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phytron.py: improve status

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better analysis of hardware status code

Change-Id: I667b443649db43ff3e572e0a50685aabc9ba2ca2
Reviewed-on: https://forge.frm2.tum.de/review/c/secop/frappy/+/32165
Tested-by: Jenkins Automated Tests <pedersen+jenkins@frm2.tum.de>
Reviewed-by: Markus Zolliker <markus.zolliker@psi.ch>
This commit is contained in:
zolliker 2023-09-13 18:11:13 +02:00
parent bf8d5101b0
commit fa5d5654f8
1 changed files with 11 additions and 12 deletions
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23
frappy_psi/phytron.py
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@ -32,6 +32,7 @@ from frappy.core import Done, Command, EnumType, FloatRange, IntRange, \
from frappy.errors import CommunicationFailedError, HardwareError
from frappy.features import HasOffset
from frappy.states import HasStates, status_code, Retry
from frappy.lib import formatStatusBits
class PhytronIO(StringIO):
@ -88,15 +89,8 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
_prev_diff = 0 # for checking progress
_intermediate_target = 0
_stopped_at = 0
STATUS_MAP = {
'08': (IDLE, ''),
'01': (ERROR, 'power stage failure'),
'02': (ERROR, 'power too low'),
'04': (ERROR, 'power stage over temperature'),
'07': (ERROR, 'no power stage'),
'80': (ERROR, 'encoder failure'),
}
status_bits = ['power stage error', 'undervoltage', 'overtemperature', 'active',
'lower switch active', 'upper switch active', 'step failure', 'encoder error']
def get(self, cmd):
return self.communicate(f'{self.address:x}{self.axis}{cmd}')
@ -196,14 +190,19 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
sysstatus = self.communicate(f'{self.address:x}SE')
try:
sysstatus = sysstatus[1:4] if self.axis == 'X' else sysstatus[5:8]
status = self.STATUS_MAP[sysstatus[1:]]
except Exception: # can not interprete the reply, probably communication error
hexstatus = int(sysstatus, base=16)
status_items = formatStatusBits(hexstatus & 0xf7, self.status_bits)
if status_items:
status = ERROR, ', '.join(status_items)
else:
status = IDLE, ''
except TimeoutError: # Exception: # can not interprete the reply, probably communication error
self.log.warning('bad status reply %r', sysstatus)
continue
break
else:
status = (ERROR, f'unknown status after 3 tries {sysstatus!r}')
self._running = sysstatus[0] != '1'
self._running = (hexstatus & 0x100) == 0
if status[0] == ERROR:
self._blocking_error = status[1]
return status