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improved commandhandler

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- analyze_<group> returns now a dict
- change_<group> has no more values arguments.
  values may be read with change.readValues(), which leaves more
  freedom to the programmer, especially if the values do not need
  to be read before a change

Change-Id: I67b70302eaf9bbdac107df61123062fa133d501d
Reviewed-on: https://forge.frm2.tum.de/review/c/sine2020/secop/playground/+/22047
Tested-by: JenkinsCodeReview <bjoern_pedersen@frm2.tum.de>
Reviewed-by: Markus Zolliker <markus.zolliker@psi.ch>
This commit is contained in:
zolliker
2019-12-16 17:23:20 +01:00
parent fcad78a682
commit a876eba5f6
5 changed files with 213 additions and 219 deletions
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173
secop_psi/ppms.py
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@ -29,12 +29,6 @@ The PPMS hardware has some special requirements:
Polling of value and status is done commonly for all modules. For each registered module
<module>.update_value_status() is called in order to update their value and status.
Polling of module settings is using the same poller (secop.Poller is checking iodev).
Only the hidden (not exported) parameter 'settings' is polled, all the others are updated
by read_settings. The modules parameters related to the settings are updated only on change.
This allows for example for the field module to buffer ramp and approachmode until the
next target or persistent_mode change happens, because sending the common command for
settings and target would do a useless cycle of ramping up leads, heating switch etc.
"""
import time
@ -137,7 +131,6 @@ class PpmsMixin(HasIodev, Module):
pollerClass = Poller
enabled = True # default, if no parameter enable is defined
# STATUS_MAP = {} # a mapping converting ppms status codes into SECoP status values
_last_target_change = 0 # used by several modules
_last_settings = None # used by several modules
slow_pollfactor = 1
@ -150,22 +143,19 @@ class PpmsMixin(HasIodev, Module):
started_callback()
def read_value(self):
"""effective polling is done by the main module"""
if not self.enabled:
return Done
if self.parameters['value'].timestamp == 0:
# make sure that the value is read at least after init
self._iodev.read_data()
return self.value
"""polling is done by the main module
and PPMS does not deliver really more fresh values when polled more often
"""
return Done
def read_status(self):
"""effective polling is done by the main module"""
if not self.enabled:
return Done
if self.parameters['value'].timestamp == 0:
# make sure that the value is read at least after init
self._iodev.read_data()
return self.status
"""polling is done by the main module
and PPMS does not deliver really fresh status values anyway: the status is not
changed immediately after a target change!
"""
return Done
def update_value_status(self, value, packed_status):
"""update value and status
@ -239,11 +229,11 @@ class DriverChannel(Channel):
def analyze_drvout(self, no, current, powerlimit):
if self.no != no:
raise HardwareError('DRVOUT command: channel number in reply does not match')
self.current = current
self.powerlimit = powerlimit
return dict(current=current, powerlimit=powerlimit)
def change_drvout(self, new):
return new.current, new.powerlimit
def change_drvout(self, change):
self.readValues()
return change.current, change.powerlimit
class BridgeChannel(Channel):
@ -272,22 +262,23 @@ class BridgeChannel(Channel):
Override(visibility=3),
}
_settingnames = ['no', 'excitation', 'powerlimit', 'dcflag', 'readingmode', 'voltagelimit']
def analyze_bridge(self, no, excitation, powerlimit, dcflag, readingmode, voltagelimit):
if self.no != no:
raise HardwareError('DRVOUT command: channel number in reply does not match')
self.enabled = excitation != 0 and powerlimit != 0 and voltagelimit != 0
self.excitation = excitation or self.excitation
self.powerlimit = powerlimit or self.powerlimit
self.dcflag = dcflag
self.readingmode = readingmode
self.voltagelimit = voltagelimit or self.voltagelimit
return dict(
enabled=excitation != 0 and powerlimit != 0 and voltagelimit != 0,
excitation=excitation or self.excitation,
