fixed dilsc, fist try before tests

Change-Id: Iaac5f07c27879c7c17be2e25defde19e9ddd1566

calibtest.py

@@ -0,0 +1,22 @@
+import sys
+import os
+from glob import glob
+from frappy_psi.calcurve import CalCurve
+
+os.chdir('/Users/zolliker/gitpsi/calcurves')
+
+if len(sys.argv) > 1:
+    calib = sys.argv[1]
+    c = CalCurve(calib)
+else:
+    for file in sorted(glob('*.*')):
+        if file.endswith('.md') or file.endswith('.std'):
+            continue
+        try:
+            c = CalCurve(file)
+            xy = c.export()
+            print('%9.4g %12.7g %9.4g %9.4g %s' % (tuple(c.extx) + tuple(c.exty) + (file,)))
+        except Exception as e:
+            print(file, e)
+            calib = file
+

cfg/QnwTC1_cfg.py

@@ -6,7 +6,7 @@ Node('QnwTC1test.psi.ch',
 Mod('io',
     'frappy_psi.qnw.QnwIO',
     'connection for Quantum northwest',
-    uri='tcp://ldm-fi-ts:3001',
+    uri='tcp://ldmcc01-ts:3004',
     )
 
 Mod('T',

cfg/TFA10_cfg.py

@@ -6,7 +6,7 @@ Node('TFA10.psi.ch',
 Mod('io',
     'frappy_psi.thermofisher.ThermFishIO',
     'connection for ThermoFisher A10',
-    uri='tcp://ldm-fi-ts:3002',
+    uri='tcp://ldmse-d910-ts:3001',
     )
 
 Mod('T',

cfg/addons/flamesample_cfg.py

@@ -24,6 +24,7 @@ Mod('ts_low',
     minrange=13,
     range=22,
     tolerance = 0.1,
+    vexc = 3,
     htrrng=4,
 )
 
@@ -32,7 +33,8 @@ Mod('ts_high',
     'sample Cernox',
     channel = 1,
     switcher = 'lsc_channel',
-    minrange=9,
+    minrange=11,
+    vexc = 5,
     range=22,
     tolerance = 0.1,
     htrrng=5,
@@ -45,6 +47,8 @@ Mod('ts',
     value=Param(unit='K'),
     low='ts_low',
     high='ts_high',
+    #min_high=0.6035,
+    #max_low=1.6965,
     min_high=0.6,
     max_low=1.7,
     tolerance=0.1,

cfg/attocube_cfg.py

@@ -0,0 +1,19 @@
+Node('attocube_test.psi.ch',
+    'a single attocube axis',
+    interface='tcp://5000',
+)
+
+Mod('r',
+    'frappy_psi.attocube.Axis',
+    'ANRv220-F3-02882',
+    axis = 1,
+    value = Param(unit='deg'),
+    tolerance = 0.1,
+    target_min = 0,
+    target_max = 360,
+    steps_fwd = 45,
+    steps_bwd = 85,
+    step_mode = True,
+    # gear = 1.2,
+)
+

cfg/dilsc_cfg.py

@@ -0,0 +1,231 @@
+Node('cfg/dilsc1.cfg',
+     'triton test',
+     interface='5000',
+     name='dilsc1',
+)
+
+Mod('triton',
+    'frappy_psi.mercury.IO',
+    'connection to triton software',
+    uri='tcp://192.168.2.33:33576',
+)
+
+Mod('T_mix',
+    'frappy_psi.triton.TemperatureSensor',
+    'mix. chamber temperature',
+    slot='T8',
+    io='triton',
+)
+
+Mod('T_pt2head',
+    'frappy_psi.triton.TemperatureSensor',
+    'PTR2 head temperature',
+    slot='T1',
+    io='triton',
+)
+
+Mod('T_pt2plate',
+    'frappy_psi.triton.TemperatureSensor',
+    'PTR2 plate temperature',
+    slot='T2',
+    io='triton',
+)
+
+Mod('T_still',
+    'frappy_psi.triton.TemperatureSensor',
+    'still temperature',
+    slot='T3',
+    io='triton',
+)
+
+Mod('htr_still',
+    'frappy_psi.triton.HeaterOutput',
+    'still heater',
+    slot='H2',
+    io='triton',
+)
+
+Mod('T_coldpl',
+    'frappy_psi.triton.TemperatureSensor',
+    'cold plate temperature',
+    slot='T4',
+    io='triton',
+)
+
+Mod('T_mixcx',
+    'frappy_psi.triton.TemperatureSensor',
+    'mix. chamber cernox',
+    slot='T5',
+    io='triton',
+)
+
+Mod('T_pt1head',
+    'frappy_psi.triton.TemperatureSensor',
+    'PTR1 head temperature',
+    slot='T6',
+    io='triton',
+)
+
+Mod('T_pt1plate',
+    'frappy_psi.triton.TemperatureSensor',
+    'PTR1 plate temperature',
+    slot='T7',
+    io='triton',
+)
+
+Mod('T_pucksensor',
+    'frappy_psi.triton.TemperatureLoop',
+    'puck sensor temperature',
+    output_module='htr_pucksensor',
+    slot='TA',
+    io='triton',
+)
+
+Mod('htr_pucksensor',
+    'frappy_psi.triton.HeaterOutputWithRange',
+    'mix. chamber heater',
+    slot='H1,TA',
+    io='triton',
+)
+
+Mod('T_magnet',
+    'frappy_psi.triton.TemperatureSensor',
+    'magnet temperature',
+    slot='T13',
+    io='triton',
+)
+
+Mod('action',
+    'frappy_psi.triton.Action',
+    'higher level scripts',
+    io='triton',
+    slot='DR',
+)
+
+Mod('p_dump',
+    'frappy_psi.mercury.PressureSensor',
+    'dump pressure',
+    slot='P1',
+    io='triton',
+)
+
+Mod('p_cond',
+    'frappy_psi.mercury.PressureSensor',
+    'condenser pressure',
+    slot='P2',
+    io='triton',
+)
+
+Mod('p_still',
+    'frappy_psi.mercury.PressureSensor',
+    'still pressure',
+    slot='P3',
+    io='triton',
+)
+
+Mod('p_fore',
+    'frappy_psi.mercury.PressureSensor',
+    'pressure on the pump side',
+    slot='P5',
+    io='triton',
+)
+
+Mod('p_back',
+    'frappy_psi.mercury.PressureSensor',
+    'pressure on the back side of the pump',
+    slot='P4',
+    io='triton',
+)
+
+Mod('p_ovc',
+    'frappy_psi.mercury.PressureSensor',
+    'outer vacuum pressure',
+    slot='P6',
+    io='triton',
+)
+
+Mod('V1',
+    'frappy_psi.triton.Valve',
+    'valve V1',
+    slot='V1',
+    io='triton',
+)
+
+Mod('V2',
+    'frappy_psi.triton.Valve',
+    'valve V2',
+    slot='V2',
+    io='triton',
+)
+
+Mod('V4',
+    'frappy_psi.triton.Valve',
+    'valve V4',
+    slot='V4',
+    io='triton',
+)
+
+Mod('V5',
+    'frappy_psi.triton.Valve',
+    'valve V5',
+    slot='V5',
+    io='triton',
+)
+
+Mod('V9',
+    'frappy_psi.triton.Valve',
+    'valve V9',
+    slot='V9',
+    io='triton',
+)
+
+Mod('ips',
+    'frappy_psi.mercury.IO',
+    'IPS for magnet',
+    uri='192.168.127.254:3001',
+)
+
+Mod('mf',
+    'frappy_psi.dilsc.VectorField',
+    'vector field',
+    x='mfx',
+    y='mfy',
+    z='mfz',
+    sphere_radius=0.6,
+    cylinders=((0.23, 5.2), (0.45, 0.8)),
+)
+
+Mod('mfx',
+    'frappy_psi.ips_mercury.SimpleField',
+    'magnetic field, x-axis',
+    slot='GRPX',
+    io='ips',
+    tolerance=0.0001,
+    wait_stable_field=0.0,
+    nunits=2,
+    target=Param(max=0.6),
+    ramp=0.225,
+)
+
+Mod('mfy',
+    'frappy_psi.ips_mercury.SimpleField',
+    'magnetic field, y axis',
+    slot='GRPY',
+    io='ips',
+    tolerance=0.0001,
+    wait_stable_field=0.0,
+    nunits=2,
+    target=Param(max=0.6),
+    ramp=0.225,
+)
+
+Mod('mfz',
+    'frappy_psi.ips_mercury.Field',
+    'magnetic field, z-axis',
+    slot='GRPZ',
+    io='ips',
+    tolerance=0.0001,
+    target=Param(max=5.2),
+    mode='DRIVEN',
+    ramp=0.52,
+)

cfg/flowsas_cfg.py

@@ -0,0 +1,52 @@
+Node('flowsas.psi.ch',
+     'flowsas test motors',
+     'tcp://5000',
+)
+
+#Mod('mot_io',
+#    'frappy_psi.phytron.PhytronIO',
+#    'io for motor control',
+#    uri = 'serial:///dev/ttyUSB0',
+#   )
+
+#Mod('hmot',
+#    'frappy_psi.phytron.Motor',
+#    'horizontal axis',
+#    axis = 'X',
+#    io = 'mot_io',
+#    encoder_mode= 'NO',
+#   )
+
+#Mod('vmot',
+#    'frappy_psi.phytron.Motor',
+#    'vertical axis',
+#    axis = 'Y',
+#    io = 'mot_io',
+#    encoder_mode= 'NO',
+#   )
+
+Mod('syr_io',
+   'frappy_psi.cetoni_pump.LabCannBus',
+   'Module for bus',
+    deviceconfig = "/home/l_samenv/frappy/cetoniSDK/CETONI_SDK_Raspi_64bit_v20220627/config/dual_pumps",
+  )
+
+Mod('syr1',
+   'frappy_psi.cetoni_pump.SyringePump',
+   'First syringe pump',
+    io='syr_io',
+    pump_name = "Nemesys_S_1_Pump",
+    valve_name = "Nemesys_S_1_Valve",
+    inner_diameter_set = 10,
+    piston_stroke_set = 60,
+  )
+
+Mod('syr2',
+   'frappy_psi.cetoni_pump.SyringePump',
+   'Second syringe pump',
+    io='syr_io',
+    pump_name = "Nemesys_S_2_Pump",
+    valve_name = "Nemesys_S_2_Valve",
+    inner_diameter_set = 1,
+    piston_stroke_set = 60,
+  )

cfg/lockin830_cfg.py

@@ -1,16 +0,0 @@
-Node('lockin830test.psi.ch',
-     'lockin830 test',
-     'tcp://5000',
-     )
-
-Mod('io',
-    'frappy_psi.SR830.SR830_IO',
-    'lockin communication',
-    uri='tcp://linse-976d-ts:3002',
-    )
-
-Mod('XY',
-    'frappy_psi.SR830.XY',
-    'XY channels',
-    io='io',
-    )

cfg/multimeter_cfg.py

@@ -1,34 +0,0 @@
-Node('multimetertest.psi.ch',
-     'multimeter test',
-     'tcp://5000',
-     )
-
-Mod('io',
-     'frappy_psi.HP.HP_IO',
-     'multimeter communication',
-     uri='/dev/cu.usbserial-21410',
-     )
-
-Mod('Voltage',
-     'frappy_psi.HP.Voltage',
-     'voltage',
-     io='io',
-     )
-
-Mod('Current',
-     'frappy_psi.HP.Current',
-     'current',
-     io='io',
-     )
-
-Mod('Resistance',
-     'frappy_psi.HP.Resistance',
-     'resistivity',
-     io='io',
-     )
-
-Mod('Frequency',
-     'frappy_psi.HP.Frequency',
-     'resistivity',
-     io='io',
-     )

cfg/sim921_cfg.py

@@ -1,67 +0,0 @@
-Node('bridge.psi.ch',
-     'ac resistance bridge',
-     'tcp://5000',
-     )
-
-Mod('io',
-    'frappy_psi.bridge.BridgeIO',
-    'communication to sim900',
-    uri='serial:///dev/cu.usbserial-14340',
-    )
-
-Mod('res1',
-    'frappy_psi.bridge.Resistance',
-    'module communication',
-    io='io',
-    port=1,
-    )
-
-Mod('res2',
-    'frappy_psi.bridge.Resistance',
-    'module communication',
-    io='io',
-    port=3,
-    )
-
-Mod('res3',
-    'frappy_psi.bridge.Resistance',
-    'module communication',
-    io='io',
-    port=5,
-    )
-
-Mod('phase1',
-    'frappy_psi.bridge.Phase',
-    'module communication',
-    resistance='res1',
-    )
-
-Mod('phase2',
-    'frappy_psi.bridge.Phase',
-    'module communication',
-    resistance='res2',
-    )
-
-Mod('phase3',
-    'frappy_psi.bridge.Phase',
-    'module communication',
-    resistance='res3',
-    )
-
-Mod('dev1',
-    'frappy_psi.bridge.Deviation',
-    'module communication',
-    resistance='res1',
-    )
-
-Mod('dev2',
-    'frappy_psi.bridge.Deviation',
-    'module communication',
-    resistance='res1',
-    )
-
-Mod('dev3',
-    'frappy_psi.bridge.Deviation',
-    'module communication',
-    resistance='res3',
-    )

cfg/stick/dil5_cfg.py

@@ -138,13 +138,6 @@ Mod('T_one_K',
     io='itc',
 )
 
-Mod('htr_one_K',
-    'frappy_psi.mercury.HeaterOutput',
-    '1 K plate warmup heater',
-    slot='DB3.H1',
-    io='itc',
-)
-
 Mod('T_mix_wup',
     'frappy_psi.mercury.TemperatureLoop',
     'mix. chamber warmup temperature',

frappy/client/__init__.py

@@ -282,6 +282,7 @@ class SecopClient(ProxyClient):
         self.nodename = uri
         self._lock = RLock()
         self._shutdown = Event()
+        self.cleanup = []
 
     def __del__(self):
         try:
@@ -297,6 +298,10 @@ class SecopClient(ProxyClient):
         with self._lock:
             if self.io:
                 return
+            self.txq = queue.Queue(30)
+            self.pending = queue.Queue(30)
+            self.active_requests.clear()
+            self.cleanup.clear()
             if self.online:
                 self._set_state(True, 'reconnecting')
             else:
@@ -368,6 +373,12 @@ class SecopClient(ProxyClient):
         noactivity = 0
         try:
             while self._running:
+                while self.cleanup:
+                    entry = self.cleanup.pop()
+                    for key, prev in self.active_requests.items():
+                        if prev is entry:
+                            self.active_requests.pop(key)
+                            break
                 # may raise ConnectionClosed
                 reply = self.io.readline()
                 if reply is None:
@@ -405,6 +416,14 @@ class SecopClient(ProxyClient):
                             self.updateValue(module, param, value, timestamp, readerror)
                         except KeyError:
                             pass  # ignore updates of unknown parameters
+                        except Exception as e:
+                            self.log.debug(f'error when updating %s:%s %r', module, param, value)
+                            try:
+                                # catch errors in callback functions
+                                self.updateValue(module, param, None, timestamp,
+                                                 type(e)(f'{e} - raised on client side'))
+                            except Exception as ee:
+                                self.log.warn(f'can not handle error update %r for %s:%s: %r', e, module, param, ee)
                         if action in (EVENTREPLY, ERRORPREFIX + EVENTREPLY):
                             continue
                 try:
@@ -591,8 +610,10 @@ class SecopClient(ProxyClient):
     def get_reply(self, entry):
         """wait for reply and return it"""
         if not entry[1].wait(10):  # event
+            self.cleanup.append(entry)
             raise TimeoutError('no response within 10s')
         if not entry[2]:  # reply
+            # no cleanup needed as self.active_requests will be cleared on connect
             raise ConnectionError('connection closed before reply')
         action, _, data = entry[2]  # pylint: disable=unpacking-non-sequence
         if action.startswith(ERRORPREFIX):

frappy/errors.py

@@ -232,7 +232,7 @@ class ReadFailedError(SECoPError):
 
 
 class OutOfRangeError(SECoPError):
-    """The requested parameter can not be read just now"""
+    """The value read from the hardware is out of sensor or calibration range"""
     name = 'OutOfRange'
 
