Merge branch 'wip' of gitlab.psi.ch:samenv/frappy into wip
This commit is contained in:
l_samenv
commit
b1608c4d7f
52
cfg/main/flamp.cfg
Normal file
52
cfg/main/flamp.cfg
Normal file
@ -0,0 +1,52 @@
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|||||||
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[NODE]
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|
description = lamp oven control (from manuel knecht)
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id = flamp.config.sea.psi.ch
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||||||
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[sea_main]
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||||||
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class = secop_psi.sea.SeaClient
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||||||
|
description = main sea connection for flamp.config
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||||||
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config = flamp.config
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service = main
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||||||
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||||||
|
[tt]
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||||||
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class = secop_psi.sea.SeaDrivable
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||||||
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io = sea_main
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||||||
|
sea_object = tt
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||||||
|
rel_paths = . t1
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|
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[t2]
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||||||
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class = secop_psi.sea.SeaReadable
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||||||
|
io = sea_main
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||||||
|
sea_object = tt
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|
rel_paths = t2
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[current]
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class = secop_psi.sea.SeaReadable
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io = sea_main
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sea_object = current
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extra_modules = i1, i2, i3, i4
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[i1]
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|
class = secop_psi.sea.SeaReadable
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io = sea_main
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single_module = current.i1
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|
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|
[i2]
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|
class = secop_psi.sea.SeaReadable
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io = sea_main
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single_module = current.i2
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|
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|
[i3]
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|
class = secop_psi.sea.SeaReadable
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io = sea_main
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single_module = current.i3
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[i4]
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|
class = secop_psi.sea.SeaReadable
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io = sea_main
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single_module = current.i4
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[pv]
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class = secop_psi.sea.SeaReadable
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io = sea_main
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|
sea_object = pv
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||||||
21
cfg/main/fs.cfg
Normal file
21
cfg/main/fs.cfg
Normal file
@ -0,0 +1,21 @@
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[NODE]
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description = small furnace
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id = fs.config.sea.psi.ch
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[sea_main]
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class = secop_psi.sea.SeaClient
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description = main sea connection for fs.config
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config = fs.config
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service = main
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[tt]
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class = secop_psi.sea.SeaDrivable
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io = sea_main
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sea_object = tt
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rel_paths = . tm
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[ts]
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class = secop_psi.sea.SeaDrivable
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io = sea_main
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sea_object = tt
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rel_paths = ts
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22
cfg/main/ft.cfg
Normal file
22
cfg/main/ft.cfg
Normal file
@ -0,0 +1,22 @@
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|
[NODE]
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|
description = FT tantalum furnace (1400 K)
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id = ft.config.sea.psi.ch
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[sea_main]
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class = secop_psi.sea.SeaClient
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description = main sea connection for fw.config
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config = ft.config
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service = main
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[ts]
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class = secop_psi.sea.SeaDrivable
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io = sea_main
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sea_object = tt
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rel_paths = . ts
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[t2]
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class = secop_psi.sea.SeaReadable
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io = sea_main
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sea_object = tt
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rel_paths = tm
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@ -68,5 +68,5 @@ description = stick rotation, typically used for omega
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class = secop_psi.phytron.Motor
|
class = secop_psi.phytron.Motor
|
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io = om_io
|
io = om_io
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sign = -1
|
sign = -1
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encoder_mode = CHECK
|
encoder_mode = READ
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80
cfg/sea/flamp.config.json
Normal file
80
cfg/sea/flamp.config.json
Normal file
@ -0,0 +1,80 @@
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|
{"tt": {"base": "/tt", "params": [
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|
{"path": "", "type": "float", "readonly": false, "cmd": "run tt", "description": "tt", "kids": 40},
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{"path": "send", "type": "text", "readonly": false, "cmd": "tt send", "visibility": 3},
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|
{"path": "status", "type": "text", "readonly": false, "cmd": "run tt", "visibility": 3},
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{"path": "is_running", "type": "int", "readonly": false, "cmd": "tt is_running", "visibility": 3},
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||||||
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{"path": "set", "type": "float", "readonly": false, "cmd": "tt set"},
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{"path": "target", "type": "float", "readonly": false, "cmd": "run tt"},
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{"path": "running", "type": "int", "readonly": false, "cmd": "run tt"},
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||||||
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{"path": "tolerance", "type": "float", "readonly": false, "cmd": "tt tolerance"},
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||||||
|
{"path": "maxwait", "type": "float", "readonly": false, "cmd": "tt maxwait"},
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||||||
|
{"path": "settle", "type": "float", "readonly": false, "cmd": "tt settle"},
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||||||
|
{"path": "log", "type": "text", "readonly": false, "cmd": "tt log", "visibility": 3, "kids": 4},
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{"path": "log/mean", "type": "float", "readonly": false, "cmd": "run tt", "visibility": 3},
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|
{"path": "log/m2", "type": "float", "readonly": false, "cmd": "run tt", "visibility": 3},
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|
{"path": "log/stddev", "type": "float", "readonly": false, "cmd": "run tt", "visibility": 3},
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{"path": "log/n", "type": "float", "readonly": false, "cmd": "run tt", "visibility": 3},
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{"path": "limit", "type": "float", "readonly": false, "cmd": "tt limit"},
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{"path": "t1", "type": "float", "readonly": false, "cmd": "run tt", "kids": 3},
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||||||
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{"path": "t1/raw", "type": "float", "readonly": false, "cmd": "run tt"},
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||||||
|
{"path": "t1/curve", "type": "text", "readonly": false, "cmd": "tt t1/curve", "kids": 1},
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||||||
|
{"path": "t1/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt t1/curve/points"},
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||||||
|
{"path": "t1/valid", "type": "bool", "readonly": false, "cmd": "run tt"},
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||||||
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{"path": "t2", "type": "float", "readonly": false, "cmd": "run tt", "kids": 3},
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||||||
|
{"path": "t2/raw", "type": "float", "readonly": false, "cmd": "run tt"},
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{"path": "t2/curve", "type": "text", "readonly": false, "cmd": "tt t2/curve", "kids": 1},
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{"path": "t2/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt t2/curve/points"},
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{"path": "t2/valid", "type": "bool", "readonly": false, "cmd": "run tt"},
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|
{"path": "t3", "type": "float", "readonly": false, "cmd": "run tt", "kids": 3},
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{"path": "t3/raw", "type": "float", "readonly": false, "cmd": "run tt"},
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||||||
|
{"path": "t3/curve", "type": "text", "readonly": false, "cmd": "tt t3/curve", "kids": 1},
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|
{"path": "t3/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt t3/curve/points"},
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||||||
|
{"path": "t3/valid", "type": "bool", "readonly": false, "cmd": "run tt"},
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{"path": "t4", "type": "float", "readonly": false, "cmd": "run tt", "kids": 3},
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{"path": "t4/raw", "type": "float", "readonly": false, "cmd": "run tt"},
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{"path": "t4/curve", "type": "text", "readonly": false, "cmd": "tt t4/curve", "kids": 1},
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||||||
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{"path": "t4/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt t4/curve/points"},
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{"path": "t4/valid", "type": "bool", "readonly": false, "cmd": "run tt"},
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{"path": "tref", "type": "float", "readonly": false, "cmd": "run tt"},
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{"path": "tout", "type": "float", "readonly": false, "cmd": "run tt"},
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{"path": "toutmax", "type": "float", "readonly": false, "cmd": "tt toutmax"},
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{"path": "toutmin", "type": "float", "readonly": false, "cmd": "tt toutmin"},
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{"path": "ctrlmode", "type": "enum", "enum": {"ok": 0, "off": 1, "illegal_channel": 2, "no_sensor": 3, "no_waterflow": 4, "bad_vacuum": 5, "tc_overflow": 6, "wall_T_overflow": 7}, "readonly": false, "cmd": "tt ctrlmode"},
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{"path": "ramp", "type": "float", "readonly": false, "cmd": "tt ramp"},
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{"path": "smooth", "type": "float", "readonly": false, "cmd": "tt smooth"},
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{"path": "prop", "type": "float", "readonly": false, "cmd": "tt prop", "description": "proportional gain for T slope control"},
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{"path": "int", "type": "float", "readonly": false, "cmd": "tt int", "description": "time constant for T slope control"},
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|
{"path": "powerset", "type": "float", "readonly": false, "cmd": "tt powerset"},
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{"path": "power", "type": "float", "readonly": false, "cmd": "run tt"},
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{"path": "resist", "type": "float", "readonly": false, "cmd": "run tt"},
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{"path": "maxpower", "type": "float", "readonly": false, "cmd": "tt maxpower"},
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{"path": "maxheater", "type": "float", "readonly": false, "cmd": "tt maxheater"},
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{"path": "output", "type": "float", "readonly": false, "cmd": "tt output"},
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{"path": "manualpower", "type": "bool", "readonly": false, "cmd": "tt manualpower"},
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{"path": "ctrlchan", "type": "int", "readonly": false, "cmd": "tt ctrlchan"},
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{"path": "interlock_state", "type": "enum", "enum": {"ok": 0, "no_waterflow": 1, "bad_vacuum": 2, "no_waterflow_bad_vacuum": 3}, "readonly": false, "cmd": "run tt"},
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{"path": "interlock_mask", "type": "enum", "enum": {"no_check": 0, "check_water_only": 1, "check_vacuum_only": 2, "check_all": 3}, "readonly": false, "cmd": "tt interlock_mask"},
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{"path": "sramp", "type": "float", "readonly": false, "cmd": "run tt"},
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{"path": "slope", "type": "float", "readonly": false, "cmd": "run tt"},
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{"path": "v_htr", "type": "float", "readonly": false, "cmd": "run tt"},
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{"path": "i_htr", "type": "float", "readonly": false, "cmd": "run tt"},
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||||||
|
{"path": "htr", "type": "float", "readonly": false, "cmd": "run tt"},
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{"path": "powerprop", "type": "float", "readonly": false, "cmd": "run tt"}]},
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|
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||||||
|
"current": {"base": "/current", "params": [
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||||||
|
{"path": "", "type": "float", "kids": 7},
|
||||||
|
{"path": "send", "type": "text", "readonly": false, "cmd": "current send", "visibility": 3},
|
||||||
|
{"path": "status", "type": "text", "visibility": 3},
|
||||||
|
{"path": "i1", "type": "float"},
|
||||||
|
{"path": "i2", "type": "float"},
|
||||||
|
{"path": "i3", "type": "float"},
|
||||||
|
{"path": "i4", "type": "float"},
|
||||||
|
{"path": "ib", "type": "float"}]},
|
||||||
|
|
||||||
|
"pv": {"base": "/pv", "params": [
|
||||||
|
{"path": "", "type": "float", "kids": 5},
|
||||||
|
{"path": "send", "type": "text", "readonly": false, "cmd": "pv send", "visibility": 3},
|
||||||
|
{"path": "status", "type": "text", "visibility": 3},
|
||||||
|
{"path": "sp1", "type": "text"},
|
||||||
|
{"path": "sp2", "type": "text"},
|
||||||
|
{"path": "sps", "type": "text"}]}}
|
||||||
160
cfg/sea/fs.config.json
Normal file
160
cfg/sea/fs.config.json
Normal file
@ -0,0 +1,160 @@
|
|||||||
|
{"tt": {"base": "/tt", "params": [
|
||||||
|
{"path": "", "type": "float", "readonly": false, "cmd": "run tt", "description": "tt", "kids": 18},
|
||||||
|
{"path": "send", "type": "text", "readonly": false, "cmd": "tt send", "visibility": 3},