powerlimit=powerlimit or self.powerlimit,
dcflag=dcflag,
readingmode=readingmode,
voltagelimit=voltagelimit or self.voltagelimit,
)
def change_bridge(self, new):
if new.enabled:
return self.no, new.excitation, new.powerlimit, new.dcflag, new.readingmode, new.voltagelimit
return self.no, 0, 0, new.dcflag, new.readingmode, 0
def change_bridge(self, change):
self.readValues()
if change.enabled:
return self.no, change.excitation, change.powerlimit, change.dcflag, change.readingmode, change.voltagelimit
return self.no, 0, 0, change.dcflag, change.readingmode, 0
class Level(PpmsMixin, Readable):
@ -316,7 +307,7 @@ class Level(PpmsMixin, Readable):
self.status = [self.Status.IDLE, '']
else:
self.status = [self.Status.ERROR, 'old reading']
self.value = level
return dict(value = level)
class Chamber(PpmsMixin, Drivable):
@ -377,7 +368,6 @@ class Chamber(PpmsMixin, Drivable):
}
channel = 'chamber'
_settingnames = ['target']
def update_value_status(self, value, packed_status):
"""update value and status"""
@ -385,16 +375,16 @@ class Chamber(PpmsMixin, Drivable):
self.status = self.STATUS_MAP[self.value]
def analyze_chamber(self, target):
self.target = target
return dict(target=target)
def change_chamber(self, new):
def change_chamber(self, change):
"""write settings, combining <pname>=<value> and current attributes
and request updated settings
"""
if new.target == self.Operation.noop:
if change.target == self.Operation.noop:
return None
return (new.target,)
return (change.target,)
class Temp(PpmsMixin, Drivable):
@ -446,7 +436,7 @@ class Temp(PpmsMixin, Drivable):
STATUS_MAP = {
0: [Status.ERROR, 'unknown'],
1: [Status.IDLE, 'stable at target'],
2: [Status.RAMPING, 'changing'],
2: [Status.RAMPING, 'ramping'],
5: [Status.STABILIZING, 'within tolerance'],
6: [Status.STABILIZING, 'outside tolerance'],
10: [Status.WARN, 'standby'],
@ -456,7 +446,6 @@ class Temp(PpmsMixin, Drivable):
}
channel = 'temp'
_settingnames = ['target', 'ramp', 'approachmode']
_stopped = False
_expected_target = 0
_last_change = 0 # 0 means no target change is pending
@ -481,15 +470,13 @@ class Temp(PpmsMixin, Drivable):
self.status = [self.Status.IDLE, 'stopped(%s)' % status[1]]
return
if self._last_change: # there was a change, which is not yet confirmed by hw
if self.isDriving(status):
if now > self._last_change + 15 or status != self._status_before_change:
self._last_change = 0
self.log.debug('time needed to change to busy: %.3g', now - self._last_change)
if now > self._last_change + 5:
self._last_change = 0 # give up waiting for busy
elif self.isDriving(status) and status != self._status_before_change:
self.log.debug('time needed to change to busy: %.3g', now - self._last_change)
self._last_change = 0
else:
if now < self._last_change + 15:
status = [self.Status.BUSY, 'changed target while %s' % status[1]]
else:
status = [self.Status.WARN, 'temperature status (%r) does not change to BUSY' % status]
status = [self.Status.BUSY, 'changed target']
if self._expected_target:
# handle timeout
if self.isDriving(status):
@ -500,24 +487,23 @@ class Temp(PpmsMixin, Drivable):
self.status = status
def analyze_temp(self, target, ramp, approachmode):
if (target, ramp, approachmode) != self._last_settings:
if (target, ramp, approachmode) == self._last_settings:
# we update parameters only on change, as 'approachmode'
# is not always sent to the hardware
self._last_settings = target, ramp, approachmode
self.target = target
self.ramp =ramp
self.approachmode = approachmode
return {}
self._last_settings = target, ramp, approachmode
return dict(target=target, ramp=ramp, approachmode=approachmode)
def change_temp(self, new):
self.calc_expected(new.target, self.ramp)
return new.target, new.ramp, new.approachmode
def change_temp(self, change):
self.calc_expected(change.target, self.ramp)
return change.target, change.ramp, change.approachmode
def write_target(self, target):
self._stopped = False
if abs(self.target - self.value) < 2e-5 and target == self.target:
return None
self._status_before_change = self.status
self.status = [self.Status.BUSY, 'changed_target']
self.status = [self.Status.BUSY, 'changed target']
self._last_change = time.time()
return target