 

frappy/extparams.py

@@ -0,0 +1,304 @@
+# *****************************************************************************
+#
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Markus Zolliker <markus.zolliker@psi.ch>
+#
+# *****************************************************************************
+"""extended parameters
+
+special parameter classes with some automatic functionality
+"""
+
+import re
+from frappy.core import Parameter, Property
+from frappy.datatypes import BoolType, DataType, DataTypeType, EnumType, \
+    FloatRange, StringType, StructOf, ValueType
+from frappy.errors import ProgrammingError
+
+
+class StructParam(Parameter):
+    """convenience class to create a struct Parameter together with individual params
+
+    Usage:
+
+        class Controller(Drivable):
+
+            ...
+
+            ctrlpars = StructParam('ctrlpars struct', [
+                ('pid_p', 'p', Parameter('control parameter p', FloatRange())),
+                ('pid_i', 'i', Parameter('control parameter i', FloatRange())),
+                ('pid_d', 'd', Parameter('control parameter d', FloatRange())),
+            ], readonly=False)
+
+            ...
+
+        then implement either read_ctrlpars and write_ctrlpars or
+        read_pid_p, read_pid_i, read_pid_d, write_pid_p, write_pid_i and write_pid_d
+
+        the methods not implemented will be created automatically
+    """
+
+    # use properties, as simple attributes are not considered on copy()
+    paramdict = Property('dict <parametername> of Parameter(...)', ValueType())
+    hasStructRW = Property('has a read_<struct param> or write_<struct param> method',
+                           BoolType(), default=False)
+
+    insideRW = 0  # counter for avoiding multiple superfluous updates
+
+    def __init__(self, description=None, paramdict=None, prefix_or_map='', *, datatype=None, readonly=False, **kwds):
+        """create a struct parameter together with individual parameters
+
+        in addition to normal Parameter arguments:
+
+        :param paramdict: dict <member name> of Parameter(...)
+        :param prefix_or_map: either a prefix for the parameter name to add to the member name
+                              or a dict <member name> or <parameter name>
+        """
+        if isinstance(paramdict, DataType):
+            raise ProgrammingError('second argument must be a dict of Param')
+        if datatype is None and paramdict is not None:  # omit the following on Parameter.copy()
+            if isinstance(prefix_or_map, str):
+                prefix_or_map = {m: prefix_or_map + m for m in paramdict}
+            for membername, param in paramdict.items():
+                param.name = prefix_or_map[membername]
+            datatype = StructOf(**{m: p.datatype for m, p in paramdict.items()})
+            kwds['influences'] = [p.name for p in paramdict.values()]
+        self.updateEnable = {}
+        if paramdict:
+            kwds['paramdict'] = paramdict
+        super().__init__(description, datatype, readonly=readonly, **kwds)
+
+    def __set_name__(self, owner, name):
+        # names of access methods of structed param (e.g. ctrlpars)
+        struct_read_name = f'read_{name}'  # e.g. 'read_ctrlpars'
+        struct_write_name = f'write_{name}'  # e.h. 'write_ctrlpars'
+        self.hasStructRW = hasattr(owner, struct_read_name) or hasattr(owner, struct_write_name)
+
+        for membername, param in self.paramdict.items():
+            pname = param.name
+            changes = {
+                'readonly': self.readonly,
+                'influences': set(param.influences) | {name},
+            }
+            param.ownProperties.update(changes)
+            param.init(changes)
+            setattr(owner, pname, param)
+            param.__set_name__(owner, param.name)
+
+            if self.hasStructRW:
+                rname = f'read_{pname}'
+
+                if not hasattr(owner, rname):
+                    def rfunc(self, membername=membername, struct_read_name=struct_read_name):
+                        return getattr(self, struct_read_name)()[membername]
+
+                    rfunc.poll = False  # read_<struct param> is polled only
+                    setattr(owner, rname, rfunc)
+
+                if not self.readonly:
+                    wname = f'write_{pname}'
+                    if not hasattr(owner, wname):
+                        def wfunc(self, value, membername=membername,
+                                  name=name, rname=rname, struct_write_name=struct_write_name):
+                            valuedict = dict(getattr(self, name))
+                            valuedict[membername] = value
+                            getattr(self, struct_write_name)(valuedict)
+                            return getattr(self, rname)()
+
+                        setattr(owner, wname, wfunc)
+
+        if not self.hasStructRW:
+            if not hasattr(owner, struct_read_name):
+                def struct_read_func(self, name=name, flist=tuple(
+                        (m, f'read_{p.name}') for m, p in self.paramdict.items())):
+                    pobj = self.parameters[name]
+                    # disable updates generated from the callbacks of individual params
+                    pobj.insideRW += 1   # guarded by self.accessLock
+                    try:
+                        return {m: getattr(self, f)() for m, f in flist}
+                    finally:
+                        pobj.insideRW -= 1
+
+                setattr(owner, struct_read_name, struct_read_func)
+
+            if not (self.readonly or hasattr(owner, struct_write_name)):
+
+                def struct_write_func(self, value, name=name, funclist=tuple(
+                        (m, f'write_{p.name}') for m, p in self.paramdict.items())):
+                    pobj = self.parameters[name]
+                    pobj.insideRW += 1  # guarded by self.accessLock
+                    try:
+                        return {m: getattr(self, f)(value[m]) for m, f in funclist}
+                    finally:
+                        pobj.insideRW -= 1
+
+                setattr(owner, struct_write_name, struct_write_func)
+
+        super().__set_name__(owner, name)
+
+    def finish(self, modobj=None):
+        """register callbacks for consistency"""
+        super().finish(modobj)
+        if modobj:
+
+            if self.hasStructRW:
+                def cb(value, modobj=modobj, structparam=self):
+                    for membername, param in structparam.paramdict.items():
+                        setattr(modobj, param.name, value[membername])
+
+                modobj.addCallback(self.name, cb)
+            else:
+                for membername, param in self.paramdict.items():
+                    def cb(value, modobj=modobj, structparam=self, membername=membername):
+                        if not structparam.insideRW:
+                            prev = dict(getattr(modobj, structparam.name))
+                            prev[membername] = value
+                            setattr(modobj, structparam.name, prev)
+
+                    modobj.addCallback(param.name, cb)
+
+
+class FloatEnumParam(Parameter):
+    """combine enum and float parameter
+
+    Example Usage:
+
+    vrange = FloatEnumParam('sensor range', ['500uV', '20mV', '1V'], 'V')
+
+    The following will be created automatically:
+
+    - the parameter vrange will get a datatype FloatRange(5e-4, 1, unit='V')
+    - an additional parameter `vrange_idx` will be created with an enum type
+      {'500uV': 0, '20mV': 1, '1V': 2}
+    - the method `write_vrange` will be created automatically
+
+    However, the methods `write_vrange_idx` and `read_vrange_idx`, if needed,
+    have to implemented by the programmer.
+
+    Writing to the float parameter involves 'rounding' to the closest allowed value.
+
+    Customization:
+
+    The individual labels might be customized by defining them as a tuple
+    (<index>, <label>, <float value>) where either the index or the float value
+    may be omitted.
+
+    When the index is omitted, the element will be the previous index + 1 or
+    0 when it is the first element.
+
+    Omitted values will be determined from the label, assuming that they use
+    one of the predefined unit prefixes together with the given unit.
+
+    The name of the index parameter is by default '<name>_idx' but might be
+    changed with the idx_name argument.
+    """
+    # use properties, as simple attributes are not considered on copy()
+    idx_name = Property('name of attached index parameter', StringType(), default='')
+    valuedict = Property('dict <index> of <value>', ValueType(dict))
+    enumtype = Property('dict <label> of <index', DataTypeType())
+
+    # TODO: factor out unit handling, at the latest when needed elsewhere
+    PREFIXES = {'q': -30, 'r': -27, 'y': -24, 'z': -21, 'a': -18, 'f': -15,
+                'p': -12, 'n': -9, 'u': -6, 'µ': -6, 'm': -3,
+                '': 0, 'k': 3, 'M': 6, 'G': 9, 'T': 12,
+                'P': 15, 'E': 18, 'Z': 21, 'Y': 24, 'R': 25, 'Q': 30}
+
+    def __init__(self, description=None, labels=None, unit='',
+                 *, datatype=None, readonly=False, **kwds):
+        if labels is None:
+            # called on Parameter.copy()
+            super().__init__(description, datatype, readonly=readonly, **kwds)
+            return
+        if isinstance(labels, DataType):
+            raise ProgrammingError('second argument must be a list of labels, not a datatype')
+        nextidx = 0
+        try:
+            edict = {}
+            vdict = {}
+            for elem in labels:
+                if isinstance(elem, str):
+                    idx, label = [nextidx, elem]
+                else:
+                    if isinstance(elem[0], str):
+                        elem = [nextidx] + list(elem)
+                    idx, label, *tail = elem
+                    if tail:
+                        vdict[idx], = tail
+                edict[label] = idx
+                nextidx = idx + 1
+        except (ValueError, TypeError) as e:
+            raise ProgrammingError('labels must be a list of labels or tuples '
+                                   '([index], label, [value])') from e
+        pat = re.compile(rf'([+-]?\d*\.?\d*) *({"|".join(self.PREFIXES)}){unit}$')
+        try:
+            # determine missing values from labels
+            for label, idx in edict.items():
+                if idx not in vdict:
+                    value, prefix = pat.match(label).groups()
+                    vdict[idx] = float(f'{value}e{self.PREFIXES[prefix]}')
+        except (AttributeError, ValueError) as e:
+            raise ProgrammingError(f"{label!r} has not the form '<float><prefix>{unit}'") from e
+        try:
+            enumtype = EnumType(**edict)
+        except TypeError as e:
+            raise ProgrammingError(str(e)) from e
+        datatype = FloatRange(min(vdict.values()), max(vdict.values()), unit=unit)
+        super().__init__(description, datatype, enumtype=enumtype, valuedict=vdict,
+                         readonly=readonly, **kwds)
+
+    def __set_name__(self, owner, name):
+        super().__set_name__(owner, name)
+        if not self.idx_name:
+            self.idx_name = name + '_idx'
+        iname = self.idx_name
+        idx_param = Parameter(f'index of {name}', self.enumtype,
+                              readonly=self.readonly, influences={name})
+        idx_param.init({})
+        setattr(owner, iname, idx_param)
+        idx_param.__set_name__(owner, iname)
+
+        self.setProperty('influences', {iname})
+
+        if not hasattr(owner, f'write_{name}'):
+
+            # customization (like rounding up or down) might be
+            # achieved by adding write_<name>. if not, the default
+            # is rounding to the closest value
+
+            def wfunc(mobj, value, vdict=self.valuedict, fname=name, wfunc_iname=f'write_{iname}'):
+                getattr(mobj, wfunc_iname)(
+                    min(vdict, key=lambda i: abs(vdict[i] - value)))
+                return getattr(mobj, fname)
+
+            setattr(owner, f'write_{name}', wfunc)
+
+    def __get__(self, instance, owner):
+        """getter for value"""
+        if instance is None:
+            return self
+        return self.valuedict[instance.parameters[self.idx_name].value]
+
+    def trigger_setter(self, modobj, _):
+        # trigger update of float parameter on change of enum parameter
+        modobj.announceUpdate(self.name, getattr(modobj, self.name))
+
+    def finish(self, modobj=None):
+        """register callbacks for consistency"""
+        super().finish(modobj)
+        if modobj:
+            modobj.addCallback(self.idx_name, self.trigger_setter, modobj)

frappy/gui/inputwidgets.py

@@ -1,6 +1,10 @@
-from frappy.gui.qt import QCheckBox, QComboBox, QLineEdit, pyqtSignal
+import sys
 
-from frappy.datatypes import BoolType, EnumType
+from frappy.gui.qt import QCheckBox, QComboBox, QDoubleSpinBox, QLineEdit, \
+    QSpinBox, pyqtSignal
+
+from frappy.datatypes import BoolType, EnumType, FloatRange, IntRange, \
+    StringType, TextType
 
 # ArrayOf, BLOBType, FloatRange, IntRange, StringType, StructOf, TextType, TupleOf
 
@@ -9,11 +13,24 @@ def get_input_widget(datatype, parent=None):
     return {
         EnumType: EnumInput,
         BoolType: BoolInput,
+        IntRange: IntInput,
+        StringType: StringInput,
+        TextType: StringInput,
     }.get(datatype.__class__, GenericInput)(datatype, parent)
 
 
-class GenericInput(QLineEdit):
+class InputBase:
     submitted = pyqtSignal()
+    input_feedback = pyqtSignal(str)
+
+    def get_input(self):
+        raise NotImplementedError
+
+    def submit(self):
+        self.submitted.emit()
+
+
+class GenericInput(InputBase, QLineEdit):
     def __init__(self, datatype, parent=None):
         super().__init__(parent)
         self.datatype = datatype
@@ -23,12 +40,28 @@ class GenericInput(QLineEdit):
     def get_input(self):
         return self.datatype.from_string(self.text())
 
-    def submit(self):
-        self.submitted.emit()
+
+class StringInput(GenericInput):
+    def __init__(self, datatype, parent=None):
+        super().__init__(datatype, parent)
 
 
-class EnumInput(QComboBox):
-    submitted = pyqtSignal()
+class IntInput(InputBase, QSpinBox):
+    def __init__(self, datatype, parent=None):
+        super().__init__(parent)
+        self.datatype = datatype
+        # we dont use setMaximum and setMinimum because it is quite restrictive
+        # when typing, so set it as high as possible
+        self.setMaximum(2147483647)
+        self.setMinimum(-2147483648)
+
+        self.lineEdit().returnPressed.connect(self.submit)
+
+    def get_input(self):
+        return self.datatype(self.value())
+
+
+class EnumInput(InputBase, QComboBox):
     def __init__(self, datatype, parent=None):
         super().__init__(parent)
         self.setPlaceholderText('choose value')
@@ -45,18 +78,11 @@ class EnumInput(QComboBox):
     def get_input(self):
         return self._map[self.currentIndex()].value
 
-    def submit(self):
-        self.submitted.emit()
 
-
-class BoolInput(QCheckBox):
-    submitted = pyqtSignal()
+class BoolInput(InputBase, QCheckBox):
     def __init__(self, datatype, parent=None):
         super().__init__(parent)
         self.datatype = datatype
 
     def get_input(self):
         return self.isChecked()
-
-    def submit(self):
-        self.submitted.emit()

frappy/gui/modulewidget.py

@@ -24,9 +24,9 @@ from frappy.gui.qt import QColor, QDialog, QHBoxLayout, QIcon, QLabel, \
     QLineEdit, QMessageBox, QPropertyAnimation, QPushButton, Qt, QToolButton, \
     QWidget, pyqtProperty, pyqtSignal
 