|
||||||
|
{"path": "status", "type": "text", "visibility": 3},
|
||||||
|
{"path": "is_running", "type": "int", "readonly": false, "cmd": "tt is_running", "visibility": 3},
|
||||||
|
{"path": "mainloop", "type": "text", "readonly": false, "cmd": "tt mainloop", "visibility": 3},
|
||||||
|
{"path": "target", "type": "float"},
|
||||||
|
{"path": "running", "type": "int"},
|
||||||
|
{"path": "tolerance", "type": "float", "readonly": false, "cmd": "tt tolerance"},
|
||||||
|
{"path": "maxwait", "type": "float", "readonly": false, "cmd": "tt maxwait"},
|
||||||
|
{"path": "settle", "type": "float", "readonly": false, "cmd": "tt settle"},
|
||||||
|
{"path": "log", "type": "text", "readonly": false, "cmd": "tt log", "visibility": 3, "kids": 4},
|
||||||
|
{"path": "log/mean", "type": "float", "visibility": 3},
|
||||||
|
{"path": "log/m2", "type": "float", "visibility": 3},
|
||||||
|
{"path": "log/stddev", "type": "float", "visibility": 3},
|
||||||
|
{"path": "log/n", "type": "float", "visibility": 3},
|
||||||
|
{"path": "dblctrl", "type": "bool", "readonly": false, "cmd": "tt dblctrl", "kids": 9},
|
||||||
|
{"path": "dblctrl/tshift", "type": "float", "readonly": false, "cmd": "tt dblctrl/tshift"},
|
||||||
|
{"path": "dblctrl/mode", "type": "enum", "enum": {"disabled": -1, "inactive": 0, "stable": 1, "up": 2, "down": 3}, "readonly": false, "cmd": "tt dblctrl/mode"},
|
||||||
|
{"path": "dblctrl/shift_up", "type": "float"},
|
||||||
|
{"path": "dblctrl/shift_lo", "type": "float"},
|
||||||
|
{"path": "dblctrl/t_min", "type": "float"},
|
||||||
|
{"path": "dblctrl/t_max", "type": "float"},
|
||||||
|
{"path": "dblctrl/int2", "type": "float", "readonly": false, "cmd": "tt dblctrl/int2"},
|
||||||
|
{"path": "dblctrl/prop_up", "type": "float", "readonly": false, "cmd": "tt dblctrl/prop_up"},
|
||||||
|
{"path": "dblctrl/prop_lo", "type": "float", "readonly": false, "cmd": "tt dblctrl/prop_lo"},
|
||||||
|
{"path": "ts", "type": "float", "kids": 4},
|
||||||
|
{"path": "ts/curve", "type": "text", "readonly": false, "cmd": "tt ts/curve", "kids": 1},
|
||||||
|
{"path": "ts/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt ts/curve/points", "visibility": 3},
|
||||||
|
{"path": "ts/alarm", "type": "float", "readonly": false, "cmd": "tt ts/alarm"},
|
||||||
|
{"path": "ts/stddev", "type": "float"},
|
||||||
|
{"path": "ts/raw", "type": "float"},
|
||||||
|
{"path": "tm", "type": "float", "kids": 4},
|
||||||
|
{"path": "tm/curve", "type": "text", "readonly": false, "cmd": "tt tm/curve", "kids": 1},
|
||||||
|
{"path": "tm/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt tm/curve/points", "visibility": 3},
|
||||||
|
{"path": "tm/alarm", "type": "float", "readonly": false, "cmd": "tt tm/alarm"},
|
||||||
|
{"path": "tm/stddev", "type": "float"},
|
||||||
|
{"path": "tm/raw", "type": "float"},
|
||||||
|
{"path": "set", "type": "float", "readonly": false, "cmd": "tt set", "kids": 18},
|
||||||
|
{"path": "set/mode", "type": "enum", "enum": {"disabled": -1, "off": 0, "controlling": 1, "manual": 2}, "readonly": false, "cmd": "tt set/mode"},
|
||||||
|
{"path": "set/reg", "type": "float"},
|
||||||
|
{"path": "set/ramp", "type": "float", "readonly": false, "cmd": "tt set/ramp", "description": "maximum ramp in K/min (0: ramp off)"},
|
||||||
|
{"path": "set/wramp", "type": "float", "readonly": false, "cmd": "tt set/wramp"},
|
||||||
|
{"path": "set/smooth", "type": "float", "readonly": false, "cmd": "tt set/smooth", "description": "smooth time (minutes)"},
|
||||||
|
{"path": "set/channel", "type": "text", "readonly": false, "cmd": "tt set/channel"},
|
||||||
|
{"path": "set/limit", "type": "float", "readonly": false, "cmd": "tt set/limit"},
|
||||||
|
{"path": "set/resist", "type": "float", "readonly": false, "cmd": "tt set/resist"},
|
||||||
|
{"path": "set/maxheater", "type": "text", "readonly": false, "cmd": "tt set/maxheater", "description": "maximum heater limit, units should be given without space: W, mW, A, mA"},
|
||||||
|
{"path": "set/linearpower", "type": "float", "readonly": false, "cmd": "tt set/linearpower", "description": "when not 0, it is the maximum effective power, and the power is linear to the heater output"},
|
||||||
|
{"path": "set/maxpowerlim", "type": "float", "description": "the maximum power limit (before any booster or converter)"},
|
||||||
|
{"path": "set/maxpower", "type": "float", "readonly": false, "cmd": "tt set/maxpower", "description": "maximum power [W]"},
|
||||||
|
{"path": "set/maxcurrent", "type": "float", "description": "the maximum current before any booster or converter"},
|
||||||
|
{"path": "set/manualpower", "type": "float", "readonly": false, "cmd": "tt set/manualpower"},
|
||||||
|
{"path": "set/power", "type": "float"},
|
||||||
|
{"path": "set/prop", "type": "float", "readonly": false, "cmd": "tt set/prop", "description": "bigger means more gain"},
|
||||||
|
{"path": "set/integ", "type": "float", "readonly": false, "cmd": "tt set/integ", "description": "bigger means faster"},
|
||||||
|
{"path": "set/deriv", "type": "float", "readonly": false, "cmd": "tt set/deriv"},
|
||||||
|
{"path": "display", "type": "text", "readonly": false, "cmd": "tt display"},
|
||||||
|
{"path": "dout", "type": "int", "readonly": false, "cmd": "tt dout"},
|
||||||
|
{"path": "dinp", "type": "int"},
|
||||||
|
{"path": "remote", "type": "bool"}]},
|
||||||
|
|
||||||
|
"cc": {"base": "/cc", "params": [
|
||||||
|
{"path": "", "type": "bool", "kids": 96},
|
||||||
|
{"path": "send", "type": "text", "readonly": false, "cmd": "cc send", "visibility": 3},
|
||||||
|
{"path": "status", "type": "text", "visibility": 3},
|
||||||
|
{"path": "autodevice", "type": "bool", "readonly": false, "cmd": "cc autodevice"},
|
||||||
|
{"path": "fav", "type": "bool", "readonly": false, "cmd": "cc fav"},
|
||||||
|
{"path": "f", "type": "float", "visibility": 3},
|
||||||
|
{"path": "fs", "type": "enum", "enum": {"ok": 0, "no_sens": 1}, "readonly": false, "cmd": "cc fs", "visibility": 3},
|
||||||
|
{"path": "mav", "type": "bool", "readonly": false, "cmd": "cc mav"},
|
||||||
|
{"path": "fm", "type": "enum", "enum": {"idle": 0, "opening": 1, "closing": 2, "opened": 3, "closed": 4, "no_motor": 5}, "visibility": 3},
|
||||||
|
{"path": "fa", "type": "enum", "enum": {"fixed": 0, "controlled": 1, "automatic": 2, "offline": 3}, "readonly": false, "cmd": "cc fa", "visibility": 3},
|
||||||
|
{"path": "mp", "type": "float", "readonly": false, "cmd": "cc mp", "visibility": 3},
|
||||||
|
{"path": "msp", "type": "float", "visibility": 3},
|
||||||
|
{"path": "mmp", "type": "float", "visibility": 3},
|
||||||
|
{"path": "mc", "type": "float", "readonly": false, "cmd": "cc mc", "visibility": 3},
|
||||||
|
{"path": "mfc", "type": "float", "readonly": false, "cmd": "cc mfc", "visibility": 3},
|
||||||
|
{"path": "moc", "type": "float", "readonly": false, "cmd": "cc moc", "visibility": 3},
|
||||||
|
{"path": "mtc", "type": "float", "readonly": false, "cmd": "cc mtc", "visibility": 3},
|
||||||
|
{"path": "mtl", "type": "float", "visibility": 3},
|
||||||
|
{"path": "mft", "type": "float", "readonly": false, "cmd": "cc mft", "visibility": 3},
|
||||||
|
{"path": "mt", "type": "float", "visibility": 3},
|
||||||
|
{"path": "mo", "type": "float", "visibility": 3},
|
||||||
|
{"path": "mcr", "type": "float", "visibility": 3},
|
||||||
|
{"path": "mot", "type": "float", "visibility": 3},
|
||||||
|
{"path": "mw", "type": "float", "readonly": false, "cmd": "cc mw", "description": "correction pulse after automatic open", "visibility": 3},
|
||||||
|
{"path": "hav", "type": "bool", "readonly": false, "cmd": "cc hav"},
|
||||||
|
{"path": "h", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hr", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hc", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hu", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hh", "type": "float", "readonly": false, "cmd": "cc hh", "visibility": 3},
|
||||||
|
{"path": "hl", "type": "float", "readonly": false, "cmd": "cc hl", "visibility": 3},
|
||||||
|
{"path": "htf", "type": "float", "readonly": false, "cmd": "cc htf", "description": "meas. period in fast mode", "visibility": 3},
|
||||||
|
{"path": "hts", "type": "float", "readonly": false, "cmd": "cc hts", "description": "meas. period in slow mode", "visibility": 3},
|
||||||
|
{"path": "hd", "type": "float", "readonly": false, "cmd": "cc hd", "visibility": 3},
|
||||||
|
{"path": "hwr", "type": "float", "readonly": false, "cmd": "cc hwr", "visibility": 3},
|
||||||
|
{"path": "hem", "type": "float", "readonly": false, "cmd": "cc hem", "description": "sensor length in mm from top to empty pos.", "visibility": 3},
|
||||||
|
{"path": "hfu", "type": "float", "readonly": false, "cmd": "cc hfu", "description": "sensor length in mm from top to full pos.", "visibility": 3},
|
||||||
|
{"path": "hcd", "type": "enum", "enum": {"stop": 0, "fill": 1, "off": 2, "auto": 3, "manual": 7}, "readonly": false, "cmd": "cc hcd", "visibility": 3},
|
||||||
|
{"path": "hv", "type": "enum", "enum": {"fill_valve_off": 0, "filling": 1, "no_fill_valve": 2, "timeout": 3, "timeout1": 4}, "visibility": 3},
|
||||||
|
{"path": "hsf", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
|
||||||
|
{"path": "ha", "type": "bool", "readonly": false, "cmd": "cc ha", "visibility": 3},
|
||||||
|
{"path": "hm", "type": "bool", "visibility": 3},
|
||||||
|
{"path": "hf", "type": "enum", "enum": {"slow": 0, "fast": 1}, "readonly": false, "cmd": "cc hf", "visibility": 3},
|
||||||
|
{"path": "hbe", "type": "bool", "readonly": false, "cmd": "cc hbe", "visibility": 3},
|
||||||
|
{"path": "hmf", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hms", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hit", "type": "float", "readonly": false, "cmd": "cc hit", "visibility": 3},
|
||||||
|
{"path": "hft", "type": "int", "readonly": false, "cmd": "cc hft", "visibility": 3},
|
||||||
|
{"path": "hea", "type": "enum", "enum": {"0": 0, "1": 1, "6": 6}, "readonly": false, "cmd": "cc hea"},
|
||||||
|
{"path": "hch", "type": "int", "readonly": false, "cmd": "cc hch", "visibility": 3},
|
||||||
|
{"path": "hwr0", "type": "float", "readonly": false, "cmd": "cc hwr0", "visibility": 3},
|
||||||
|
{"path": "hem0", "type": "float", "readonly": false, "cmd": "cc hem0", "description": "sensor length in mm from top to empty pos.", "visibility": 3},
|
||||||
|
{"path": "hfu0", "type": "float", "readonly": false, "cmd": "cc hfu0", "description": "sensor length in mm from top to full pos.", "visibility": 3},
|
||||||
|
{"path": "hd0", "type": "float", "readonly": false, "cmd": "cc hd0", "description": "external sensor drive current (mA)", "visibility": 3},
|
||||||
|
{"path": "h0", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hs0", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
|
||||||
|
{"path": "h1", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hs1", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
|
||||||
|
{"path": "h2", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hs2", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
|
||||||
|
{"path": "h3", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hs3", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
|
||||||
|
{"path": "h4", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hs4", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
|
||||||
|
{"path": "h5", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hs5", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
|
||||||
|
{"path": "hfb", "type": "float", "visibility": 3},
|
||||||
|
{"path": "nav", "type": "bool", "readonly": false, "cmd": "cc nav"},
|
||||||
|
{"path": "nu", "type": "float", "visibility": 3},
|
||||||
|
{"path": "nl", "type": "float", "visibility": 3},
|
||||||
|
{"path": "nth", "type": "float", "readonly": false, "cmd": "cc nth", "visibility": 3},
|
||||||
|
{"path": "ntc", "type": "float", "readonly": false, "cmd": "cc ntc", "visibility": 3},
|
||||||
|
{"path": "ntm", "type": "float", "readonly": false, "cmd": "cc ntm", "visibility": 3},
|
||||||
|
{"path": "ns", "type": "enum", "enum": {"sens_ok": 0, "no_sens": 1, "short_circuit": 2, "upside_down": 3, "sens_warm": 4, "empty": 5}, "visibility": 3},
|
||||||
|
{"path": "na", "type": "bool", "readonly": false, "cmd": "cc na", "visibility": 3},
|
||||||
|
{"path": "nv", "type": "enum", "enum": {"fill_valve_off": 0, "filling": 1, "no_fill_valve": 2, "timeout": 3, "timeout1": 4, "boost": 5}, "visibility": 3},
|
||||||
|
{"path": "nc", "type": "enum", "enum": {"stop": 0, "fill": 1, "off": 2, "auto": 3}, "readonly": false, "cmd": "cc nc", "visibility": 3},
|
||||||
|
{"path": "nfb", "type": "float", "visibility": 3},
|
||||||
|
{"path": "cda", "type": "float"},
|
||||||
|
{"path": "cdb", "type": "float"},
|
||||||
|
{"path": "cba", "type": "float"},
|
||||||
|
{"path": "cbb", "type": "float"},
|
||||||
|
{"path": "cvs", "type": "int"},
|
||||||
|
{"path": "csp", "type": "int"},
|
||||||
|
{"path": "cdv", "type": "text", "readonly": false, "cmd": "cc cdv"},
|
||||||
|
{"path": "cic", "type": "text", "readonly": false, "cmd": "cc cic"},
|
||||||
|
{"path": "cin", "type": "text"},
|
||||||
|
{"path": "cds", "type": "enum", "enum": {"local": 0, "remote": 1, "loading": 2, "by_code": 3, "by_touch": 4}, "readonly": false, "cmd": "cc cds"},
|
||||||
|
{"path": "timing", "type": "bool", "readonly": false, "cmd": "cc timing"},
|
||||||
|
{"path": "tc", "type": "float", "visibility": 3},
|
||||||
|
{"path": "tn", "type": "float", "visibility": 3},
|
||||||
|
{"path": "th", "type": "float", "visibility": 3},
|
||||||
|
{"path": "tf", "type": "float", "visibility": 3},
|
||||||
|
{"path": "tm", "type": "float", "visibility": 3},
|
||||||
|
{"path": "tv", "type": "float", "visibility": 3},
|
||||||
|
{"path": "tq", "type": "float", "visibility": 3},
|
||||||
|
{"path": "bdl", "type": "float", "readonly": false, "cmd": "cc bdl"}]}}
|
||||||
183
cfg/sea/ft.config.json
Normal file
183
cfg/sea/ft.config.json
Normal file
@ -0,0 +1,183 @@
|
|||||||
|
{"tt": {"base": "/tt", "params": [
|
||||||
|
{"path": "", "type": "float", "readonly": false, "cmd": "run tt", "description": "tt", "kids": 20},
|
||||||
|
{"path": "send", "type": "text", "readonly": false, "cmd": "tt send", "visibility": 3},
|
||||||
|
{"path": "status", "type": "text", "visibility": 3},
|
||||||
|
{"path": "is_running", "type": "int", "readonly": false, "cmd": "tt is_running", "visibility": 3},
|
||||||
|
{"path": "mainloop", "type": "text", "readonly": false, "cmd": "tt mainloop", "visibility": 3},
|
||||||
|
{"path": "target", "type": "float"},
|
||||||
|
{"path": "running", "type": "int"},
|
||||||
|
{"path": "tolerance", "type": "float", "readonly": false, "cmd": "tt tolerance"},
|
||||||
|
{"path": "maxwait", "type": "float", "readonly": false, "cmd": "tt maxwait"},
|
||||||
|
{"path": "settle", "type": "float", "readonly": false, "cmd": "tt settle"},
|
||||||
|
{"path": "log", "type": "text", "readonly": false, "cmd": "tt log", "visibility": 3, "kids": 4},
|
||||||
|
{"path": "log/mean", "type": "float", "visibility": 3},
|
||||||
|
{"path": "log/m2", "type": "float", "visibility": 3},
|
||||||
|
{"path": "log/stddev", "type": "float", "visibility": 3},
|
||||||
|
{"path": "log/n", "type": "float", "visibility": 3},
|
||||||
|
{"path": "dblctrl", "type": "bool", "readonly": false, "cmd": "tt dblctrl", "visibility": 3, "kids": 9},
|
||||||
|
{"path": "dblctrl/tshift", "type": "float", "readonly": false, "cmd": "tt dblctrl/tshift", "visibility": 3},
|
||||||
|
{"path": "dblctrl/mode", "type": "enum", "enum": {"disabled": -1, "inactive": 0, "stable": 1, "up": 2, "down": 3}, "readonly": false, "cmd": "tt dblctrl/mode", "visibility": 3},
|
||||||
|
{"path": "dblctrl/shift_up", "type": "float", "visibility": 3},
|
||||||
|
{"path": "dblctrl/shift_lo", "type": "float", "visibility": 3},
|
||||||
|
{"path": "dblctrl/t_min", "type": "float", "visibility": 3},
|
||||||
|
{"path": "dblctrl/t_max", "type": "float", "visibility": 3},
|
||||||
|
{"path": "dblctrl/int2", "type": "float", "readonly": false, "cmd": "tt dblctrl/int2", "visibility": 3},
|
||||||
|
{"path": "dblctrl/prop_up", "type": "float", "readonly": false, "cmd": "tt dblctrl/prop_up", "visibility": 3},
|
||||||
|
{"path": "dblctrl/prop_lo", "type": "float", "readonly": false, "cmd": "tt dblctrl/prop_lo", "visibility": 3},
|
||||||
|
{"path": "ts", "type": "float", "kids": 4},
|
||||||
|
{"path": "ts/curve", "type": "text", "readonly": false, "cmd": "tt ts/curve", "kids": 1},
|
||||||
|
{"path": "ts/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt ts/curve/points", "visibility": 3},
|
||||||
|
{"path": "ts/alarm", "type": "float", "readonly": false, "cmd": "tt ts/alarm"},
|
||||||
|
{"path": "ts/stddev", "type": "float"},
|
||||||
|
{"path": "ts/raw", "type": "float"},
|
||||||
|
{"path": "tm", "type": "float", "kids": 4},
|
||||||
|
{"path": "tm/curve", "type": "text", "readonly": false, "cmd": "tt tm/curve", "kids": 1},
|
||||||
|
{"path": "tm/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt tm/curve/points", "visibility": 3},
|
||||||
|
{"path": "tm/alarm", "type": "float", "readonly": false, "cmd": "tt tm/alarm"},
|
||||||
|
{"path": "tm/stddev", "type": "float"},
|
||||||
|
{"path": "tm/raw", "type": "float"},
|
||||||
|
{"path": "te", "type": "float", "kids": 4},
|
||||||
|
{"path": "te/curve", "type": "text", "readonly": false, "cmd": "tt te/curve", "kids": 1},
|
||||||
|
{"path": "te/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt te/curve/points", "visibility": 3},
|
||||||
|
{"path": "te/alarm", "type": "float", "readonly": false, "cmd": "tt te/alarm"},
|
||||||
|
{"path": "te/stddev", "type": "float"},
|
||||||
|
{"path": "te/raw", "type": "float"},
|
||||||
|
{"path": "p", "type": "float", "kids": 4},
|
||||||
|
{"path": "p/curve", "type": "text", "readonly": false, "cmd": "tt p/curve", "kids": 1},
|
||||||
|
