ class N2Level(Base, Readable):
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mode = Parameter('auto mode', EnumType(A), readonly=False, default=A.manual)
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threshold = Parameter('threshold triggering start/stop filling',
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FloatRange(unit='K'), readonly=False)
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FloatRange(unit='K'), readonly=False, default=90)
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cool_delay = Parameter('max. minutes needed to cool the lower sensor',
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FloatRange(unit='s'), readonly=False)
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FloatRange(unit='s'), readonly=False, default=30)
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fill_timeout = Parameter('max. minutes needed to fill',
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FloatRange(unit='s'), readonly=False)
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names = Property('''names of attached modules
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@ -288,6 +288,64 @@ class N2Level(Base, Readable):
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self.command(nc=0)
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class N2LevelGuess(N2Level):
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"""guess the current level from hold time"""
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value = Parameter('estimated level', FloatRange(unit='%'), default=20)
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fill_time = Parameter('min fill time - for raw level indicator',
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FloatRange(unit='s'), default=600)
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hold_time = Parameter('min hold time - for raw level indicator',
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FloatRange(unit='s'), default=24 * 3600)
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_full_since = None
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_empty_since = None
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_fill_state = '' # may also be 'empty', 'full' or 'unknown'
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_lower = 0
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_upper = 0
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def read_status(self):
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status = super().read_status()
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if status == (IDLE, ''):
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return IDLE, self._fill_state
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return status
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def read_value(self):
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# read sensors
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now = time.time()
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lower, upper = self.command(nl=float, nu=float)
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if self.lower:
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self.lower.value = lower
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if self.upper:
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self.upper.value = upper
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if upper < self.threshold:
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self._full_since = now
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if self._empty_since is not None:
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self.fill_time = now - self._empty_since
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self._empty_since = None
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self._fill_state = 'full'
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return 100
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if lower < self.threshold:
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if self._empty_since is None:
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if self._full_since is None:
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self._fill_state = 'unknown'
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return 20
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delay = now - self._full_since
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value = max(10, 100 * 1 - delay / self.hold_time)
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if value < 99:
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self._fill_state = ''
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return value
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delay = now - self._empty_since - self.cool_delay
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value = min(90, 100 * max(0, delay / self.fill_time))
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if value >= 10:
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self._fill_state = ''
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return value
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if self._full_since is not None:
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self.hold_time = now - self._full_since
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self._full_since = None
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self.log.info('lower %g upper %g threshold %g', lower, upper, self.threshold)
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self._empty_since = now
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self._fill_state = 'empty'
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return 0
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class HasFilter:
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__value1 = None
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__value = None
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@ -326,6 +384,8 @@ class NeedleValveFlow(HasStates, Base, Drivable):
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use_pressure = Parameter('flag (use pressure instead of flow meter)', BoolType(),
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readonly=False, default=False)
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lnm_per_mbar = Parameter('scale factor', FloatRange(unit='lnm/mbar'), readonly=False, default=0.6)
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pump_type = Parameter('pump type', EnumType(unknown=0, neodry=1, xds35=2, sv65=3),
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readonly=False, value=0)
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value = Parameter(unit='ln/min')
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target = Parameter(unit='ln/min')
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@ -338,10 +398,17 @@ class NeedleValveFlow(HasStates, Base, Drivable):
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deriv = Parameter('min progress time constant', FloatRange(unit='s'),
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default=30, readonly=False)
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control_active = Parameter('control active flag', BoolType(), readonly=False, default=1)
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min_open_pulse = Parameter('minimal open step', FloatRange(0, unit='s'), readonly=False, default=0.02)
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min_close_pulse = Parameter('minimal close step', FloatRange(0, unit='s'), readonly=False, default=0.0)