+from frappy.gui.inputwidgets import get_input_widget
 from frappy.gui.util import Colors, loadUi
 from frappy.gui.valuewidgets import get_widget
-from frappy.gui.inputwidgets import get_input_widget
 
 
 class CommandDialog(QDialog):
@@ -54,7 +54,11 @@ class CommandDialog(QDialog):
         self.resize(self.sizeHint())
 
     def get_value(self):
-        return True, self.widgets[0].get_value()
+        try:
+            return self.widgets[0].get_value()
+        except Exception as e:
+            QMessageBox.warning(self.parent(), 'Operation failed', str(e))
+            return None
 
     def exec(self):
         if super().exec():
@@ -95,8 +99,9 @@ class CommandButton(QPushButton):
         if self._argintype:
             dlg = CommandDialog(self._cmdname, self._argintype)
             args = dlg.exec()
-            if args:  # not 'Cancel' clicked
-                self._cb(self._cmdname, args[1])
+            if args is not None:
+                # no errors when converting value and 'Cancel' wasn't clicked
+                self._cb(self._cmdname, args)
         else:
             # no need for arguments
             self._cb(self._cmdname, None)
@@ -442,8 +447,8 @@ class ModuleWidget(QWidget):
         self.paramDetails.emit(self._name, param)
 
     def _button_pressed(self, param):
-        target = self._paramInputs[param].get_input()
         try:
+            target = self._paramInputs[param].get_input()
             self._node.setParameter(self._name, param, target)
         except Exception as e:
             QMessageBox.warning(self.parent(), 'Operation failed', str(e))

frappy/gui/qt.py

@@ -42,10 +42,10 @@ try:
         QDialogButtonBox, QDoubleSpinBox, QFileDialog, QFrame, QGridLayout, \
         QGroupBox, QHBoxLayout, QInputDialog, QLabel, QLineEdit, QMainWindow, \
         QMenu, QMessageBox, QPlainTextEdit, QPushButton, QRadioButton, \
-        QScrollArea, QSizePolicy, QSpacerItem, QSpinBox, QStyle, \
+        QScrollArea, QSizePolicy, QSlider, QSpacerItem, QSpinBox, QStyle, \
         QStyleOptionTab, QStylePainter, QTabBar, QTabWidget, QTextEdit, \
         QToolButton, QTreeView, QTreeWidget, QTreeWidgetItem, QVBoxLayout, \
-        QWidget,QSlider
+        QWidget
 
     import frappy.gui.resources_qt6
 
@@ -62,9 +62,9 @@ except ImportError as e:
         QDialog, QDialogButtonBox, QDoubleSpinBox, QFileDialog, QFrame, \
         QGridLayout, QGroupBox, QHBoxLayout, QInputDialog, QLabel, QLineEdit, \
         QMainWindow, QMenu, QMessageBox, QPlainTextEdit, QPushButton, \
-        QRadioButton, QScrollArea, QShortcut, QSizePolicy, QSpacerItem, \
-        QSpinBox, QStyle, QStyleOptionTab, QStylePainter, QTabBar, \
-        QTabWidget, QTextEdit, QToolButton, QTreeView, QTreeWidget, \
-        QTreeWidgetItem, QVBoxLayout, QWidget, QSlider
+        QRadioButton, QScrollArea, QShortcut, QSizePolicy, QSlider, \
+        QSpacerItem, QSpinBox, QStyle, QStyleOptionTab, QStylePainter, \
+        QTabBar, QTabWidget, QTextEdit, QToolButton, QTreeView, QTreeWidget, \
+        QTreeWidgetItem, QVBoxLayout, QWidget
 
     import frappy.gui.resources_qt5

frappy/io.py

@@ -61,7 +61,6 @@ class HasIO(Module):
                 ioname = opts.get('io') or f'{name}_io'
                 io = self.ioClass(ioname, srv.log.getChild(ioname), opts, srv)  # pylint: disable=not-callable
                 io.callingModule = []
-                srv.modules[ioname] = io
                 srv.secnode.add_module(io, ioname)
                 self.ioDict[self.uri] = ioname
             self.io = ioname

frappy/lib/sequence.py

@@ -141,6 +141,7 @@ class SequencerMixin:
         return self.Status.IDLE, ''
 
     def stop(self):
+        """stop sequence"""
         if self.seq_is_alive():
             self._seq_stopflag = True
 

frappy/modulebase.py

@@ -83,15 +83,14 @@ class HasAccessibles(HasProperties):
                     override_values.pop(key, None)
                 elif key in accessibles:
                     override_values[key] = value
+        # remark: merged_properties contain already the properties of accessibles of cls
         for aname, aobj in list(accessibles.items()):
             if aname in override_values:
-                aobj = aobj.copy()
                 value = override_values[aname]
                 if value is None:
                     accessibles.pop(aname)
                     continue
-                aobj.merge(merged_properties[aname])
-                aobj.override(value)
+                aobj = aobj.create_from_value(merged_properties[aname], value)
                 # replace the bare value by the created accessible
                 setattr(cls, aname, aobj)
             else:
@@ -334,8 +333,7 @@ class Module(HasAccessibles):
         self.secNode = srv.secnode
         self.log = logger
         self.name = name
-        self.valueCallbacks = {}
-        self.errorCallbacks = {}
+        self.paramCallbacks = {}
         self.earlyInitDone = False
         self.initModuleDone = False
         self.startModuleDone = False
@@ -469,8 +467,7 @@ class Module(HasAccessibles):
         apply default when no value is given (in cfg or as Parameter argument)
         or complain, when cfg is needed
         """
-        self.valueCallbacks[pname] = []
-        self.errorCallbacks[pname] = []
+        self.paramCallbacks[pname] = []
         if isinstance(pobj, Limit):
             basepname = pname.rpartition('_')[0]
             baseparam = self.parameters.get(basepname)
@@ -535,68 +532,46 @@ class Module(HasAccessibles):
                     err.report_error = False
                     return  # no updates for repeated errors
                 err = secop_error(err)
-            elif not changed and timestamp < (pobj.timestamp or 0) + pobj.omit_unchanged_within:
+                value_err = value, err
+            else:
+                if not changed and timestamp < (pobj.timestamp or 0) + pobj.omit_unchanged_within:
                     # no change within short time -> omit
                     return
+                value_err = (value,)
             pobj.timestamp = timestamp or time.time()
-            if err:
-                callbacks = self.errorCallbacks
-                pobj.readerror = arg = err
-            else:
-                callbacks = self.valueCallbacks
-                arg = value
-                pobj.readerror = None
+            pobj.readerror = err
+            for cbfunc, cbargs in self.paramCallbacks[pname]:
+                try:
+                    cbfunc(*cbargs, *value_err)
+                except Exception:
+                    pass
             if pobj.export:
                 self.updateCallback(self, pobj)
-            cblist = callbacks[pname]
-            for cb in cblist:
-                try:
-                    cb(arg)
-                except Exception:
-                    # print(formatExtendedTraceback())
-                    pass
+
+    def addCallback(self, pname, callback_function, *args):
+        self.paramCallbacks[pname].append((callback_function, args))
 
     def registerCallbacks(self, modobj, autoupdate=()):
         """register callbacks to another module <modobj>
 
-        - whenever a self.<param> changes:
-          <modobj>.update_<param> is called with the new value as argument.
-          If this method raises an exception, <modobj>.<param> gets into an error state.
-          If the method does not exist and <param> is in autoupdate,
-          <modobj>.<param> is updated to self.<param>
-        - whenever <self>.<param> gets into an error state:
-          <modobj>.error_update_<param> is called with the exception as argument.
-          If this method raises an error, <modobj>.<param> gets into an error state.
-          If this method does not exist, and <param> is in autoupdate,
-          <modobj>.<param> gets into the same error state as self.<param>
-        """
-        for pname in self.parameters:
-            errfunc = getattr(modobj, 'error_update_' + pname, None)
-            if errfunc:
-                def errcb(err, p=pname, efunc=errfunc):
-                    try:
-                        efunc(err)
-                    except Exception as e:
-                        modobj.announceUpdate(p, err=e)
-                self.errorCallbacks[pname].append(errcb)
-            else:
-                def errcb(err, p=pname):
-                    modobj.announceUpdate(p, err=err)
-                if pname in autoupdate:
-                    self.errorCallbacks[pname].append(errcb)
+        whenever a self.<param> changes or changes its error state:
+        <modobj>.update_param(<value> [, <exc>]) is called,
+        where <value> is the new value and <exc> is given only in case of error.
+        if the method does not exist, and <param> is in autoupdate
+        <modobj>.announceUpdate(<pname>, <value>, <exc>) is called
+        with <exc> being None in case of no error.
 
-            updfunc = getattr(modobj, 'update_' + pname, None)
-            if updfunc:
-                def cb(value, ufunc=updfunc, efunc=errcb):
-                    try:
-                        ufunc(value)
-                    except Exception as e:
-                        efunc(e)
-                self.valueCallbacks[pname].append(cb)
+        Remark: when <modobj>.update_<param> does not accept the <exc> argument,
+        nothing happens (the callback is catched by try / except).
+        Any exceptions raised by the callback function are silently ignored.
+        """
+        autoupdate = set(autoupdate)
+        for pname in self.parameters:
+            cbfunc = getattr(modobj, 'update_' + pname, None)
+            if cbfunc:
+                self.addCallback(pname, cbfunc)
             elif pname in autoupdate:
-                def cb(value, p=pname):
-                    modobj.announceUpdate(p, value)
-                self.valueCallbacks[pname].append(cb)
+                self.addCallback(pname, modobj.announceUpdate, pname)
 
     def isBusy(self, status=None):
         """helper function for treating substates of BUSY correctly"""
@@ -614,6 +589,10 @@ class Module(HasAccessibles):
             # enablePoll == False: we still need the poll thread for writing values from writeDict
             if hasattr(self, 'io'):
                 self.io.polledModules.append(self)
+                if not self.io.triggerPoll:
+                    # when self.io.enablePoll is False, triggerPoll is not
+                    # created for self.io in the else clause below
+                    self.io.triggerPoll = threading.Event()
             else:
                 self.triggerPoll = threading.Event()
                 self.polledModules.append(self)
@@ -713,8 +692,8 @@ class Module(HasAccessibles):
         for mobj in polled_modules:
             pinfo = mobj.pollInfo = PollInfo(mobj.pollinterval, self.triggerPoll)
             # trigger a poll interval change when self.pollinterval changes.
-            if 'pollinterval' in mobj.valueCallbacks:
-                mobj.valueCallbacks['pollinterval'].append(pinfo.update_interval)
+            if 'pollinterval' in mobj.paramCallbacks:
+                mobj.addCallback('pollinterval', pinfo.update_interval)
 
             for pname, pobj in mobj.parameters.items():
                 rfunc = getattr(mobj, 'read_' + pname)

frappy/modules.py

@@ -36,6 +36,7 @@ from .modulebase import Module
 
 class Readable(Module):
     """basic readable module"""
+    # pylint: disable=invalid-name
     Status = Enum('Status',
                   IDLE=StatusType.IDLE,
                   WARN=StatusType.WARN,
@@ -92,7 +93,7 @@ class Drivable(Writable):
 
     @Command(None, result=None)
     def stop(self):
-        """cease driving, go to IDLE state"""
+        """not implemented - this is a no-op"""
 
 
 class Communicator(HasComlog, Module):

frappy/params.py

@@ -57,13 +57,17 @@ class Accessible(HasProperties):
     def as_dict(self):
         return self.propertyValues
 
-    def override(self, value):
-        """override with a bare value"""
+    def create_from_value(self, properties, value):
+        """return a clone with given value and inherited properties"""
+        raise NotImplementedError
+
+    def clone(self, properties, **kwds):
+        """return a clone of ourselfs with inherited properties"""
         raise NotImplementedError
 
     def copy(self):
         """return a (deep) copy of ourselfs"""
-        raise NotImplementedError
+        return self.clone(self.propertyValues)
 
     def updateProperties(self, merged_properties):
         """update merged_properties with our own properties"""
@@ -94,6 +98,16 @@ class Accessible(HasProperties):
             props.append(f'{k}={v!r}')
         return f"{self.__class__.__name__}({', '.join(props)})"
 
+    def fixExport(self):
+        if self.export is True:
+            predefined_cls = PREDEFINED_ACCESSIBLES.get(self.name)
+            if predefined_cls is None:
+                self.export = '_' + self.name
+            elif isinstance(self, predefined_cls):
+                self.export = self.name
+            else:
+                raise ProgrammingError(f'can not use {self.name!r} as name of a {type(self).__name__}')
+
 
 class Parameter(Accessible):
     """defines a parameter
@@ -221,26 +235,17 @@ class Parameter(Accessible):
         self.name = name
         if isinstance(self.datatype, EnumType):
             self.datatype.set_name(name)
+        self.fixExport()
 
-        if self.export is True:
-            predefined_cls = PREDEFINED_ACCESSIBLES.get(self.name, None)
-            if predefined_cls is Parameter:
-                self.export = self.name
-            elif predefined_cls is None:
-                self.export = '_' + self.name
-            else:
-                raise ProgrammingError(f'can not use {self.name!r} as name of a Parameter')
-            if 'export' in self.ownProperties:
-                # avoid export=True overrides export=<name>
-                self.ownProperties['export'] = self.export
-
-    def copy(self):
-        """return a (deep) copy of ourselfs"""
-        res = type(self)()
+    def clone(self, properties, **kwds):
+        """return a clone of ourselfs with inherited properties"""
+        res = type(self)(**kwds)
         res.name = self.name
-        res.init(self.propertyValues)
+        res.init(properties)
+        res.init(res.ownProperties)
         if 'datatype' in self.propertyValues:
             res.datatype = res.datatype.copy()
+        res.finish()
         return res
 
     def updateProperties(self, merged_properties):
@@ -253,9 +258,9 @@ class Parameter(Accessible):
                     merged_properties.pop(key)
         merged_properties.update(self.ownProperties)
 
-    def override(self, value):
-        """override default"""
-        self.value = self.datatype(value)
+    def create_from_value(self, properties, value):
+        """return a clone with given value and inherited properties"""
+        return self.clone(properties, value=self.datatype(value))
 
     def merge(self, merged_properties):
         """merge with inherited properties
@@ -274,7 +279,7 @@ class Parameter(Accessible):
 
         :param modobj: final call, called from Module.__init__
         """
-
+        self.fixExport()
         if self.constant is not None:
             constant = self.datatype(self.constant)
             # The value of the `constant` property should be the
@@ -390,7 +395,7 @@ class Command(Accessible):
         else:
             # goodie: allow @Command instead of @Command()
             self.func = argument  # this is the wrapped method!
-            if argument.__doc__:
+            if argument.__doc__ is not None:
                 self.description = inspect.cleandoc(argument.__doc__)
             self.name = self.func.__name__  # this is probably not needed
         self._inherit = inherit  # save for __set_name__
@@ -401,18 +406,8 @@ class Command(Accessible):
         if self.func is None:
             raise ProgrammingError(f'Command {owner.__name__}.{name} must be used as a method decorator')
 
+        self.fixExport()
         self.datatype = CommandType(self.argument, self.result)
-        if self.export is True:
-            predefined_cls = PREDEFINED_ACCESSIBLES.get(name, None)
-            if predefined_cls is Command:
-                self.export = name
-            elif predefined_cls is None:
-                self.export = '_' + name
-            else:
-                raise ProgrammingError(f'can not use {name!r} as name of a Command') from None
-            if 'export' in self.ownProperties:
-                # avoid export=True overrides export=<name>
-                self.ownProperties['export'] = self.export
         if not self._inherit:
             for key, pobj in self.properties.items():
                 if key not in self.propertyValues:
@@ -439,38 +434,38 @@ class Command(Accessible):
                                        f' members!: {params} != {members}')
             self.argument.optional = [p for p,v in sig.parameters.items()
                    if v.default is not inspect.Parameter.empty]
-        if 'description' not in self.propertyValues and func.__doc__:
+        if 'description' not in self.ownProperties and func.__doc__ is not None:
             self.description = inspect.cleandoc(func.__doc__)
             self.ownProperties['description'] = self.description
         self.func = func
         return self
 