{"path": "p/curve/points", "type": "floatvarar", "readonly": false, "cmd": "tt p/curve/points", "visibility": 3},
|
||||||
|
{"path": "p/alarm", "type": "float", "readonly": false, "cmd": "tt p/alarm"},
|
||||||
|
{"path": "p/stddev", "type": "float"},
|
||||||
|
{"path": "p/raw", "type": "float"},
|
||||||
|
{"path": "set", "type": "float", "readonly": false, "cmd": "tt set", "kids": 18},
|
||||||
|
{"path": "set/mode", "type": "enum", "enum": {"disabled": -1, "off": 0, "controlling": 1, "manual": 2}, "readonly": false, "cmd": "tt set/mode"},
|
||||||
|
{"path": "set/reg", "type": "float"},
|
||||||
|
{"path": "set/ramp", "type": "float", "readonly": false, "cmd": "tt set/ramp", "description": "maximum ramp in K/min (0: ramp off)"},
|
||||||
|
{"path": "set/wramp", "type": "float", "readonly": false, "cmd": "tt set/wramp"},
|
||||||
|
{"path": "set/smooth", "type": "float", "readonly": false, "cmd": "tt set/smooth", "description": "smooth time (minutes)"},
|
||||||
|
{"path": "set/channel", "type": "text", "readonly": false, "cmd": "tt set/channel"},
|
||||||
|
{"path": "set/limit", "type": "float", "readonly": false, "cmd": "tt set/limit"},
|
||||||
|
{"path": "set/resist", "type": "float", "readonly": false, "cmd": "tt set/resist"},
|
||||||
|
{"path": "set/maxheater", "type": "text", "readonly": false, "cmd": "tt set/maxheater", "description": "maximum heater limit, units should be given without space: W, mW, A, mA"},
|
||||||
|
{"path": "set/linearpower", "type": "float", "readonly": false, "cmd": "tt set/linearpower", "description": "when not 0, it is the maximum effective power, and the power is linear to the heater output"},
|
||||||
|
{"path": "set/maxpowerlim", "type": "float", "description": "the maximum power limit (before any booster or converter)"},
|
||||||
|
{"path": "set/maxpower", "type": "float", "readonly": false, "cmd": "tt set/maxpower", "description": "maximum power [W]"},
|
||||||
|
{"path": "set/maxcurrent", "type": "float", "description": "the maximum current before any booster or converter"},
|
||||||
|
{"path": "set/manualpower", "type": "float", "readonly": false, "cmd": "tt set/manualpower"},
|
||||||
|
{"path": "set/power", "type": "float"},
|
||||||
|
{"path": "set/prop", "type": "float", "readonly": false, "cmd": "tt set/prop", "description": "bigger means more gain"},
|
||||||
|
{"path": "set/integ", "type": "float", "readonly": false, "cmd": "tt set/integ", "description": "bigger means faster"},
|
||||||
|
{"path": "set/deriv", "type": "float", "readonly": false, "cmd": "tt set/deriv"},
|
||||||
|
{"path": "display", "type": "text", "readonly": false, "cmd": "tt display"},
|
||||||
|
{"path": "dout", "type": "int", "readonly": false, "cmd": "tt dout"},
|
||||||
|
{"path": "dinp", "type": "int"},
|
||||||
|
{"path": "remote", "type": "bool"}]},
|
||||||
|
|
||||||
|
"table": {"base": "/table", "params": [
|
||||||
|
{"path": "", "type": "none", "kids": 8},
|
||||||
|
{"path": "send", "type": "text", "readonly": false, "cmd": "table send", "visibility": 3},
|
||||||
|
{"path": "status", "type": "text", "visibility": 3},
|
||||||
|
{"path": "fix_tt_set_prop", "type": "bool", "readonly": false, "cmd": "table fix_tt_set_prop"},
|
||||||
|
{"path": "val_tt_set_prop", "type": "float"},
|
||||||
|
{"path": "tbl_tt_set_prop", "type": "text", "readonly": false, "cmd": "table tbl_tt_set_prop", "description": "enter value pair separated with colon T1:par1 T2:par2 ..."},
|
||||||
|
{"path": "fix_tt_set_integ", "type": "bool", "readonly": false, "cmd": "table fix_tt_set_integ"},
|
||||||
|
{"path": "val_tt_set_integ", "type": "float"},
|
||||||
|
{"path": "tbl_tt_set_integ", "type": "text", "readonly": false, "cmd": "table tbl_tt_set_integ", "description": "enter value pair separated with colon T1:par1 T2:par2 ..."}]},
|
||||||
|
|
||||||
|
"cc": {"base": "/cc", "params": [
|
||||||
|
{"path": "", "type": "bool", "kids": 96},
|
||||||
|
{"path": "send", "type": "text", "readonly": false, "cmd": "cc send", "visibility": 3},
|
||||||
|
{"path": "status", "type": "text", "visibility": 3},
|
||||||
|
{"path": "autodevice", "type": "bool", "readonly": false, "cmd": "cc autodevice"},
|
||||||
|
{"path": "fav", "type": "bool", "readonly": false, "cmd": "cc fav"},
|
||||||
|
{"path": "f", "type": "float", "visibility": 3},
|
||||||
|
{"path": "fs", "type": "enum", "enum": {"ok": 0, "no_sens": 1}, "readonly": false, "cmd": "cc fs", "visibility": 3},
|
||||||
|
{"path": "mav", "type": "bool", "readonly": false, "cmd": "cc mav"},
|
||||||
|
{"path": "fm", "type": "enum", "enum": {"idle": 0, "opening": 1, "closing": 2, "opened": 3, "closed": 4, "no_motor": 5}, "visibility": 3},
|
||||||
|
{"path": "fa", "type": "enum", "enum": {"fixed": 0, "controlled": 1, "automatic": 2, "offline": 3}, "readonly": false, "cmd": "cc fa", "visibility": 3},
|
||||||
|
{"path": "mp", "type": "float", "readonly": false, "cmd": "cc mp", "visibility": 3},
|
||||||
|
{"path": "msp", "type": "float", "visibility": 3},
|
||||||
|
{"path": "mmp", "type": "float", "visibility": 3},
|
||||||
|
{"path": "mc", "type": "float", "readonly": false, "cmd": "cc mc", "visibility": 3},
|
||||||
|
{"path": "mfc", "type": "float", "readonly": false, "cmd": "cc mfc", "visibility": 3},
|
||||||
|
{"path": "moc", "type": "float", "readonly": false, "cmd": "cc moc", "visibility": 3},
|
||||||
|
{"path": "mtc", "type": "float", "readonly": false, "cmd": "cc mtc", "visibility": 3},
|
||||||
|
{"path": "mtl", "type": "float", "visibility": 3},
|
||||||
|
{"path": "mft", "type": "float", "readonly": false, "cmd": "cc mft", "visibility": 3},
|
||||||
|
{"path": "mt", "type": "float", "visibility": 3},
|
||||||
|
{"path": "mo", "type": "float", "visibility": 3},
|
||||||
|
{"path": "mcr", "type": "float", "visibility": 3},
|
||||||
|
{"path": "mot", "type": "float", "visibility": 3},
|
||||||
|
{"path": "mw", "type": "float", "readonly": false, "cmd": "cc mw", "description": "correction pulse after automatic open", "visibility": 3},
|
||||||
|
{"path": "hav", "type": "bool", "readonly": false, "cmd": "cc hav"},
|
||||||
|
{"path": "h", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hr", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hc", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hu", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hh", "type": "float", "readonly": false, "cmd": "cc hh", "visibility": 3},
|
||||||
|
{"path": "hl", "type": "float", "readonly": false, "cmd": "cc hl", "visibility": 3},
|
||||||
|
{"path": "htf", "type": "float", "readonly": false, "cmd": "cc htf", "description": "meas. period in fast mode", "visibility": 3},
|
||||||
|
{"path": "hts", "type": "float", "readonly": false, "cmd": "cc hts", "description": "meas. period in slow mode", "visibility": 3},
|
||||||
|
{"path": "hd", "type": "float", "readonly": false, "cmd": "cc hd", "visibility": 3},
|
||||||
|
{"path": "hwr", "type": "float", "readonly": false, "cmd": "cc hwr", "visibility": 3},
|
||||||
|
{"path": "hem", "type": "float", "readonly": false, "cmd": "cc hem", "description": "sensor length in mm from top to empty pos.", "visibility": 3},
|
||||||
|
{"path": "hfu", "type": "float", "readonly": false, "cmd": "cc hfu", "description": "sensor length in mm from top to full pos.", "visibility": 3},
|
||||||
|
{"path": "hcd", "type": "enum", "enum": {"stop": 0, "fill": 1, "off": 2, "auto": 3, "manual": 7}, "readonly": false, "cmd": "cc hcd", "visibility": 3},
|
||||||
|
{"path": "hv", "type": "enum", "enum": {"fill_valve_off": 0, "filling": 1, "no_fill_valve": 2, "timeout": 3, "timeout1": 4}, "visibility": 3},
|
||||||
|
{"path": "hsf", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
|
||||||
|
{"path": "ha", "type": "bool", "readonly": false, "cmd": "cc ha", "visibility": 3},
|
||||||
|
{"path": "hm", "type": "bool", "visibility": 3},
|
||||||
|
{"path": "hf", "type": "enum", "enum": {"slow": 0, "fast": 1}, "readonly": false, "cmd": "cc hf", "visibility": 3},
|
||||||
|
{"path": "hbe", "type": "bool", "readonly": false, "cmd": "cc hbe", "visibility": 3},
|
||||||
|
{"path": "hmf", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hms", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hit", "type": "float", "readonly": false, "cmd": "cc hit", "visibility": 3},
|
||||||
|
{"path": "hft", "type": "int", "readonly": false, "cmd": "cc hft", "visibility": 3},
|
||||||
|
{"path": "hea", "type": "enum", "enum": {"0": 0, "1": 1, "6": 2}, "readonly": false, "cmd": "cc hea"},
|
||||||
|
{"path": "hch", "type": "int", "readonly": false, "cmd": "cc hch", "visibility": 3},
|
||||||
|
{"path": "hwr0", "type": "float", "readonly": false, "cmd": "cc hwr0", "visibility": 3},
|
||||||
|
{"path": "hem0", "type": "float", "readonly": false, "cmd": "cc hem0", "description": "sensor length in mm from top to empty pos.", "visibility": 3},
|
||||||
|
{"path": "hfu0", "type": "float", "readonly": false, "cmd": "cc hfu0", "description": "sensor length in mm from top to full pos.", "visibility": 3},
|
||||||
|
{"path": "hd0", "type": "float", "readonly": false, "cmd": "cc hd0", "description": "external sensor drive current (mA)", "visibility": 3},
|
||||||
|
{"path": "h0", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hs0", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
|
||||||
|
{"path": "h1", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hs1", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
|
||||||
|
{"path": "h2", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hs2", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
|
||||||
|
{"path": "h3", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hs3", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
|
||||||
|
{"path": "h4", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hs4", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
|
||||||
|
{"path": "h5", "type": "float", "visibility": 3},
|
||||||
|
{"path": "hs5", "type": "enum", "enum": {"sens_ok": 0, "sens_warm": 1, "no_sens": 2, "timeout": 3, "not_yet_read": 4, "disabled": 5}, "visibility": 3},
|
||||||
|
{"path": "hfb", "type": "float", "visibility": 3},
|
||||||
|
{"path": "nav", "type": "bool", "readonly": false, "cmd": "cc nav"},
|
||||||
|
{"path": "nu", "type": "float", "visibility": 3},
|
||||||
|
{"path": "nl", "type": "float", "visibility": 3},
|
||||||
|
{"path": "nth", "type": "float", "readonly": false, "cmd": "cc nth", "visibility": 3},
|
||||||
|
{"path": "ntc", "type": "float", "readonly": false, "cmd": "cc ntc", "visibility": 3},
|
||||||
|
{"path": "ntm", "type": "float", "readonly": false, "cmd": "cc ntm", "visibility": 3},
|
||||||
|
{"path": "ns", "type": "enum", "enum": {"sens_ok": 0, "no_sens": 1, "short_circuit": 2, "upside_down": 3, "sens_warm": 4, "empty": 5}, "visibility": 3},
|
||||||
|
{"path": "na", "type": "bool", "readonly": false, "cmd": "cc na", "visibility": 3},
|
||||||
|
{"path": "nv", "type": "enum", "enum": {"fill_valve_off": 0, "filling": 1, "no_fill_valve": 2, "timeout": 3, "timeout1": 4, "boost": 5}, "visibility": 3},
|
||||||
|
{"path": "nc", "type": "enum", "enum": {"stop": 0, "fill": 1, "off": 2, "auto": 3}, "readonly": false, "cmd": "cc nc", "visibility": 3},
|
||||||
|
{"path": "nfb", "type": "float", "visibility": 3},
|
||||||
|
{"path": "cda", "type": "float"},
|
||||||
|
{"path": "cdb", "type": "float"},
|
||||||
|
{"path": "cba", "type": "float"},
|
||||||
|
{"path": "cbb", "type": "float"},
|
||||||
|
{"path": "cvs", "type": "int"},
|
||||||
|
{"path": "csp", "type": "int"},
|
||||||
|
{"path": "cdv", "type": "text", "readonly": false, "cmd": "cc cdv"},
|
||||||
|
{"path": "cic", "type": "text", "readonly": false, "cmd": "cc cic"},
|
||||||
|
{"path": "cin", "type": "text"},
|
||||||
|
{"path": "cds", "type": "enum", "enum": {"local": 0, "remote": 1, "loading": 2, "by_code": 3, "by_touch": 4}, "readonly": false, "cmd": "cc cds"},
|
||||||
|
{"path": "timing", "type": "bool", "readonly": false, "cmd": "cc timing"},
|
||||||
|
{"path": "tc", "type": "float", "visibility": 3},
|
||||||
|
{"path": "tn", "type": "float", "visibility": 3},
|
||||||
|
{"path": "th", "type": "float", "visibility": 3},
|
||||||
|
{"path": "tf", "type": "float", "visibility": 3},
|
||||||
|
{"path": "tm", "type": "float", "visibility": 3},
|
||||||
|
{"path": "tv", "type": "float", "visibility": 3},
|
||||||
|
{"path": "tq", "type": "float", "visibility": 3},
|
||||||
|
{"path": "bdl", "type": "float", "readonly": false, "cmd": "cc bdl"}]}}
|
||||||
@ -13,7 +13,26 @@ class = secop_psi.sea.SeaDrivable
|
|||||||
io = sea_stick
|
io = sea_stick
|
||||||
sea_object = ts
|
sea_object = ts
|
||||||
|
|
||||||
[th]
|
[T_sorb]
|
||||||
class = secop_psi.sea.SeaDrivable
|
class = secop_psi.sea.SeaReadable
|
||||||
io = sea_stick
|
io = sea_stick
|
||||||
sea_object = th
|
sea_object = th
|
||||||
|
rel_paths = sorb
|
||||||
|
|
||||||
|
[T_plate]
|
||||||
|
class = secop_psi.sea.SeaReadable
|
||||||
|
io = sea_stick
|
||||||
|
sea_object = th
|
||||||
|
rel_paths = plate
|
||||||
|
|
||||||
|
[T_low]
|
||||||
|
class = secop_psi.sea.SeaReadable
|
||||||
|
io = sea_stick
|
||||||
|
sea_object = th
|
||||||
|
rel_paths = low
|
||||||
|
|
||||||
|
[T_pot]
|
||||||
|
class = secop_psi.sea.SeaReadable
|
||||||
|
io = sea_stick
|
||||||
|
sea_object = th
|
||||||
|
rel_paths = pot
|
||||||
|
|||||||
@ -1,16 +1,19 @@
|
|||||||
[NODE]
|
# DO NOT USE
|
||||||
description = MB11 standard sample stick
|
# use 'mb11std' instead of 'mb11', 'mb11stick'
|
||||||
id = mb11.stick.sea.psi.ch
|
# as the communication proxy for itc does not work yet
|
||||||
|
|
||||||
|
[NODE]
|
||||||
|
description = MB11 standard sample stick (do not use)
|
||||||
|
id = mb11.stick.sea.psi.ch
|
||||||
|
|
||||||
[INTERFACE]
|
[INTERFACE]
|
||||||
uri = tcp://5000
|
uri = tcp://5000
|
||||||
|
|
||||||
[itc]
|
#[itc]
|
||||||
class = secop.proxy.Proxy
|
#class = secop.proxy.Proxy
|
||||||
remote_class = secop_psi.mercury.IO
|
#remote_class = secop_psi.mercury.IO
|
||||||
description = connection to MB11 mercury
|
#description = connection to MB11 mercury
|
||||||
module = itc1
|
#module = itc1
|
||||||
#uri = mb11-ts:3001
|
#uri = mb11-ts:3001
|
||||||
#timeout = 5
|
#timeout = 5
|
||||||
|
|
||||||
@ -25,19 +28,17 @@ module = itc1
|
|||||||
#calib = /home/l_samenv/sea/tcl/calcurves/X70197.340
|
#calib = /home/l_samenv/sea/tcl/calcurves/X70197.340
|
||||||
#svalue.unit = K
|
#svalue.unit = K
|
||||||
|
|
||||||
|
#[ts]
|
||||||
|
#class = secop.proxy.Proxy
|
||||||
|
#remote_class = secop_psi.mercury.TemperatureLoop
|
||||||
|
#description = sample temperature
|
||||||
|
#module = T_sample
|
||||||
|
#io = itc1
|
||||||
|
|
||||||
|
#[htr_ts]
|
||||||
|
#class = secop.proxy.Proxy
|
||||||
|
#remote_class = secop_psi.mercury.HeaterOutput
|
||||||
|
#description = sample stick heater power
|
||||||
|
#module = htr_sample
|
||||||
|
#io = itc1
|
||||||
|
|
||||||
|
|
||||||
[ts]
|
|
||||||
class = secop_psi.mercury.TemperatureLoop
|
|
||||||
description = sample temperature
|
|
||||||
output_module = htr_ts
|
|
||||||
slot = MB1.T1
|
|
||||||
io = itc
|
|
||||||
tolerance = 1
|
|
||||||
|
|
||||||
[htr_ts]
|
|
||||||
class = secop_psi.mercury.HeaterOutput
|
|
||||||
description = sample stick heater power
|
|
||||||
slot = MB0.H1
|
|
||||||
io = itc
|
|
||||||
|
|||||||
246
secop/lib/newstatemachine.py
Normal file
246
secop/lib/newstatemachine.py
Normal file
@ -0,0 +1,246 @@
|
|||||||
|
# -*- coding: utf-8 -*-
|
||||||
|
# *****************************************************************************
|
||||||
|
#
|
||||||
|
# This program is free software; you can redistribute it and/or modify it under
|
||||||
|
# the terms of the GNU General Public License as published by the Free Software
|
||||||
|
# Foundation; either version 2 of the License, or (at your option) any later
|
||||||
|
# version.
|
||||||
|
#
|
||||||
|
# This program is distributed in the hope that it will be useful, but WITHOUT
|
||||||
|
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
|
||||||
|
# details.
|
||||||
|
#
|
||||||
|
# You should have received a copy of the GNU General Public License along with
|
||||||
|
# this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
#
|
||||||
|
# Module authors:
|
||||||
|
# Markus Zolliker <markus.zolliker@psi.ch>
|
||||||
|
#
|
||||||
|
# *****************************************************************************
|
||||||
|
"""a simple, but powerful state machine
|
||||||
|
|
||||||
|
Mechanism
|
||||||
|
---------
|
||||||
|
|
||||||
|
The code for the state machine is NOT to be implemented as a subclass
|
||||||
|
of StateMachine, but usually as functions or methods of an other object.
|
||||||
|
The created state object may hold variables needed for the state.
|
||||||
|
A state function may return either:
|
||||||
|
- a function for the next state to transition to
|
||||||
|
- Retry to keep the state and call the state function again
|
||||||
|
- or Finish for finishing
|
||||||
|
|
||||||
|
|
||||||
|
Initialisation Code
|
||||||
|
-------------------
|
||||||
|
|
||||||
|
For code to be called only after a state transition, use statemachine.init.
|
||||||
|
|
||||||
|
def state_x(stateobj):
|
||||||
|
if stateobj.init:
|
||||||
|
... code to be execute only after entering state x ...
|
||||||
|
... further code ...
|
||||||
|
|
||||||
|
|
||||||
|
Restart
|
||||||
|
-------
|
||||||
|
|
||||||
|
To restart the statemachine, call statemachine.start. The current task is interrupted,
|
||||||
|
the cleanup sequence is called, and after this the machien is restarted with the
|
||||||
|
arguments of the start method.
|
||||||
|
|
||||||
|
|
||||||
|
Stop
|
||||||
|
----
|
||||||
|
|
||||||
|
To stop the statemachine, call statemachine.stop. The current task is interrupted,
|
||||||
|
the cleanup sequence is called, and the machine finishes.
|
||||||
|
|
||||||
|
|
||||||
|
Cleaning Up
|
||||||
|
-----------
|
||||||
|
|
||||||
|
A cleanup function might be added as arguments to StateMachine.start.
|
||||||
|
On error, stop or restart, the cleanup sequence will be executed.
