add attocube
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l_samenv
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243
secop_psi/attocube.py
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243
secop_psi/attocube.py
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# *****************************************************************************
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# This program is free software; you can redistribute it and/or modify it under
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# the terms of the GNU General Public License as published by the Free Software
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# Foundation; either version 2 of the License, or (at your option) any later
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# version.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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# details.
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#
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# You should have received a copy of the GNU General Public License along with
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# this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#
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# Module authors:
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# Markus Zolliker <markus.zolliker@psi.ch>
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# *****************************************************************************
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import sys
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import time
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from secop.core import Drivable, Parameter, Command, Property, ERROR, BUSY, IDLE, Done, nopoll
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from secop.features import HasLimits
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from secop.datatypes import IntRange, FloatRange, StringType, BoolType
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from secop.errors import ConfigError, BadValueError
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sys.path.append('/home/l_samenv/Documents/anc350/Linux64/userlib/lib')
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from PyANC350v4 import Positioner
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DIRECTION_NAME = {1: 'forward', -1: 'backward'}
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class FreezeStatus:
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"""freeze status for some time
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hardware quite often does not treat status correctly: on a target change it
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may take some time to return the 'busy' status correctly.
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in classes with this mixin, within :meth:`write_target` call
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self.freeze_status(0.5, BUSY, 'changed target')
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a wrapper around read_status will take care that the status will be the given value,
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for at least the given delay. This does NOT cover the case when self.status is set
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directly from an other method.
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"""
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__freeze_status_until = 0
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def __init_subclass__(cls):
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def wrapped(self, inner=cls.read_status):
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if time.time() < self.__freeze_status_until:
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return Done
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return inner(self)
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cls.read_status = wrapped
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super().__init_subclass__()
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def freeze_status(self, delay, code=BUSY, text='changed target'):
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"""freezze status to the given value for the given delay"""
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self.__freeze_status_until = time.time() + delay
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self.status = code, text
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class Axis(HasLimits, FreezeStatus, Drivable):
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axis = Property('axis number', IntRange(0, 2), 0)
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value = Parameter('axis position', FloatRange(unit='deg'))
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frequency = Parameter('frequency', FloatRange(1, unit='Hz'), readonly=False)
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amplitude = Parameter('amplitude', FloatRange(0, unit='V'), readonly=False)
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gear = Parameter('gear factor', FloatRange(), readonly=False, default=1, initwrite=True)
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tolerance = Parameter('positioning tolerance', FloatRange(0, unit='$'), readonly=False, default=0.01)
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output = Parameter('enable output', BoolType(), readonly=False)
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info = Parameter('axis info', StringType())
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statusbits = Parameter('status bits', StringType())
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_hw = Positioner()
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_scale = 1 # scale for custom units
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_move_steps = 0 # number of steps to move (used by move command)
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SCALES = {'deg': 1, 'm': 1, 'mm': 1000, 'um': 1000000, 'µm': 1000000}
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_direction = 1 # move direction
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_idle_status = IDLE, ''
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_error_state = '' # empty string: no error
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_history = None
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_check_sensor = False
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_try_count = 0
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def __init__(self, name, logger, opts, srv):
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unit = opts.pop('unit', 'deg')
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opts['value.unit'] = unit
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try:
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self._scale = self.SCALES[unit] * opts.get('gear', 1)
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except KeyError as e:
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print(repr(e))
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raise ConfigError('unsupported unit: %s' % unit)
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super().__init__(name, logger, opts, srv)
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def write_gear(self, value):
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self._scale = self.SCALES[self.parameters['value'].datatype.unit] * self.gear
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return value
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def startModule(self, start_events):
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super().startModule(start_events)
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start_events.queue(self.read_info)
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def check_value(self, value):
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"""check if value allows moving in current driection"""
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if self._direction > 0:
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if value > self.target_limits[1]:
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raise BadValueError('above upper limit')
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elif value < self.target_limits[0]:
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raise BadValueError('below lower limit')
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def read_value(self):
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pos = self._hw.getPosition(self.axis) * self._scale
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if self.isBusy():
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try:
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self.check_value(pos)
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except BadValueError as e:
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self._stop()
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self._idle_status = ERROR, str(e)
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return pos
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def read_frequency(self):
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return self._hw.getFrequency(self.axis)
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def write_frequency(self, value):
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self._hw.setFrequency(self.axis, value)