-    def copy(self):
-        """return a (deep) copy of ourselfs"""
-        res = type(self)()
+    def clone(self, properties, **kwds):
+        """return a clone of ourselfs with inherited properties"""
+        res = type(self)(**kwds)
         res.name = self.name
+        self.fixExport()
         res.func = self.func
-        res.init(self.propertyValues)
+        res.init(properties)
+        res.init(res.ownProperties)
         if res.argument:
             res.argument = res.argument.copy()
         if res.result:
             res.result = res.result.copy()
-        self.finish()
+        res.finish()
         return res
 
     def updateProperties(self, merged_properties):
         """update merged_properties with our own properties"""
         merged_properties.update(self.ownProperties)
 
-    def override(self, value):
-        """override method
+    def create_from_value(self, properties, value):
+        """return a clone with given value and inherited properties
 
         this is needed when the @Command is missing on a method overriding a command"""
         if not callable(value):
             raise ProgrammingError(f'{self.name} = {value!r} is overriding a Command')
-        self.func = value
-        if value.__doc__:
-            self.description = inspect.cleandoc(value.__doc__)
+        return self.clone(properties)(value)
 
     def merge(self, merged_properties):
         """merge with inherited properties

frappy/persistent.py

@@ -84,9 +84,7 @@ class PersistentMixin(Module):
             flag = getattr(pobj, 'persistent', False)
             if flag:
                 if flag == 'auto':
-                    def cb(value, m=self):
-                        m.saveParameters()
-                    self.valueCallbacks[pname].append(cb)
+                    self.addCallback(pname, self.saveParameters)
                 self.initData[pname] = pobj.value
                 if not pobj.given:
                     if pname in loaded:
@@ -129,12 +127,14 @@ class PersistentMixin(Module):
         self.writeInitParams()
         return loaded
 
-    def saveParameters(self):
+    def saveParameters(self, _=None):
         """save persistent parameters
 
         - to be called regularly explicitly by the module
         - the caller has to make sure that this is not called after
           a power down of the connected hardware before loadParameters
+
+        dummy argument to avoid closure for callback
         """
         if self.writeDict:
             # do not save before all values are written to the hw, as potentially

frappy/protocol/dispatcher.py

@@ -47,9 +47,11 @@ def make_update(modulename, pobj):
     if pobj.readerror:
         return (ERRORPREFIX + EVENTREPLY, f'{modulename}:{pobj.export}',
                 # error-report !
-                [pobj.readerror.name, str(pobj.readerror), {'t': pobj.timestamp}])
+                [pobj.readerror.name, str(pobj.readerror),
+                 {'t': pobj.timestamp} if pobj.timestamp else {}])
     return (EVENTREPLY, f'{modulename}:{pobj.export}',
-            [pobj.export_value(), {'t': pobj.timestamp}])
+            [pobj.export_value(),
+             {'t': pobj.timestamp} if pobj.timestamp else {}])
 
 
 class Dispatcher:

frappy/protocol/interface/handler.py

@@ -0,0 +1,237 @@
+# *****************************************************************************
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
+#   Markus Zolliker <markus.zolliker@psi.ch>
+#
+# *****************************************************************************
+"""The common parts of the SECNodes outside interfaces"""
+
+import sys
+import threading
+
+from frappy.errors import SECoPError
+from frappy.lib import formatException, formatExtendedStack, \
+    formatExtendedTraceback
+from frappy.protocol.messages import ERRORPREFIX, HELPREPLY, HELPREQUEST, \
+    HelpMessage
+
+
+class DecodeError(Exception):
+    def __init__(self, message, raw_msg):
+        super().__init__(message)
+        self._raw_msg = raw_msg
+
+    @property
+    def raw_msg(self):
+        return self._raw_msg
+
+
+class ConnectionClose(Exception):
+    """Indicates that receive quit due to an error."""
+
+
+class RequestHandler:
+    """Base class for the request handlers.
+
+    This is an extended copy of the BaseRequestHandler from socketserver.
+
+    To make a new interface, implement these methods:
+        ingest, next_message, decode_message, receive, send_reply and format
+    and extend (override) setup() and finish() if needed.
+
+    For an example, have a look at TCPRequestHandler.
+    """
+
+    # Methods from BaseRequestHandler
+    def __init__(self, request, client_address, server):
+        self.request = request
+        self.client_address = client_address
+        self.server = server
+        self.log = None
+
+        try:
+            self.setup()
+            self.handle()
+        except Exception:
+            if self.log:
+                self.log.error(formatException())
+            else:
+                server.log.error(formatException())
+        finally:
+            self.finish()
+
+    def setup(self):
+        self.log = self.server.log
+        self.log.info("new connection %s",  self.format())
+        # notify dispatcher of us
+        self.server.dispatcher.add_connection(self)
+        self.send_lock = threading.Lock()
+        self.running = True
+        # overwrite this with an appropriate buffer if needed
+        self.data = None
+
+    def handle(self):
+        """handle a new connection"""
+        # copy state info
+        serverobj = self.server
+        # copy relevant settings from Interface
+        detailed_errors = serverobj.detailed_errors
+
+        # start serving
+        while self.running:
+            try:
+                newdata = self.receive()
+                if newdata is None:
+                    # no new data during read, continue
+                    continue
+                self.ingest(newdata)
+            except ConnectionClose:
+                # either normal close or error in receive
+                return
+            # put data into (de-) framer,
+            # de-frame data with next_message() and decode it
+            # call dispatcher.handle_request(self, message)
+            # dispatcher will queue the reply before returning
+            while self.running:
+                try:
+                    msg = self.next_message()
+                    if msg is None:
+                        break  # no more messages to process
+                except DecodeError as err:
+                    # we have to decode 'origin' here
+                    # use latin-1, as utf-8 or ascii may lead to encoding errors
+                    msg = err.raw_msg.decode('latin-1').split(' ', 3) + [
+                        None
+                    ]  # make sure len(msg) > 1
+                    result = (
+                        ERRORPREFIX + msg[0],
+                        msg[1],
+                        [
+                            'InternalError', str(err),
+                            {
+                                'exception': formatException(),
+                                'traceback': formatExtendedStack()
+                            }
+                        ]
+                    )
+                    print('--------------------')
+                    print(formatException())
+                    print('--------------------')
+                    print(formatExtendedTraceback(sys.exc_info()))
+                    print('====================')
+                else:
+                    try:
+                        if msg[0] == HELPREQUEST:
+                            self.handle_help()
+                            result = (HELPREPLY, None, None)
+                        else:
+                            result = serverobj.dispatcher.handle_request(self,
+                                                                         msg)
+                    except SECoPError as err:
+                        result = (
+                            ERRORPREFIX + msg[0],
+                            msg[1],
+                            [
+                                err.name,
+                                str(err),
+                                {
+                                    'exception': formatException(),
+                                    'traceback': formatExtendedStack()
+                                }
+                            ]
+                        )
+                    except Exception as err:
+                        # create Error Obj instead
+                        result = (
+                            ERRORPREFIX + msg[0],
+                            msg[1],
+                            [
+                                'InternalError',
+                                repr(err),
+                                {
+                                    'exception': formatException(),
+                                    'traceback': formatExtendedStack()
+                                }
+                            ]
+                        )
+                        print('--------------------')
+                        print(formatException())
+                        print('--------------------')
+                        print(formatExtendedTraceback(sys.exc_info()))
+                        print('====================')
+
+                if not result:
+                    self.log.error('empty result upon msg %s', repr(msg))
+                if result[0].startswith(ERRORPREFIX) and not detailed_errors:
+                    # strip extra information
+                    result[2][2].clear()
+                self.send_reply(result)
+
+    def handle_help(self):
+        for idx, line in enumerate(HelpMessage.splitlines()):
+            # not sending HELPREPLY here, as there should be only one reply for
+            # every request
+            self.send_reply(('_', f'{idx + 1}', line))
+
+    def finish(self):
+        """called when handle() terminates, i.e. the socket closed"""
+        self.log.info('closing connection %s', self.format())
+        # notify dispatcher
+        self.server.dispatcher.remove_connection(self)
+
+    # Methods for implementing in derived classes:
+    def ingest(self, newdata):
+        """Put the new data into the buffer."""
+        raise NotImplementedError
+
+    def next_message(self):
+        """Get the next decoded message from the buffer.
+
+        Has to return a triple of (MESSAGE, specifier, data) or None, in case
+        there are no further messages in the receive queue.
+
+        If there is an Error during decoding, this method has to raise a
+        DecodeError.
+        """
+        raise NotImplementedError
+
+    def receive(self):
+        """Receive data from the link.
+
+        Should return the received data or None if there was nothing new. Has
+        to raise a ConnectionClose on shutdown of the connection or on errors
+        that are not recoverable.
+        """
+        raise NotImplementedError
+
+    def send_reply(self, data):
+        """send reply
+
+        stops recv loop on error
+        """
+        raise NotImplementedError
+
+    def format(self):
+        """
+        Format available connection data into something recognizable for
+        logging.
+
+        For example, the remote IP address or a connection identifier.
+        """
+        raise NotImplementedError
+
+# TODO: server baseclass?

frappy/protocol/interface/tcp.py

@@ -18,122 +18,77 @@
 #   Markus Zolliker <markus.zolliker@psi.ch>
 #
 # *****************************************************************************
-"""provides tcp interface to the SECoP Server"""
+"""TCP interface to the SECoP Server"""
 
 import errno
 import os
 import socket
 import socketserver
-import sys
-import threading
 import time
 
 from frappy.datatypes import BoolType, StringType
-from frappy.errors import SECoPError
-from frappy.lib import formatException, formatExtendedStack, \
-    formatExtendedTraceback, SECoP_DEFAULT_PORT
+from frappy.lib import SECoP_DEFAULT_PORT
 from frappy.properties import Property
 from frappy.protocol.interface import decode_msg, encode_msg_frame, get_msg
-from frappy.protocol.messages import ERRORPREFIX, HELPREPLY, HELPREQUEST, \
-    HelpMessage
+from frappy.protocol.interface.handler import ConnectionClose, \
+    RequestHandler, DecodeError
+from frappy.protocol.messages import HELPREQUEST
+
 
 MESSAGE_READ_SIZE = 1024
-HELP = HELPREQUEST.encode()
 
 
-class TCPRequestHandler(socketserver.BaseRequestHandler):
+def format_address(addr):
+    if len(addr) == 2:
+        return '%s:%d' % addr
+    address, port = addr[0:2]
+    if address.startswith('::ffff'):
+        return '%s:%d' % (address[7:], port)
+    return '[%s]:%d' % (address, port)
 
+
+class TCPRequestHandler(RequestHandler):
     def setup(self):
-        self.log = self.server.log
-        self.running = True
-        self.send_lock = threading.Lock()
+        super().setup()
+        self.request.settimeout(1)
+        self.data = b''
 
-    def handle(self):
-        """handle a new tcp-connection"""
-        # copy state info
-        mysocket = self.request
-        clientaddr = self.client_address
-        serverobj = self.server
-
-        self.log.info("handling new connection from %s",  format_address(clientaddr))
-        data = b''
-
-        # notify dispatcher of us
-        serverobj.dispatcher.add_connection(self)
-
-        # copy relevant settings from Interface
-        detailed_errors = serverobj.detailed_errors
-
-        mysocket.settimeout(1)
-        # start serving
-        while self.running:
+    def finish(self):
+        """called when handle() terminates, i.e. the socket closed"""
+        super().finish()
+        # close socket
         try:
-                newdata = mysocket.recv(MESSAGE_READ_SIZE)
-                if not newdata:
-                    # no timeout error, but no new data -> connection closed
-                    return
-                data = data + newdata
+            self.request.shutdown(socket.SHUT_RDWR)
+        except Exception:
+            pass
+        finally:
+            self.request.close()
+
+    def ingest(self, newdata):
+        self.data += newdata
+
+    def next_message(self):
+        try:
+            message, self.data = get_msg(self.data)
+            if message is None:
+                return None
+            if message.strip() == b'':
+                return (HELPREQUEST, None, None)
+            return decode_msg(message)
+        except Exception as e:
+            raise DecodeError('exception in receive', raw_msg=message) from e
+
+    def receive(self):
+        try:
+            data = self.request.recv(MESSAGE_READ_SIZE)
+            if not data:
+                raise ConnectionClose('socket was closed')
+            return data
         except socket.timeout:
-                continue
+            return None
         except socket.error as e:
             self.log.exception(e)
-                return
-            if not data:
-                continue
-            # put data into (de-) framer,
-            # put frames into (de-) coder and if a message appear,
-            # call dispatcher.handle_request(self, message)
-            # dispatcher will queue the reply before returning
-            while self.running:
-                origin, data = get_msg(data)
-                if origin is None:
-                    break  # no more messages to process
-                origin = origin.strip()
-                if origin in (HELP, b''):  # empty string -> send help message
-                    for idx, line in enumerate(HelpMessage.splitlines()):
-                        # not sending HELPREPLY here, as there should be only one reply for every request
-                        self.send_reply(('_', f'{idx + 1}', line))
-                    # ident matches request
-                    self.send_reply((HELPREPLY, None, None))
-                    continue
-                try:
-                    msg = decode_msg(origin)
-                except Exception as err:
-                    # we have to decode 'origin' here
-                    # use latin-1, as utf-8 or ascii may lead to encoding errors
-                    msg = origin.decode('latin-1').split(' ', 3) + [None]  # make sure len(msg) > 1
-                    result = (ERRORPREFIX + msg[0], msg[1], ['InternalError', str(err),
-                                                             {'exception': formatException(),
-                                                              'traceback': formatExtendedStack()}])
-                    print('--------------------')
-                    print(formatException())
-                    print('--------------------')
-                    print(formatExtendedTraceback(sys.exc_info()))
-                    print('====================')
-                else:
-                    try:
-                        result = serverobj.dispatcher.handle_request(self, msg)
-                    except SECoPError as err:
-                        result = (ERRORPREFIX + msg[0], msg[1], [err.name, str(err),
-                                                                 {'exception': formatException(),
-                                                                  'traceback': formatExtendedStack()}])
-                    except Exception as err:
-                        # create Error Obj instead
-                        result = (ERRORPREFIX + msg[0], msg[1], ['InternalError', repr(err),
-                                                                 {'exception': formatException(),
-                                                                  'traceback': formatExtendedStack()}])
-                        print('--------------------')
-                        print(formatException())
-                        print('--------------------')
-                        print(formatExtendedTraceback(sys.exc_info()))
-                        print('====================')
-
-                if not result:
-                    self.log.error('empty result upon msg %s', repr(msg))
-                if result[0].startswith(ERRORPREFIX) and not detailed_errors:
-                    # strip extra information
-                    result[2][2].clear()
-                self.send_reply(result)
+            raise ConnectionClose() from e
 
     def send_reply(self, data):
         """send reply
@@ -156,18 +111,9 @@ class TCPRequestHandler(socketserver.BaseRequestHandler):
                     self.log.error('ERROR in send_reply %r', e)
                     self.running = False
 