|
||||||
|
The cleanup itself is not be interrupted:
|
||||||
|
- if a further exeception is raised, the machine is interrupted immediately
|
||||||
|
- if start or stop is called again, a previous start or stop is ignored
|
||||||
|
"""
|
||||||
|
|
||||||
|
import time
|
||||||
|
import threading
|
||||||
|
from logging import getLogger
|
||||||
|
from secop.lib import UniqueObject
|
||||||
|
|
||||||
|
Retry = UniqueObject('Retry')
|
||||||
|
Finish = UniqueObject('Finish')
|
||||||
|
|
||||||
|
|
||||||
|
class Start:
|
||||||
|
def __init__(self, newstate, kwds):
|
||||||
|
self.newstate = newstate
|
||||||
|
self.kwds = kwds # statemachine attributes
|
||||||
|
|
||||||
|
|
||||||
|
class Stop:
|
||||||
|
pass
|
||||||
|
|
||||||
|
|
||||||
|
class StateMachine:
|
||||||
|
"""a simple, but powerful state machine"""
|
||||||
|
# class attributes are not allowed to be overriden by kwds of __init__ or :meth:`start`
|
||||||
|
statefunc = None # the current statefunc
|
||||||
|
now = None # the current time (avoid mutiple calls within a state)
|
||||||
|
init = True # True only in the first call of a state after a transition
|
||||||
|
_last_time = 0 # for delta method
|
||||||
|
next_task = None # None or an instance of Start or Stop
|
||||||
|
cleanup_reason = None # None or an instance of Exception, Start or Stop
|
||||||
|
|
||||||
|
def __init__(self, statefunc=None, logger=None, **kwds):
|
||||||
|
"""initialize state machine
|
||||||
|
|
||||||
|
:param statefunc: if given, this is the first statefunc
|
||||||
|
:param logger: an optional logger
|
||||||
|
:param kwds: any attributes for the state object
|
||||||
|
"""
|
||||||
|
self.cleanup = None
|
||||||
|
self.transition = None
|
||||||
|
self.maxloops = 10 # the maximum number of statefunc functions called in sequence without Retry
|
||||||
|
self.now = time.time() # avoid calling time.time several times per statefunc
|
||||||
|
self.log = logger or getLogger('dummy')
|
||||||
|
self._lock = threading.Lock()
|
||||||
|
self._update_attributes(kwds)
|
||||||
|
if statefunc:
|
||||||
|
self.start(statefunc)
|
||||||
|
|
||||||
|
def _update_attributes(self, kwds):
|
||||||
|
"""update allowed attributes"""
|
||||||
|
cls = type(self)
|
||||||
|
for key, value in kwds.items():
|
||||||
|
if hasattr(cls, key):
|
||||||
|
raise AttributeError('can not set %s.%s' % (cls.__name__, key))
|
||||||
|
setattr(self, key, value)
|
||||||
|
|
||||||
|
def _cleanup(self, reason):
|
||||||
|
if isinstance(reason, Exception):
|
||||||
|
self.log.warning('%s: raised %r', self.statefunc.__name__, reason)
|
||||||
|
elif isinstance(reason, Stop):
|
||||||
|
self.log.debug('stopped in %s', self.statefunc.__name__)
|
||||||
|
else: # must be Start
|
||||||
|
self.log.debug('restart %s during %s', reason.newstate.__name__, self.statefunc.__name__)
|
||||||
|
if self.cleanup_reason is None:
|
||||||
|
self.cleanup_reason = reason
|
||||||
|
if not self.cleanup:
|
||||||
|
return None # no cleanup needed or cleanup already handled
|
||||||
|
with self._lock:
|
||||||
|
cleanup, self.cleanup = self.cleanup, None
|
||||||
|
ret = None
|
||||||
|
try:
|
||||||
|
ret = cleanup(self)
|
||||||
|
if not (ret is None or callable(ret)):
|
||||||
|
self.log.error('%s: return value must be callable or None, not %r',
|
||||||
|
self.statefunc.__name__, ret)
|
||||||
|
ret = None
|
||||||
|
except Exception as e:
|
||||||
|
self.log.exception('%r raised in cleanup', e)
|
||||||
|
return ret
|
||||||
|
|
||||||
|
@property
|
||||||
|
def is_active(self):
|
||||||
|
return bool(self.statefunc)
|
||||||
|
|
||||||
|
def _new_state(self, statefunc):
|
||||||
|
if self.transition:
|
||||||
|
self.transition(self, statefunc)
|
||||||
|
self.init = True
|
||||||
|
self.statefunc = statefunc
|
||||||
|
self._last_time = self.now
|
||||||
|
|
||||||
|
def cycle(self):
|
||||||
|
"""do one cycle
|
||||||
|
|
||||||
|
call state functions until Retry is returned
|
||||||
|
"""
|
||||||
|
for _ in range(2):
|
||||||
|
if self.statefunc:
|
||||||
|
for _ in range(self.maxloops):
|
||||||
|
self.now = time.time()
|
||||||
|
if self.next_task and not self.cleanup_reason:
|
||||||
|
# interrupt only when not cleaning up
|
||||||
|
ret = self._cleanup(self.next_task)
|
||||||
|
else:
|
||||||
|
try:
|
||||||
|
ret = self.statefunc(self)
|
||||||
|
self.init = False
|
||||||
|
if ret is Retry:
|
||||||
|
return
|
||||||
|
if ret is Finish:
|
||||||
|
break
|
||||||
|
if not callable(ret):
|
||||||
|
ret = self._cleanup(RuntimeError(
|
||||||
|
'%s: return value must be callable, Retry or Finish, not %r'
|
||||||
|
% (self.statefunc.__name__, ret)))
|
||||||
|
except Exception as e:
|
||||||
|
ret = self._cleanup(e)
|
||||||
|
if ret is None:
|
||||||
|
break
|
||||||
|
self._new_state(ret)
|
||||||
|
else:
|
||||||
|
ret = self._cleanup(RuntimeError(
|
||||||
|
'%s: too many states chained - probably infinite loop' % self.statefunc.__name__))
|
||||||
|
if ret:
|
||||||
|
self._new_state(ret)
|
||||||
|
continue
|
||||||
|
if self.cleanup_reason is None:
|
||||||
|
self.log.debug('finish in state %r', self.statefunc.__name__)
|
||||||
|
self._new_state(None)
|
||||||
|
if self.next_task:
|
||||||
|
with self._lock:
|
||||||
|
action, self.next_task = self.next_task, None
|
||||||
|
self.cleanup_reason = None
|
||||||
|
if isinstance(action, Start):
|
||||||
|
self._new_state(action.newstate)
|
||||||
|
self._update_attributes(action.kwds)
|
||||||
|
|
||||||
|
def start(self, statefunc, **kwds):
|
||||||
|
"""start with a new state
|
||||||
|
|
||||||
|
:param statefunc: the first state
|
||||||
|
:param kwds: items to put as attributes on the state machine
|
||||||
|
"""
|
||||||
|
kwds.setdefault('cleanup', None) # cleanup must be given on each restart
|
||||||
|
with self._lock:
|
||||||
|
self.next_task = Start(statefunc, kwds)
|
||||||
|
|
||||||
|
def stop(self):
|
||||||
|
"""stop machine, go to idle state"""
|
||||||
|
with self._lock:
|
||||||
|
self.next_task = Stop()
|
||||||
|
|
||||||
|
def delta(self, mindelta=0):
|
||||||
|
"""helper method for time dependent control
|
||||||
|
|
||||||
|
:param mindelta: minimum time since last call
|
||||||
|
:return: time delta or None when less than min delta time has passed
|
||||||
|
|
||||||
|
to be called from within an statefunc
|
||||||
|
|
||||||
|
Usage:
|
||||||
|
|
||||||
|
def state_x(self, state):
|
||||||
|
delta = state.delta(5)
|
||||||
|
if delta is None:
|
||||||
|
return # less than 5 seconds have passed, we wait for the next cycle
|
||||||
|
# delta is >= 5, and the zero time for delta is set
|
||||||
|
|
||||||
|
# now we can use delta for control calculations
|
||||||
|
|
||||||
|
remark: in the first step after start, state.delta(0) returns nearly 0
|
||||||
|
"""
|
||||||
|
delta = self.now - self._last_time
|
||||||
|
if delta < mindelta:
|
||||||
|
return None
|
||||||
|
self._last_time = self.now
|
||||||
|
return delta
|
||||||
@ -246,7 +246,7 @@ class PollInfo:
|
|||||||
self.fast_flag = False
|
self.fast_flag = False
|
||||||
self.trigger_event = trigger_event
|
self.trigger_event = trigger_event
|
||||||
|
|
||||||
def trigger(self):
|
def trigger(self, immediate=False):
|
||||||
"""trigger a recalculation of poll due times"""
|
"""trigger a recalculation of poll due times"""
|
||||||
self.trigger_event.set()
|
self.trigger_event.set()
|
||||||
|
|
||||||
|
|||||||
156
secop/states.py
Normal file
156
secop/states.py
Normal file
@ -0,0 +1,156 @@
|
|||||||
|
#!/usr/bin/env python
|
||||||
|
# -*- coding: utf-8 -*-
|
||||||
|
# *****************************************************************************
|
||||||
|
#
|
||||||
|
# This program is free software; you can redistribute it and/or modify it under
|
||||||
|
# the terms of the GNU General Public License as published by the Free Software
|
||||||
|
# Foundation; either version 2 of the License, or (at your option) any later
|
||||||
|
# version.
|
||||||
|
#
|
||||||
|
# This program is distributed in the hope that it will be useful, but WITHOUT
|
||||||
|
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
|
||||||
|
# details.
|
||||||
|
#
|
||||||
|
# You should have received a copy of the GNU General Public License along with
|
||||||
|
# this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
#
|
||||||
|
# Module authors:
|
||||||
|
# Markus Zolliker <markus.zolliker@psi.ch>
|
||||||
|
#
|
||||||
|
# *****************************************************************************
|
||||||
|
"""state machine mixin
|
||||||
|
|
||||||
|
handles status depending on statemachine state
|
||||||
|
"""
|
||||||
|
|
||||||
|
|
||||||
|
from secop.core import BUSY, IDLE, ERROR, Parameter, Command, Done
|
||||||
|
from secop.errors import ProgrammingError
|
||||||
|
from secop.lib.newstatemachine import StateMachine, Retry, Finish, Start, Stop
|
||||||
|
|
||||||
|
|
||||||
|
class status_code:
|
||||||
|
"""decorator for state methods"""
|
||||||
|
def __init__(self, code, text=None):
|
||||||
|
self.code = code
|
||||||
|
self.text = text
|
||||||
|
|
||||||
|
def __set_name__(self, owner, name):
|
||||||
|
if not issubclass(owner, HasStates):
|
||||||
|
raise ProgrammingError('when using decorator "status_code", %s must inherit HasStates' % owner.__name__)
|
||||||
|
self.cls = owner
|
||||||
|
self.name = name
|
||||||
|
if 'statusMap' not in owner.__dict__:
|
||||||
|
# we need a copy on each inheritance level
|
||||||
|
owner.statusMap = owner.statusMap.copy()
|
||||||
|
owner.statusMap[name] = self.code, name.replace('_', ' ') if self.text is None else self.text
|
||||||
|
setattr(owner, name, self.func) # replace with original method
|
||||||
|
|
||||||
|
def __call__(self, func):
|
||||||
|
self.func = func
|
||||||
|
return self
|
||||||
|
|
||||||
|
|
||||||
|
class HasStates:
|
||||||
|
status = Parameter() # make sure this is a parameter
|
||||||
|
all_status_changes = False # when true, send also updates for status changes within a cycle
|
||||||
|
_state_machine = None
|
||||||
|
_status = IDLE, ''
|
||||||
|
statusMap = {}
|
||||||
|
|
||||||
|
def init_state_machine(self, **kwds):
|
||||||
|
self._state_machine = StateMachine(
|
||||||
|
logger=self.log,
|
||||||
|
idle_status=(IDLE, ''),
|
||||||
|
transition=self.state_transition,
|
||||||
|
reset_fast_poll=False,
|
||||||
|
status=(IDLE, ''),
|
||||||
|
**kwds)
|
||||||
|
|
||||||
|
def initModule(self):
|
||||||
|
super().initModule()
|
||||||
|
self.init_state_machine()
|
||||||
|
|
||||||
|
def state_transition(self, sm, newstate):
|
||||||
|
"""handle status updates"""
|
||||||
|
status = self.get_status(newstate)
|
||||||
|
if sm.next_task:
|
||||||
|
if isinstance(sm.next_task, Stop):
|
||||||
|
if newstate and status is not None:
|
||||||
|
status = status[0], 'stopping (%s)' % status[1]
|
||||||
|
elif newstate:
|
||||||
|
# restart case
|
||||||
|
if status is not None:
|
||||||
|
status = sm.status[0], 'restarting (%s)' % status[1]
|
||||||
|
else:
|
||||||
|
# start case
|
||||||
|
status = self.get_status(sm.next_task.newstate, BUSY)
|
||||||
|
if status:
|
||||||
|
sm.status = status
|
||||||
|
if self.all_status_changes:
|
||||||
|
self.read_status()
|
||||||
|
|
||||||
|
def get_status(self, statefunc, default_code=None):
|
||||||
|
if statefunc is None:
|
||||||
|
status = self._state_machine.idle_status or (ERROR, 'Finish was returned without final status')
|
||||||
|
else:
|
||||||
|
name = statefunc.__name__
|
||||||
|
status = self.statusMap.get(name)
|
||||||
|
if status is None and default_code is not None:
|
||||||
|
status = default_code, name.replace('_', ' ')
|
||||||
|
return status
|
||||||
|
|
||||||
|
def read_status(self):
|
||||||
|
sm = self._state_machine
|
||||||
|
if sm.status == self.status:
|
||||||
|
return Done
|
||||||
|
return sm.status
|
||||||
|
|
||||||
|
def doPoll(self):
|
||||||
|
super().doPoll()
|
||||||
|
sm = self._state_machine
|
||||||
|
sm.cycle()
|
||||||
|
if sm.statefunc is None:
|
||||||
|
if sm.reset_fast_poll:
|
||||||
|
sm.reset_fast_poll = False
|
||||||
|
self.setFastPoll(False)
|
||||||
|
self.read_status()
|
||||||
|
|
||||||
|
def start_machine(self, statefunc, fast_poll=True, **kwds):
|
||||||
|
sm = self._state_machine
|
||||||
|
sm.status = self.get_status(statefunc, BUSY)
|
||||||
|
if sm.statefunc:
|
||||||
|
sm.status = sm.status[0], 'restarting'
|
||||||
|
sm.start(statefunc, **kwds)
|
||||||
|
self.read_status()
|
||||||
|
if fast_poll:
|
||||||
|
sm.reset_fast_poll = True
|
||||||
|
self.setFastPoll(True)
|
||||||
|
self.pollInfo.trigger(True) # trigger poller
|
||||||
|
|
||||||
|
def stop_machine(self, stopped_status=(IDLE, 'stopped')):
|
||||||
|
sm = self._state_machine
|
||||||
|
if sm.is_active:
|
||||||
|
sm.idle_status = stopped_status
|
||||||
|
sm.stop()
|
||||||
|
sm.status = self.get_status(sm.statefunc, sm.status[0])[0], 'stopping'
|
||||||
|
self.read_status()
|
||||||
|
self.pollInfo.trigger(True) # trigger poller
|
||||||
|
|
||||||
|
@Command
|
||||||
|
def stop(self):
|
||||||
|
self.stop_machine()
|
||||||
|
|
||||||
|
def final_status(self, code=IDLE, text=''):
|
||||||
|
"""final status
|
||||||
|
|
||||||
|
Usage:
|
||||||
|
|
||||||
|
return self.final_status('IDLE', 'machine idle')
|
||||||
|
"""
