Merge branch 'wip' of gitlab.psi.ch-samenv:samenv/frappy into wip
This commit is contained in:
commit
b10c722ff6
@ -31,7 +31,32 @@ from secop.errors import BadValueError, ConfigError
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from secop.lib import clamp
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# --- proposals, to be used at SINQ (not agreed as standard yet) ---
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class HasSimpleOffset(Feature):
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"""has a client side offset parameter
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this is just a storage!
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"""
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offset = PersistentParam('offset (physical value + offset = HW value)',
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FloatRange(unit='deg'), readonly=False, default=0)
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class HasTargetLimits(Feature):
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"""user limits
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implementation to be done in the subclass
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according to standard
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"""
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target_limits = PersistentParam('user limits', readonly=False, default=(-9e99, 9e99),
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datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
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def check_limits(self, value):
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"""check if value is valid"""
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min_, max_ = self.target_limits
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if not min_ <= value <= max_:
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raise BadValueError('limits violation: %g outside [%g, %g]' % (value, min_, max_))
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# --- legacy mixins, not agreed as standard ---
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class HasOffset(Feature):
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"""has an offset parameter
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@ -39,7 +64,7 @@ class HasOffset(Feature):
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implementation to be done in the subclass
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"""
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offset = PersistentParam('offset (physical value + offset = HW value)',
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FloatRange(unit='deg'), readonly=False, default=0)
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FloatRange(unit='$'), readonly=False, default=0)
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def write_offset(self, value):
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self.offset = value
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@ -62,9 +87,9 @@ class HasLimits(Feature):
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except for the offset
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"""
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abslimits = Property('abs limits (raw values)', default=(-9e99, 9e99), extname='abslimits', export=True,
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datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
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datatype=TupleOf(FloatRange(unit='$'), FloatRange(unit='$')))
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limits = PersistentParam('user limits', readonly=False, default=(-9e99, 9e99),
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datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
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datatype=TupleOf(FloatRange(unit='$'), FloatRange(unit='$')))
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_limits = None
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def apply_offset(self, sign, *values):
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@ -110,138 +135,3 @@ class HasLimits(Feature):
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if not min_ <= value <= max_:
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raise BadValueError('limits violation: %g outside [%g, %g]' % (value, min_, max_))
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# --- not used, not tested yet ---
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class HAS_PID(Feature):
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# note: implementors should either use p,i,d or pid, but ECS must be handle both cases
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# note: if both p,i,d and pid are implemented, it MUST NOT matter which one gets a change, the final result should be the same
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# note: if there are additional custom accessibles with the same name as an element of the struct, the above applies
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# note: (i would still but them in the same group, though)
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# note: if extra elements are implemented in the pid struct they MUST BE
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# properly described in the description of the pid Parameter
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# parameters
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use_pid = Parameter('use the pid mode', datatype=EnumType(openloop=0, pid_control=1), )
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# pylint: disable=invalid-name
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p = Parameter('proportional part of the regulation', datatype=FloatRange(0), )
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i = Parameter('(optional) integral part', datatype=FloatRange(0), optional=True)
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d = Parameter('(optional) derivative part', datatype=FloatRange(0), optional=True)
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base_output = Parameter('(optional) minimum output value', datatype=FloatRange(0), optional=True)
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pid = Parameter('(optional) Struct of p,i,d, minimum output value',
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datatype=StructOf(p=FloatRange(0),
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i=FloatRange(0),
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d=FloatRange(0),
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base_output=FloatRange(0),
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), optional=True,
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) # note: struct may be extended with custom elements (names should be prefixed with '_')
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output = Parameter('(optional) output of pid-control', datatype=FloatRange(0), optional=True, readonly=False)
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class Has_PIDTable(HAS_PID):
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# parameters
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use_pidtable = Parameter('use the zoning mode', datatype=EnumType(fixed_pid=0, zone_mode=1))
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pidtable = Parameter('Table of pid-values vs. target temperature', datatype=ArrayOf(TupleOf(FloatRange(0),
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StructOf(p=FloatRange(0),
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i=FloatRange(0),
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d=FloatRange(0),
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_heater_range=FloatRange(0),
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_base_output=FloatRange(0),),),), optional=True) # struct may include 'heaterrange'
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class HAS_Persistent(Feature):
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#extra_Status {
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# 'decoupled' : Status.IDLE+1, # to be discussed.
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# 'coupling' : Status.BUSY+1, # to be discussed.
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# 'coupled' : Status.BUSY+2, # to be discussed.