-    def finish(self):
-        """called when handle() terminates, i.e. the socket closed"""
-        self.log.info('closing connection from %s', format_address(self.client_address))
-        # notify dispatcher
-        self.server.dispatcher.remove_connection(self)
-        # close socket
-        try:
-            self.request.shutdown(socket.SHUT_RDWR)
-        except Exception:
-            pass
-        finally:
-            self.request.close()
+    def format(self):
+        return f'from {format_address(self.client_address)}'
+
 
 class DualStackTCPServer(socketserver.ThreadingTCPServer):
     """Subclassed to provide IPv6 capabilities as socketserver only uses IPv4"""
@@ -230,12 +176,3 @@ class TCPServer(DualStackTCPServer):
         if ntry:
             self.log.warning('tried again %d times after "Address already in use"', ntry)
         self.log.info("TCPServer initiated")
-
-
-def format_address(addr):
-    if len(addr) == 2:
-        return '%s:%d' % addr
-    address, port = addr[0:2]
-    if address.startswith('::ffff'):
-        return '%s:%d' % (address[7:], port)
-    return '[%s]:%d' % (address, port)

frappy/protocol/interface/ws.py

@@ -0,0 +1,160 @@
+# *****************************************************************************
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Alexander Zaft <a.zaft@fz-juelich.de>
+#
+# *****************************************************************************
+
+import json
+from functools import partial
+
+from websockets.exceptions import ConnectionClosedOK, ConnectionClosedError
+from websockets.sync.server import CloseCode, serve
+
+from frappy.protocol.interface.handler import ConnectionClose, \
+    RequestHandler, DecodeError
+from frappy.protocol.messages import HELPREQUEST
+
+
+def encode_msg_frame_str(action, specifier=None, data=None):
+    """ encode a msg_triple into an msg_frame, ready to be sent
+
+    action (and optional specifier) are str strings,
+    data may be an json-yfied python object"""
+    msg = (action, specifier or '', '' if data is None else json.dumps(data))
+    return ' '.join(msg).strip()
+
+
+class WSRequestHandler(RequestHandler):
+    """Handles a Websocket connection."""
+
+    def __init__(self, conn, server):
+        self.conn = conn
+        client_address = conn.remote_address
+        request = conn.socket
+        super().__init__(request, client_address, server)
+
+    def setup(self):
+        super().setup()
+        self.server.connections.add(self)
+
+    def finish(self):
+        """called when handle() terminates, i.e. the socket closed"""
+        super().finish()
+        self.server.connections.discard(self)
+        # this will be called for a second time if the server is shutting down,
+        # but in that case it will be a no-op
+        self.conn.close()
+
+    def ingest(self, newdata):
+        # recv on the websocket connection returns one message, we don't save
+        # anything in data
+        self.data = newdata
+
+    def next_message(self):
+        """split the string into a message triple."""
+        if self.data is None:
+            return None
+        try:
+            message = self.data.strip()
+            if message == '':
+                return HELPREQUEST, None, None
+            res = message.split(' ', 2) + ['', '']
+            action, specifier, data = res[0:3]
+            self.data = None
+            return (
+                action,
+                specifier or None,
+                None if data == '' else json.loads(data)
+            )
+        except Exception as e:
+            raise DecodeError('exception when reading in message',
+                              raw_msg=bytes(message, 'utf-8')) from e
+
+    def receive(self):
+        """receives one message from the websocket."""
+        try:
+            return self.conn.recv()
+        except TimeoutError:
+            return None
+        except ConnectionClosedOK:
+            raise ConnectionClose from None
+        except ConnectionClosedError as e:
+            self.log.error('No close frame received from %s', self.format())
+            raise ConnectionClose from e
+        except OSError as e:
+            self.log.exception(e)
+            raise ConnectionClose from e
+
+    def send_reply(self, data):
+        """send reply
+
+        stops recv loop on error (including timeout when output buffer full for
+        more than 1 sec)
+        """
+        if not data:
+            self.log.error('should not reply empty data!')
+            return
+        outdata = encode_msg_frame_str(*data)
+        with self.send_lock:
+            if self.running:
+                try:
+                    self.conn.send(outdata)
+                except (BrokenPipeError, IOError) as e:
+                    self.log.debug('send_reply got an %r, connection closed?',
+                                   e)
+                    self.running = False
+                except Exception as e:
+                    self.log.error('ERROR in send_reply %r', e)
+                    self.running = False
+
+    def format(self):
+        return f'{self.conn.id} from {self.client_address}'
+
+class WSServer:
+    """Server for providing a websocket interface.
+
+    Implementation note:
+    The websockets library doesn't provide an option to subclass its server, so
+    we take the returned value as an attribute and provide the neccessary
+    function calls.
+    """
+    def __init__(self, name, logger, options, srv):
+        self.connections = set()  # keep track for shutting down
+        self.dispatcher = srv.dispatcher
+        self.name = name
+        self.log = logger
+        self.port = int(options.pop('uri').split('://', 1)[-1])
+        self.detailed_errors = options.pop('detailed_errors', False)
+
+        handle = partial(WSRequestHandler, server=self)
+        # websockets only gives the serve method without an option to subclass
+        self.ws_server = serve(handle, '', self.port, logger=logger)
+        self.log.info("Websocket server %s binding to port %d", name, self.port)
+
+    def serve_forever(self):
+        self.ws_server.serve_forever()
+
+    def shutdown(self):
+        for c in list(self.connections):
+            c.conn.close(code=CloseCode.GOING_AWAY, reason='shutting down')
+        self.ws_server.shutdown()
+
+    def __enter__(self):
+        return self
+
+    def __exit__(self, *args):
+        return self.shutdown()

frappy/proxy.py

@@ -71,7 +71,7 @@ class ProxyModule(HasIO, Module):
             pname, pobj = params.popitem()
             props = remoteparams.get(pname, None)
             if props is None:
-                if pobj.export:
+                if pobj.export and pname != 'status':
                     self.log.warning('remote parameter %s:%s does not exist', self.module, pname)
                 continue
             dt = props['datatype']
@@ -108,17 +108,19 @@ class ProxyModule(HasIO, Module):
         # for now, the error message must be enough
 
     def nodeStateChange(self, online, state):
+        disconnected = Readable.Status.ERROR, 'disconnected'
         if online:
             if not self._consistency_check_done:
                 self._check_descriptive_data()
                 self._consistency_check_done = True
+            if self.status == disconnected:
+                self.status = Readable.Status.IDLE, 'connected'
         else:
-            newstatus = Readable.Status.ERROR, 'disconnected'
             readerror = CommunicationFailedError('disconnected')
-            if self.status != newstatus:
+            if self.status != disconnected:
                 for pname in set(self.parameters) - set(('module', 'status')):
                     self.announceUpdate(pname, None, readerror)
-                self.announceUpdate('status', newstatus)
+                self.status = disconnected
 
     def checkProperties(self):
         pass  # skip
@@ -193,7 +195,7 @@ def proxy_class(remote_class, name=None):
             attrs[aname] = pobj
 
             def rfunc(self, pname=aname):
-                value, _, readerror = self._secnode.getParameter(self.name, pname, True)
+                value, _, readerror = self._secnode.getParameter(self.module, pname, True)
                 if readerror:
                     raise readerror
                 return value
@@ -203,7 +205,7 @@ def proxy_class(remote_class, name=None):
             if not pobj.readonly:
 
                 def wfunc(self, value, pname=aname):
-                    value, _, readerror = self._secnode.setParameter(self.name, pname, value)
+                    value, _, readerror = self._secnode.setParameter(self.module, pname, value)
                     if readerror:
                         raise readerror
                     return value
@@ -214,7 +216,7 @@ def proxy_class(remote_class, name=None):
             cobj = aobj.copy()
 
             def cfunc(self, arg=None, cname=aname):
-                return self._secnode.execCommand(self.name, cname, arg)[0]
+                return self._secnode.execCommand(self.module, cname, arg)[0]
 
             attrs[aname] = cobj(cfunc)
 

frappy/server.py

@@ -53,6 +53,7 @@ except ImportError:
 class Server:
     INTERFACES = {
         'tcp': 'protocol.interface.tcp.TCPServer',
+        'ws': 'protocol.interface.ws.WSServer',
     }
     _restart = True
 

frappy/states.py

@@ -239,6 +239,7 @@ class HasStates:
 
     @Command
     def stop(self):
+        """stop state machine"""
         self.stop_machine()
 
     def final_status(self, code=IDLE, text=''):

frappy/structparam.py

@@ -1,164 +0,0 @@
-# *****************************************************************************
-#
-# This program is free software; you can redistribute it and/or modify it under
-# the terms of the GNU General Public License as published by the Free Software
-# Foundation; either version 2 of the License, or (at your option) any later
-# version.
-#
-# This program is distributed in the hope that it will be useful, but WITHOUT
-# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
-# details.
-#
-# You should have received a copy of the GNU General Public License along with
-# this program; if not, write to the Free Software Foundation, Inc.,
-# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
-#
-# Module authors:
-#   Markus Zolliker <markus.zolliker@psi.ch>
-#
-# *****************************************************************************
-"""convenience class to create a struct Parameter together with indivdual params
-
-Usage:
-
-    class Controller(Drivable):
-
-        ...
-
-        ctrlpars = StructParam('ctrlpars struct', [
-            ('pid_p', 'p', Parameter('control parameter p', FloatRange())),
-            ('pid_i', 'i', Parameter('control parameter i', FloatRange())),
-            ('pid_d', 'd', Parameter('control parameter d', FloatRange())),
-        ], readonly=False)
-
-        ...
-
-    then implement either read_ctrlpars and write_ctrlpars or
-    read_pid_p, read_pid_i, read_pid_d, write_pid_p, write_pid_i and write_pid_d
-
-    the methods not implemented will be created automatically
-"""
-
-from frappy.core import Parameter, Property
-from frappy.datatypes import BoolType, DataType, StructOf, ValueType
-from frappy.errors import ProgrammingError
-
-
-class StructParam(Parameter):
-    """create a struct parameter together with individual parameters
-
-    in addition to normal Parameter arguments:
-
-    :param paramdict: dict <member name> of Parameter(...)
-    :param prefix_or_map: either a prefix for the parameter name to add to the member name
-                          or a dict <member name> or <paramerter name>
-    """
-    # use properties, as simple attributes are not considered on copy()
-    paramdict = Property('dict <parametername> of Parameter(...)', ValueType())
-    hasStructRW = Property('has a read_<struct param> or write_<struct param> method',
-                           BoolType(), default=False)
-
-    insideRW = 0  # counter for avoiding multiple superfluous updates
-
-    def __init__(self, description=None, paramdict=None, prefix_or_map='', *, datatype=None, readonly=False, **kwds):
-        if isinstance(paramdict, DataType):
-            raise ProgrammingError('second argument must be a dict of Param')
-        if datatype is None and paramdict is not None:  # omit the following on Parameter.copy()
-            if isinstance(prefix_or_map, str):
-                prefix_or_map = {m: prefix_or_map + m for m in paramdict}
-            for membername, param in paramdict.items():
-                param.name = prefix_or_map[membername]
-            datatype = StructOf(**{m: p.datatype for m, p in paramdict.items()})
-            kwds['influences'] = [p.name for p in paramdict.values()]
-        self.updateEnable = {}
-        super().__init__(description, datatype, paramdict=paramdict, readonly=readonly, **kwds)
-
-    def __set_name__(self, owner, name):
-        # names of access methods of structed param (e.g. ctrlpars)
-        struct_read_name = f'read_{name}'  # e.g. 'read_ctrlpars'
-        struct_write_name = f'write_{name}'  # e.h. 'write_ctrlpars'
-        self.hasStructRW = hasattr(owner, struct_read_name) or hasattr(owner, struct_write_name)
-
-        for membername, param in self.paramdict.items():
-            pname = param.name
-            changes = {
-                'readonly': self.readonly,
-                'influences': set(param.influences) | {name},
-            }
-            param.ownProperties.update(changes)
-            param.init(changes)
-            setattr(owner, pname, param)
-            param.__set_name__(owner, param.name)
-
-            if self.hasStructRW:
-                rname = f'read_{pname}'
-
-                if not hasattr(owner, rname):
-                    def rfunc(self, membername=membername, struct_read_name=struct_read_name):
-                        return getattr(self, struct_read_name)()[membername]
-
-                    rfunc.poll = False  # read_<struct param> is polled only
-                    setattr(owner, rname, rfunc)
-
-                if not self.readonly:
-                    wname = f'write_{pname}'
-                    if not hasattr(owner, wname):
-                        def wfunc(self, value, membername=membername,
-                                  name=name, rname=rname, struct_write_name=struct_write_name):
-                            valuedict = dict(getattr(self, name))
-                            valuedict[membername] = value
-                            getattr(self, struct_write_name)(valuedict)
-                            return getattr(self, rname)()
-
-                        setattr(owner, wname, wfunc)
-
-        if not self.hasStructRW:
-            if not hasattr(owner, struct_read_name):
-                def struct_read_func(self, name=name, flist=tuple(
-                        (m, f'read_{p.name}') for m, p in self.paramdict.items())):
-                    pobj = self.parameters[name]
-                    # disable updates generated from the callbacks of individual params
-                    pobj.insideRW += 1   # guarded by self.accessLock
-                    try:
-                        return {m: getattr(self, f)() for m, f in flist}
-                    finally:
-                        pobj.insideRW -= 1
-
-                setattr(owner, struct_read_name, struct_read_func)
-
-            if not (self.readonly or hasattr(owner, struct_write_name)):
-
-                def struct_write_func(self, value, name=name, funclist=tuple(
-                        (m, f'write_{p.name}') for m, p in self.paramdict.items())):
-                    pobj = self.parameters[name]
-                    pobj.insideRW += 1  # guarded by self.accessLock
-                    try:
-                        return {m: getattr(self, f)(value[m]) for m, f in funclist}
-                    finally:
-                        pobj.insideRW -= 1
-
-                setattr(owner, struct_write_name, struct_write_func)
-
-        super().__set_name__(owner, name)
-
-    def finish(self, modobj=None):
-        """register callbacks for consistency"""
-        super().finish(modobj)
-        if modobj:
-
-            if self.hasStructRW:
-                def cb(value, modobj=modobj, structparam=self):
-                    for membername, param in structparam.paramdict.items():
-                        setattr(modobj, param.name, value[membername])
-
-                modobj.valueCallbacks[self.name].append(cb)
-            else:
-                for membername, param in self.paramdict.items():
-                    def cb(value, modobj=modobj, structparam=self, membername=membername):
-                        if not structparam.insideRW:
-                            prev = dict(getattr(modobj, structparam.name))
-                            prev[membername] = value
-                            setattr(modobj, structparam.name, prev)
-
-                    modobj.valueCallbacks[param.name].append(cb)

frappy_demo/modules.py

@@ -120,6 +120,7 @@ class MagneticField(Drivable):
                      )
     heatswitch = Attached(Switch, description='name of heat switch device')
 
+    # pylint: disable=invalid-name
     Status = Enum(Drivable.Status, PERSIST=PERSIST, PREPARE=301, RAMPING=302, FINISH=303)
 
     status = Parameter(datatype=TupleOf(EnumType(Status), StringType()))
@@ -193,6 +194,7 @@ class MagneticField(Drivable):
         self.log.error(self, 'main thread exited unexpectedly!')
 
     def stop(self):
+        """stop at current value"""
         self.write_target(self.read_value())
 
 

frappy_mlz/entangle.py

@@ -36,12 +36,12 @@ from time import sleep, time as currenttime
 import PyTango
 
 from frappy.datatypes import ArrayOf, EnumType, FloatRange, IntRange, \
-    LimitsType, StringType, TupleOf, ValueType
+    LimitsType, StatusType, StringType, TupleOf, ValueType
 from frappy.errors import CommunicationFailedError, ConfigError, \
     HardwareError, ProgrammingError, WrongTypeError
 from frappy.lib import lazy_property
-from frappy.modules import Command, Drivable, Module, Parameter, Readable, \
-    StatusType, Writable, Property
+from frappy.modules import Command, Drivable, Module, Parameter, Property, \
+    Readable, Writable
 
 #####
 
@@ -641,6 +641,7 @@ class AnalogOutput(PyTangoDevice, Drivable):
             sleep(0.3)
 
     def stop(self):
+        """cease driving, go to IDLE state"""
         self._dev.Stop()
 
 

frappy_mlz/seop.py

@@ -194,19 +194,19 @@ class Nmr(Readable):
         x = val['xval'][:len(val['yval'])]
         return (x, val['yval'])
 