|
||||||
|
sm = self._state_machine
|
||||||
|
sm.idle_status = code, text
|
||||||
|
sm.cleanup = None
|
||||||
|
return Finish
|
||||||
97
secop_psi/dilsc.py
Normal file
97
secop_psi/dilsc.py
Normal file
@ -0,0 +1,97 @@
|
|||||||
|
# -*- coding: utf-8 -*-
|
||||||
|
# *****************************************************************************
|
||||||
|
# This program is free software; you can redistribute it and/or modify it under
|
||||||
|
# the terms of the GNU General Public License as published by the Free Software
|
||||||
|
# Foundation; either version 2 of the License, or (at your option) any later
|
||||||
|
# version.
|
||||||
|
#
|
||||||
|
# This program is distributed in the hope that it will be useful, but WITHOUT
|
||||||
|
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
|
||||||
|
# details.
|
||||||
|
#
|
||||||
|
# You should have received a copy of the GNU General Public License along with
|
||||||
|
# this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
#
|
||||||
|
# Module authors:
|
||||||
|
# Markus Zolliker <markus.zolliker@psi.ch>
|
||||||
|
# *****************************************************************************
|
||||||
|
"""vector field"""
|
||||||
|
|
||||||
|
from secop.core import Drivable, Done, BUSY, IDLE, WARN, ERROR
|
||||||
|
from secop.errors import BadValueError
|
||||||
|
from secop_psi.vector import Vector
|
||||||
|
|
||||||
|
|
||||||
|
DECREASE = 1
|
||||||
|
INCREASE = 2
|
||||||
|
|
||||||
|
|
||||||
|
class VectorField(Vector, Drivable):
|
||||||
|
_state = None
|
||||||
|
|
||||||
|
def doPoll(self):
|
||||||
|
"""periodically called method"""
|
||||||
|
try:
|
||||||
|
if self._starting:
|
||||||
|
# first decrease components
|
||||||
|
driving = False
|
||||||
|
for target, component in zip(self.target, self.components):
|
||||||
|
if target * component.value < 0:
|
||||||
|
# change sign: drive to zero first
|
||||||
|
target = 0
|
||||||
|
if abs(target) < abs(component.target):
|
||||||
|
if target != component.target:
|
||||||
|
component.write_target(target)
|
||||||
|
if component.isDriving():
|
||||||
|
driving = True
|
||||||
|
if driving:
|
||||||
|
return
|
||||||
|
# now we can go to the final targets
|
||||||
|
for target, component in zip(self.target, self.components):
|
||||||
|
component.write_target(target)
|
||||||
|
self._starting = False
|
||||||
|
else:
|
||||||
|
for component in self.components:
|
||||||
|
if component.isDriving():
|
||||||
|
return
|
||||||
|
self.setFastPoll(False)
|
||||||
|
finally:
|
||||||
|
super().doPoll()
|
||||||
|
|
||||||
|
def merge_status(self):
|
||||||
|
names = [c.name for c in self.components if c.status[0] >= ERROR]
|
||||||
|
if names:
|
||||||
|
return ERROR, 'error in %s' % ', '.join(names)
|
||||||
|
names = [c.name for c in self.components if c.isDriving()]
|
||||||
|
if self._state:
|
||||||
|
# self.log.info('merge %r', [c.status for c in self.components])
|
||||||
|
if names:
|
||||||
|
direction = 'down ' if self._state == DECREASE else ''
|
||||||
|
return BUSY, 'ramping %s%s' % (direction, ', '.join(names))
|
||||||
|
if self.status[0] == BUSY:
|
||||||
|
return self.status
|
||||||
|
return BUSY, 'driving'
|
||||||
|
if names:
|
||||||
|
return WARN, 'moving %s directly' % ', '.join(names)
|
||||||
|
names = [c.name for c in self.components if c.status[0] >= WARN]
|
||||||
|
if names:
|
||||||
|
return WARN, 'warnings in %s' % ', '.join(names)
|
||||||
|
return IDLE, ''
|
||||||
|
|
||||||
|
def write_target(self, value):
|
||||||
|
"""initiate target change"""
|
||||||
|
# first make sure target is valid
|
||||||
|
for target, component in zip(self.target, self.components):
|
||||||
|
# check against limits if individual components
|
||||||
|
component.check_limits(target)
|
||||||
|
if sum(v * v for v in value) > 1:
|
||||||
|
raise BadValueError('norm of vector too high')
|
||||||
|
self.log.info('decrease')
|
||||||
|
self.setFastPoll(True)
|
||||||
|
self.target = value
|
||||||
|
self._state = DECREASE
|
||||||
|
self.doPoll()
|
||||||
|
self.log.info('done write_target %r', value)
|
||||||
|
return Done
|
||||||
@ -21,10 +21,10 @@
|
|||||||
"""oxford instruments mercury IPS power supply"""
|
"""oxford instruments mercury IPS power supply"""
|
||||||
|
|
||||||
import time
|
import time
|
||||||
from secop.core import Parameter, EnumType, FloatRange, BoolType
|
from secop.core import Parameter, EnumType, FloatRange, BoolType, IntRange, StringType, Property, BUSY
|
||||||
from secop.lib.enum import Enum
|
from secop.lib.enum import Enum
|
||||||
from secop.errors import BadValueError, HardwareError
|
from secop.errors import BadValueError, HardwareError
|
||||||
from secop_psi.magfield import Magfield
|
from secop_psi.magfield import Magfield, SimpleMagfield, Status
|
||||||
from secop_psi.mercury import MercuryChannel, off_on, Mapped
|
from secop_psi.mercury import MercuryChannel, off_on, Mapped
|
||||||
from secop.lib.statemachine import Retry
|
from secop.lib.statemachine import Retry
|
||||||
|
|
||||||
@ -34,54 +34,39 @@ hold_rtoz_rtos_clmp = Mapped(HOLD=Action.hold, RTOS=Action.run_to_set,
|
|||||||
CURRENT_CHECK_SIZE = 2
|
CURRENT_CHECK_SIZE = 2
|
||||||
|
|
||||||
|
|
||||||
class Field(MercuryChannel, Magfield):
|
class SimpleField(MercuryChannel, SimpleMagfield):
|
||||||
|
nunits = Property('number of IPS subunits', IntRange(1, 6), default=1)
|
||||||
action = Parameter('action', EnumType(Action), readonly=False)
|
action = Parameter('action', EnumType(Action), readonly=False)
|
||||||
setpoint = Parameter('field setpoint', FloatRange(unit='T'), default=0)
|
setpoint = Parameter('field setpoint', FloatRange(unit='T'), default=0)
|
||||||
voltage = Parameter('leads voltage', FloatRange(unit='V'), default=0)
|
voltage = Parameter('leads voltage', FloatRange(unit='V'), default=0)
|
||||||
atob = Parameter('field to amp', FloatRange(0, unit='A/T'), default=0)
|
atob = Parameter('field to amp', FloatRange(0, unit='A/T'), default=0)
|
||||||
I1 = Parameter('master current', FloatRange(unit='A'), default=0)
|
working_ramp = Parameter('effective ramp', FloatRange(0, unit='T/min'), default=0)
|
||||||
I2 = Parameter('slave 2 current', FloatRange(unit='A'), default=0)
|
|
||||||
I3 = Parameter('slave 3 current', FloatRange(unit='A'), default=0)
|
|
||||||
V1 = Parameter('master voltage', FloatRange(unit='V'), default=0)
|
|
||||||
V2 = Parameter('slave 2 voltage', FloatRange(unit='V'), default=0)
|
|
||||||
V3 = Parameter('slave 3 voltage', FloatRange(unit='V'), default=0)
|
|
||||||
forced_persistent_field = Parameter(
|
|
||||||
'manual indication that persistent field is bad', BoolType(), readonly=False, default=False)
|
|
||||||
|
|
||||||
channel_type = 'PSU'
|
channel_type = 'PSU'
|
||||||
_field_mismatch = None
|
|
||||||
nslaves = 3
|
|
||||||
slave_currents = None
|
slave_currents = None
|
||||||
__init = True
|
classdict = {}
|
||||||
|
|
||||||
def doPoll(self):
|
def __new__(cls, name, logger, cfgdict, srv):
|
||||||
super().doPoll()
|
base = cls.__bases__[1]
|
||||||
self.read_current()
|
nunits = cfgdict.get('nunits', 1)
|
||||||
|
if nunits == 1:
|
||||||
|
obj = object.__new__(cls)
|
||||||
|
return obj
|
||||||
|
classname = cls.__name__ + str(nunits)
|
||||||
|
newclass = cls.classdict.get(classname)
|
||||||
|
if not newclass:
|
||||||
|
# create individual current and voltage parameters dynamically
|
||||||
|
attrs = {}
|
||||||
|
for i in range(1, nunits + 1):
|
||||||
|
attrs['I%d' % i] = Parameter('slave %s current' % i, FloatRange(unit='A'), default=0)
|
||||||
|
attrs['V%d' % i] = Parameter('slave %s voltage' % i, FloatRange(unit='V'), default=0)
|
||||||
|
|
||||||
|
newclass = type(classname, (cls,), attrs)
|
||||||
|
cls.classdict[classname] = newclass
|
||||||
|
obj = object.__new__(newclass)
|
||||||
|
return obj
|
||||||
|
|
||||||
def read_value(self):
|
def read_value(self):
|
||||||
self.current = self.query('PSU:SIG:FLD')
|
return self.query('PSU:SIG:FLD')
|
||||||
pf = self.query('PSU:SIG:PFLD')
|
|
||||||
if self.__init:
|
|
||||||
self.__init = False
|
|
||||||
self.persistent_field = pf
|
|
||||||
if self.switch_heater == self.switch_heater.on or self._field_mismatch is None:
|
|
||||||
self.forced_persistent_field = False
|
|
||||||
self._field_mismatch = False
|
|
||||||
return self.current
|
|
||||||
self._field_mismatch = abs(self.persistent_field - pf) > self.tolerance
|
|
||||||
return pf
|
|
||||||
|
|
||||||
def write_persistent_field(self, value):
|
|
||||||
if self.forced_persistent_field:
|
|
||||||
self._field_mismatch = False
|
|
||||||
return value
|
|
||||||
raise BadValueError('changing persistent field needs forced_persistent_field=True')
|
|
||||||
|
|
||||||
def write_target(self, target):
|
|
||||||
if self._field_mismatch:
|
|
||||||
self.forced_persistent_field = True
|
|
||||||
raise BadValueError('persistent field does not match - set persistent field to guessed value first')
|
|
||||||
return super().write_target(target)
|
|
||||||
|
|
||||||
def read_ramp(self):
|
def read_ramp(self):
|
||||||
return self.query('PSU:SIG:RFST')
|
return self.query('PSU:SIG:RFST')
|
||||||
@ -95,86 +80,224 @@ class Field(MercuryChannel, Magfield):
|
|||||||
def write_action(self, value):
|
def write_action(self, value):
|
||||||
return self.change('PSU:ACTN', value, hold_rtoz_rtos_clmp)
|
return self.change('PSU:ACTN', value, hold_rtoz_rtos_clmp)
|
||||||
|
|
||||||
def read_switch_heater(self):
|
|
||||||
value = self.query('PSU:SIG:SWHT', off_on)
|
|
||||||
now = time.time()
|
|
||||||
if value != self.switch_heater:
|
|
||||||
if now < (self.switch_time[self.switch_heater] or 0) + 10:
|
|
||||||
# probably switch heater was changed, but IPS reply is not yet updated
|
|
||||||
return self.switch_heater
|
|
||||||
return value
|
|
||||||
|
|
||||||
def write_switch_heater(self, value):
|
|
||||||
return self.change('PSU:SIG:SWHT', value, off_on)
|
|
||||||
|
|
||||||
def read_atob(self):
|
def read_atob(self):
|
||||||
return self.query('PSU:ATOB')
|
return self.query('PSU:ATOB')
|
||||||
|
|
||||||
def read_voltage(self):
|
def read_voltage(self):
|
||||||
return self.query('PSU:SIG:VOLT')
|
return self.query('PSU:SIG:VOLT')
|
||||||
|
|
||||||
|
def read_working_ramp(self):
|
||||||
|
return self.query('PSU:SIG:RFLD')
|
||||||
|
|
||||||
def read_setpoint(self):
|
def read_setpoint(self):
|
||||||
return self.query('PSU:SIG:FSET')
|
return self.query('PSU:SIG:FSET')
|
||||||
|
|
||||||
|
def set_and_go(self, value):
|
||||||
|
self.setpoint = self.change('PSU:SIG:FSET', value)
|
||||||
|
assert self.write_action('hold') == 'hold'
|
||||||
|
assert self.write_action('run_to_set') == 'run_to_set'
|
||||||
|
|
||||||
|
def start_ramp_to_target(self, sm):
|
||||||
|
# if self.action != 'hold':
|
||||||
|
# assert self.write_action('hold') == 'hold'
|
||||||
|
# return Retry
|
||||||
|
self.set_and_go(sm.target)
|
||||||
|
sm.try_cnt = 5
|
||||||
|
return self.ramp_to_target
|
||||||
|
|
||||||
|
def ramp_to_target(self, sm):
|
||||||
|
try:
|
||||||
|
return super().ramp_to_target(sm)
|
||||||
|
except HardwareError:
|
||||||
|
sm.try_cnt -= 1
|
||||||
|
if sm.try_cnt < 0:
|
||||||
|
raise
|
||||||
|
self.set_and_go(sm.target)
|
||||||
|
return Retry
|
||||||
|
|
||||||
|
def final_status(self, *args, **kwds):
|
||||||
|
print('FINAL-hold')
|
||||||
|
self.write_action('hold')
|
||||||
|
return super().final_status(*args, **kwds)
|
||||||
|
|
||||||
|
def on_restart(self, sm):
|
||||||
|
print('ON_RESTART-hold', sm.sm)
|
||||||
|
self.write_action('hold')
|
||||||
|
return super().on_restart(sm)
|
||||||
|
|
||||||
|
|
||||||
|
class Field(SimpleField, Magfield):
|
||||||
|
wait_switch_on = Parameter(
|
||||||
|
'wait time to ensure switch is on', FloatRange(0, unit='s'), readonly=True, default=60)
|
||||||
|
wait_switch_off = Parameter(
|
||||||
|
'wait time to ensure switch is off', FloatRange(0, unit='s'), readonly=True, default=60)
|
||||||
|
forced_persistent_field = Parameter(
|
||||||
|
'manual indication that persistent field is bad', BoolType(), readonly=False, default=False)
|
||||||
|
|
||||||
|
_field_mismatch = None
|
||||||
|
__init = True
|
||||||
|
__switch_heater_fix = 0
|
||||||
|
|
||||||
|
def doPoll(self):
|
||||||
|
super().doPoll()
|
||||||
|
self.read_current()
|
||||||
|
|
||||||
|
def startModule(self, start_events):
|
||||||
|
# on restart, assume switch is changed long time ago, if not, the mercury
|
||||||
|
# will complain and this will be handled in start_ramp_to_field
|
||||||
|
self.switch_on_time = 0
|
||||||
|
self.switch_off_time = 0
|
||||||
|
self.switch_heater = self.query('PSU:SIG:SWHT', off_on)
|
||||||
|
super().startModule(start_events)
|
||||||
|
|
||||||
|
def read_value(self):
|
||||||
|
current = self.query('PSU:SIG:FLD')
|
||||||
|
pf = self.query('PSU:SIG:PFLD')
|
||||||
|
if self.__init:
|
||||||
|
self.__init = False
|
||||||
|
self.persistent_field = pf
|
||||||
|
if self.switch_heater == self.switch_heater.on or self._field_mismatch is None:
|
||||||
|
self.forced_persistent_field = False
|
||||||
|
self._field_mismatch = False
|
||||||
|
return current
|
||||||
|
self._field_mismatch = abs(self.persistent_field - pf) > self.tolerance
|
||||||
|
return pf
|
||||||
|
|
||||||
def read_current(self):
|
def read_current(self):
|
||||||
if self.slave_currents is None:
|
if self.slave_currents is None:
|
||||||
self.slave_currents = [[] for _ in range(self.nslaves + 1)]
|
self.slave_currents = [[] for _ in range(self.nunits + 1)]
|
||||||
current = self.query('PSU:SIG:CURR')
|
if self.nunits > 1:
|
||||||
for i in range(self.nslaves + 1):
|
for i in range(1, self.nunits + 1):
|
||||||
if i:
|
|
||||||
curri = self.query('DEV:PSU.M%d:PSU:SIG:CURR' % i)
|
curri = self.query('DEV:PSU.M%d:PSU:SIG:CURR' % i)
|
||||||
volti = self.query('DEV:PSU.M%d:PSU:SIG:VOLT' % i)
|
volti = self.query('DEV:PSU.M%d:PSU:SIG:VOLT' % i)
|
||||||
setattr(self, 'I%d' % i, curri)
|
setattr(self, 'I%d' % i, curri)
|
||||||
setattr(self, 'V%d' % i, volti)
|
setattr(self, 'V%d' % i, volti)
|
||||||
self.slave_currents[i].append(curri)
|
self.slave_currents[i].append(curri)
|
||||||
else:
|
current = self.query('PSU:SIG:CURR')
|
||||||
self.slave_currents[i].append(current)
|
self.slave_currents[0].append(current)
|
||||||
|
min_ = min(self.slave_currents[0]) / self.nunits
|
||||||
|
max_ = max(self.slave_currents[0]) / self.nunits
|
||||||
|
# keep one element more for the total current (first and last measurement is a total)
|
||||||
|
self.slave_currents[0] = self.slave_currents[0][-CURRENT_CHECK_SIZE-1:]
|
||||||
|
for i in range(1, self.nunits + 1):
|
||||||
min_i = min(self.slave_currents[i])
|
min_i = min(self.slave_currents[i])
|
||||||
max_i = max(self.slave_currents[i])
|
max_i = max(self.slave_currents[i])
|
||||||
min_ = min(self.slave_currents[0]) / self.nslaves
|
|
||||||
max_ = max(self.slave_currents[0]) / self.nslaves
|
|
||||||
if len(self.slave_currents[i]) > CURRENT_CHECK_SIZE:
|
if len(self.slave_currents[i]) > CURRENT_CHECK_SIZE:
|
||||||
self.slave_currents[i] = self.slave_currents[i][-CURRENT_CHECK_SIZE:]
|
self.slave_currents[i] = self.slave_currents[i][-CURRENT_CHECK_SIZE:]
|
||||||
if i and (min_i -1 > max_ or min_ > max_i + 1):
|
if min_i - 0.1 > max_ or min_ > max_i + 0.1: # use an arbitrary 0.1 A tolerance
|
||||||
self.log.warning('individual currents mismatch %r', self.slave_currents)
|
self.log.warning('individual currents mismatch %r', self.slave_currents)
|
||||||
|
else:
|
||||||
|
current = self.query('PSU:SIG:CURR')
|
||||||
if self.atob:
|
if self.atob:
|
||||||
return current / self.atob
|
return current / self.atob
|
||||||
return 0
|
return 0
|
||||||
|
|
||||||
def set_and_go(self, value):
|
def write_persistent_field(self, value):
|
||||||
self.change('PSU:SIG:FSET', value)
|
if self.forced_persistent_field:
|
||||||
assert self.write_action('hold') == 'hold'
|
self._field_mismatch = False
|
||||||
assert self.write_action('run_to_set') == 'run_to_set'
|
return value
|
||||||
|
raise BadValueError('changing persistent field needs forced_persistent_field=True')
|
||||||
|
|
||||||
def start_ramp_to_field(self, state):
|
def write_target(self, target):
|
||||||
|
if self._field_mismatch:
|
||||||
|
self.forced_persistent_field = True
|
||||||
|
raise BadValueError('persistent field does not match - set persistent field to guessed value first')
|
||||||
|
return super().write_target(target)
|
||||||
|
|
||||||
|
def read_switch_heater(self):
|
||||||
|
value = self.query('PSU:SIG:SWHT', off_on)
|
||||||
|
now = time.time()
|
||||||
|
if value != self.switch_heater:
|
||||||
|
if now < self.__switch_heater_fix:
|
||||||
|
# probably switch heater was changed, but IPS reply is not yet updated
|
||||||
|
if self.switch_heater:
|
||||||
|
self.switch_on_time = time.time()
|
||||||
|
else:
|
||||||
|
self.switch_off_time = time.time()
|
||||||
|
return self.switch_heater
|
||||||
|
return value
|
||||||
|
|
||||||
|
def read_wait_switch_on(self):
|
||||||
|
return self.query('PSU:SWONT') * 0.001
|
||||||
|
|
||||||
|
def read_wait_switch_off(self):
|
||||||
|
return self.query('PSU:SWOFT') * 0.001
|
||||||
|
|
||||||
|
def write_switch_heater(self, value):
|
||||||
|
if value == self.read_switch_heater():
|
||||||
|
self.log.info('switch heater already %r', value)
|
||||||
|
# we do not want to restart the timer
|
||||||
|
return value
|
||||||
|
self.__switch_heater_fix = time.time() + 10
|
||||||
|
return self.change('PSU:SIG:SWHT', value, off_on)
|
||||||
|
|
||||||
|
def start_ramp_to_field(self, sm):
|
||||||
|
if abs(self.current - self.persistent_field) <= self.tolerance:
|
||||||
|
self.log.info('leads %g are already at %g', self.current, self.persistent_field)
|
||||||
|
return self.ramp_to_field
|
||||||
try:
|
try:
|
||||||
self.set_and_go(self.persistent_field)
|
self.set_and_go(self.persistent_field)
|
||||||
except (HardwareError, AssertionError):
|
except (HardwareError, AssertionError) as e:
|
||||||
state.switch_undef = self.switch_time[self.switch_heater.on] or state.now
|
if self.switch_heater:
|
||||||
|
self.log.warn('switch is already on!')