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# 'decoupling' : Status.BUSY+3, # to be discussed.
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#}
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# parameters
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persistent_mode = Parameter('Use persistent mode',
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datatype=EnumType(off=0,on=1),
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default=0, readonly=False)
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is_persistent = Parameter('current state of persistence',
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datatype=BoolType(), optional=True)
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# stored_value = Parameter('current persistence value, often used as the modules value',
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# datatype='main', unit='$', optional=True)
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# driven_value = Parameter('driven value (outside value, syncs with stored_value if non-persistent)',
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# datatype='main', unit='$' )
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class HAS_Tolerance(Feature):
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# detects IDLE status by checking if the value lies in a given window:
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# tolerance is the maximum allowed deviation from target, value must lie in this interval
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# for at least ´timewindow´ seconds.
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# parameters
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tolerance = Parameter('Half height of the Window',
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datatype=FloatRange(0), default=1, unit='$')
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timewindow = Parameter('Length of the timewindow to check',
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datatype=FloatRange(0), default=30, unit='s',
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optional=True)
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class HAS_Timeout(Feature):
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# parameters
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timeout = Parameter('timeout for movement',
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datatype=FloatRange(0), default=0, unit='s')
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class HAS_Pause(Feature):
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# just a proposal, can't agree on it....
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@Command(argument=None, result=None)
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def pause(self):
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"""pauses movement"""
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@Command(argument=None, result=None)
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def go(self):
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"""continues movement or start a new one if target was change since the last pause"""
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class HAS_Ramp(Feature):
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# parameters
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ramp =Parameter('speed of movement', unit='$/min',
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datatype=FloatRange(0))
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use_ramp = Parameter('use the ramping of the setpoint, or jump',
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datatype=EnumType(disable_ramp=0, use_ramp=1),
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optional=True)
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setpoint = Parameter('currently active setpoint',
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datatype=FloatRange(0), unit='$',
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readonly=True, )
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class HAS_Speed(Feature):
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# parameters
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speed = Parameter('(maximum) speed of movement (of the main value)',
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unit='$/s', datatype=FloatRange(0))
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class HAS_Accel(HAS_Speed):
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# parameters
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accel = Parameter('acceleration of movement', unit='$/s^2',
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datatype=FloatRange(0))
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decel = Parameter('deceleration of movement', unit='$/s^2',
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datatype=FloatRange(0), optional=True)
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class HAS_MotorCurrents(Feature):
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# parameters
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movecurrent = Parameter('Current while moving',
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datatype=FloatRange(0))
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idlecurrent = Parameter('Current while idle',
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datatype=FloatRange(0), optional=True)
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class HAS_Curve(Feature):
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# proposed, not yet agreed upon!
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# parameters
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curve = Parameter('Calibration curve', datatype=StringType(), default='<unset>')
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@ -722,7 +722,10 @@ class Module(HasAccessibles):
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for mobj in modules:
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pinfo = mobj.pollInfo
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if now > pinfo.last_main + pinfo.interval:
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pinfo.last_main = (now // pinfo.interval) * pinfo.interval
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if pinfo.interval:
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pinfo.last_main = (now // pinfo.interval) * pinfo.interval
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else:
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pinfo.last_main = now
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mobj.callPollFunc(mobj.doPoll)
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now = time.time()
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# find ONE due slow poll and call it
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264
secop_psi/attocube.py
Normal file
264
secop_psi/attocube.py
Normal file
@ -0,0 +1,264 @@
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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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import sys
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import time
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from secop.core import Drivable, Parameter, Command, Property, ERROR, WARN, BUSY, IDLE, Done, nopoll
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from secop.features import HasTargetLimits, HasSimpleOffset
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from secop.datatypes import IntRange, FloatRange, StringType, BoolType
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from secop.errors import ConfigError, BadValueError
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sys.path.append('/home/l_samenv/Documents/anc350/Linux64/userlib/lib')
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from PyANC350v4 import Positioner
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DIRECTION_NAME = {1: 'forward', -1: 'backward'}
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class FreezeStatus:
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"""freeze status for some time
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hardware quite often does not treat status correctly: on a target change it
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may take some time to return the 'busy' status correctly.
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in classes with this mixin, within :meth:`write_target` call
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self.freeze_status(0.5, BUSY, 'changed target')
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a wrapper around read_status will take care that the status will be the given value,
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for at least the given delay. This does NOT cover the case when self.status is set
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directly from an other method.