-    @Command(result=TupleOf(ArrayOf(string, maxlen=100),
+    @Command(IntRange(1), result=TupleOf(ArrayOf(string, maxlen=100),
                 ArrayOf(floating, maxlen=100)))
-    def get_amplitude(self):
-        """Last 20 amplitude datapoints."""
-        rv = self.cell.cell.nmr_paramlog_get('amplitude', 20)
+    def get_amplitude(self, count):
+        """Last <count> amplitude datapoints."""
+        rv = self.cell.cell.nmr_paramlog_get('amplitude', count)
         x = [ str(timestamp) for timestamp in rv['xval']]
         return (x,rv['yval'])
 
-    @Command(result=TupleOf(ArrayOf(string, maxlen=100),
+    @Command(IntRange(1), result=TupleOf(ArrayOf(string, maxlen=100),
                 ArrayOf(floating, maxlen=100)))
-    def get_phase(self):
-        """Last 20 phase datapoints."""
-        val = self.cell.cell.nmr_paramlog_get('phase', 20)
+    def get_phase(self, count):
+        """Last <count> phase datapoints."""
+        val = self.cell.cell.nmr_paramlog_get('phase', count)
         return ([str(timestamp) for timestamp in val['xval']], val['yval'])
 
 

frappy_psi/HP.py

@@ -1,229 +0,0 @@
-#!/usr/bin/env python
-#  -*- coding: utf-8 -*-
-# *****************************************************************************
-# This program is free software; you can redistribute it and/or modify it under
-# the terms of the GNU General Public License as published by the Free Software
-# Foundation; either version 2 of the License, or (at your option) any later
-# version.
-#
-# This program is distributed in the hope that it will be useful, but WITHOUT
-# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
-# details.
-#
-# You should have received a copy of the GNU General Public License along with
-# this program; if not, write to the Free Software Foundation, Inc.,
-# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
-#
-# Module authors: Oksana Shliakhtun <oksana.shliakhtun@psi.ch>
-# *****************************************************************************
-"""Hewlett-Packard HP34401A Multimeter (not finished)"""
-
-import re
-from frappy.core import HasIO, Readable, Parameter, FloatRange, EnumType, StatusType, IDLE, ERROR, WARN
-
-
-def string_to_value(value):
-    """
-    Converting the value to float, removing the units, converting the prefix into the number.
-    :param value: value
-    :return: float value without units
-    """
-    value_with_unit = re.compile(r'(\d+)([pnumkMG]?)')
-    value, pfx = value_with_unit.match(value).groups()
-    pfx_dict = {'p': 1e-12, 'n': 1e-9, 'u': 1e-6, 'm': 1e-3, 'k': 1e3, 'M': 1e6, 'G': 1e9}
-    if pfx in pfx_dict:
-        value = round(float(value) * pfx_dict[pfx], 12)
-    return float(value)
-
-
-class HP_IO(HasIO):
-    end_of_line = b'\n'
-    identification = [('*IDN?', r'HEWLETT-PACKARD,34401A,0,.*')]
-
-
-class HP34401A(HP_IO):
-    status = Parameter(datatype=StatusType(Readable, 'BUSY'))
-    autorange = Parameter('autorange_on', EnumType('autorange', off=0, on=1), readonly=False, default=0)
-
-    def comm(self, cmd):  # read until \n
-        string = f'{cmd}\n'
-        n_string = string.encode()
-        response = self.communicate(n_string)
-
-        if response:
-            return response
-
-        response = self.communicate(n_string)
-        return response if response else None
-
-    def read_range(self, function):
-        return self.comm(f'{function}:range?')
-
-    def write_range(self, function, range):
-        return self.comm(f'{function}:range {range}')
-
-    def write_autorange(self, function):
-        cmd = f'{function}:range:auto {"on" if self.autorange == 0 else "off"}'
-        self.comm(cmd)
-        return self.comm(f'{function}:range:auto?')
-
-    def read_resolution(self, function):
-        return self.comm(f'{function}:resolution?')
-
-    def write_resolution(self, function, resolution):
-        self.comm(f'{function}:resolution {resolution}')
-        return self.comm(f'{function}:resolution?')
-
-    def read_status(self):
-        stb = int(self.comm('*STB?'))
-        esr = int(self.comm('*ESR?'))
-
-        if esr & (1 << 3):
-            return ERROR, 'self-test/calibration/reading failed'
-        if esr & (1 << 4):
-            return ERROR, 'execution error'
-        if esr & (1 << 5):
-            return ERROR, 'syntax error'
-        if esr & (1 << 2):
-            return ERROR, 'query error'
-        if stb & (1 << 3):
-            return WARN, 'questionable data'
-        if stb & (1 << 5):
-            return WARN, 'standard event register is not empty'
-        if stb & (1 << 6):
-            return WARN, 'requested service'
-
-        if any(stb & (1 << i) for i in range(3) or stb & (1 << 7)):
-            return IDLE, ''
-        if esr & (1 << 6):
-            return IDLE, ''
-        if esr & (1 << 7):
-            return IDLE, ''
-        if stb & (1 << 4):
-            return IDLE, 'message available'
-        if esr & (1 << 0):
-            return IDLE, 'operation complete'
-        if esr & (1 << 1):
-            return IDLE, 'not used'
-
-
-class Voltage(HP34401A, Readable):
-    value = Parameter('voltage', datatype=FloatRange(0.1, 1000), unit='V')
-    range = Parameter('voltage sensitivity value', FloatRange(), unit='V', default=1, readonly=False)
-    resolution = Parameter('resolution')
-    mode = Parameter('measurement mode: ac/dc', readonly=False)
-
-    ioClass = HP_IO
-
-    MODE_NAMES = {0: 'dc', 1: 'ac'}
-    VOLT_RANGE = ['100mV', '1V', '10V', '100V', '1000V']
-    v_range = Parameter('voltage range', EnumType('voltage index range',
-                                                  {name: idx for idx, name in enumerate(VOLT_RANGE)}), readonly=False)
-
-    acdc = None
-
-    def write_mode(self, mode):
-        """
-        Set the mode - AC or DC
-        :param mode: AC/DC
-        :return:
-        """
-        if mode == 1:
-            self.comm(f'configure:voltage:AC {self.range}, {self.resolution}')
-        else:
-            self.comm(f'configure:voltage:DC {self.range}, {self.resolution}')
-        self.acdc = self.MODE_NAMES[mode]
-        return self.comm(f'function?')
-
-    def read_value(self):
-        """
-        Makes a AC/DC voltage measurement.
-        :return: AC/DC value
-        """
-        return self.comm(f'measure:voltage:{self.acdc}?')
-
-    def write_autorange_acdc(self, function):
-        full_function = f'{function}:{self.acdc}'
-        return self.write_autorange(full_function)
-
-    def read_range_voltage(self):
-        return self.read_range(f'voltage:{self.acdc}')
-
-    def write_range_voltage(self, range):
-        return self.write_range(f'voltage:{self.acdc}', range)
-
-    def write_autorange_voltage(self):
-        return self.write_autorange_acdc('voltage')
-
-    def read_resolution_voltage(self):
-        return self.read_resolution(f'voltage:{self.acdc}')
-
-    def write_resolution_voltage(self, resolution):
-        return self.write_resolution(f'voltage:{self.acdc}', resolution)
-
-
-class Current(HP34401A, Readable, Voltage):
-    value = Parameter('current', FloatRange, unit='A')
-    range = Parameter('current range', FloatRange)
-    CURR_RANGE_AC = ['10mA', '100mA', '1A', '3A']
-    CURR_RANGE_DC = ['1A', '3A']
-
-    def read_range_current(self):
-        return self.read_range(f'current:{self.acdc}')
-
-    def write_autorange_current(self):
-        return self.write_autorange_acdc('current')
-
-    def write_range_current(self, range):
-        return self.write_range(f'current:{self.acdc}', range)
-
-    def read_resolution_current(self):
-        return self.read_resolution(f'current:{self.acdc}')
-
-    def write_resolution_current(self, resolution):
-        return self.write_resolution(f'current:{self.acdc}', resolution)
-
-
-class Resistance(HP34401A, Readable):
-    value = Parameter('resistance')
-    mode = Parameter('measurement mode: 2-/4-wire ohms', EnumType(two_wire=2, four_wire=4), readonly=False)
-    resolution = Parameter('resistance measurement resolution')
-    range = Parameter('resistance measurement range')
-    RESIST_RANGE = ['100Om', '1kOm', '10kOm', '100kOm', '1MOm', '10MOm', '100MOm']
-    FUNCTION_MAP = {2: 'resistance', 4: 'fresistance'}
-
-    def write_range_resistance(self, range):
-        return self.write_range(f'{self.FUNCTION_MAP[self.mode]}', range)
-
-    def read_range_resistance(self):
-        return self.read_range(f'{self.FUNCTION_MAP[self.mode]}')
-
-    def write_mode(self, mode):
-        if mode == 2:
-            self.comm(f'configure:resistance {self.range},{self.resolution}')
-        elif mode == 4:
-            self.comm(f'configure:fresistance {self.range}, {self.resolution}')
-        return self.comm('configure?')
-
-    def write_autorange_resistance(self):
-        return self.write_autorange(self.FUNCTION_MAP[self.mode])
-
-    def read_resolution_resistance(self):
-        return self.read_resolution(f'{self.FUNCTION_MAP[self.mode]}')
-
-    def write_resolution_resistance(self, resolution):
-        return self.write_resolution(f'{self.FUNCTION_MAP[self.mode]}', resolution)
-
-
-class Frequency(HP34401A, Readable):
-    value = Parameter('frequency', FloatRange(3, 300e3), unit='Hz')
-
-    def write_autorange_frequency(self):
-        return self.write_autorange('frequency')
-
-    def read_resolution_frequency(self):
-        return self.read_resolution('frequency')
-
-    def write_resolution_frequency(self, resolution):
-        return self.write_resolution('frequency', resolution)

frappy_psi/SR830.py

@@ -15,7 +15,6 @@
 #
 # Module authors: Oksana Shliakhtun <oksana.shliakhtun@psi.ch>
 # *****************************************************************************
-"""Stanford Research Systems SR830 DS Lock-in Amplifier"""
 
 import re
 import time
@@ -26,11 +25,6 @@ from frappy.errors import IsBusyError
 
 
 def string_to_value(value):
-    """
-    Converting the value to float, removing the units, converting the prefix into the number.
-    :param value: value
-    :return: float value without units
-    """
     value_with_unit = re.compile(r'(\d+)([pnumkMG]?)')
     value, pfx = value_with_unit.match(value).groups()
     pfx_dict = {'p': 1e-12, 'n': 1e-9, 'u': 1e-6, 'm': 1e-3, 'k': 1e3, 'M': 1e6, 'G': 1e9}
@@ -46,13 +40,6 @@ class SR830_IO(StringIO):
 
 class StanfRes(HasIO, Readable):
     def set_par(self, cmd, *args):
-        """
-        Set parameter.
-        Query commands are the same as setting commands, but they have a question mark.
-        :param cmd: command
-        :param args: value(s)
-        :return: reply
-        """
         head = ','.join([cmd] + [a if isinstance(a, str) else f'{a:g}' for a in args])
         tail = cmd.replace(' ', '? ')
         new_tail = re.sub(r'[0-9.]+', '', tail)
@@ -162,10 +149,6 @@ class XY(StanfRes):
         return IDLE, ''
 
     def read_value(self):
-        """
-        Read XY. The manual autorange implemented.
-        :return:
-        """
         if self.read_status()[0] == BUSY:
             raise IsBusyError('changing gain')
         reply = self.get_par('SNAP? 1, 2')
@@ -183,13 +166,11 @@ class XY(StanfRes):
         return int(self.get_par('SENS?'))
 
     def read_range(self):
-        """Sensitivity range value"""
         idx = self.read_irange()
         name = self.SEN_RANGE[idx]
         return string_to_value(name)
 
     def write_irange(self, irange):
-        """Index of sensitivity from the range"""
         value = int(irange)
         self.set_par(f'SENS {value}')
         self._autogain_started = time.time()
@@ -197,12 +178,6 @@ class XY(StanfRes):
         return value
 
     def write_range(self, target):
-        """
-        Setting the sensitivity range.
-        cl_idx/cl_value is the closest index/value from the range to the target
-        :param target:
-        :return: closest value of the sensitivity range
-        """
         target = float(target)
         cl_idx = None
         cl_value = float('inf')
@@ -219,7 +194,6 @@ class XY(StanfRes):
         return cl_value
 
     def read_itc(self):
-        """Time constant index from the range"""
         return int(self.get_par(f'OFLT?'))
 
     def write_itc(self, itc):
@@ -227,18 +201,11 @@ class XY(StanfRes):
         return self.set_par(f'OFLT {value}')
 
     def read_tc(self):
-        """Read time constant value from the range"""
         idx = self.read_itc()
         name = self.TIME_CONST[idx]
         return string_to_value(name)
 
     def write_tc(self, target):
-        """
-        Setting the time constant from the range.
-        cl_idx/cl_value is the closest index/value from the range to the target
-        :param target: time constant
-        :return: closest time constant value
-        """
         target = float(target)
         cl_idx = None
         cl_value = float('inf')

frappy_psi/attocube.py

@@ -17,248 +17,690 @@
 #   Markus Zolliker <markus.zolliker@psi.ch>
 # *****************************************************************************
 
-import sys
 import time
-from frappy.core import Drivable, Parameter, Command, Property, ERROR, WARN, BUSY, IDLE, Done, nopoll
-from frappy.features import HasTargetLimits, HasSimpleOffset
+import threading
+from frappy.core import Drivable, Parameter, Command, Property, Module, HasIO, \
+    ERROR, WARN, BUSY, IDLE, nopoll, Limit
 from frappy.datatypes import IntRange, FloatRange, StringType, BoolType
-from frappy.errors import ConfigError, BadValueError
-sys.path.append('/home/l_samenv/Documents/anc350/Linux64/userlib/lib')
+from frappy.errors import BadValueError, HardwareError, ConfigError
 from PyANC350v4 import Positioner
 
 
-DIRECTION_NAME = {1: 'forward', -1: 'backward'}
+class IO(Module):
+    """'communication' module for attocube controller
 
-
-class FreezeStatus:
-    """freeze status for some time
-
-    hardware quite often does not treat status correctly: on a target change it
-    may take some time to return the 'busy' status correctly.
-
-    in classes with this mixin, within :meth:`write_target` call
-
-    self.freeze_status(0.5, BUSY, 'changed target')
-
-    a wrapper around read_status will take care that the status will be the given value,
-    for at least the given delay. This does NOT cover the case when self.status is set
-    directly from an other method.
+    why an extra class:
+    - HasIO assures that a single common communicator is used
+    - access must be thread safe
     """
-    __freeze_status_until = 0
+    uri = Property('dummy uri, only one controller may exists',
+                   StringType())
+    export = False
+    _hw = None
+    _lock = None
+    used_axes = set()
 
-    def __init_subclass__(cls):
-        def wrapped(self, inner=cls.read_status):
-            if time.time() < self.__freeze_status_until:
-                return Done
-            return inner(self)
+    def initModule(self):
+        if self._hw is None:
+            IO._lock = threading.Lock()
+            IO._hw = Positioner()
+        super().initModule()
 
-        cls.read_status = wrapped
-        super().__init_subclass__()
+    def shutdownModule(self):
+        if IO._hw:
+            IO._hw.disconnect()
+            IO._hw = None
 