|
||||||
|
return self.ramp_to_field
|
||||||
|
self.log.warn('wait first for switch off current=%g pf=%g', self.current, self.persistent_field)
|
||||||
|
return Retry
|
||||||
|
self.status = Status.PREPARING, 'wait for switch off'
|
||||||
|
sm.after_wait = self.ramp_to_field
|
||||||
return self.wait_for_switch
|
return self.wait_for_switch
|
||||||
return self.ramp_to_field
|
return self.ramp_to_field
|
||||||
|
|
||||||
def ramp_to_field(self, state):
|
def start_ramp_to_target(self, sm):
|
||||||
if self.action != 'run_to_set':
|
sm.try_cnt = 5
|
||||||
self.status = Status.PREPARING, 'restart ramp to field'
|
try:
|
||||||
return self.start_ramp_to_field
|
self.set_and_go(sm.target)
|
||||||
return super().ramp_to_field(state)
|
except (HardwareError, AssertionError) as e:
|
||||||
|
self.log.warn('switch not yet ready %r', e)
|
||||||
def wait_for_switch(self, state):
|
self.status = Status.PREPARING, 'wait for switch on'
|
||||||
if state.now - state.switch_undef < self.wait_switch_on:
|
sm.after_wait = self.ramp_to_target
|
||||||
return Retry()
|
return self.wait_for_switch
|
||||||
self.set_and_go(self.persistent_field)
|
|
||||||
return self.ramp_to_field
|
|
||||||
|
|
||||||
def start_ramp_to_target(self, state):
|
|
||||||
self.set_and_go(self.target)
|
|
||||||
return self.ramp_to_target
|
return self.ramp_to_target
|
||||||
|
|
||||||
def start_ramp_to_zero(self, state):
|
def ramp_to_field(self, sm):
|
||||||
|
try:
|
||||||
|
return super().ramp_to_field(sm)
|
||||||
|
except HardwareError:
|
||||||
|
sm.try_cnt -= 1
|
||||||
|
if sm.try_cnt < 0:
|
||||||
|
raise
|
||||||
|
self.set_and_go(sm.persistent_field)
|
||||||
|
return Retry
|
||||||
|
|
||||||
|
def wait_for_switch(self, sm):
|
||||||
|
if not self.delay(10):
|
||||||
|
return Retry
|
||||||
|
try:
|
||||||
|
self.log.warn('try again')
|
||||||
|
# try again
|
||||||
|
self.set_and_go(self.persistent_field)
|
||||||
|
except (HardwareError, AssertionError) as e:
|
||||||
|
return Retry
|
||||||
|
return sm.after_wait
|
||||||
|
|
||||||
|
def start_ramp_to_zero(self, sm):
|
||||||
|
try:
|
||||||
assert self.write_action('hold') == 'hold'
|
assert self.write_action('hold') == 'hold'
|
||||||
assert self.write_action('run_to_zero') == 'run_to_zero'
|
assert self.write_action('run_to_zero') == 'run_to_zero'
|
||||||
|
except (HardwareError, AssertionError) as e:
|
||||||
|
self.log.warn('switch not yet ready %r', e)
|
||||||
|
self.status = Status.PREPARING, 'wait for switch off'
|
||||||
|
sm.after_wait = self.ramp_to_zero
|
||||||
|
return self.wait_for_switch
|
||||||
return self.ramp_to_zero
|
return self.ramp_to_zero
|
||||||
|
|
||||||
def finish_state(self, state):
|
def ramp_to_zero(self, sm):
|
||||||
self.write_action('hold')
|
try:
|
||||||
super().finish_state(state)
|
return super().ramp_to_zero(sm)
|
||||||
|
except HardwareError:
|
||||||
|
sm.try_cnt -= 1
|
||||||
|
if sm.try_cnt < 0:
|
||||||
|
raise
|
||||||
|
assert self.write_action('hold') == 'hold'
|
||||||
|
assert self.write_action('run_to_zero') == 'run_to_zero'
|
||||||
|
return Retry
|
||||||
|
|||||||
@ -20,12 +20,12 @@
|
|||||||
"""generic persistent magnet driver"""
|
"""generic persistent magnet driver"""
|
||||||
|
|
||||||
import time
|
import time
|
||||||
from secop.core import Drivable, Parameter, Done
|
from secop.core import Drivable, Parameter, Done, IDLE, BUSY, ERROR
|
||||||
from secop.datatypes import FloatRange, EnumType, ArrayOf, TupleOf, StatusType
|
from secop.datatypes import FloatRange, EnumType, ArrayOf, TupleOf, StatusType
|
||||||
from secop.features import HasLimits
|
from secop.features import HasLimits
|
||||||
from secop.errors import ConfigError, ProgrammingError
|
from secop.errors import ConfigError, ProgrammingError, HardwareError
|
||||||
from secop.lib.enum import Enum
|
from secop.lib.enum import Enum
|
||||||
from secop.lib.statemachine import Retry, StateMachine
|
from secop.states import Retry, HasStates, status_code
|
||||||
|
|
||||||
UNLIMITED = FloatRange()
|
UNLIMITED = FloatRange()
|
||||||
|
|
||||||
@ -48,52 +48,23 @@ OFF = 0
|
|||||||
ON = 1
|
ON = 1
|
||||||
|
|
||||||
|
|
||||||
class Magfield(HasLimits, Drivable):
|
class SimpleMagfield(HasStates, HasLimits, Drivable):
|
||||||
value = Parameter('magnetic field', datatype=FloatRange(unit='T'))
|
value = Parameter('magnetic field', datatype=FloatRange(unit='T'))
|
||||||
status = Parameter(datatype=StatusType(Status))
|
ramp = Parameter(
|
||||||
mode = Parameter(
|
'wanted ramp rate for field', FloatRange(unit='$/min'), readonly=False)
|
||||||
'persistent mode', EnumType(Mode), readonly=False, default=Mode.PERSISTENT)
|
# export only when different from ramp:
|
||||||
|
workingramp = Parameter(
|
||||||
|
'effective ramp rate for field', FloatRange(unit='$/min'), export=False)
|
||||||
tolerance = Parameter(
|
tolerance = Parameter(
|
||||||
'tolerance', FloatRange(0, unit='$'), readonly=False, default=0.0002)
|
'tolerance', FloatRange(0, unit='$'), readonly=False, default=0.0002)
|
||||||
switch_heater = Parameter('switch heater', EnumType(off=OFF, on=ON),
|
|
||||||
readonly=False, default=0)
|
|
||||||
persistent_field = Parameter(
|
|
||||||
'persistent field', FloatRange(unit='$'), readonly=False)
|
|
||||||
current = Parameter(
|
|
||||||
'leads current (in units of field)', FloatRange(unit='$'))
|
|
||||||
ramp = Parameter(
|
|
||||||
'ramp rate for field', FloatRange(unit='$/min'), readonly=False)
|
|
||||||
trained = Parameter(
|
trained = Parameter(
|
||||||
'trained field (positive)',
|
'trained field (positive)',
|
||||||
TupleOf(FloatRange(-99, 0, unit='$'), FloatRange(0, unit='$')),
|
TupleOf(FloatRange(-99, 0, unit='$'), FloatRange(0, unit='$')),
|
||||||
readonly=False, default=(0, 0))
|
readonly=False, default=(0, 0))
|
||||||
# TODO: time_to_target
|
|
||||||
# profile = Parameter(
|
|
||||||
# 'ramp limit table', ArrayOf(TupleOf(FloatRange(unit='$'), FloatRange(unit='$/min'))),
|
|
||||||
# readonly=False)
|
|
||||||
# profile_training = Parameter(
|
|
||||||
# 'ramp limit table when in training',
|
|
||||||
# ArrayOf(TupleOf(FloatRange(unit='$'), FloatRange(unit='$/min'))), readonly=False)
|
|
||||||
# TODO: the following parameters should be changed into properties after tests
|
|
||||||
wait_switch_on = Parameter(
|
|
||||||
'wait time to ensure switch is on', FloatRange(0, unit='s'), readonly=False, default=60)
|
|
||||||
wait_switch_off = Parameter(
|
|
||||||
'wait time to ensure switch is off', FloatRange(0, unit='s'), readonly=False, default=60)
|
|
||||||
wait_stable_leads = Parameter(
|
|
||||||
'wait time to ensure current is stable', FloatRange(0, unit='s'), readonly=False, default=6)
|
|
||||||
wait_stable_field = Parameter(
|
wait_stable_field = Parameter(
|
||||||
'wait time to ensure field is stable', FloatRange(0, unit='s'), readonly=False, default=30)
|
'wait time to ensure field is stable', FloatRange(0, unit='s'), readonly=False, default=31)
|
||||||
persistent_limit = Parameter(
|
|
||||||
'above this limit, lead currents are not driven to 0',
|
|
||||||
FloatRange(0, unit='$'), readonly=False, default=99)
|
|
||||||
|
|
||||||
_state = None
|
|
||||||
_last_target = None
|
_last_target = None
|
||||||
switch_time = None, None
|
|
||||||
|
|
||||||
def doPoll(self):
|
|
||||||
self.read_value()
|
|
||||||
self._state.cycle()
|
|
||||||
|
|
||||||
def checkProperties(self):
|
def checkProperties(self):
|
||||||
dt = self.parameters['target'].datatype
|
dt = self.parameters['target'].datatype
|
||||||
@ -104,216 +75,285 @@ class Magfield(HasLimits, Drivable):
|
|||||||
dt.min = -max_
|
dt.min = -max_
|
||||||
super().checkProperties()
|
super().checkProperties()
|
||||||
|
|
||||||
def initModule(self):
|
|
||||||
super().initModule()
|
|
||||||
self.registerCallbacks(self) # for update_switch_heater
|
|
||||||
self._state = StateMachine(logger=self.log, threaded=False, cleanup=self.cleanup_state)
|
|
||||||
|
|
||||||
def startModule(self, start_events):
|
|
||||||
start_events.queue(self.startupCheck)
|
|
||||||
super().startModule(start_events)
|
|
||||||
|
|
||||||
def startupCheck(self):
|
|
||||||
if self.read_switch_heater() and self.mode == Mode.PERSISTENT:
|
|
||||||
self.read_value() # check for persistent field mismatch
|
|
||||||
# switch off heater from previous live or manual intervention
|
|
||||||
self.write_mode(self.mode)
|
|
||||||
self.write_target(self.persistent_field)
|
|
||||||
else:
|
|
||||||
self._last_target = self.persistent_field
|
|
||||||
|
|
||||||
def write_target(self, target):
|
|
||||||
self.check_limits(target)
|
|
||||||
self.target = target
|
|
||||||
if not self._state.is_active:
|
|
||||||
# as long as the state machine is still running, it takes care of changing targets
|
|
||||||
self._state.start(self.start_field_change)
|
|
||||||
self.doPoll()
|
|
||||||
return Done
|
|
||||||
|
|
||||||
def write_mode(self, value):
|
|
||||||
self.mode = value
|
|
||||||
if not self._state.is_active:
|
|
||||||
self._state.start(self.start_field_change)
|
|
||||||
self.doPoll()
|
|
||||||
return Done
|
|
||||||
|
|
||||||
def cleanup_state(self, state):
|
|
||||||
self.status = Status.ERROR, repr(state.last_error)
|
|
||||||
self.log.error('in state %s: %r', state.state.__name__, state.last_error)
|
|
||||||
self.setFastPoll(False)
|
|
||||||
if self.switch_heater != 0:
|
|
||||||
self.persistent_field = self.read_value()
|
|
||||||
if self.mode != Mode.DRIVEN:
|
|
||||||
self.log.warning('turn switch heater off')
|
|
||||||
self.write_switch_heater(0)
|
|
||||||
|
|
||||||
def stop(self):
|
def stop(self):
|
||||||
"""keep field at current value"""
|
"""keep field at current value"""
|
||||||
# let the state machine do the needed steps to finish
|
# let the state machine do the needed steps to finish
|
||||||
self.write_target(self.value)
|
self.write_target(self.value)
|
||||||
|
|
||||||
def start_field_change(self, state):
|
def write_target(self, target):
|
||||||
|
self.check_limits(target)
|
||||||
|
self.start_machine(self.start_field_change, target=target)
|
||||||
|
return target
|
||||||
|
|
||||||
|
def init_progress(self, sm, value):
|
||||||
|
sm.prev_point = sm.now, value
|
||||||
|
|
||||||
|
def get_progress(self, sm, value):
|
||||||
|
"""return the time passed for at least one tolerance step"""
|
||||||
|
t, v = sm.prev_point
|
||||||
|
dif = abs(v - value)
|
||||||
|
tdif = sm.now - t
|
||||||
|
if dif > self.tolerance:
|
||||||
|
sm.prev_point = sm.now, value
|
||||||
|
return tdif
|
||||||
|
|
||||||
|
@status_code(BUSY, 'start ramp to target')
|
||||||
|
def start_field_change(self, sm):
|
||||||
self.setFastPoll(True, 1.0)
|
self.setFastPoll(True, 1.0)
|
||||||
self.status = Status.PREPARING, 'changed target field'
|
return self.start_ramp_to_target
|
||||||
if (self.target == self._last_target and
|
|
||||||
abs(self.target - self.persistent_field) <= self.tolerance): # short cut
|
@status_code(BUSY, 'ramping field')
|
||||||
|
def ramp_to_target(self, sm):
|
||||||
|
if sm.init:
|
||||||
|
self.init_progress(sm, self.value)
|
||||||
|
# Remarks: assume there is a ramp limiting feature
|
||||||
|
if abs(self.value - sm.target) > self.tolerance:
|
||||||
|
if self.get_progress(sm, self.value):
|
||||||
|
return Retry
|
||||||
|
raise HardwareError('no progress')
|
||||||
|
sm.stabilize_start = time.time()
|
||||||
|
return self.stabilize_field
|
||||||
|
|
||||||
|
@status_code(BUSY, 'stabilizing field')
|
||||||
|
def stabilize_field(self, sm):
|
||||||
|
if sm.now - sm.stabilize_start < self.wait_stable_field:
|
||||||
|
return Retry
|
||||||
|
return self.final_status()
|
||||||
|
|
||||||
|
def read_workingramp(self):
|
||||||
|
return self.ramp
|
||||||
|
|
||||||
|
|
||||||
|
class Magfield(SimpleMagfield):
|
||||||
|
status = Parameter(datatype=StatusType(Status))
|
||||||
|
mode = Parameter(
|
||||||
|
'persistent mode', EnumType(Mode), readonly=False, default=Mode.PERSISTENT)
|
||||||
|
switch_heater = Parameter('switch heater', EnumType(off=OFF, on=ON),
|
||||||
|
readonly=False, default=0)
|
||||||
|
persistent_field = Parameter(
|
||||||
|
'persistent field', FloatRange(unit='$'), readonly=False)
|
||||||
|
current = Parameter(
|
||||||
|
'leads current (in units of field)', FloatRange(unit='$'))
|
||||||
|
# TODO: time_to_target
|
||||||
|
# profile = Parameter(
|
||||||
|
# 'ramp limit table', ArrayOf(TupleOf(FloatRange(unit='$'), FloatRange(unit='$/min'))),
|
||||||
|
# readonly=False)
|
||||||
|
# profile_training = Parameter(
|
||||||
|
# 'ramp limit table when in training',
|
||||||
|
# ArrayOf(TupleOf(FloatRange(unit='$'), FloatRange(unit='$/min'))), readonly=False)
|
||||||
|
# TODO: the following parameters should be changed into properties after tests
|
||||||
|
wait_switch_on = Parameter(
|
||||||
|
'wait time to ensure switch is on', FloatRange(0, unit='s'), readonly=False, default=61)
|
||||||
|
wait_switch_off = Parameter(
|
||||||
|
'wait time to ensure switch is off', FloatRange(0, unit='s'), readonly=False, default=61)
|
||||||
|
wait_stable_leads = Parameter(
|
||||||
|
'wait time to ensure current is stable', FloatRange(0, unit='s'), readonly=False, default=6)
|
||||||
|
persistent_limit = Parameter(
|
||||||
|
'above this limit, lead currents are not driven to 0',
|
||||||
|
FloatRange(0, unit='$'), readonly=False, default=99)
|
||||||
|
leads_ramp_tmo = Parameter(
|
||||||
|
'timeout for leads ramp progress',
|
||||||
|
FloatRange(0, unit='s'), readonly=False, default=30)
|
||||||
|
ramp_tmo = Parameter(
|
||||||
|
'timeout for field ramp progress',
|
||||||
|
FloatRange(0, unit='s'), readonly=False, default=30)
|
||||||
|
__init = True
|
||||||
|
switch_on_time = None
|
||||||
|
switch_off_time = None
|
||||||
|
|
||||||
|
def doPoll(self):
|
||||||
|
if self.__init:
|
||||||
|
self.__init = False
|
||||||
|
if self.read_switch_heater() and self.mode == Mode.PERSISTENT:
|
||||||
|
self.read_value() # check for persistent field mismatch
|
||||||
|
# switch off heater from previous live or manual intervention
|
||||||
|
self.write_target(self.persistent_field)
|
||||||
|
else:
|
||||||
|
self._last_target = self.persistent_field
|
||||||
|
else:
|
||||||
|
super().doPoll()
|
||||||
|
|
||||||
|
def initModule(self):
|
||||||
|
super().initModule()
|
||||||
|
self.registerCallbacks(self) # for update_switch_heater
|
||||||
|
|
||||||
|
def write_mode(self, value):
|
||||||
|
self.start_machine(self.start_field_change, cleanup=self.cleanup, target=self.target, mode=value)
|
||||||
|
return value
|
||||||
|
|
||||||
|
def write_target(self, target):
|
||||||
|
self.check_limits(target)
|
||||||
|
self.start_machine(self.start_field_change, cleanup=self.cleanup, target=target, mode=self.mode)
|
||||||
|
return target
|
||||||
|
|
||||||
|
def cleanup(self, sm): # sm is short for statemachine
|
||||||
|
if self.switch_heater != 0:
|
||||||
|
self.persistent_field = self.read_value()
|
||||||
|
if sm.mode != Mode.DRIVEN:
