improved features
- remove legacy feature proposals - add Feature.featureName (in case not matching ptyhon class name) Change-Id: I7a09fc5e24067b2fde5d2c04523bc5d2172e714b
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@ -16,41 +16,52 @@
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#
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#
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# Module authors:
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# Module authors:
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# Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
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# Markus Zolliker <markus.zolliker@psi.ch>
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# Markus Zolliker <markus.zolliker@psi.ch>
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#
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#
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# *****************************************************************************
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# *****************************************************************************
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"""Define Mixin Features for real Modules implemented in the server"""
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"""Define Mixin Features for real Modules implemented in the server"""
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from frappy.datatypes import ArrayOf, BoolType, EnumType, \
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from frappy.datatypes import FloatRange, TupleOf
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FloatRange, StringType, StructOf, TupleOf
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from frappy.core import Feature, Parameter, PersistentParam
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from frappy.core import Command, Done, Drivable, Feature, \
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from frappy.errors import BadValueError
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Parameter, Property, PersistentParam, Readable
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from frappy.errors import BadValueError, ConfigError
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from frappy.lib import clamp
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# --- proposals, to be used at SINQ (not agreed as standard yet) ---
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class HasSimpleOffset(Feature):
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"""has a client side offset parameter
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this is just a storage!
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"""
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featureName = 'HasOffset'
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offset = PersistentParam('offset (physical value + offset = HW value)',
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FloatRange(unit='deg'), readonly=False, default=0)
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class HasTargetLimits(Feature):
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"""user limits
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implementation to be done in the subclass
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according to standard
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"""
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target_limits = PersistentParam('user limits', readonly=False, default=(-9e99, 9e99),
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datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
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def check_limits(self, value):
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"""check if value is valid"""
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min_, max_ = self.target_limits
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if not min_ <= value <= max_:
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raise BadValueError('limits violation: %g outside [%g, %g]' % (value, min_, max_))
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# --- legacy mixins, not agreed as standard ---
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class HasOffset(Feature):
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class HasOffset(Feature):
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"""has an offset parameter
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"""has an offset parameter
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implementation to be done in the subclass
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implementation to be done in the subclass
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"""
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"""
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offset = PersistentParam('offset (physical value + offset = HW value)',
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offset = Parameter('offset (physical value + offset = HW value)',
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FloatRange(unit='deg'), readonly=False, default=0)
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FloatRange(unit='$'), readonly=False, default=0)
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def write_offset(self, value):
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self.offset = value
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if isinstance(self, HasLimits):
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self.read_limits()
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if isinstance(self, Readable):
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self.read_value()
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if isinstance(self, Drivable):
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self.read_target()
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self.saveParameters()
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return Done
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class HasLimits(Feature):
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class HasLimits(Feature):
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@ -61,185 +72,16 @@ class HasLimits(Feature):
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for a drivable, abslimits is roughly the same as the target datatype limits,
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for a drivable, abslimits is roughly the same as the target datatype limits,
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except for the offset
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except for the offset
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"""
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"""
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abslimits = Property('abs limits (raw values)', default=(-9e99, 9e99), extname='abslimits', export=True,
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target_limits = Parameter('user limits for target', readonly=False, default=(-9e99, 9e99),
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datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
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datatype=TupleOf(FloatRange(unit='$'), FloatRange(unit='$')))
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limits = PersistentParam('user limits', readonly=False, default=(-9e99, 9e99),
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datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
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_limits = None
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def apply_offset(self, sign, *values):
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if isinstance(self, HasOffset):
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return tuple(v + sign * self.offset for v in values)
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return values
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def earlyInit(self):
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def earlyInit(self):
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super().earlyInit()
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super().earlyInit()
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# make limits valid
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dt = self.parameters['target'].datatype
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_limits = self.apply_offset(1, *self.limits)
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self.target_limits = dt.min, dt.max
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self._limits = tuple(clamp(self.abslimits[0], v, self.abslimits[1]) for v in _limits)
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self.read_limits()
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def checkProperties(self):
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pname = 'target' if isinstance(self, Drivable) else 'value'
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dt = self.parameters[pname].datatype
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min_, max_ = self.abslimits
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t_min, t_max = self.apply_offset(1, dt.min, dt.max)
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if t_min > max_ or t_max < min_:
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raise ConfigError('abslimits not within %s range' % pname)
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self.abslimits = clamp(t_min, min_, t_max), clamp(t_min, max_, t_max)
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super().checkProperties()
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def read_limits(self):
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return self.apply_offset(-1, *self._limits)
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def write_limits(self, value):
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min_, max_ = self.apply_offset(-1, *self.abslimits)
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if not min_ <= value[0] <= value[1] <= max_:
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if value[0] > value[1]:
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raise BadValueError('invalid interval: %r' % value)
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raise BadValueError('limits not within abs limits [%g, %g]' % (min_, max_))
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self.limits = value
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self.saveParameters()
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return Done
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def check_limits(self, value):
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def check_limits(self, value):
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"""check if value is valid"""
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"""check if value is valid"""
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min_, max_ = self.limits
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min_, max_ = self.target_limits
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if not min_ <= value <= max_:
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if not min_ <= value <= max_:
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raise BadValueError('limits violation: %g outside [%g, %g]' % (value, min_, max_))
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raise BadValueError('limits violation: %g outside [%g, %g]' % (value, min_, max_))
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# --- not used, not tested yet ---