-    def freeze_status(self, delay, code=BUSY, text='changed target'):
-        """freezze status to the given value for the given delay"""
-        self.__freeze_status_until = time.time() + delay
-        self.status = code, text
+    def configureAQuadBIn(self, axisNo, enable, resolution):
+        """Enables and configures the A-Quad-B (quadrature) input for the target position.
+        Parameters
+            axisNo	Axis number (0 ... 2)
+            enable	Enable (1) or disable (0) A-Quad-B input
+            resolution	A-Quad-B step width in m. Internal resolution is 1 nm.
+        Returns
+            None
+        """
+        with self._lock:
+            return self._hw.configureAQuadBIn(axisNo, enable, resolution)
+
+    def configureAQuadBOut(self, axisNo, enable, resolution, clock):
+        """Enables and configures the A-Quad-B output of the current position.
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+            enable	Enable (1) or disable (0) A-Quad-B output
+            resolution	A-Quad-B step width in m; internal resolution is 1 nm
+            clock	Clock of the A-Quad-B output [s]. Allowed range is 40ns ... 1.3ms; internal resulution is 20ns.
+        Returns
+            None
+        """
+        with self._lock:
+            return self._hw.configureAQuadBOut(axisNo, enable, resolution, clock)
+
+    def configureExtTrigger(self, axisNo, mode):
+        """Enables the input trigger for steps.
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+            mode	Disable (0), Quadratur (1), Trigger(2) for external triggering
+        Returns
+            None
+        """
+        with self._lock:
+            return self._hw.configureExtTrigger(axisNo, mode)
+
+    def configureNslTriggerAxis(self, axisNo):
+        """Selects Axis for NSL Trigger.
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+        Returns
+            None
+        """
+        with self._lock:
+            return self._hw.configureNslTriggerAxis(axisNo)
+
+    def configureRngTrigger(self, axisNo, lower, upper):
+        """Configure lower position for range Trigger.
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+            lower	Lower position for range trigger (nm)
+            upper	Upper position for range trigger (nm)
+        Returns
+            None
+        """
+        with self._lock:
+            return self._hw.configureRngTrigger(axisNo, lower, upper)
+
+    def configureRngTriggerEps(self, axisNo, epsilon):
+        """Configure hysteresis for range Trigger.
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+            epsilon	hysteresis in nm / mdeg
+        Returns
+            None
+        """
+        with self._lock:
+            return self._hw.configureRngTriggerEps(axisNo, epsilon)
+
+    def configureRngTriggerPol(self, axisNo, polarity):
+        """Configure lower position for range Trigger.
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+            polarity	Polarity of trigger signal when position is between lower and upper Low(0) and High(1)
+        Returns
+            None
+        """
+        with self._lock:
+            return self._hw.configureRngTriggerPol(axisNo, polarity)
+
+    def getActuatorName(self, axisNo):
+        """Get the name of the currently selected actuator
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+        Returns
+            name	Name of the actuator
+        """
+        with self._lock:
+            return self._hw.getActuatorName(axisNo)
+
+    def getActuatorType(self, axisNo):
+        """Get the type of the currently selected actuator
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+        Returns
+            type_	Type of the actuator {0: linear, 1: goniometer, 2: rotator}
+        """
+        with self._lock:
+            return self._hw.getActuatorType(axisNo)
+
+    def getAmplitude(self, axisNo):
+        """Reads back the amplitude parameter of an axis.
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+        Returns
+            amplitude	Amplitude V
+        """
+        with self._lock:
+            return self._hw.getAmplitude(axisNo)
+
+    def getAxisStatus(self, axisNo):
+        """Reads status information about an axis of the device.
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+        Returns
+            connected	Output: If the axis is connected to a sensor.
+            enabled	Output: If the axis voltage output is enabled.
+            moving	Output: If the axis is moving.
+            target	Output: If the target is reached in automatic positioning
+            eotFwd	Output: If end of travel detected in forward direction.
+            eotBwd	Output: If end of travel detected in backward direction.
+            error	Output: If the axis' sensor is in error state.
+        """
+        with self._lock:
+            return self._hw.getAxisStatus(axisNo)
+
+    def getFrequency(self, axisNo):
+        """Reads back the frequency parameter of an axis.
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+        Returns
+            frequency	Output: Frequency in Hz
+        """
+        with self._lock:
+            return self._hw.getFrequency(axisNo)
+
+    def getPosition(self, axisNo):
+        """Retrieves the current actuator position. For linear type actuators the position unit is m; for goniometers and rotators it is degree.
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+        Returns
+            position	Output: Current position [m] or [°]
+        """
+        with self._lock:
+            return self._hw.getPosition(axisNo)
+
+    def measureCapacitance(self, axisNo):
+        """Performs a measurement of the capacitance of the piezo motor and returns the result. If no motor is connected, the result will be 0. The function doesn't return before the measurement is complete; this will take a few seconds of time.
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+        Returns
+            cap	Output: Capacitance [F]
+        """
+        with self._lock:
+            return self._hw.measureCapacitance(axisNo)
+
+    def selectActuator(self, axisNo, actuator):
+        """Selects the actuator to be used for the axis from actuator presets.
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+            actuator	Actuator selection (0 ... 255)
+                0: ANPg101res
+                1: ANGt101res
+                2: ANPx51res
+                3: ANPx101res
+                4: ANPx121res
+                5: ANPx122res
+                6: ANPz51res
+                7: ANPz101res
+                8: ANR50res
+                9: ANR51res
+                10: ANR101res
+                11: Test
+        Returns
+            None
+        """
+        with self._lock:
+            return self._hw.selectActuator(axisNo, actuator)
+
+    def setAmplitude(self, axisNo, amplitude):
+        """Sets the amplitude parameter for an axis
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+            amplitude	Amplitude in V, internal resolution is 1 mV
+        Returns
+            None
+        """
+        with self._lock:
+            return self._hw.setAmplitude(axisNo, amplitude)
+
+    def setAxisOutput(self, axisNo, enable, autoDisable):
+        """Enables or disables the voltage output of an axis.
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+            enable	Enables (1) or disables (0) the voltage output.
+            autoDisable	If the voltage output is to be deactivated automatically when end of travel is detected.
+        Returns
+            None
+        """
+        with self._lock:
+            return self._hw.setAxisOutput(axisNo, enable, autoDisable)
+
+    def setDcVoltage(self, axisNo, voltage):
+        """Sets the DC level on the voltage output when no sawtooth based motion is active.
+
+            Parameters
+            axisNo	Axis number (0 ... 2)
+            voltage	DC output voltage [V], internal resolution is 1 mV
+        Returns
+            None
+        """
+        with self._lock:
+            return self._hw.setDcVoltage(axisNo, voltage)
+
+    def setFrequency(self, axisNo, frequency):
+        """Sets the frequency parameter for an axis
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+            frequency	Frequency in Hz, internal resolution is 1 Hz
+        Returns
+            None
+        """
+        with self._lock:
+            return self._hw.setFrequency(axisNo, frequency)
+
+    def setTargetPosition(self, axisNo, target):
+        """Sets the target position for automatic motion, see ANC_startAutoMove. For linear type actuators the position unit is m, for goniometers and rotators it is degree.
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+            target	Target position [m] or [°]. Internal resulution is 1 nm or 1 µ°.
+        Returns
+            None
+        """
+        with self._lock:
+            return self._hw.setTargetPosition(axisNo, target)
+
+    def setTargetRange(self, axisNo, targetRg):
+        """Defines the range around the target position where the target is considered to be reached.
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+            targetRg	Target range [m] or [°]. Internal resulution is 1 nm or 1 µ°.
+        Returns
+            None
+        """
+        with self._lock:
+            return self._hw.setTargetRange(axisNo, targetRg)
+
+    def startAutoMove(self, axisNo, enable, relative):
+        """Switches automatic moving (i.e. following the target position) on or off
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+            enable	Enables (1) or disables (0) automatic motion
+            relative	If the target position is to be interpreted absolute (0) or relative to the current position (1)
+        Returns
+            None
+        """
+        with self._lock:
+            return self._hw.startAutoMove(axisNo, enable, relative)
+
+    def startContinuousMove(self, axisNo, start, backward):
+        """Starts or stops continous motion in forward direction. Other kinds of motions are stopped.
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+            start	Starts (1) or stops (0) the motion
+            backward	If the move direction is forward (0) or backward (1)
+        Returns
+            None
+        """
+        with self._lock:
+            return self._hw.startContinuousMove(axisNo, start, backward)
+
+    def startSingleStep(self, axisNo, backward):
+        """Triggers a single step in desired direction.
+
+        Parameters
+            axisNo	Axis number (0 ... 2)
+            backward	If the step direction is forward (0) or backward (1)
+        Returns
+            None
+        """
+        with self._lock:
+            return self._hw.startSingleStep(axisNo, backward)
 
 
-class Axis(HasTargetLimits, FreezeStatus, Drivable):
+class Stopped(RuntimeError):
+    """thread was stopped"""
+
+
+class Axis(HasIO, Drivable):
     axis = Property('axis number', IntRange(0, 2), 0)
     value = Parameter('axis position', FloatRange(unit='deg'))
     frequency = Parameter('frequency', FloatRange(1, unit='Hz'), readonly=False)
     amplitude = Parameter('amplitude', FloatRange(0, unit='V'), readonly=False)
-    gear = Parameter('gear factor', FloatRange(), readonly=False, default=1, initwrite=True)
-    tolerance = Parameter('positioning tolerance', FloatRange(0, unit='$'), readonly=False, default=0.01)
-    output = Parameter('enable output', BoolType(), readonly=False)
+    gear = Parameter('gear factor', FloatRange(), readonly=False, value=1)
+    tolerance = Parameter('positioning tolerance', FloatRange(0, unit='$'),
+                          readonly=False, default=0.01)
+    sensor_connected = Parameter('a sensor is connected', BoolType())
     info = Parameter('axis info', StringType())
     statusbits = Parameter('status bits', StringType())
+    step_mode = Parameter('step mode (soft closed loop)', BoolType(),
+                          default=False, readonly=False, group='step_mode')
+    timeout = Parameter('timeout after no progress detected', FloatRange(0),
+                       default=1, readonly=False, group='step_mode')
+    steps_fwd = Parameter('forward steps / main unit', FloatRange(0), unit='$/s',
+                          default=0, readonly=False, group='step_mode')
+    steps_bwd = Parameter('backward steps / main unit', FloatRange(0, unit='$/s'),
+                          default=0, readonly=False, group='step_mode')
+    delay = Parameter('delay between tries within loop', FloatRange(0, unit='s'),
+                      readonly=False, default=0.05, group='step_mode')
+    maxstep = Parameter('max. step duration', FloatRange(0, unit='s'),
+                        default=0.25, readonly=False, group='step_mode')
+    prop = Parameter('factor for control loop', FloatRange(0, 1),
+                     readonly=False, default=0.8, group='step_mode')
+    uri = 'ANC'
+    ioClass = IO
+    target_min = Limit()
+    target_max = Limit()
 
-    _hw = Positioner()
+    fast_interval = 0.25
+
+    _hw = None
     _scale = 1  # scale for custom units
-    _move_steps = 0  # number of steps to move (used by move command)
     SCALES = {'deg': 1, 'm': 1, 'mm': 1000, 'um': 1000000, 'µm': 1000000}
-    _direction = 1  # move direction
-    _idle_status = IDLE, ''
-    _error_state = ''  # empty string: no error
-    _history = None
-    _check_sensor = False
-    _try_count = 0
+    _thread = None
+    _moving_since = 0
+    _status = IDLE, ''
+    _calib_range = None
+    _try_cnt = 0
+    _at_target = False
 
-    def __init__(self, name, logger, opts, srv):
-        unit = opts.pop('unit', 'deg')
-        opts['value.unit'] = unit
+    def initModule(self):
+        super().initModule()
+        self._stopped = threading.Event()
+        if self.axis in IO.used_axes:
+            raise ConfigError(f'a module with axisNo={self.axis} already exists')
+        IO.used_axes.add(self.axis)
+
+    def initialReads(self):
+        self.read_info()
+        super().initialReads()
+
+    def shutdownModule(self):
+        IO.used_axes.discard(self.axis)
+
+    def read_value(self):
+        if self._thread:
+            return self.value
         try:
-            self._scale = self.SCALES[unit] * opts.get('gear', 1)
-        except KeyError as e:
-            raise ConfigError('unsupported unit: %s' % unit)
-        super().__init__(name, logger, opts, srv)
+            return self._read_pos()
+        except Stopped:
+            return self.value
 
     def write_gear(self, value):
         self._scale = self.SCALES[self.parameters['value'].datatype.unit] * self.gear
         return value
 
-    def startModule(self, start_events):
-        super().startModule(start_events)
-        start_events.queue(self.read_info)
-
-    def check_value(self, value):
-        """check if value allows moving in current direction"""
-        if self._direction > 0:
-            if value > self.target_limits[1]:
-                raise BadValueError('above upper limit')
-        elif value < self.target_limits[0]:
-            raise BadValueError('below lower limit')
-
-    def read_value(self):
-        pos = self._hw.getPosition(self.axis) * self._scale
-        if self.isBusy():
-            try:
-                self.check_value(pos)
-            except BadValueError as e:
-                self._stop()
-                self._idle_status = ERROR, str(e)
-        return pos
-
     def read_frequency(self):
-        return self._hw.getFrequency(self.axis)
+        return self.io.getFrequency(self.axis)
 
     def write_frequency(self, value):
-        self._hw.setFrequency(self.axis, value)
-        return self._hw.getFrequency(self.axis)
+        self.io.setFrequency(self.axis, value)
+        return self.io.getFrequency(self.axis)
 
     def read_amplitude(self):
-        return self._hw.getAmplitude(self.axis)
+        return self.io.getAmplitude(self.axis)
 
     def write_amplitude(self, value):
-        self._hw.setAmplitude(self.axis, value)
-        return self._hw.getAmplitude(self.axis)
+        self.io.setAmplitude(self.axis, value)
+        return self.io.getAmplitude(self.axis)
 
-    def write_tolerance(self, value):
-        self._hw.setTargetRange(self.axis, value / self._scale)
-        return value
+    def read_statusbits(self):
+        self._get_status()
+        return self.statusbits
 