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min_open_pulse = Parameter('minimal open step', FloatRange(0, unit='s'),
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readonly=False, default=0.02)
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min_close_pulse = Parameter('minimal close step', FloatRange(0, unit='s'),
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readonly=False, default=0.0)
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flow_closed = Parameter('flow when needle valve is closed', FloatRange(unit='ln/min'),
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readonly=False, default=0.0)
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# raw_open_step = Parameter('step after direction change', FloatRange(unit='s'), readonly=False, default=0.12)
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# raw_close_step = Parameter('step after direction change', FloatRange(unit='s'), readonly=False, default=0.04)
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FLOW_SCALE = {'unknown': 1, 'neodry': 0.55, 'xds35': 0.6, 'sv65': 0.9}
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pollinterval = Parameter(datatype=FloatRange(1, unit='s'), default=5)
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_last_dirchange = 0
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_ref_time = 0
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@ -405,9 +472,11 @@ class NeedleValveFlow(HasStates, Base, Drivable):
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return False
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def write_target(self, value):
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self.log.info('change target')
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self.target = value
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self.start_machine(self.change_target)
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self.log.debug('change target')
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self.start_machine(self.change_target, target=value, try_close=True)
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def write_pump_type(self, value):
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self.pressure_scale = self.FLOW_SCALE[value.name]
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def write_prop_open(self, value):
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self._prop_open = Interpolation(value)
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@ -423,46 +492,32 @@ class NeedleValveFlow(HasStates, Base, Drivable):
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@status_code(BUSY)
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def change_target(self, sm):
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self.target = sm.target
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sm.last_progress = sm.now
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sm.ref_time = 0
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sm.ref_dif = 0
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sm.last_pulse_time = 0
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sm.no_progress_pulse = (0.1, -0.05)
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self.log.info('target %s value %s', self.target, self._value)
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if abs(self.target - self._value) < self._tolerance(self._value):
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self.log.info('go to at_target')
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self.log.debug('target %s value %s', self.target, self._value)
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tol = self._tolerance(self.target)
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if abs(self.target - self._value) < tol:
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self.log.debug('go to at_target')
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return self.at_target
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self.log.info('go to controlling')
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self.log.debug('go to controlling')
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return self.controlling
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def filtered(self, n=60, m=5, nsigma=2):
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"""return mean and tolerance, augmented by noise"""
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# TODO: better idea: use median over last minute and last value and treat them both
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n = len(self._last[-n:])
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mean = np.median(self._last[-m:])
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tol = self._tolerance(mean)
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span = 0
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if len(self._last) >= n + m:
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# get span over the last n points
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span = max(self._last[-n:]) - min(self._last[-n:])
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slope = mean - np.median(self._last[-n-m:-n])
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# in case there is a slope, subtract it
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tol = math.sqrt(tol ** 2 + max(0, span-abs(slope)) ** 2)
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self.log.info('filt %d %d %d %g %g', len(self._last), n, m, self._value, span)
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m = min(m, n)
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narr = np.array(self._last[-n:])
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mdif = np.median(np.abs(narr[1:-1] - 0.5 * (narr[:-2] + narr[2:])))
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return mean, tol
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def _dif_medians(self):
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return np.array([self.target - np.median(self._last[-m:]) for m in (1, 5, 12, 30, 60)])
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@status_code(BUSY)
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def controlling(self, sm):
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tol = self._tolerance(self.target)
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dif = np.array([self.target - np.median(self._last[-m:]) for m in (1,5,60)])
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dif = self._dif_medians()
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if sm.init:
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self.log.info('restart controlling')
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self.log.debug('restart controlling')
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direction = math.copysign(1, dif[1])
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if direction != self._dir:
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self.log.info('new dir %g dif=%g', direction, dif[1])
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self.log.debug('new dir %g dif=%g', direction, dif[1])
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self._dir = direction
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self._last_dirchange = sm.now
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sm.ref_dif = abs(dif[1])
