new features HasTargetLimits and HasSimpleOffset
according to standard
This commit is contained in:
l_samenv
parent
b1608c4d7f
commit
d71a512454
@ -31,7 +31,32 @@ from secop.errors import BadValueError, ConfigError
|
|||||||
from secop.lib import clamp
|
from secop.lib import clamp
|
||||||
|
|
||||||
|
|
||||||
# --- proposals, to be used at SINQ (not agreed as standard yet) ---
|
class HasSimpleOffset(Feature):
|
||||||
|
"""has a client side offset parameter
|
||||||
|
|
||||||
|
this is just a storage!
|
||||||
|
"""
|
||||||
|
offset = PersistentParam('offset (physical value + offset = HW value)',
|
||||||
|
FloatRange(unit='deg'), readonly=False, default=0)
|
||||||
|
|
||||||
|
|
||||||
|
class HasTargetLimits(Feature):
|
||||||
|
"""user limits
|
||||||
|
|
||||||
|
implementation to be done in the subclass
|
||||||
|
according to standard
|
||||||
|
"""
|
||||||
|
target_limits = PersistentParam('user limits', readonly=False, default=(-9e99, 9e99),
|
||||||
|
datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
|
||||||
|
|
||||||
|
def check_limits(self, value):
|
||||||
|
"""check if value is valid"""
|
||||||
|
min_, max_ = self.target_limits
|
||||||
|
if not min_ <= value <= max_:
|
||||||
|
raise BadValueError('limits violation: %g outside [%g, %g]' % (value, min_, max_))
|
||||||
|
|
||||||
|
|
||||||
|
# --- legacy mixins, not agreed as standard ---
|
||||||
|
|
||||||
class HasOffset(Feature):
|
class HasOffset(Feature):
|
||||||
"""has an offset parameter
|
"""has an offset parameter
|
||||||
@ -39,7 +64,7 @@ class HasOffset(Feature):
|
|||||||
implementation to be done in the subclass
|
implementation to be done in the subclass
|
||||||
"""
|
"""
|
||||||
offset = PersistentParam('offset (physical value + offset = HW value)',
|
offset = PersistentParam('offset (physical value + offset = HW value)',
|
||||||
FloatRange(unit='deg'), readonly=False, default=0)
|
FloatRange(unit='$'), readonly=False, default=0)
|
||||||
|
|
||||||
def write_offset(self, value):
|
def write_offset(self, value):
|
||||||
self.offset = value
|
self.offset = value
|
||||||
@ -62,9 +87,9 @@ class HasLimits(Feature):
|
|||||||
except for the offset
|
except for the offset
|
||||||
"""
|
"""
|
||||||
abslimits = Property('abs limits (raw values)', default=(-9e99, 9e99), extname='abslimits', export=True,
|
abslimits = Property('abs limits (raw values)', default=(-9e99, 9e99), extname='abslimits', export=True,
|
||||||
datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
|
datatype=TupleOf(FloatRange(unit='$'), FloatRange(unit='$')))
|
||||||
limits = PersistentParam('user limits', readonly=False, default=(-9e99, 9e99),
|
limits = PersistentParam('user limits', readonly=False, default=(-9e99, 9e99),
|
||||||
datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
|
datatype=TupleOf(FloatRange(unit='$'), FloatRange(unit='$')))
|
||||||
_limits = None
|
_limits = None
|
||||||
|
|
||||||
def apply_offset(self, sign, *values):
|
def apply_offset(self, sign, *values):
|
||||||
@ -110,138 +135,3 @@ class HasLimits(Feature):
|
|||||||
if not min_ <= value <= max_:
|
if not min_ <= value <= max_:
|
||||||
raise BadValueError('limits violation: %g outside [%g, %g]' % (value, min_, 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
|
|
||||||
# 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
|
|
||||||
# note: if there are additional custom accessibles with the same name as an element of the struct, the above applies
|
|
||||||
# note: (i would still but them in the same group, though)
|
|
||||||
# note: if extra elements are implemented in the pid struct they MUST BE
|
|
||||||
# properly described in the description of the pid Parameter
|
|
||||||
|
|
||||||
# parameters
|
|
||||||
use_pid = Parameter('use the pid mode', datatype=EnumType(openloop=0, pid_control=1), )
|
|
||||||
# pylint: disable=invalid-name
|
|
||||||
p = Parameter('proportional part of the regulation', datatype=FloatRange(0), )
|
|
||||||
i = Parameter('(optional) integral part', datatype=FloatRange(0), optional=True)
|
|
||||||
d = Parameter('(optional) derivative part', datatype=FloatRange(0), optional=True)
|
|
||||||
base_output = Parameter('(optional) minimum output value', datatype=FloatRange(0), optional=True)
|
|
||||||
pid = Parameter('(optional) Struct of p,i,d, minimum output value',
|
|
||||||
datatype=StructOf(p=FloatRange(0),
|
|
||||||
i=FloatRange(0),
|
|
||||||
d=FloatRange(0),
|
|
||||||
base_output=FloatRange(0),
|
|
||||||
), optional=True,
|
|
||||||
) # note: struct may be extended with custom elements (names should be prefixed with '_')
|
|
||||||
output = Parameter('(optional) output of pid-control', datatype=FloatRange(0), optional=True, readonly=False)
|
|
||||||
|
|
||||||
|
|
||||||
class Has_PIDTable(HAS_PID):
|
|
||||||
|
|
||||||
# parameters
|
|
||||||
use_pidtable = Parameter('use the zoning mode', datatype=EnumType(fixed_pid=0, zone_mode=1))
|
|
||||||
pidtable = Parameter('Table of pid-values vs. target temperature', datatype=ArrayOf(TupleOf(FloatRange(0),
|
|
||||||
StructOf(p=FloatRange(0),
|
|
||||||
i=FloatRange(0),
|
|
||||||
d=FloatRange(0),
|
|
||||||
_heater_range=FloatRange(0),
|
|
||||||
_base_output=FloatRange(0),),),), optional=True) # struct may include 'heaterrange'
|
|
||||||
|
|
||||||
|
|
||||||
class HAS_Persistent(Feature):