@ -623,31 +609,27 @@ class Field(PpmsMixin, Drivable):
status = [self.Status.PREPARING, 'ramping leads']
else:
status = [self.Status.WARN, 'timeout when ramping leads']
elif self.isDriving(status):
if now > self._last_change + 5 or status != self._status_before_change:
self._last_change = 0
self.log.debug('time needed to change to busy: %.3g', now - self._last_change)
elif now > self._last_change + 5:
self._last_change = 0 # give up waiting for driving
elif self.isDriving(status) and status != self._status_before_change:
self._last_change = 0
self.log.debug('time needed to change to busy: %.3g', now - self._last_change)
else:
if now < self._last_change + 5:
status = [self.Status.BUSY, 'changed target while %s' % status[1]]
else:
status = [self.Status.WARN, 'field status (%r) does not change to BUSY' % status]
status = [self.Status.BUSY, 'changed target']
self.status = status
def analyze_field(self, target, ramp, approachmode, persistentmode):
if (target, ramp, approachmode, persistentmode) != self._last_settings:
if (target, ramp, approachmode, persistentmode) == self._last_settings:
# we update parameters only on change, as 'ramp' and 'approachmode' are
# not always sent to the hardware
self._last_settings = target, ramp, approachmode, persistentmode
self.target = target * 1e-4
self.ramp = ramp * 6e-3
self.approachmode = approachmode
self.persistentmode = persistentmode
return {}
self._last_settings = target, ramp, approachmode, persistentmode
return dict(target=target * 1e-4, ramp=ramp * 6e-3, approachmode=approachmode,
persistentmode=persistentmode)
def change_field(self, new):
if 'target' in new or 'persistentmode' in new:
# changed target or persistentmode
if 'target' in new:
def change_field(self, change):
if change.doesInclude('target', 'persistentmode'):
if change.doesInclude('target'):
self._last_target = self.target # save for stop command
self._stopped = False
self._last_change = time.time()
@ -656,7 +638,7 @@ class Field(PpmsMixin, Drivable):
# changed ramp or approachmode
if not self.isDriving():
return None # nothing to be written, as this would trigger a ramp up of leads current
return new.target * 1e+4, new.ramp / 6e-3, new.approachmode, new.persistentmode
return change.target * 1e+4, change.ramp / 6e-3, change.approachmode, change.persistentmode
def do_stop(self):
if not self.isDriving():
@ -701,7 +683,6 @@ class Position(PpmsMixin, Drivable):
}
channel = 'position'
_settingnames = ['target', 'mode', 'speed']
_stopped = False
_last_target = 0
_last_change = 0 # means no target change is pending
@ -724,28 +705,26 @@ class Position(PpmsMixin, Drivable):
status = [self.Status.IDLE, 'stopped(%s)' % status[1]]
if self._last_change: # there was a change, which is not yet confirmed by hw
now = time.time()
if self.isDriving():
if now > self._last_change + 15 or status != self._status_before_change:
self._last_change = 0
self.log.debug('time needed to change to busy: %.3g', now - self._last_change)
if now > self._last_change + 5:
self._last_change = 0 # give up waiting for busy
elif self.isDriving() and status != self._status_before_change:
self._last_change = 0
self.log.debug('time needed to change to busy: %.3g', now - self._last_change)
else:
if now < self._last_change + 15:
status = [self.Status.BUSY, 'changed target while %s' % status[1]]
else:
status = [self.Status.WARN, 'temperature status (%r) does not change to BUSY' % status]
status = [self.Status.BUSY, 'changed target']
self.status = status
def analyze_move(self, target, mode, speed):
if (target, speed) != self._last_settings:
if (target, speed) == self._last_settings:
# we update parameters only on change, as 'speed' is
# not always sent to the hardware
self._last_settings = target, speed
self.target = target
self.speed = (15 - speed) * 0.8
return {}
self._last_settings = target, speed
return dict(target=target, speed=(15 - speed) * 0.8)
def change_move(self, new):
speed = int(round(min(14, max(0, 15 - new.speed / 0.8)), 0))
return new.target, 0, speed
def change_move(self, change):
speed = int(round(min(14, max(0, 15 - change.speed / 0.8)), 0))
return change.target, 0, speed
def write_target(self, target):
self._last_target = self.target # save for stop command