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@ -474,17 +529,25 @@ class NeedleValveFlow(HasStates, Base, Drivable):
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if np.all(difdir < tol):
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if np.all(difdir < -tol):
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self.log.info('overshoot %r', dif)
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self.log.debug('overshoot %r', dif)
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return self.controlling
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# within tolerance
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self.log.info('at target %r tol %g', dif, tol)
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return self.at_target
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if not np.any(difdir < -tol):
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# within tolerance
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self.log.debug('at target %r tol %g', dif, tol)
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return self.at_target
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if np.all(difdir > expected_dif):
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# not enough progress
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if sm.now > sm.last_progress + self.deriv:
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lim = self.flow_closed + 0.5
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if sm.try_close and self._value <= lim - tol and self.target >= lim + tol:
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sm.try_close = False
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self.command(mp=-60)
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sm.after_close = self.open_until_flow_increase
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self.log.debug('go to closing / open_until_flow_increase')
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return self.closing
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if sm.no_progress_pulse:
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pulse = abs(sm.no_progress_pulse[self._dir < 0]) * self._dir
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self.log.info('not enough progress %g', pulse)
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self.log.debug('not enough progress %g %r', pulse, sm.try_close)
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self.pulse(pulse)
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sm.last_progress = sm.now
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if sm.now < sm.last_pulse_time + 2.5:
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@ -508,7 +571,7 @@ class NeedleValveFlow(HasStates, Base, Drivable):
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else:
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step = minstep * difd / tol
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step *= self._dir
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self.log.info('MP %g dif=%g tol=%g', step, difd * self._dir, tol)
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self.log.debug('MP %g dif=%g tol=%g', step, difd * self._dir, tol)
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self.command(mp=step)
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self._speed_sum += step
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return Retry
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@ -524,8 +587,9 @@ class NeedleValveFlow(HasStates, Base, Drivable):
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@status_code(IDLE)
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def at_target(self, sm):
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tol = self._tolerance(self.target)
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dif = np.array([self.target - np.median(self._last[-m:]) for m in (1,5,60)])
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dif = self._dif_medians()
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if np.all(dif > tol) or np.all(dif < -tol):
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self.log.debug('unstable %r %g', dif, tol)
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return self.unstable
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return Retry
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@ -542,7 +606,7 @@ class NeedleValveFlow(HasStates, Base, Drivable):
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"""close valve fully"""
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self.command(mp=-60)
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self.motor_state = self.command(fm=int)
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self.start_machine(self.closing, fast_poll=0.1)
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self.start_machine(self.closing, after_close=None, fast_poll=0.1)
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@status_code(BUSY)
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def closing(self, sm):
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@ -553,6 +617,8 @@ class NeedleValveFlow(HasStates, Base, Drivable):
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if self.motor_state == M.closing:
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return Retry
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if self.motor_state == M.closed:
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if sm.after_close:
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return sm.after_close
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return self.final_status(IDLE, 'closed')
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if sm.now < sm.start_time + 1:
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return Retry
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@ -580,14 +646,24 @@ class NeedleValveFlow(HasStates, Base, Drivable):
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return self.final_status(IDLE, 'fixed')
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@Command
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def lim_pulse(self):
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"""try to open until pressure increases"""
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p = self.command(f=float)
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self.start_machine(self.lim_open, threshold=0.5,
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prev=[p], ref=p, fast_poll=0.1, cnt=0)
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def close_test(self):
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"""close and then try to open until the flow starts to increase
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save a
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"""
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self.command(mp=-60)
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self.start_machine(self.closing, fast_poll=0.1, after_close=self.open_until_flow_increase, target=0)
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@status_code(BUSY)
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def lim_open(self, sm):
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def open_until_flow_increase(self, sm):
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if sm.init:
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p = self.command(f=float)
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sm.threshold = 0.5