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class HAS_PID(Feature):
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# note: implementors should either use p,i,d or pid, but ECS must be handle both cases
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# note: if both p,i,d and pid are implemented, it MUST NOT matter which one gets a change, the final result should be the same
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# note: if there are additional custom accessibles with the same name as an element of the struct, the above applies
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# note: (i would still but them in the same group, though)
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# note: if extra elements are implemented in the pid struct they MUST BE
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# properly described in the description of the pid Parameter
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# parameters
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use_pid = Parameter('use the pid mode', datatype=EnumType(openloop=0, pid_control=1), )
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# pylint: disable=invalid-name
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p = Parameter('proportional part of the regulation', datatype=FloatRange(0), )
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i = Parameter('(optional) integral part', datatype=FloatRange(0), optional=True)
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d = Parameter('(optional) derivative part', datatype=FloatRange(0), optional=True)
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base_output = Parameter('(optional) minimum output value', datatype=FloatRange(0), optional=True)
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pid = Parameter('(optional) Struct of p,i,d, minimum output value',
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datatype=StructOf(p=FloatRange(0),
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i=FloatRange(0),
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d=FloatRange(0),
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base_output=FloatRange(0),
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), optional=True,
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) # note: struct may be extended with custom elements (names should be prefixed with '_')
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output = Parameter('(optional) output of pid-control', datatype=FloatRange(0), optional=True, readonly=False)
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class Has_PIDTable(HAS_PID):
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# parameters
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use_pidtable = Parameter('use the zoning mode', datatype=EnumType(fixed_pid=0, zone_mode=1))
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pidtable = Parameter('Table of pid-values vs. target temperature', datatype=ArrayOf(TupleOf(FloatRange(0),
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StructOf(p=FloatRange(0),
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i=FloatRange(0),
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d=FloatRange(0),
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_heater_range=FloatRange(0),
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_base_output=FloatRange(0),),),), optional=True) # struct may include 'heaterrange'
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class HAS_Persistent(Feature):
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#extra_Status {
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# 'decoupled' : Status.IDLE+1, # to be discussed.
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# 'coupling' : Status.BUSY+1, # to be discussed.
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# 'coupled' : Status.BUSY+2, # to be discussed.
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# 'decoupling' : Status.BUSY+3, # to be discussed.
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#}
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# parameters
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persistent_mode = Parameter('Use persistent mode',
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datatype=EnumType(off=0,on=1),
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default=0, readonly=False)
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is_persistent = Parameter('current state of persistence',
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datatype=BoolType(), optional=True)
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# stored_value = Parameter('current persistence value, often used as the modules value',
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# datatype='main', unit='$', optional=True)
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# driven_value = Parameter('driven value (outside value, syncs with stored_value if non-persistent)',
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# datatype='main', unit='$' )
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class HAS_Tolerance(Feature):
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# detects IDLE status by checking if the value lies in a given window:
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# tolerance is the maximum allowed deviation from target, value must lie in this interval
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# for at least ´timewindow´ seconds.
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# parameters
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tolerance = Parameter('Half height of the Window',
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datatype=FloatRange(0), default=1, unit='$')
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timewindow = Parameter('Length of the timewindow to check',
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datatype=FloatRange(0), default=30, unit='s',
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optional=True)
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class HAS_Timeout(Feature):
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# parameters
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timeout = Parameter('timeout for movement',
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datatype=FloatRange(0), default=0, unit='s')
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class HAS_Pause(Feature):
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# just a proposal, can't agree on it....
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@Command(argument=None, result=None)
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def pause(self):
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"""pauses movement"""
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@Command(argument=None, result=None)
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def go(self):
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"""continues movement or start a new one if target was change since the last pause"""
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class HAS_Ramp(Feature):
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# parameters
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ramp =Parameter('speed of movement', unit='$/min',
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datatype=FloatRange(0))
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use_ramp = Parameter('use the ramping of the setpoint, or jump',
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datatype=EnumType(disable_ramp=0, use_ramp=1),
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optional=True)
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setpoint = Parameter('currently active setpoint',
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datatype=FloatRange(0), unit='$',
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readonly=True, )
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class HAS_Speed(Feature):
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# parameters
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speed = Parameter('(maximum) speed of movement (of the main value)',
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unit='$/s', datatype=FloatRange(0))
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class HAS_Accel(HAS_Speed):
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# parameters
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accel = Parameter('acceleration of movement', unit='$/s^2',
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datatype=FloatRange(0))
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decel = Parameter('deceleration of movement', unit='$/s^2',
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datatype=FloatRange(0), optional=True)
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class HAS_MotorCurrents(Feature):
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# parameters
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movecurrent = Parameter('Current while moving',
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datatype=FloatRange(0))
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idlecurrent = Parameter('Current while idle',
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datatype=FloatRange(0), optional=True)
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class HAS_Curve(Feature):
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# proposed, not yet agreed upon!
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# parameters
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curve = Parameter('Calibration curve', datatype=StringType(), default='<unset>')
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@ -224,6 +224,7 @@ class Feature(HasAccessibles):
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a mixin with Feature as a direct base class is recognized as a SECoP feature
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a mixin with Feature as a direct base class is recognized as a SECoP feature
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and reported in the module property 'features'
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and reported in the module property 'features'
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"""
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"""
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featureName = None
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class PollInfo:
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class PollInfo:
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@ -358,7 +359,7 @@ class Module(HasAccessibles):
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b.__name__ for b in mycls.__mro__ if issubclass(Drivable, b)][0:1]
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b.__name__ for b in mycls.__mro__ if issubclass(Drivable, b)][0:1]
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# handle Features
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# handle Features
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self.features = [b.__name__ for b in mycls.__mro__ if Feature in b.__bases__]
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self.features = [b.featureName or b.__name__ for b in mycls.__mro__ if Feature in b.__bases__]
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# handle accessibles
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# handle accessibles
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# 1) make local copies of parameter objects
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# 1) make local copies of parameter objects
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