fix simulation
+ some fixed in sim_uniax Change-Id: Ia8703ed988aa904bb2694339f0d3175b28fcb33e
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ecef2b8974
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@ -46,7 +46,7 @@ Mod('res',
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),
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value=Param(
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default=99.0,
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datatype={'type': 'double', 'unit': 'Ohm'},
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unit='Ohm',
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),
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)
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@ -32,12 +32,13 @@ from frappy.modules import Drivable, Module, Parameter, Readable, Writable, Comm
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class SimBase:
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def __new__(cls, devname, logger, cfgdict, dispatcher):
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extra_params = cfgdict.pop('extra_params', '') or cfgdict.pop('.extra_params', '')
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extra_params = cfgdict.pop('extra_params', '')['value']
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if isinstance(extra_params, str):
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extra_params = [v.strip() for v in extra_params.split(',')]
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attrs = {}
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if extra_params:
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for k in extra_params['value'].split(','):
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k = k.strip()
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attrs[k] = Parameter(f'extra_param: {k.strip()}',
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for k in extra_params:
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attrs[k] = Parameter(f'extra_param: {k}',
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datatype=FloatRange(),
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default=0.0)
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@ -38,7 +38,7 @@ class DPM3(Readable):
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_pos = 0
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def read_value(self):
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mot = self._motor
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mot = self.motor
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d = self.friction * self.slope
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self._pos = clamp(self._pos, mot.value - d, mot.value + d)
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f = (mot.value - self._pos) / self.slope
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@ -26,9 +26,9 @@ import math
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from frappy.core import Drivable, Parameter, FloatRange, Done, \
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Attached, Command, PersistentMixin, PersistentParam, BoolType
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from frappy.errors import BadValueError, SECoPError
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from frappy.lib.statemachine import Retry, StateMachine, Restart
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from frappy.lib.statemachine import Retry, StateMachine, Stop
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# TODO: fix with new state machine!
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# TODO: to be tested, or better migrated to new state machine!
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class Error(SECoPError):
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@ -46,11 +46,11 @@ class Uniax(PersistentMixin, Drivable):
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pid_i = PersistentParam('integral', FloatRange(), readonly=False, default=0.5, persistent='auto')
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filter_interval = Parameter('filter time', FloatRange(0, 60, unit='s'), readonly=False, default=5)
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current_step = Parameter('', FloatRange(unit='deg'), default=0)
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force_offset = PersistentParam('transducer offset', FloatRange(unit='N'), readonly=False, default=0,
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initwrite=True, persistent='auto')
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force_offset = PersistentParam('transducer offset', FloatRange(unit='N'), readonly=False, value=0,
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persistent='auto')
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hysteresis = PersistentParam('force hysteresis', FloatRange(0, 190, unit='N'), readonly=False, default=5,
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persistent='auto')
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adjusting = Parameter('', BoolType(), readonly=False, default=False, initwrite=True)
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adjusting = Parameter('', BoolType(), readonly=False, value=False)
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adjusting_current = PersistentParam('current when adjusting force', FloatRange(0, 2.8, unit='A'), readonly=False,
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default=0.5, persistent='auto')
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safe_step = PersistentParam('max. motor step when adjusting force', FloatRange(0, unit='deg'), readonly=False,
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@ -116,11 +116,15 @@ class Uniax(PersistentMixin, Drivable):
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def motor_busy(self):
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mot = self.motor
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if mot.isBusy():
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if mot.target != self._mot_target:
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if self._mot_target is not None and mot.target != self._mot_target:
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raise Error('control stopped - motor moved directly')
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return True
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return False
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def motor_stop(self):
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self.motor.stop()
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self._mot_target = None
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def read_value(self):
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try:
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self._force = force = self.transducer.read_value()
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@ -142,7 +146,7 @@ class Uniax(PersistentMixin, Drivable):
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force = self._sum / self._cnt
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self.reset_filter(now)
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if abs(force) > self.limit + self.hysteresis:
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self.motor.stop()
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self.motor_stop()
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self.status = 'ERROR', 'above max limit'
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self.log.error(self.status[1])
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self.read_target()
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@ -188,8 +192,8 @@ class Uniax(PersistentMixin, Drivable):
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def cleanup(self, state):
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"""in case of error, set error status"""
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if state.stopped: # stop or restart
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if state.stopped is Restart:
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if state.next_task: # stop or restart
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if not isinstance(state.next_task, Stop):
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return
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self.status = 'IDLE', 'stopped'
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self.log.warning('stopped')
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@ -200,7 +204,7 @@ class Uniax(PersistentMixin, Drivable):
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else:
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self.log.error('%r raised in state %r', str(state.last_error), state.status_string)
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self.read_target() # make target invalid
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self.motor.stop()
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self.motor_stop()
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self.write_adjusting(False)
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def reset_progress(self, state):
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@ -234,7 +238,7 @@ class Uniax(PersistentMixin, Drivable):
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state.direction = math.copysign(1, self.target - self.value)
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state.pid_fact = 1
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if self.motor_busy():
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return Retry()
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return Retry
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self.value = self._force
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force_step = self.target - self.value
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if abs(force_step) < self.tolerance:
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@ -255,6 +259,7 @@ class Uniax(PersistentMixin, Drivable):
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self.status = 'BUSY', 'adjusting force'
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elif not self.check_progress(state):
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if abs(self.value) < self.hysteresis:
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motor_dif = abs(self.motor.value - state.prev_pos)
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if motor_dif > self.motor_play:
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self.log.warning('adjusting failed - try to find zero pos')
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self.set_zero_pos(self.target, None)
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@ -265,15 +270,15 @@ class Uniax(PersistentMixin, Drivable):