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sm.prev = [p]
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sm.ref = p
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sm.cnt = 0
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sm.low_flow = 0
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self.read_motor_state()
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if self.motor_state == M.opening:
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return Retry
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@ -598,16 +674,20 @@ class NeedleValveFlow(HasStates, Base, Drivable):
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if press > sm.ref + 0.2:
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sm.cnt += 1
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if sm.cnt > 5 or press > sm.ref + 0.5:
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self.log.info('flow increased %g', press)
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return self.final_status(IDLE, 'flow increased')
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self.log.info('wait count %g', press)
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self.flow_closed = sm.low_flow
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self.log.debug('flow increased %g', press)
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if sm.target == 0:
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sm.target = sm.low_flow + 0.5
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return self.change_target
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self.log.debug('wait count %g', press)
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return Retry
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sm.low_flow = self.value
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sm.cnt = 0
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last5 = sm.prev[-5:]
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median = sorted(last5)[len(last5) // 2]
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if press > median:
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# avoid to pulse again after an even small increase
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self.log.info('wait %g', press)
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self.log.debug('wait %g', press)
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return Retry
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sm.ref = min(sm.prev[0], median)
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if measured:
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@ -616,10 +696,10 @@ class NeedleValveFlow(HasStates, Base, Drivable):
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sm.threshold = round(sm.threshold * 1.1, 2)
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elif measured > 0.3:
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sm.threshold = round(sm.threshold * 0.9, 2)
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self.log.info('measured %g new threshold %g press %g', measured, sm.threshold, press)
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self.log.debug('measured %g new threshold %g press %g', measured, sm.threshold, press)
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else:
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self._speed_sum += 1
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self.log.info('full pulse')
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self.log.debug('full pulse')
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sm.cnt = 0
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self.command(mft=sm.ref + sm.threshold, mp=1)
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return Retry
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@ -679,7 +759,7 @@ class NeedleValveFlow(HasStates, Base, Drivable):
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prevmin = min(sm.last)
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sm.last.append(v)
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del sm.last[:-n]
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self.log.info('unstable %g >? %g <? %g', v, prevmax, prevmin)
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self.log.debug('unstable %g >? %g <? %g', v, prevmax, prevmin)
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if v > prevmax + tol:
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return 1
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if v < prevmin - tol:
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@ -717,8 +797,6 @@ class NeedleValveFlow(HasStates, Base, Drivable):
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def auto_close(self, sm):
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if not self.is_stable(sm, 10, 0.01):
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return Retry
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self.log.info('before %g pulse %g, flowstep %g', sm.flow_before, sm.open_pulse, sm.last[-1] - sm.flow_before)
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self.log.debug('before %g pulse %g, flowstep %g', sm.flow_before, sm.open_pulse, sm.last[-1] - sm.flow_before)
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self.close()
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return self.final_status(IDLE, '')
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@ -30,16 +30,13 @@ class ValveMotor(Motor):
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class HePump(Writable):
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valvemotor = Attached(Motor)
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flow = Attached(NeedleValveFlow)
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valve = Attached(Writable)
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value = Parameter(datatype=BoolType())
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target = Parameter(datatype=BoolType())
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pump_type = Parameter('pump type', EnumType(no=0, neodry=1, xds35=2, sv65=3), readonly=False, default=0)
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pump_type = NeedleValveFlow.pump_type
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eco_mode = Parameter('eco mode', BoolType(), readonly=False)
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has_feedback = Parameter('feedback works', BoolType(), readonly=False, default=True)
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FLOW_SCALE = {'no': 0, 'neodry': 0.55, 'xds35': 0.6, 'sv65': 0.9}
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def write_target(self, value):
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self.valvemotor.write_output0(value)
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@ -51,9 +48,6 @@ class HePump(Writable):
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return not self.valvemotor.read_input3()
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return self.target
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def write_pump_type(self, value):
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self.flow.pressure_scale = self.FLOW_SCALE[value.name]
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def read_eco_mode(self):
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if self.pump_type == 'xds35':
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return self.valvemotor.read_output1()
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