|
||||||
|
self.log.warning('turn switch heater off')
|
||||||
|
self.write_switch_heater(0)
|
||||||
|
|
||||||
|
@status_code('PREPARING')
|
||||||
|
def start_field_change(self, sm):
|
||||||
|
self.setFastPoll(True, 1.0)
|
||||||
|
if sm.target == self.persistent_field or (
|
||||||
|
sm.target == self._last_target and
|
||||||
|
abs(sm.target - self.persistent_field) <= self.tolerance): # short cut
|
||||||
return self.check_switch_off
|
return self.check_switch_off
|
||||||
|
if self.switch_heater:
|
||||||
|
return self.start_switch_on
|
||||||
return self.start_ramp_to_field
|
return self.start_ramp_to_field
|
||||||
|
|
||||||
def start_ramp_to_field(self, state):
|
@status_code('PREPARING')
|
||||||
|
def start_ramp_to_field(self, sm):
|
||||||
"""start ramping current to persistent field
|
"""start ramping current to persistent field
|
||||||
|
|
||||||
should return ramp_to_field
|
initiate ramp to persistent field (with corresponding ramp rate)
|
||||||
|
the implementation should return ramp_to_field
|
||||||
"""
|
"""
|
||||||
raise NotImplementedError
|
raise NotImplementedError
|
||||||
|
|
||||||
def ramp_to_field(self, state):
|
@status_code('PREPARING', 'ramp leads to match field')
|
||||||
"""ramping, wait for current at persistent field"""
|
def ramp_to_field(self, sm):
|
||||||
if (self.target == self._last_target and
|
if sm.init:
|
||||||
abs(self.target - self.persistent_field) <= self.tolerance): # short cut
|
sm.stabilize_start = 0 # in case current is already at field
|
||||||
return self.check_switch_off
|
self.init_progress(sm, self.current)
|
||||||
if abs(self.current - self.persistent_field) > self.tolerance:
|
dif = abs(self.current - self.persistent_field)
|
||||||
if state.init:
|
if dif > self.tolerance:
|
||||||
self.status = Status.PREPARING, 'ramping leads current to field'
|
tdif = self.get_progress(sm, self.current)
|
||||||
return Retry()
|
if tdif > self.leads_ramp_tmo:
|
||||||
state.stabilize_start = time.time()
|
raise HardwareError('no progress')
|
||||||
|
sm.stabilize_start = None # force reset
|
||||||
|
return Retry
|
||||||
|
if sm.stabilize_start is None:
|
||||||
|
sm.stabilize_start = sm.now
|
||||||
return self.stabilize_current
|
return self.stabilize_current
|
||||||
|
|
||||||
def stabilize_current(self, state):
|
@status_code('PREPARING')
|
||||||
"""wait for stable current at persistent field"""
|
def stabilize_current(self, sm):
|
||||||
if state.now - state.stabilize_start < self.wait_stable_leads:
|
if sm.now - sm.stabilize_start < self.wait_stable_leads:
|
||||||
if state.init:
|
return Retry
|
||||||
self.status = Status.PREPARING, 'stabilizing leads current'
|
|
||||||
return Retry()
|
|
||||||
return self.start_switch_on
|
return self.start_switch_on
|
||||||
|
|
||||||
def update_switch_heater(self, value):
|
def update_switch_heater(self, value):
|
||||||
"""is called whenever switch heater was changed"""
|
"""is called whenever switch heater was changed"""
|
||||||
switch_time = self.switch_time[value]
|
print('SW', value)
|
||||||
if switch_time is None:
|
if value == 0:
|
||||||
switch_time = time.time()
|
if self.switch_off_time is None:
|
||||||
self.switch_time = [None, None]
|
self.log.info('restart switch_off_time')
|
||||||
self.switch_time[value] = switch_time
|
self.switch_off_time = time.time()
|
||||||
|
self.switch_on_time = None
|
||||||
|
else:
|
||||||
|
if self.switch_on_time is None:
|
||||||
|
self.log.info('restart switch_on_time')
|
||||||
|
self.switch_on_time = time.time()
|
||||||
|
self.switch_off_time = None
|
||||||
|
|
||||||
def start_switch_on(self, state):
|
@status_code('PREPARING')
|
||||||
"""switch heater on"""
|
def start_switch_on(self, sm):
|
||||||
if self.switch_heater == 0:
|
if self.read_switch_heater() == 0:
|
||||||
self.status = Status.PREPARING, 'turn switch heater on'
|
self.status = Status.PREPARING, 'turn switch heater on'
|
||||||
try:
|
try:
|
||||||
self.write_switch_heater(True)
|
self.write_switch_heater(True)
|
||||||
except Exception as e:
|
except Exception as e:
|
||||||
self.log.warning('write_switch_heater %r', e)
|
self.log.warning('write_switch_heater %r', e)
|
||||||
return Retry()
|
return Retry
|
||||||
else:
|
else:
|
||||||
self.status = Status.PREPARING, 'wait for heater on'
|
self.status = Status.PREPARING, 'wait for heater on'
|
||||||
return self.switch_on
|
return self.wait_for_switch_on
|
||||||
|
|
||||||
def switch_on(self, state):
|
@status_code('PREPARING')
|
||||||
"""wait for switch heater open"""
|
def wait_for_switch_on(self, sm):
|
||||||
if (self.target == self._last_target and
|
if (sm.target == self._last_target and
|
||||||
abs(self.target - self.persistent_field) <= self.tolerance): # short cut
|
abs(sm.target - self.persistent_field) <= self.tolerance): # short cut
|
||||||
return self.check_switch_off
|
return self.check_switch_off
|
||||||
self.read_switch_heater()
|
self.read_switch_heater() # trigger switch_on/off_time
|
||||||
if self.switch_time[ON] is None:
|
if self.switch_heater == 0:
|
||||||
self.log.warning('switch turned off manually?')
|
self.log.warning('switch turned off manually?')
|
||||||
return self.start_switch_on
|
return self.start_switch_on
|
||||||
if state.now - self.switch_time[ON] < self.wait_switch_on:
|
if sm.now - self.switch_on_time < self.wait_switch_on:
|
||||||
return Retry()
|
if sm.delta(10):
|
||||||
self._last_target = self.target
|
self.log.info('waited for %g sec', sm.now - self.switch_on_time)
|
||||||
|
return Retry
|
||||||
|
self._last_target = sm.target
|
||||||
return self.start_ramp_to_target
|
return self.start_ramp_to_target
|
||||||
|
|
||||||
def start_ramp_to_target(self, state):
|
@status_code('RAMPING')
|
||||||
"""start ramping current to target
|
def start_ramp_to_target(self, sm):
|
||||||
|
"""start ramping current to target field
|
||||||
|
|
||||||
should return ramp_to_target
|
initiate ramp to target
|
||||||
|
the implementation should return ramp_to_target
|
||||||
"""
|
"""
|
||||||
raise NotImplementedError
|
raise NotImplementedError
|
||||||
|
|
||||||
def ramp_to_target(self, state):
|
@status_code('RAMPING')
|
||||||
"""ramp field to target"""
|
def ramp_to_target(self, sm):
|
||||||
if self.target != self._last_target: # target was changed
|
|
||||||
self._last_target = self.target
|
|
||||||
return self.start_ramp_to_target
|
|
||||||
self.persistent_field = self.value
|
self.persistent_field = self.value
|
||||||
# Remarks: assume there is a ramp limiting feature
|
dif = abs(self.value - sm.target)
|
||||||
if abs(self.value - self.target) > self.tolerance:
|
if sm.init:
|
||||||
if state.init:
|
sm.stabilize_start = 0 # in case current is already at target
|
||||||
self.status = Status.RAMPING, 'ramping field'
|
self.init_progress(sm, self.value)
|
||||||
return Retry()
|
if dif > self.tolerance:
|
||||||
state.stabilize_start = time.time()
|
sm.stabilize_start = sm.now
|
||||||
|
tdif = self.get_progress(sm, self.value)
|
||||||
|
if tdif > self.workingramp / self.tolerance * 60 + self.ramp_tmo:
|
||||||
|
raise HardwareError('no progress')
|
||||||
|
sm.stabilize_start = None
|
||||||
|
return Retry
|
||||||
|
if sm.stabilize_start is None:
|
||||||
|
sm.stabilize_start = sm.now
|
||||||
return self.stabilize_field
|
return self.stabilize_field
|
||||||
|
|
||||||
def stabilize_field(self, state):
|
@status_code('STABILIZING')
|
||||||
"""stabilize field"""
|
def stabilize_field(self, sm):
|
||||||
if self.target != self._last_target: # target was changed
|
|
||||||
self._last_target = self.target
|
|
||||||
return self.start_ramp_to_target
|
|
||||||
self.persistent_field = self.value
|
self.persistent_field = self.value
|
||||||
if state.now - state.stabilize_start < self.wait_stable_field:
|
if sm.now > sm.stablize_start + self.wait_stable_field:
|
||||||
if state.init:
|
return Retry
|
||||||
self.status = Status.STABILIZING, 'stabilizing field'
|
|
||||||
return Retry()
|
|
||||||
return self.check_switch_off
|
return self.check_switch_off
|
||||||
|
|
||||||
def check_switch_off(self, state):
|
def check_switch_off(self, sm):
|
||||||
if self.mode == Mode.DRIVEN:
|
if sm.mode == Mode.DRIVEN:
|
||||||
self.status = Status.PREPARED, 'driven'
|
return self.final_status(Status.PREPARED, 'driven')
|
||||||
return self.finish_state
|
|
||||||
return self.start_switch_off
|
return self.start_switch_off
|
||||||
|
|
||||||
def start_switch_off(self, state):
|
@status_code('FINALIZING')
|
||||||
"""turn off switch heater"""
|
def start_switch_off(self, sm):
|
||||||
if self.switch_heater == 1:
|
if self.switch_heater == 1:
|
||||||
self.status = Status.FINALIZING, 'turn switch heater off'
|
|
||||||
self.write_switch_heater(False)
|
self.write_switch_heater(False)
|
||||||
else:
|
return self.wait_for_switch_off
|
||||||
self.status = Status.FINALIZING, 'wait for heater off'
|
|
||||||
return self.switch_off
|
|
||||||
|
|
||||||
def switch_off(self, state):
|
@status_code('FINALIZING')
|
||||||
"""wait for switch heater closed"""
|
def wait_for_switch_off(self, sm):
|
||||||
if self.target != self._last_target or self.mode == Mode.DRIVEN:
|
|
||||||
# target or mode has changed -> redo
|
|
||||||
self._last_target = None
|
|
||||||
return self.start_switch_on
|
|
||||||
self.persistent_field = self.value
|
self.persistent_field = self.value
|
||||||
self.read_switch_heater()
|
self.read_switch_heater()
|
||||||
if self.switch_time[OFF] is None:
|
if self.switch_off_time is None:
|
||||||
self.log.warning('switch turned on manually?')
|
self.log.warning('switch turned on manually?')
|
||||||
return self.start_switch_off
|
return self.start_switch_off
|
||||||
if state.now - self.switch_time[OFF] < self.wait_switch_off:
|
if sm.now - self.switch_off_time < self.wait_switch_off:
|
||||||
return Retry()
|
return Retry
|
||||||
if abs(self.value) > self.persistent_limit:
|
if abs(self.value) > self.persistent_limit:
|
||||||
self.status = Status.IDLE, 'leads current at field, switch off'
|
return self.final_status(Status.IDLE, 'leads current at field, switch off')
|
||||||
return self.finish_state
|
|
||||||
return self.start_ramp_to_zero
|
return self.start_ramp_to_zero
|
||||||
|
|
||||||
def start_ramp_to_zero(self, state):
|
@status_code('FINALIZING')
|
||||||
"""start ramping current to target
|
def start_ramp_to_zero(self, sm):
|
||||||
|
"""start ramping current to zero
|
||||||
|
|
||||||
initiate ramp to zero (with corresponding ramp rate)
|
initiate ramp to zero (with corresponding ramp rate)
|
||||||
should return ramp_to_zero
|
the implementation should return ramp_to_zero
|
||||||
"""
|
"""
|
||||||
raise NotImplementedError
|
raise NotImplementedError
|
||||||
|
|
||||||
def ramp_to_zero(self, state):
|
@status_code('FINALIZING')
|
||||||
|
def ramp_to_zero(self, sm):
|
||||||
"""ramp field to zero"""
|
"""ramp field to zero"""
|
||||||
if self.target != self._last_target or self.mode == Mode.DRIVEN:
|
if sm.init:
|
||||||
# target or mode has changed -> redo
|
self.init_progress(sm, self.current)
|
||||||
self._last_target = None
|
|
||||||
return self.start_field_change
|
|
||||||
if abs(self.current) > self.tolerance:
|
if abs(self.current) > self.tolerance:
|
||||||
if state.init:
|
if self.get_progress(sm, self.current, self.ramp) > self.leads_ramp_tmo:
|
||||||
self.status = Status.FINALIZING, 'ramp leads to zero'
|
raise HardwareError('no progress')
|
||||||
return Retry()
|
return Retry
|
||||||
if self.mode == Mode.DISABLED and self.persistent_field == 0:
|
if sm.mode == Mode.DISABLED and self.persistent_field == 0:
|
||||||
self.status = Status.DISABLED, 'disabled'
|
return self.final_status(Status.DISABLED, 'disabled')
|
||||||
else:
|
return self.final_status(Status.IDLE, 'persistent mode')
|
||||||
self.status = Status.IDLE, 'persistent mode'
|
|
||||||
return self.finish_state
|
|
||||||
|
|
||||||
def finish_state(self, state):
|
|
||||||
"""finish"""
|
|
||||||
self.setFastPoll(False)
|
|
||||||
return None
|
|
||||||
|
|||||||
@ -38,6 +38,7 @@ SELF = 0
|
|||||||
|
|
||||||
|
|
||||||
def as_float(value):
|
def as_float(value):
|
||||||
|
"""converts string (with unit) to float and float to string"""
|
||||||
if isinstance(value, str):
|
if isinstance(value, str):
|
||||||
return float(VALUE_UNIT.match(value).group(1))
|
return float(VALUE_UNIT.match(value).group(1))
|
||||||
return '%g' % value
|
return '%g' % value
|
||||||
@ -82,7 +83,7 @@ class MercuryChannel(HasIO):
|
|||||||
return 'DEV:%s:%s%s%s' % (slot, head, sep, tail)
|
return 'DEV:%s:%s%s%s' % (slot, head, sep, tail)
|
||||||
return adr
|
return adr
|
||||||
|
|
||||||
def multiquery(self, adr, names=(), convert=as_float):
|
def multiquery(self, adr, names=(), convert=as_float, debug=None):
|
||||||
"""get parameter(s) in mercury syntax
|
"""get parameter(s) in mercury syntax
|
||||||
|
|
||||||
:param adr: the 'address part' of the SCPI command
|
:param adr: the 'address part' of the SCPI command
|
||||||
@ -99,9 +100,16 @@ class MercuryChannel(HasIO):
|
|||||||
self.slot='DB5.P1,DB3.G1' # -> take second slot
|
self.slot='DB5.P1,DB3.G1' # -> take second slot
|
||||||
-> query command will be READ:DEV:DB3.G1:PRES:SIG:PERC
|
-> query command will be READ:DEV:DB3.G1:PRES:SIG:PERC
|
||||||
"""
|
"""
|
||||||
|
# TODO: if the need arises: allow convert to be a list
|
||||||
adr = self._complete_adr(adr)
|
adr = self._complete_adr(adr)
|
||||||
cmd = 'READ:%s:%s' % (adr, ':'.join(names))
|
cmd = 'READ:%s:%s' % (adr, ':'.join(names))
|
||||||
|
msg = ''
|
||||||
|
for _ in range(3):
|
||||||
|
if msg:
|
||||||
|
self.log.warning('%s', msg)
|
||||||
reply = self.communicate(cmd)
|
reply = self.communicate(cmd)
|
||||||
|
if debug is not None:
|
||||||
|
debug.append(reply)
|
||||||
head = 'STAT:%s:' % adr
|
head = 'STAT:%s:' % adr
|
||||||
try:
|
try:
|
||||||
assert reply.startswith(head)
|
assert reply.startswith(head)
|
||||||
@ -111,14 +119,17 @@ class MercuryChannel(HasIO):
|
|||||||
return tuple(convert(r) for r in result)
|
return tuple(convert(r) for r in result)
|
||||||
except (AssertionError, AttributeError, ValueError):
|
except (AssertionError, AttributeError, ValueError):
|
||||||
time.sleep(0.1) # in case this was the answer of a previous command
|
time.sleep(0.1) # in case this was the answer of a previous command
|
||||||
raise HardwareError('invalid reply %r to cmd %r' % (reply, cmd)) from None
|
msg = 'invalid reply %r to cmd %r' % (reply, cmd)
|
||||||
|
else:
|
||||||
|
raise HardwareError(msg) from None
|
||||||
|
|
||||||
def multichange(self, adr, values, convert=as_float):
|
def multichange(self, adr, values, convert=as_float, tolerance=0):
|
||||||
"""set parameter(s) in mercury syntax
|
"""set parameter(s) in mercury syntax
|
||||||
|
|
||||||
:param adr: as in see multiquery method
|
:param adr: as in see multiquery method
|
||||||
:param values: [(name1, value1), (name2, value2) ...]
|
:param values: [(name1, value1), (name2, value2) ...]