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self.log.warning('no substantial progress since %d sec', self.timeout)
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self.status = 'IDLE', 'adjusting timeout'
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self.drive_relative(force_step * self.slope * self.pid_i * min(1, state.delta()) * state.pid_fact)
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return Retry()
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return Retry
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def within_tolerance(self, state):
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"""within tolerance"""
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if state.init:
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self.status = 'IDLE', 'within tolerance'
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return Retry()
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return Retry
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if self.motor_busy():
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return Retry()
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return Retry
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force_step = self.target - self.value
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if abs(force_step) < self.tolerance * 0.5:
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self.current_step = 0
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@ -282,16 +287,16 @@ class Uniax(PersistentMixin, Drivable):
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self.drive_relative(force_step * self.slope * self.pid_i * min(1, state.delta()) * 0.1)
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if abs(force_step) > self.tolerance:
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return self.out_of_tolerance
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return Retry()
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return Retry
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def out_of_tolerance(self, state):
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"""out of tolerance"""
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if state.init:
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self.status = 'WARN', 'out of tolerance'
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state.in_since = 0
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return Retry()
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return Retry
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if self.motor_busy():
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return Retry()
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return Retry
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force_step = self.target - self._force
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if abs(force_step) < self.tolerance:
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if state.in_since == 0:
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@ -299,10 +304,10 @@ class Uniax(PersistentMixin, Drivable):
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if state.now > state.in_since + 10:
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return self.within_tolerance
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if abs(force_step) < self.tolerance * 0.5:
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return Retry()
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return Retry
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self.check_progress(state)
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self.drive_relative(force_step * self.slope * self.pid_i * min(1, state.delta()) * 0.1)
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return Retry()
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return Retry
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def find(self, state):
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"""find active (engaged) range"""
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@ -315,7 +320,7 @@ class Uniax(PersistentMixin, Drivable):
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if abs_force > self.hysteresis or abs_force > self.target * direction:
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if self.motor_busy():
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self.log.info('motor stopped - substantial force detected: %g', self.value)
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self.motor.stop()
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self.motor_stop()
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elif state.prev_direction == 0:
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return self.adjust
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if abs_force > self.hysteresis:
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@ -326,9 +331,9 @@ class Uniax(PersistentMixin, Drivable):
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return self.free
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if self.motor_busy():
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if direction == -state.prev_direction: # target direction changed
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self.motor.stop()
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self.motor_stop()
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state.init_find = True # restart find
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return Retry()
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return Retry
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zero_pos = self.zero_pos(self.target)
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if state.prev_direction: # find already started
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if abs(self.motor.target - self.motor.value) > self.motor.tolerance:
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@ -336,7 +341,7 @@ class Uniax(PersistentMixin, Drivable):
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self.write_adjusting(True)
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self.log.info('one step to %g', self.motor.value + self.safe_step)
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self.drive_relative(direction * self.safe_step)
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return Retry()
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return Retry
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else:
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state.prev_direction = math.copysign(1, self.target)
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side_name = 'negative' if direction == -1 else 'positive'
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@ -347,14 +352,14 @@ class Uniax(PersistentMixin, Drivable):
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self.write_adjusting(False)
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self.log.info('change side to %g', zero_pos)
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self.drive_relative(zero_pos - self.motor.value)
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return Retry()
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return Retry
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# we are already at or beyond zero_pos
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return self.adjust
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self.write_adjusting(False)
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self.status = 'BUSY', 'find %s side' % side_name
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self.log.info('one turn to %g', self.motor.value + direction * 360)
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self.drive_relative(direction * 360)
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return Retry()
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return Retry
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def free(self, state):
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"""free from high force at other end"""
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@ -362,7 +367,7 @@ class Uniax(PersistentMixin, Drivable):
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state.free_way = None
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self.reset_progress(state)
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if self.motor_busy():
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return Retry()
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return Retry
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self.value = self._force
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if abs(self.value) > abs(state.force_before_free) + self.hysteresis:
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raise Error('force increase while freeing')
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@ -377,7 +382,7 @@ class Uniax(PersistentMixin, Drivable):
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raise Error('freeing failed')
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state.free_way += self.safe_step
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self.drive_relative(direction * self.safe_step)
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return Retry()
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return Retry
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def write_target(self, target):
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if abs(target) > self.limit:
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@ -399,7 +404,7 @@ class Uniax(PersistentMixin, Drivable):
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return Done
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def read_target(self):
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if self._state.state is None:
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if self._state.statefunc is None:
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if self.status[1]:
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raise Error(self.status[1])
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raise Error('inactive')
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@ -409,7 +414,7 @@ class Uniax(PersistentMixin, Drivable):
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def stop(self):
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if self.motor.isBusy():
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self.log.info('stop motor')
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self.motor.stop()
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self.motor_stop()
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self.status = 'IDLE', 'stopped'
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self._state.stop()
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