|
|
||||||
#extra_Status {
|
|
||||||
# 'decoupled' : Status.IDLE+1, # to be discussed.
|
|
||||||
# 'coupling' : Status.BUSY+1, # to be discussed.
|
|
||||||
# 'coupled' : Status.BUSY+2, # to be discussed.
|
|
||||||
# 'decoupling' : Status.BUSY+3, # to be discussed.
|
|
||||||
#}
|
|
||||||
|
|
||||||
# parameters
|
|
||||||
persistent_mode = Parameter('Use persistent mode',
|
|
||||||
datatype=EnumType(off=0,on=1),
|
|
||||||
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='$' )
|
|
||||||
|
|
||||||
|
|
||||||
class HAS_Tolerance(Feature):
|
|
||||||
# detects IDLE status by checking if the value lies in a given window:
|
|
||||||
# tolerance is the maximum allowed deviation from target, value must lie in this interval
|
|
||||||
# for at least ´timewindow´ seconds.
|
|
||||||
|
|
||||||
# parameters
|
|
||||||
tolerance = Parameter('Half height of the Window',
|
|
||||||
datatype=FloatRange(0), default=1, unit='$')
|
|
||||||
timewindow = Parameter('Length of the timewindow to check',
|
|
||||||
datatype=FloatRange(0), default=30, unit='s',
|
|
||||||
optional=True)
|
|
||||||
|
|
||||||
|
|
||||||
class HAS_Timeout(Feature):
|
|
||||||
|
|
||||||
# parameters
|
|
||||||
timeout = Parameter('timeout for movement',
|
|
||||||
datatype=FloatRange(0), default=0, unit='s')
|
|
||||||
|
|
||||||
|
|
||||||
class HAS_Pause(Feature):
|
|
||||||
# just a proposal, can't agree on it....
|
|
||||||
|
|
||||||
@Command(argument=None, result=None)
|
|
||||||
def pause(self):
|
|
||||||
"""pauses movement"""
|
|
||||||
|
|
||||||
@Command(argument=None, result=None)
|
|
||||||
def go(self):
|
|
||||||
"""continues movement or start a new one if target was change since the last pause"""
|
|
||||||
|
|
||||||
|
|
||||||
class HAS_Ramp(Feature):
|
|
||||||
|
|
||||||
# parameters
|
|
||||||
ramp =Parameter('speed of movement', unit='$/min',
|
|
||||||
datatype=FloatRange(0))
|
|
||||||
use_ramp = Parameter('use the ramping of the setpoint, or jump',
|
|
||||||
datatype=EnumType(disable_ramp=0, use_ramp=1),
|
|
||||||
optional=True)
|
|
||||||
setpoint = Parameter('currently active setpoint',
|
|
||||||
datatype=FloatRange(0), unit='$',
|
|
||||||
readonly=True, )
|
|
||||||
|
|
||||||
|
|
||||||
class HAS_Speed(Feature):
|
|
||||||
|
|
||||||
# parameters
|
|
||||||
speed = Parameter('(maximum) speed of movement (of the main value)',
|
|
||||||
unit='$/s', datatype=FloatRange(0))
|
|
||||||
|
|
||||||
|
|
||||||
class HAS_Accel(HAS_Speed):
|
|
||||||
|
|
||||||
# parameters
|
|
||||||
accel = Parameter('acceleration of movement', unit='$/s^2',
|
|
||||||
datatype=FloatRange(0))
|
|
||||||
decel = Parameter('deceleration of movement', unit='$/s^2',
|
|
||||||
datatype=FloatRange(0), optional=True)
|
|
||||||
|
|
||||||
|
|
||||||
class HAS_MotorCurrents(Feature):
|
|
||||||
|
|
||||||
# parameters
|
|
||||||
movecurrent = Parameter('Current while moving',
|
|
||||||
datatype=FloatRange(0))
|
|
||||||
idlecurrent = Parameter('Current while idle',
|
|
||||||
datatype=FloatRange(0), optional=True)
|
|
||||||
|
|
||||||
|
|
||||||
class HAS_Curve(Feature):
|
|
||||||
# proposed, not yet agreed upon!
|
|
||||||
|
|
||||||
# parameters
|
|
||||||
curve = Parameter('Calibration curve', datatype=StringType(), default='<unset>')
|
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user