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feature implementation

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implement features including two proposed features
HasOffset and HasLimits

Change-Id: I7949f12dc8abe28fb2ee040e64e7db19d1b23b9a
Reviewed-on: https://forge.frm2.tum.de/review/c/sine2020/secop/playground/+/28485
Tested-by: Jenkins Automated Tests <pedersen+jenkins@frm2.tum.de>
Reviewed-by: Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
Reviewed-by: Markus Zolliker <markus.zolliker@psi.ch>
This commit is contained in:
zolliker
2022-05-20 15:22:17 +02:00
parent 4c94580cb9
commit d717a481d7
4 changed files with 101 additions and 22 deletions
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106
secop/features.py
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@ -17,6 +17,7 @@
#
# Module authors:
# Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
# Markus Zolliker <markus.zolliker@psi.ch>
#
# *****************************************************************************
"""Define Mixin Features for real Modules implemented in the server"""
@ -24,12 +25,91 @@
from secop.datatypes import ArrayOf, BoolType, EnumType, \
FloatRange, StringType, StructOf, TupleOf
from secop.modules import Command, HasAccessibles, Parameter
from secop.core import Command, Done, Drivable, Feature, \
Parameter, Property, PersistentParam, Readable
from secop.errors import BadValueError, ConfigError
from secop.lib import clamp
class Feature(HasAccessibles):
"""all things belonging to a small, predefined functionality influencing the working of a module"""
# --- proposals, to be used at SINQ (not agreed as standard yet) ---
class HasOffset(Feature):
"""has an offset parameter
implementation to be done in the subclass
"""
offset = PersistentParam('offset (physical value + offset = HW value)',
FloatRange(unit='deg'), readonly=False, default=0)
def write_offset(self, value):
self.offset = value
if isinstance(self, HasLimits):
self.read_limits()
if isinstance(self, Readable):
self.read_value()
if isinstance(self, Drivable):
self.read_target()
self.saveParameters()
return Done
class HasLimits(Feature):
"""user limits
implementation to be done in the subclass
for a drivable, abslimits is roughly the same as the target datatype limits,
except for the offset
"""
abslimits = Property('abs limits (raw values)', default=(-9e99, 9e99), extname='abslimits', export=True,
datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
limits = PersistentParam('user limits', readonly=False, default=(-9e99, 9e99), initwrite=True,
datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
_limits = None
def apply_offset(self, sign, *values):
if isinstance(self, HasOffset):
return tuple(v + sign * self.offset for v in values)
return values
def earlyInit(self):
super().earlyInit()
# make limits valid
_limits = self.apply_offset(1, *self.limits)
self._limits = tuple(clamp(self.abslimits[0], v, self.abslimits[1]) for v in _limits)
self.read_limits()
def checkProperties(self):
pname = 'target' if isinstance(self, Drivable) else 'value'
dt = self.parameters[pname].datatype
min_, max_ = self.abslimits
t_min, t_max = self.apply_offset(1, dt.min, dt.max)
if t_min > max_ or t_max < min_:
raise ConfigError('abslimits not within %s range' % pname)
self.abslimits = clamp(t_min, min_, t_max), clamp(t_min, max_, t_max)
super().checkProperties()
def read_limits(self):
return self.apply_offset(-1, *self._limits)
def write_limits(self, value):
min_, max_ = self.apply_offset(-1, *self.abslimits)
if not min_ <= value[0] <= value[1] <= max_:
if value[0] > value[1]:
raise BadValueError('invalid interval: %r' % value)
raise BadValueError('limits not within abs limits [%g, %g]' % (min_, max_))
self.limits = value
self.saveParameters()
return Done
def check_limits(self, value):
"""check if value is valid"""
min_, max_ = self.limits
if not min_ <= value <= max_:
raise BadValueError('limits violation: %g outside [%g, %g]' % (value, min_, max_))
# --- not used, not tested yet ---
class HAS_PID(Feature):
# note: implementors should either use p,i,d or pid, but ECS must be handle both cases
@ -56,7 +136,6 @@ class HAS_PID(Feature):
output = Parameter('(optional) output of pid-control', datatype=FloatRange(0), optional=True, readonly=False)
class Has_PIDTable(HAS_PID):
# parameters
@ -69,8 +148,6 @@ class Has_PIDTable(HAS_PID):
_base_output=FloatRange(0),),),), optional=True) # struct may include 'heaterrange'
class HAS_Persistent(Feature):
#extra_Status {
# 'decoupled' : Status.IDLE+1, # to be discussed.
@ -85,11 +162,10 @@ class HAS_Persistent(Feature):
default=0, readonly=False)
is_persistent = Parameter('current state of persistence',
datatype=BoolType(), optional=True)
stored_value = Parameter('current persistence value, often used as the modules value',
datatype='main', unit='$', optional=True)
driven_value = Parameter('driven value (outside value, syncs with stored_value if non-persistent)',
datatype='main', unit='$' )
# stored_value = Parameter('current persistence value, often used as the modules value',
# datatype='main', unit='$', optional=True)
# driven_value = Parameter('driven value (outside value, syncs with stored_value if non-persistent)',
# datatype='main', unit='$' )
class HAS_Tolerance(Feature):
@ -105,7 +181,6 @@ class HAS_Tolerance(Feature):
optional=True)
class HAS_Timeout(Feature):
# parameters
@ -113,7 +188,6 @@ class HAS_Timeout(Feature):
datatype=FloatRange(0), default=0, unit='s')
class HAS_Pause(Feature):
# just a proposal, can't agree on it....
@ -139,7 +213,6 @@ class HAS_Ramp(Feature):
readonly=True, )
class HAS_Speed(Feature):
# parameters
@ -147,7 +220,6 @@ class HAS_Speed(Feature):
unit='$/s', datatype=FloatRange(0))
class HAS_Accel(HAS_Speed):
# parameters
@ -157,7 +229,6 @@ class HAS_Accel(HAS_Speed):
datatype=FloatRange(0), optional=True)
class HAS_MotorCurrents(Feature):
# parameters
@ -167,9 +238,8 @@ class HAS_MotorCurrents(Feature):
datatype=FloatRange(0), optional=True)
class HAS_Curve(Feature):
# proposed, not yet agreed upon!
# parameters
curve = Parameter('Calibration curve', datatype=StringType(80), default='<unset>')
curve = Parameter('Calibration curve', datatype=StringType(), default='<unset>')