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"""
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__freeze_status_until = 0
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def __init_subclass__(cls):
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def wrapped(self, inner=cls.read_status):
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if time.time() < self.__freeze_status_until:
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return Done
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return inner(self)
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cls.read_status = wrapped
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super().__init_subclass__()
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def freeze_status(self, delay, code=BUSY, text='changed target'):
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"""freezze status to the given value for the given delay"""
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self.__freeze_status_until = time.time() + delay
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self.status = code, text
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class Axis(HasTargetLimits, FreezeStatus, Drivable):
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axis = Property('axis number', IntRange(0, 2), 0)
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value = Parameter('axis position', FloatRange(unit='deg'))
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frequency = Parameter('frequency', FloatRange(1, unit='Hz'), readonly=False)
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amplitude = Parameter('amplitude', FloatRange(0, unit='V'), readonly=False)
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gear = Parameter('gear factor', FloatRange(), readonly=False, default=1, initwrite=True)
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tolerance = Parameter('positioning tolerance', FloatRange(0, unit='$'), readonly=False, default=0.01)
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output = Parameter('enable output', BoolType(), readonly=False)
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info = Parameter('axis info', StringType())
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statusbits = Parameter('status bits', StringType())
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_hw = Positioner()
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_scale = 1 # scale for custom units
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_move_steps = 0 # number of steps to move (used by move command)
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SCALES = {'deg': 1, 'm': 1, 'mm': 1000, 'um': 1000000, 'µm': 1000000}
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_direction = 1 # move direction
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_idle_status = IDLE, ''
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_error_state = '' # empty string: no error
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_history = None
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_check_sensor = False
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_try_count = 0
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def __init__(self, name, logger, opts, srv):
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unit = opts.pop('unit', 'deg')
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opts['value.unit'] = unit
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try:
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self._scale = self.SCALES[unit] * opts.get('gear', 1)
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except KeyError as e:
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raise ConfigError('unsupported unit: %s' % unit)
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super().__init__(name, logger, opts, srv)
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def write_gear(self, value):
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self._scale = self.SCALES[self.parameters['value'].datatype.unit] * self.gear
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return value
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def startModule(self, start_events):
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super().startModule(start_events)
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start_events.queue(self.read_info)
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def check_value(self, value):
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"""check if value allows moving in current direction"""
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if self._direction > 0:
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if value > self.target_limits[1]:
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raise BadValueError('above upper limit')
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elif value < self.target_limits[0]:
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raise BadValueError('below lower limit')
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def read_value(self):
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pos = self._hw.getPosition(self.axis) * self._scale
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if self.isBusy():
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try:
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self.check_value(pos)
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except BadValueError as e:
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self._stop()
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self._idle_status = ERROR, str(e)
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return pos
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def read_frequency(self):
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return self._hw.getFrequency(self.axis)
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def write_frequency(self, value):
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self._hw.setFrequency(self.axis, value)
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return self._hw.getFrequency(self.axis)
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def read_amplitude(self):
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return self._hw.getAmplitude(self.axis)