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return self._hw.getFrequency(self.axis)
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def read_amplitude(self):
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return self._hw.getAmplitude(self.axis)
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def write_amplitude(self, value):
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self._hw.setAmplitude(self.axis, value)
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return self._hw.getAmplitude(self.axis)
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def write_tolerance(self, value):
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self._hw.setTargetRange(self.axis, value / self._scale)
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return value
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def write_output(self, value):
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self._hw.setAxisOutput(self.axis, enable=value, autoDisable=0)
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def read_status(self):
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statusbits = self._hw.getAxisStatus(self.axis)
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sensor, self.output, moving, attarget, eot_fwd, eot_bwd, sensor_error = statusbits
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self.statusbits = ''.join((k for k, v in zip('SOMTFBE', statusbits) if v))
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if self._move_steps:
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if not (eot_fwd or eot_bwd):
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return BUSY, 'moving by steps'
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if not sensor:
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self._error_state = 'no sensor connected'
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elif sensor_error:
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self._error_state = 'sensor error'
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elif eot_fwd:
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self._error_state = 'end of travel forward'
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elif eot_bwd:
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self._error_state = 'end of travel backward'
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else:
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if self._error_state and not DIRECTION_NAME[self._direction] in self._error_state:
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self._error_state = ''
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status_text = 'moving' if self._try_count == 0 else 'moving (retry %d)' % self._try_count
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if moving and self._history is not None: # history None: moving by steps
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self._history.append(self.value)
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if len(self._history) < 5:
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return BUSY, status_text
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beg = self._history.pop(0)
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if abs(beg - self.target) < self.tolerance:
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# reset normal tolerance
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self._hw.setTargetRange(self.axis, self.tolerance / self._scale)
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if (self.value - beg) * self._direction > 0:
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return BUSY, status_text
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self._idle_status = ERROR, 'no progress'
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if self._error_state:
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self._try_count += 1
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if self._try_count < 10 and self._history is not None:
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self.write_target(self.target)
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return Done
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self._idle_status = ERROR, self._error_state
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if self.status[0] != IDLE:
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self._stop()
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return self._idle_status
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def write_target(self, value):
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if value == self.read_value():
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return value
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self.check_limits(value)
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self._try_count = 0
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self._direction = 1 if value > self.value else -1
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# if self._error_state and DIRECTION_NAME[-self._direction] not in self._error_state:
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# raise BadValueError('can not move (%s)' % self._error_state)
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self._move_steps = 0
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self.write_output(1)
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# try first with 50 % of tolerance
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self._hw.setTargetRange(self.axis, self.tolerance * 0.5 / self._scale)
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self._hw.setTargetPosition(self.axis, value / self._scale)
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self._hw.startAutoMove(self.axis, enable=1, relative=0)
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self._history = [self.value]
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self._idle_status = IDLE, ''
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self.freeze_status(1, BUSY, 'changed target')
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self.setFastPoll(True, 1)
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return value
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def doPoll(self):
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if self._move_steps == 0:
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super().doPoll()
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return
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self._hw.startSingleStep(self.axis, self._direction < 0)
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self._move_steps -= self._direction
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if self._move_steps % int(self.frequency) == 0: # poll value and status every second
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super().doPoll()
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@nopoll
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def read_info(self):
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"""read info from controller"""
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cap = self._hw.measureCapacitance(self.axis) * 1e9
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axistype = ['linear', 'gonio', 'rotator'][self._hw.getActuatorType(self.axis)]
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return '%s %s %.3gnF' % (self._hw.getActuatorName(self.axis), axistype, cap)
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def _stop(self):
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self._move_steps = 0
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self._history = None
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self._hw.startAutoMove(self.axis, enable=0, relative=0)
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self._hw.setTargetRange(self.axis, self.tolerance / self._scale)
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self.setFastPoll(False)
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@Command()
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def stop(self):
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self._idle_status = IDLE, 'stopped' if self.isBusy() else ''
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self._stop()
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self.status = self._idle_status
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@Command(IntRange())
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def move(self, value):
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"""relative move by number of steps"""
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self._direction = 1 if value > 0 else -1
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self.check_value(self.value)
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self._history = None
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if DIRECTION_NAME[self._direction] in self._error_state:
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raise BadValueError('can not move (%s)' % self._error_state)
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self._move_steps = value
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self._idle_status = IDLE, ''
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self.read_status()
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self.setFastPoll(True, 1/self.frequency)
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