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new poll mechanism

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- remove secop.poller and basic poller
- regular polls for 'important' parameters done by method doPoll
- all other parameters are polled slower (slowInterval) and
  with lower priority (only one at a time when main poll is due)
- nopoll decorator for read_* to disable poll
- enablePoll attribute (default True) for disabling polling a module
- fast polls may be implemented by means of a statemachine
- configurable slow poll interval
+ allow a Parameter to override a Property (parameter
  Readable.pollinterval overrides Module.pollinterval)

Change-Id: Ib1b3453041a233678b7c4b4add22ac399670e447
Reviewed-on: https://forge.frm2.tum.de/review/c/sine2020/secop/playground/+/27832
Reviewed-by: Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
Reviewed-by: Markus Zolliker <markus.zolliker@psi.ch>
Tested-by: Jenkins Automated Tests <pedersen+jenkins@frm2.tum.de>
This commit is contained in:
zolliker
2022-02-23 16:42:28 +01:00
parent aa82bc580d
commit b423235c5d
23 changed files with 343 additions and 683 deletions
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18
secop_psi/trinamic.py
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@ -74,7 +74,7 @@ STEPPOS_ADR = 1
def writable(*args, **kwds):
"""convenience function to create writable hardware parameters"""
return PersistentParam(*args, readonly=False, poll=True, initwrite=True, **kwds)
return PersistentParam(*args, readonly=False, initwrite=True, **kwds)
class Motor(PersistentMixin, HasIO, Drivable):
@ -83,9 +83,9 @@ class Motor(PersistentMixin, HasIO, Drivable):
value = Parameter('motor position', FloatRange(unit='deg', fmtstr='%.3f'))
zero = PersistentParam('zero point', FloatRange(unit='$'), readonly=False, default=0)
encoder = PersistentParam('encoder reading', FloatRange(unit='$', fmtstr='%.1f'),
readonly=True, initwrite=False, poll=True)
readonly=True, initwrite=False)
steppos = PersistentParam('position from motor steps', FloatRange(unit='$', fmtstr='%.3f'),
readonly=True, initwrite=False, poll=True)
readonly=True, initwrite=False)
target = Parameter('', FloatRange(unit='$'), default=0)
move_limit = Parameter('max. angle to drive in one go', FloatRange(unit='$'),
@ -98,26 +98,26 @@ class Motor(PersistentMixin, HasIO, Drivable):
minspeed = writable('min. speed', FloatRange(0, MAX_SPEED, unit='$/sec', fmtstr='%.1f'),
default=SPEED_SCALE, group='motorparam')
currentspeed = Parameter('current speed', FloatRange(-MAX_SPEED, MAX_SPEED, unit='$/sec', fmtstr='%.1f'),
poll=True, group='motorparam')
group='motorparam')
maxcurrent = writable('', FloatRange(0, 2.8, unit='A', fmtstr='%.2f'),
default=1.4, group='motorparam')
standby_current = writable('', FloatRange(0, 2.8, unit='A', fmtstr='%.2f'),
default=0.1, group='motorparam')
acceleration = writable('', FloatRange(4.6 * ACCEL_SCALE, MAX_ACCEL, unit='deg/s^2', fmtstr='%.1f'),
default=150., group='motorparam')
target_reached = Parameter('', BoolType(), poll=True, group='hwstatus')
move_status = Parameter('', IntRange(0, 3), poll=True, group='hwstatus')
error_bits = Parameter('', IntRange(0, 255), poll=True, group='hwstatus')
target_reached = Parameter('', BoolType(), group='hwstatus')
move_status = Parameter('', IntRange(0, 3), group='hwstatus')
error_bits = Parameter('', IntRange(0, 255), group='hwstatus')
free_wheeling = writable('', FloatRange(0, 60., unit='sec', fmtstr='%.2f'),
default=0.1, group='motorparam')
power_down_delay = writable('', FloatRange(0, 60., unit='sec', fmtstr='%.2f'),
default=0.1, group='motorparam')
baudrate = Parameter('', EnumType({'%d' % v: i for i, v in enumerate(BAUDRATES)}),
readonly=False, default=0, poll=True, visibility=3, group='more')
readonly=False, default=0, visibility=3, group='more')
pollinterval = Parameter(group='more')
ioClass = BytesIO
fast_pollfactor = 0.001 # poll as fast as possible when busy
fast_pollfactor = 0.001 # not used any more, TODO: use a statemachine for running
_started = 0
_calcTimeout = True
_need_reset = None