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def write_amplitude(self, value):
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self._hw.setAmplitude(self.axis, value)
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return self._hw.getAmplitude(self.axis)
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def write_tolerance(self, value):
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self._hw.setTargetRange(self.axis, value / self._scale)
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return value
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def write_output(self, value):
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self._hw.setAxisOutput(self.axis, enable=value, autoDisable=0)
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return value
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def read_status(self):
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||||
statusbits = self._hw.getAxisStatus(self.axis)
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sensor, self.output, moving, attarget, eot_fwd, eot_bwd, sensor_error = statusbits
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self.statusbits = ''.join((k for k, v in zip('SOMTFBE', statusbits) if v))
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if self._move_steps:
|
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if not (eot_fwd or eot_bwd):
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return BUSY, 'moving by steps'
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if not sensor:
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self._error_state = 'no sensor connected'
|
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elif sensor_error:
|
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self._error_state = 'sensor error'
|
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elif eot_fwd:
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self._error_state = 'end of travel forward'
|
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elif eot_bwd:
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self._error_state = 'end of travel backward'
|
||||
else:
|
||||
if self._error_state and not DIRECTION_NAME[self._direction] in self._error_state:
|
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self._error_state = ''
|
||||
status_text = 'moving' if self._try_count == 0 else 'moving (retry %d)' % self._try_count
|
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if moving and self._history is not None: # history None: moving by steps
|
||||
self._history.append(self.value)
|
||||
if len(self._history) < 5:
|
||||
return BUSY, status_text
|
||||
beg = self._history.pop(0)
|
||||
if abs(beg - self.target) < self.tolerance:
|
||||
# reset normal tolerance
|
||||
self._stop()
|
||||
self._idle_status = IDLE, 'in tolerance'
|
||||
return self._idle_status
|
||||
# self._hw.setTargetRange(self.axis, self.tolerance / self._scale)
|
||||
if (self.value - beg) * self._direction > 0:
|
||||
return BUSY, status_text
|
||||
self._try_count += 1
|
||||
if self._try_count < 10:
|
||||
self.log.warn('no progress retry %d', self._try_count)
|
||||
return BUSY, status_text
|
||||
self._idle_status = WARN, 'no progress'
|
||||
if self._error_state:
|
||||
self._try_count += 1
|
||||
if self._try_count < 10 and self._history is not None:
|
||||
self.log.warn('end of travel retry %d', self._try_count)
|
||||
self.write_target(self.target)
|
||||
return Done
|
||||
self._idle_status = WARN, self._error_state
|
||||
if self.status[0] != IDLE:
|
||||
self._stop()
|
||||
return self._idle_status
|
||||
|
||||
def write_target(self, value):
|
||||
if value == self.read_value():
|
||||
return value
|
||||
self.check_limits(value)
|
||||
self._try_count = 0
|
||||
self._direction = 1 if value > self.value else -1
|
||||
# if self._error_state and DIRECTION_NAME[-self._direction] not in self._error_state:
|
||||
# raise BadValueError('can not move (%s)' % self._error_state)
|
||||
self._move_steps = 0
|
||||
self.write_output(1)
|
||||
# try first with 50 % of tolerance
|
||||
self._hw.setTargetRange(self.axis, self.tolerance * 0.5 / self._scale)
|
||||
for itry in range(5):
|
||||
try:
|
||||
self._hw.setTargetPosition(self.axis, value / self._scale)
|
||||
self._hw.startAutoMove(self.axis, enable=1, relative=0)
|
||||
except Exception as e:
|
||||
if itry == 4:
|
||||
raise
|
||||
self.log.warn('%r', e)
|
||||
self._history = [self.value]
|
||||
self._idle_status = IDLE, ''
|
||||
self.freeze_status(1, BUSY, 'changed target')
|
||||
self.setFastPoll(True, 1)
|
||||
return value
|
||||
|
||||
def doPoll(self):
|
||||
if self._move_steps == 0:
|
||||
super().doPoll()
|
||||
return
|
||||
self._hw.startSingleStep(self.axis, self._direction < 0)
|
||||
self._move_steps -= self._direction
|
||||
if self._move_steps % int(self.frequency) == 0: # poll value and status every second
|
||||
super().doPoll()
|
||||
|
||||
@nopoll
|
||||
def read_info(self):
|
||||
"""read info from controller"""
|
||||
cap = self._hw.measureCapacitance(self.axis) * 1e9
|
||||
axistype = ['linear', 'gonio', 'rotator'][self._hw.getActuatorType(self.axis)]
|
||||
return '%s %s %.3gnF' % (self._hw.getActuatorName(self.axis), axistype, cap)
|
||||
|
||||
def _stop(self):
|
||||
self._move_steps = 0
|
||||
self._history = None
|
||||
for _ in range(5):
|
||||
try:
|
||||
self._hw.startAutoMove(self.axis, enable=0, relative=0)
|
||||
break
|
||||
except Exception as e:
|
||||
if itry == 4:
|
||||
raise
|
||||
self.log.warn('%r', e)
|
||||
self._hw.setTargetRange(self.axis, self.tolerance / self._scale)
|
||||
self.setFastPoll(False)
|
||||
|
||||
@Command()
|
||||
def stop(self):
|
||||
self._idle_status = IDLE, 'stopped' if self.isBusy() else ''
|
||||
self._stop()
|
||||
self.status = self._idle_status
|
||||
|
||||
@Command(IntRange())
|
||||
def move(self, value):
|
||||
"""relative move by number of steps"""
|
||||
self._direction = 1 if value > 0 else -1
|
||||
self.check_value(self.value)
|
||||
self._history = None
|
||||
if DIRECTION_NAME[self._direction] in self._error_state:
|
||||
raise BadValueError('can not move (%s)' % self._error_state)
|
||||
self._move_steps = value
|
||||
self._idle_status = IDLE, ''
|
||||
self.read_status()
|
||||
self.setFastPoll(True, 1/self.frequency)
|
||||
Loading…
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Reference in New Issue
Block a user