|
||||||
:param convert: a converter function (converts given value to string and replied string to value)
|
:param convert: a converter function (converts given value to string and replied string to value)
|
||||||
|
:param tolerance: tolerance for readback check
|
||||||
:return: the values as tuple
|
:return: the values as tuple
|
||||||
|
|
||||||
Example:
|
Example:
|
||||||
@ -128,22 +139,40 @@ class MercuryChannel(HasIO):
|
|||||||
self.slot='DB6.T1,DB1.H1' # and take first slot
|
self.slot='DB6.T1,DB1.H1' # and take first slot
|
||||||
-> change command will be SET:DEV:DB6.T1:TEMP:LOOP:P:5:I:2:D:0
|
-> change command will be SET:DEV:DB6.T1:TEMP:LOOP:P:5:I:2:D:0
|
||||||
"""
|
"""
|
||||||
|
# TODO: if the need arises: allow convert and or tolerance to be a list
|
||||||
adr = self._complete_adr(adr)
|
adr = self._complete_adr(adr)
|
||||||
params = ['%s:%s' % (k, convert(v)) for k, v in values]
|
params = ['%s:%s' % (k, convert(v)) for k, v in values]
|
||||||
cmd = 'SET:%s:%s' % (adr, ':'.join(params))
|
cmd = 'SET:%s:%s' % (adr, ':'.join(params))
|
||||||
|
for _ in range(3): # try 3 times or until readback result matches
|
||||||
|
t = time.time()
|
||||||
reply = self.communicate(cmd)
|
reply = self.communicate(cmd)
|
||||||
head = 'STAT:SET:%s:' % adr
|
head = 'STAT:SET:%s:' % adr
|
||||||
|
|
||||||
try:
|
try:
|
||||||
assert reply.startswith(head)
|
assert reply.startswith(head)
|
||||||
replyiter = iter(reply[len(head):].split(':'))
|
replyiter = iter(reply[len(head):].split(':'))
|
||||||
|
# reshuffle reply=(k1, r1, v1, k2, r2, v1) --> keys = (k1, k2), result = (r1, r2), valid = (v1, v2)
|
||||||
keys, result, valid = zip(*zip(replyiter, replyiter, replyiter))
|
keys, result, valid = zip(*zip(replyiter, replyiter, replyiter))
|
||||||
assert keys == tuple(k for k, _ in values)
|
assert keys == tuple(k for k, _ in values)
|
||||||
assert any(v == 'VALID' for v in valid)
|
assert any(v == 'VALID' for v in valid)
|
||||||
return tuple(convert(r) for r in result)
|
result = tuple(convert(r) for r in result)
|
||||||
except (AssertionError, AttributeError, ValueError) as e:
|
except (AssertionError, AttributeError, ValueError) as e:
|
||||||
time.sleep(0.1) # in case of missed replies this might help to skip garbage
|
time.sleep(0.1) # in case of missed replies this might help to skip garbage
|
||||||
raise HardwareError('invalid reply %r to cmd %r' % (reply, cmd)) from e
|
raise HardwareError('invalid reply %r to cmd %r' % (reply, cmd)) from e
|
||||||
|
keys = [v[0] for v in values]
|
||||||
|
debug = []
|
||||||
|
readback = self.multiquery(adr, keys, convert, debug)
|
||||||
|
for k, r, b in zip(keys, result, readback):
|
||||||
|
if convert == as_float:
|
||||||
|
tol = max(abs(r) * 1e-3, abs(b) * 1e-3, tolerance)
|
||||||
|
if abs(r - b) > tol:
|
||||||
|
break
|
||||||
|
elif r != b:
|
||||||
|
break
|
||||||
|
else:
|
||||||
|
return readback
|
||||||
|
self.log.warning('sent: %s', cmd)
|
||||||
|
self.log.warning('got: %s', debug[0])
|
||||||
|
return readback
|
||||||
|
|
||||||
def query(self, adr, convert=as_float):
|
def query(self, adr, convert=as_float):
|
||||||
"""query a single parameter
|
"""query a single parameter
|
||||||
@ -153,9 +182,9 @@ class MercuryChannel(HasIO):
|
|||||||
adr, _, name = adr.rpartition(':')
|
adr, _, name = adr.rpartition(':')
|
||||||
return self.multiquery(adr, [name], convert)[0]
|
return self.multiquery(adr, [name], convert)[0]
|
||||||
|
|
||||||
def change(self, adr, value, convert=as_float):
|
def change(self, adr, value, convert=as_float, tolerance=0):
|
||||||
adr, _, name = adr.rpartition(':')
|
adr, _, name = adr.rpartition(':')
|
||||||
return self.multichange(adr, [(name, value)], convert)[0]
|
return self.multichange(adr, [(name, value)], convert, tolerance)[0]
|
||||||
|
|
||||||
|
|
||||||
class TemperatureSensor(MercuryChannel, Readable):
|
class TemperatureSensor(MercuryChannel, Readable):
|
||||||
|
|||||||
@ -533,11 +533,14 @@ class SeaModule(Module):
|
|||||||
if key == 'target':
|
if key == 'target':
|
||||||
kwds['readonly'] = False
|
kwds['readonly'] = False
|
||||||
prev = cls.accessibles[key]
|
prev = cls.accessibles[key]
|
||||||
|
if key == 'status':
|
||||||
|
# special case: status from sea is a string, not the status tuple
|
||||||
|
pobj = prev.copy()
|
||||||
|
else:
|
||||||
pobj = Parameter(**kwds)
|
pobj = Parameter(**kwds)
|
||||||
merged_properties = prev.propertyValues.copy()
|
merged_properties = prev.propertyValues.copy()
|
||||||
pobj.updateProperties(merged_properties)
|
pobj.updateProperties(merged_properties)
|
||||||
pobj.merge(merged_properties)
|
pobj.merge(merged_properties)
|
||||||
datatype = kwds.get('datatype', cls.accessibles[key].datatype)
|
|
||||||
else:
|
else:
|
||||||
pobj = Parameter(**kwds)
|
pobj = Parameter(**kwds)
|
||||||
datatype = pobj.datatype
|
datatype = pobj.datatype
|
||||||
|
|||||||
@ -20,11 +20,13 @@
|
|||||||
# *****************************************************************************
|
# *****************************************************************************
|
||||||
"""oxford instruments triton (kelvinoxjt dil)"""
|
"""oxford instruments triton (kelvinoxjt dil)"""
|
||||||
|
|
||||||
from math import sqrt
|
from math import sqrt, log10
|
||||||
from secop.core import Writable, Parameter, Readable, Drivable, IDLE, WARN, BUSY, ERROR, Done
|
from secop.core import Writable, Parameter, Readable, Drivable, IDLE, WARN, BUSY, ERROR, \
|
||||||
from secop.datatypes import EnumType, FloatRange
|
Done, Property
|
||||||
|
from secop.datatypes import EnumType, FloatRange, StringType
|
||||||
from secop.lib.enum import Enum
|
from secop.lib.enum import Enum
|
||||||
from secop_psi.mercury import MercuryChannel, Mapped, off_on, HasInput, SELF
|
from secop_psi.mercury import MercuryChannel, Mapped, off_on, HasInput, SELF
|
||||||
|
from secop.lib import clamp
|
||||||
import secop_psi.mercury as mercury
|
import secop_psi.mercury as mercury
|
||||||
|
|
||||||
actions = Enum(none=0, condense=1, circulate=2, collect=3)
|
actions = Enum(none=0, condense=1, circulate=2, collect=3)
|
||||||
@ -35,6 +37,7 @@ actions_map.mapping['NONE'] = actions.none # when writing, STOP is used instead
|
|||||||
|
|
||||||
class Action(MercuryChannel, Writable):
|
class Action(MercuryChannel, Writable):
|
||||||
channel_type = 'ACTN'
|
channel_type = 'ACTN'
|
||||||
|
cooldown_channel = Property('cool down channel', StringType(), 'T5')
|
||||||
value = Parameter('running action', EnumType(actions))
|
value = Parameter('running action', EnumType(actions))
|
||||||
target = Parameter('action to do', EnumType(none=0, condense=1, collect=3), readonly=False)
|
target = Parameter('action to do', EnumType(none=0, condense=1, collect=3), readonly=False)
|
||||||
_target = 0
|
_target = 0
|
||||||
@ -47,6 +50,7 @@ class Action(MercuryChannel, Writable):
|
|||||||
|
|
||||||
def write_target(self, value):
|
def write_target(self, value):
|
||||||
self._target = value
|
self._target = value
|
||||||
|
self.change('SYS:DR:CHAN:COOL', self.cooldown_channel, str)
|
||||||
return self.change('SYS:DR:ACTN', value, actions_map)
|
return self.change('SYS:DR:ACTN', value, actions_map)
|
||||||
|
|
||||||
# actions:
|
# actions:
|
||||||
@ -245,10 +249,14 @@ class TemperatureLoop(ScannerChannel, mercury.TemperatureLoop):
|
|||||||
ENABLE = 'TEMP:LOOP:MODE'
|
ENABLE = 'TEMP:LOOP:MODE'
|
||||||
ENABLE_RAMP = 'TEMP:LOOP:RAMP:ENAB'
|
ENABLE_RAMP = 'TEMP:LOOP:RAMP:ENAB'
|
||||||
RAMP_RATE = 'TEMP:LOOP:RAMP:RATE'
|
RAMP_RATE = 'TEMP:LOOP:RAMP:RATE'
|
||||||
|
|
||||||
enable_pid_table = None # remove, does not work on triton
|
enable_pid_table = None # remove, does not work on triton
|
||||||
|
ctrlpars = Parameter('pid (gain, integral (inv. time), differential time')
|
||||||
|
system_channel = Property('system channel name', StringType(), 'MC')
|
||||||
|
|
||||||
def write_control_active(self, value):
|
def write_control_active(self, value):
|
||||||
self.change('SYS:DR:CHAN:MC', 'T5', str)
|
if self.system_channel:
|
||||||
|
self.change('SYS:DR:CHAN:%s' % self.system_channel, self.slot.split(',')[0], str)
|
||||||
if value:
|
if value:
|
||||||
self.change('TEMP:LOOP:FILT:ENAB', 'ON', str)
|
self.change('TEMP:LOOP:FILT:ENAB', 'ON', str)
|
||||||
if self.output_module:
|
if self.output_module:
|
||||||
@ -260,7 +268,7 @@ class TemperatureLoop(ScannerChannel, mercury.TemperatureLoop):
|
|||||||
class HeaterOutput(HasInput, MercuryChannel, Writable):
|
class HeaterOutput(HasInput, MercuryChannel, Writable):
|
||||||
"""heater output"""
|
"""heater output"""
|
||||||
channel_type = 'HTR'
|
channel_type = 'HTR'
|
||||||
value = Parameter('heater output', FloatRange(unit='W'))
|
value = Parameter('heater output', FloatRange(unit='uW'))
|
||||||
target = Parameter('heater output', FloatRange(0, unit='$'), readonly=False)
|
target = Parameter('heater output', FloatRange(0, unit='$'), readonly=False)
|
||||||
resistivity = Parameter('heater resistivity', FloatRange(unit='Ohm'))
|
resistivity = Parameter('heater resistivity', FloatRange(unit='Ohm'))
|
||||||
|
|
||||||
@ -268,7 +276,7 @@ class HeaterOutput(HasInput, MercuryChannel, Writable):
|
|||||||
return self.query('HTR:RES')
|
return self.query('HTR:RES')
|
||||||
|
|
||||||
def read_value(self):
|
def read_value(self):
|
||||||
return self.query('HTR:SIG:POWR') * 1e-6
|
return round(self.query('HTR:SIG:POWR'), 3)
|
||||||
|
|
||||||
def read_target(self):
|
def read_target(self):
|
||||||
if self.controlled_by != 0:
|
if self.controlled_by != 0:
|
||||||
@ -277,24 +285,33 @@ class HeaterOutput(HasInput, MercuryChannel, Writable):
|
|||||||
|
|
||||||
def write_target(self, value):
|
def write_target(self, value):
|
||||||
self.write_controlled_by(SELF)
|
self.write_controlled_by(SELF)
|
||||||
return self.change('HTR:SIG:POWR', value * 1e6)
|
if self.resistivity:
|
||||||
|
# round to the next voltage step
|
||||||
|
value = round(sqrt(value * self.resistivity)) ** 2 / self.resistivity
|
||||||
|
return round(self.change('HTR:SIG:POWR', value), 3)
|
||||||
|
|
||||||
|
|
||||||
class HeaterOutputWithRange(HeaterOutput):
|
class HeaterOutputWithRange(HeaterOutput):
|
||||||
"""heater output with heater range"""
|
"""heater output with heater range"""
|
||||||
channel_type = 'HTR,TEMP'
|
channel_type = 'HTR,TEMP'
|
||||||
|
|
||||||
limit = Parameter('max. heater power', FloatRange(unit='W'), readonly=False)
|
limit = Parameter('max. heater power', FloatRange(unit='uW'), readonly=False)
|
||||||
|
|
||||||
def read_limit(self):
|
def read_limit(self):
|
||||||
maxcur = self.query('TEMP:LOOP:RANGE') * 0.001 # mA -> A
|
maxcur = self.query('TEMP:LOOP:RANGE') # mA
|
||||||
return self.read_resistivity() * maxcur ** 2
|
return self.read_resistivity() * maxcur ** 2 # uW
|
||||||
|
|
||||||
def write_limit(self, value):
|
def write_limit(self, value):
|
||||||
if value is None:
|
if value is None:
|
||||||
maxcur = 0.1 # max. allowed current 100mA
|
maxcur = 100 # max. allowed current 100mA
|
||||||
else:
|
else:
|
||||||
maxcur = sqrt(value / self.read_resistivity())
|
maxcur = sqrt(value / self.read_resistivity())
|
||||||
self.change('TEMP:LOOP:RANGE', maxcur * 1000)
|
for cur in 0.0316, 0.1, 0.316, 1, 3.16, 10, 31.6, 100:
|
||||||
|
if cur > maxcur * 0.999:
|
||||||
|
maxcur = cur
|
||||||
|
break
|
||||||
|
else:
|
||||||
|
maxcur = cur
|
||||||
|
self.change('TEMP:LOOP:RANGE', maxcur)
|
||||||
return self.read_limit()
|
return self.read_limit()
|
||||||
|
|
||||||
|
|||||||
89
secop_psi/vector.py
Normal file
89
secop_psi/vector.py
Normal file
@ -0,0 +1,89 @@
|
|||||||
|
# -*- coding: utf-8 -*-
|
||||||
|
# *****************************************************************************
|
||||||
|
# This program is free software; you can redistribute it and/or modify it under
|
||||||
|
# the terms of the GNU General Public License as published by the Free Software
|
||||||
|
# Foundation; either version 2 of the License, or (at your option) any later
|
||||||
|
# version.
|
||||||
|
#
|
||||||
|
# This program is distributed in the hope that it will be useful, but WITHOUT
|
||||||
|
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||||
|
# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
|
||||||
|
# details.
|
||||||
|
#
|
||||||
|
# You should have received a copy of the GNU General Public License along with
|
||||||
|
# this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
|
#
|
||||||
|
# Module authors:
|
||||||
|
# Markus Zolliker <markus.zolliker@psi.ch>
|
||||||
|
# *****************************************************************************
|
||||||
|
"""generic 3D vector"""
|
||||||
|
|
||||||
|
from secop.core import Attached, Drivable, Readable, Parameter, Done
|
||||||
|
from secop.datatypes import FloatRange, TupleOf, StatusType, Enum
|
||||||
|
|
||||||
|
|
||||||
|
class VectorRd(Readable):
|
||||||
|
"""generic readable vector"""
|
||||||
|
value = Parameter(datatype=TupleOf(FloatRange(), FloatRange(), FloatRange()))
|
||||||
|
x = Attached()
|
||||||
|
y = Attached()
|
||||||
|
z = Attached()
|
||||||
|
pollFuncs = None
|
||||||
|
components = None
|
||||||
|
|
||||||
|
def initModule(self):
|
||||||
|
super().initModule()
|
||||||
|
members = []
|
||||||
|
status_codes = {} # collect all possible status codes
|
||||||
|
components = []
|
||||||
|
for name in 'xyz':
|
||||||
|
component = getattr(self, name)
|
||||||
|
members.append(component.parameters['value'].datatype.copy())
|
||||||
|
components.append(component)
|
||||||
|
for code in component.status[0].enum.members:
|
||||||
|
status_codes[int(code)] = code.name
|
||||||
|
self.parameters['value'].datatype = TupleOf(*members)
|
||||||
|
self.parameters['status'].datatype = StatusType(Enum(
|
||||||
|
'status', **{k: v for v, k in status_codes.items()}))
|
||||||
|
self.components = components
|
||||||
|
|
||||||
|
def doPoll(self):
|
||||||
|
for component in self.components:
|
||||||
|
component.doPoll()
|
||||||
|
# update
|
||||||
|
component.pollInfo.last_main = self.pollInfo.last_main
|
||||||
|
self.value = self.merge_value()
|
||||||
|
self.status = self.merge_status()
|
||||||
|
|
||||||
|
def merge_value(self):
|
||||||
|
return [c.value for c in self.components]
|
||||||
|
|
||||||
|
def merge_status(self):
|
||||||
|
status = -1, ''
|
||||||
|
for c in self.components:
|
||||||
|
if c.status[0] > status[0]:
|
||||||
|
status = c.status
|
||||||
|
return status
|
||||||
|
|
||||||
|
def read_value(self):
|
||||||
|
return tuple((c.read_value() for c in self.components))
|
||||||
|
|
||||||
|
def read_status(self):
|
||||||
|
[c.read_status() for c in self.components]
|
||||||
|
return self.merge_status()
|
||||||
|
|
||||||
|
|
||||||
|
class Vector(Drivable, VectorRd):
|
||||||
|
"""generic drivable vector"""
|
||||||
|
target = Parameter(datatype=TupleOf(FloatRange(), FloatRange(), FloatRange()))
|
||||||
|
|
||||||
|
def initModule(self):
|
||||||
|
super().initModule()
|
||||||
|
members = []
|
||||||
|
for component in self.components:
|
||||||
|
members.append(component.parameters['target'].datatype.copy())
|
||||||
|
self.parameters['target'].datatype = TupleOf(*members)
|
||||||
|
|
||||||
|
def write_target(self, value):
|
||||||
|
return tuple((c.write_target(v) for v, c in zip(value, self.components)))
|
||||||
Loading…
x
Reference in New Issue
Block a user