-    def write_output(self, value):
-        self._hw.setAxisOutput(self.axis, enable=value, autoDisable=0)
-        return value
+    def _get_status(self):
+        """get axis status
+
+        - update self.sensor_connected and self.statusbits
+        - return <moving flag>, <error flag>, <reason>
+
+        <moving flag> is True whn moving
+        <in_error> is True when in error
+        <reason> is an error text, when in error, 'at target' or '' otherwise
+        """
+        statusbits = self.io.getAxisStatus(self.axis)
+        self.sensor_connected, self._output, moving, at_target, fwd_stuck, bwd_stuck, error = statusbits
+        self.statusbits = ''.join(k for k, v in zip('OTFBE', (self._output,) + statusbits[3:]) if v)
+        if error:
+            return ERROR, 'other error'
+        if bwd_stuck:
+            return ERROR, 'end of travel backward'
+        if fwd_stuck:
+            return ERROR, 'end of travel forward'
+        target_reached = at_target > self._at_target
+        self._at_target = at_target
+        if self._moving_since:
+            if target_reached:
+                return IDLE, 'at target'
+            if time.time() < self._moving_since + 0.25:
+                return BUSY, 'started'
+            if at_target:
+                return IDLE, 'at target'
+            if moving and self._output:
+                return BUSY, 'moving'
+            return WARN, 'stopped by unknown reason'
+        if self._moving_since is False:
+            return IDLE, 'stopped'
+        if not self.step_mode and at_target:
+            return IDLE, 'at target'
+        return IDLE, ''
 
     def read_status(self):
-        statusbits = self._hw.getAxisStatus(self.axis)
-        sensor, self.output, moving, attarget, eot_fwd, eot_bwd, sensor_error = statusbits
-        self.statusbits = ''.join((k for k, v in zip('SOMTFBE', statusbits) if v))
-        if self._move_steps:
-            if not (eot_fwd or eot_bwd):
-                return BUSY, 'moving by steps'
-        if not sensor:
-            self._error_state = 'no sensor connected'
-        elif sensor_error:
-            self._error_state = 'sensor error'
-        elif eot_fwd:
-            self._error_state = 'end of travel forward'
-        elif eot_bwd:
-            self._error_state = 'end of travel backward'
+        status = self._get_status()
+        if self.step_mode:
+            return self._status
+        if self._moving_since:
+            if status[0] != BUSY:
+                self._moving_since = 0
+                self.setFastPoll(False)
+        return status
+
+    def _wait(self, delay):
+        if self._stopped.wait(delay):
+            raise Stopped()
+
+    def _read_pos(self):
+        if not self.sensor_connected:
+            return 0
+        poslist = []
+        for i in range(9):
+            if i:
+                self._wait(0.001)
+            poslist.append(self.io.getPosition(self.axis) * self._scale)
+        self._poslist = sorted(poslist)
+        return self._poslist[len(poslist) // 2]  # median
+
+    def _run_drive(self, target):
+        self.value = self._read_pos()
+        self.status = self._status = BUSY, 'drive by steps'
+        deadline = time.time() + self.timeout
+        max_steps = self.maxstep * self.frequency
+        while True:
+            for _ in range(2):
+                dif = target - self.value
+                steps_per_unit = self.steps_bwd if dif < 0 else self.steps_fwd
+                tol = max(self.tolerance, 0.6 / steps_per_unit)  # avoid a tolerance less than 60% of a step
+                if abs(dif) > tol * 3:
+                    break
+                # extra wait time when already close
+                self._wait(2 * self.delay)
+                self.read_value()
+            status = None
+            if abs(dif) < tol:
+                status = IDLE, 'in tolerance'
+            elif self._poslist[2] <= target <= self._poslist[-3]:  # target within noise
+                status = IDLE, 'within noise'
+            elif dif > 0:
+                steps = min(max_steps, min(dif, (dif + tol) * self.prop) * steps_per_unit)
             else:
-            if self._error_state and not DIRECTION_NAME[self._direction] in self._error_state:
-                self._error_state = ''
-            status_text = 'moving' if self._try_count == 0 else 'moving (retry %d)' % self._try_count
-            if moving and self._history is not None:  # history None: moving by steps
-                self._history.append(self.value)
-                if len(self._history) < 5:
-                    return BUSY, status_text
-                beg = self._history.pop(0)
-                if abs(beg - self.target) < self.tolerance:
-                    # reset normal tolerance
-                    self._stop()
-                    self._idle_status = IDLE, 'in tolerance'
-                    return self._idle_status
-                    # self._hw.setTargetRange(self.axis, self.tolerance / self._scale)
-                if (self.value - beg) * self._direction > 0:
-                    return BUSY, status_text
-                self._try_count += 1
-                if self._try_count < 10:
-                    self.log.warn('no progress retry %d', self._try_count)
-                    return BUSY, status_text
-                self._idle_status = WARN, 'no progress'
-        if self._error_state:
-            self._try_count += 1
-            if self._try_count < 10 and self._history is not None:
-                self.log.warn('end of travel retry %d', self._try_count)
-                self.write_target(self.target)
-                return Done
-            self._idle_status = WARN, self._error_state
-        if self.status[0] != IDLE:
-            self._stop()
-        return self._idle_status
+                steps = max(-max_steps, max(dif, (dif - tol) * self.prop) * steps_per_unit)
+            if status or steps == 0:
+                self._status = status
+                break
+            if round(steps) == 0:  # this should not happen
+                self._status = WARN, 'steps=0'
+                break
+            self._move_steps(steps)
+            if self._step_size > self.prop * 0.25 / steps_per_unit:
+                # some progress happened
+                deadline = time.time() + self.timeout
+            elif time.time() > deadline:
+                self._status = WARN, 'timeout - no progress'
+                break
+        self.read_status()
 
-    def write_target(self, value):
-        if value == self.read_value():
-            return value
-        self.check_limits(value)
-        self._try_count = 0
-        self._direction = 1 if value > self.value else -1
-        # if self._error_state and DIRECTION_NAME[-self._direction] not in self._error_state:
-        #    raise BadValueError('can not move (%s)' % self._error_state)
-        self._move_steps = 0
-        self.write_output(1)
-        # try first with 50 % of tolerance
-        self._hw.setTargetRange(self.axis, self.tolerance * 0.5 / self._scale)
-        for itry in range(5):
+    def _thread_wrapper(self, func, *args):
         try:
-                self._hw.setTargetPosition(self.axis, value / self._scale)
-                self._hw.startAutoMove(self.axis, enable=1, relative=0)
+            func(*args)
+        except Stopped as e:
+            self._status = IDLE, str(e)
         except Exception as e:
-                if itry == 4:
-                    raise
-                self.log.warn('%r', e)
-        self._history = [self.value]
-        self._idle_status = IDLE, ''
-        self.freeze_status(1, BUSY, 'changed target')
-        self.setFastPoll(True, 1)
-        return value
+            self._status = ERROR, f'{type(e).__name__} - {e}'
+        finally:
+            self.io.setAxisOutput(self.axis, enable=0, autoDisable=0)
+            self.setFastPoll(False)
+            self._stopped.clear()
+            self._thread = None
 
-    def doPoll(self):
-        if self._move_steps == 0:
-            super().doPoll()
+    def _stop_thread(self):
+        if self._thread:
+            self._stopped.set()
+            self._thread.join()
+
+    def _start_thread(self, *args):
+        self._stop_thread()
+        thread = threading.Thread(target=self._thread_wrapper, args=args)
+        self._thread = thread
+        thread.start()
+
+    def write_target(self, target):
+        if not self.sensor_connected:
+            raise HardwareError('no sensor connected')
+        self._stop_thread()
+        self.io.setTargetRange(self.axis, self.tolerance / self._scale)
+        if self.step_mode:
+            self.status = BUSY, 'changed target'
+            self._start_thread(self._run_drive, target)
+        else:
+            self._try_cnt = 0
+            self.setFastPoll(True, self.fast_interval)
+            self.io.setTargetPosition(self.axis, target / self._scale)
+            self.io.setAxisOutput(self.axis, enable=1, autoDisable=0)
+            self.io.startAutoMove(self.axis, enable=1, relative=0)
+            self._moving_since = time.time()
+            self.status = self._get_status()
+        return target
+
+    @Command()
+    def stop(self):
+        if self.step_mode:
+            self._stop_thread()
+            self._status = IDLE, 'stopped'
+        elif self._moving_since:
+            self._moving_since = False  # indicate stop
+        self.read_status()
+
+    @Command(IntRange())
+    def move(self, steps):
+        """relative move by number of steps"""
+        self._stop_thread()
+        self.read_value()
+        if steps > 0:
+            if self.value > self.target_max:
+                raise BadValueError('above upper limit')
+        elif self.value < self.target_min:
+            raise BadValueError('below lower limit')
+        self.status = self._status = BUSY, 'moving relative'
+        self._start_thread(self._run_move, steps)
+
+    def _run_move(self, steps):
+        self.setFastPoll(True, self.fast_interval)
+        self._move_steps(steps)
+        self.status = self._status = IDLE, ''
+
+    def _move_steps(self, steps):
+        steps = round(steps)
+        if not steps:
             return
-        self._hw.startSingleStep(self.axis, self._direction < 0)
-        self._move_steps -= self._direction
-        if self._move_steps % int(self.frequency) == 0:  # poll value and status every second
-            super().doPoll()
+        previous = self._read_pos()
+        self.io.setAxisOutput(self.axis, enable=1, autoDisable=0)
+        # wait for output is really on
+        for i in range(100):
+            self._wait(0.001)
+            self._get_status()
+            if self._output:
+                break
+        else:
+            raise ValueError('can not switch on output')
+        for cnt in range(abs(steps)):
+            self.io.setAxisOutput(self.axis, enable=1, autoDisable=0)
+            if not self._thread:
+                raise Stopped('stopped')
+            self.io.startSingleStep(self.axis, steps < 0)
+            self._wait(1 / self.frequency)
+            self._get_status()
+            if cnt and not self._output:
+                steps = cnt
+                break
+        self._wait(self.delay)
+        self.value = self._read_pos()
+        self._step_size = (self.value - previous) / steps
+
+    @Command(IntRange(0))
+    def calib_steps(self, delta):
+        """calibrate steps_fwd and steps_bwd using <delta> steps forwards and backwards"""
+        if not self.sensor_connected:
+            raise HardwareError('no sensor connected')
+        self._stop_thread()
+        self._status = BUSY, 'calibrate step size'
+        self.read_status()
+        self._start_thread(self._run_calib, delta)
+
+    def _run_calib(self, steps):
+        self.value = self._read_pos()
+        if self._calib_range is None or abs(self.target - self.value) > self._calib_range:
+            self.target = self.value
+        maxfwd = 0
+        maxbwd = 0
+        cntfwd = 0
+        cntbwd = 0
+        self._calib_range = 0
+        for i in range(10):
+            if self.value <= self.target:
+                self._status = BUSY, 'move forwards'
+                self.read_status()
+                self._move_steps(steps)
+                while True:
+                    self._move_steps(steps)
+                    if self._step_size and self._output:
+                        maxfwd = max(maxfwd, self._step_size)
+                        cntfwd += 1
+                    if self.value > self.target:
+                        break
+            else:
+                self._status = BUSY, 'move backwards'
+                self.read_status()
+                self._move_steps(-steps)
+                while True:
+                    self._move_steps(-steps)
+                    if self._step_size:
+                        maxbwd = max(maxbwd, self._step_size)
+                        cntbwd += 1
+                    if self.value < self.target:
+                        break
+            # keep track how far we had to go for calibration
+            self._calib_range = max(self._calib_range, abs(self.value - self.target))
+            if cntfwd >= 3 and cntbwd >= 3:
+                self.steps_fwd = 1 / maxfwd
+                self.steps_bwd = 1 / maxbwd
+                self._status = IDLE, 'calib step size done'
+                break
+        else:
+            self._status = WARN, 'calib step size failed'
+        self.read_status()
 
     @nopoll
     def read_info(self):
         """read info from controller"""
-        cap = self._hw.measureCapacitance(self.axis) * 1e9
-        axistype = ['linear', 'gonio', 'rotator'][self._hw.getActuatorType(self.axis)]
-        return '%s %s %.3gnF' % (self._hw.getActuatorName(self.axis), axistype, cap)
-
-    def _stop(self):
-        self._move_steps = 0
-        self._history = None
-        for _ in range(5):
-            try:
-                self._hw.startAutoMove(self.axis, enable=0, relative=0)
-                break
-            except Exception as e:
-                if itry == 4:
-                    raise
-                self.log.warn('%r', e)
-        self._hw.setTargetRange(self.axis, self.tolerance / self._scale)
-        self.setFastPoll(False)
-
-    @Command()
-    def stop(self):
-        self._idle_status = IDLE, 'stopped' if self.isBusy() else ''
-        self._stop()
-        self.status = self._idle_status
-
-    @Command(IntRange())
-    def move(self, value):
-        """relative move by number of steps"""
-        self._direction = 1 if value > 0 else -1
-        self.check_value(self.value)
-        self._history = None
-        if DIRECTION_NAME[self._direction] in self._error_state:
-            raise BadValueError('can not move (%s)' % self._error_state)
-        self._move_steps = value
-        self._idle_status = IDLE, ''
-        self.read_status()
-        self.setFastPoll(True, 1/self.frequency)
+        axistype = ['linear', 'gonio', 'rotator'][self.io.getActuatorType(self.axis)]
+        name = self.io.getActuatorName(self.axis)
+        cap = self.io.measureCapacitance(self.axis) * 1e9
+        return f'{name} {axistype} {cap:.3g}nF'

frappy_psi/bridge.py

@@ -1,279 +0,0 @@
-# *****************************************************************************
-# This program is free software; you can redistribute it and/or modify it under
-# the terms of the GNU General Public License as published by the Free Software
-# Foundation; either version 2 of the License, or (at your option) any later
-# version.
-#
-# This program is distributed in the hope that it will be useful, but WITHOUT
-# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
-# details.
-#
-# You should have received a copy of the GNU General Public License along with
-# this program; if not, write to the Free Software Foundation, Inc.,
-# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
-#
-# Module authors: Oksana Shliakhtun <oksana.shliakhtun@psi.ch>
-# *****************************************************************************
-"""Stanford Research Systems SIM900 Mainframe"""
-
-import re
-from frappy.core import StringIO, HasIO, Readable, \
-    Parameter, FloatRange, IntRange, EnumType, \
-    Property, Attached, IDLE, ERROR, WARN
-
-
-def string_to_value(value):
-    """
-    Converting the value to float, removing the units, converting the prefix into the number.
-    :param value: value
-    :return: float value without units
-    """
-    value_with_unit = re.compile(r'(\d+)([pnumkMG]?)')
-    value, pfx = value_with_unit.match(value).groups()
-    pfx_dict = {'p': 1e-12, 'n': 1e-9, 'u': 1e-6, 'm': 1e-3, 'k': 1e3, 'M': 1e6, 'G': 1e9}
-    if pfx in pfx_dict:
-        value = round(float(value) * pfx_dict[pfx], 12)
-    return float(value)
-
-
-def find_idx(list_of_values, target):
-    """
-    Search for the nearest value and index from the given range for the given target.
-    :param list_of_values: range of values
-    :param target: target
-    :return: closest index and closest value
-    """
-    target = float(target)
-    cl_idx = None
-    cl_value = float('inf')
-
-    for idx, value in enumerate(list_of_values):
-        if value >= target:
-            diff = value - target
-
-            if diff < cl_value:
-                cl_value = value
-                cl_idx = idx
-
-    return cl_idx, cl_value
-
-
-class BridgeIO(StringIO):
-    """_\n is placed at the beginning of each command to distinguish
-    the previous response with a possible asynchronous response from the actual value returned by the method. """
-
-    end_of_line = '\n'
-    identification = [('_\n*IDN?', r'Stanford_Research_Systems,.*')]
-
-
-class Base(HasIO):
-    port = Property('modules port', IntRange(0, 15))
-
-    def communicate(self, command):
-        """
-        Connection to the particular module x.
-        :param command: command
-        :return: return
-        """
-        return self.io.communicate(f'_\nconn {self.port:x},"_\n"\n{command}')
-
-    def query(self, command):
-        """converting to float"""
-        return float(self.communicate(command))
-
-
-class Resistance(Base, Readable):
-    value = Parameter('resistance', datatype=FloatRange, unit='ohm')
-    output_offset = Parameter('resistance deviation', datatype=FloatRange, unit='Ohm', readonly=False)
-    phase_hold = Parameter('phase hold', EnumType('phase hold', off=0, on=1))
-
-    RES_RANGE = ['20mOhm', '200mOhm', '2Ohm', '20Ohm', '200Ohm', '2kOhm', '20kOhm', '200kOhm',
-                 '2MOhm', '20MOhm']
-    irange = Parameter('resistance range index', EnumType('resistance range index',
-                                                          {name: idx for idx, name in enumerate(RES_RANGE)}),
-                       readonly=False)
-    range = Parameter('resistance range value', FloatRange(2e-2, 2e7), unit='Om', readonly=False)
-
-    TIME_CONST = ['0.3s', '1s', '3s', '10s', '30s', '100s', '300s']
-    itc = Parameter('time constant index',
-                    EnumType('time const. index range',
-                             {name: value for value, name in enumerate(TIME_CONST)}), readonly=False)
-    tc = Parameter('time constant value', FloatRange(1e-1, 3e2), unit='s', readonly=False)
-
-    EXCT_RANGE = ['0', '3uV', '10uV', '30uV', '100uV', '300uV', '1mV', '3mV', '10mV', '30mV']
-    iexct = Parameter('excitation index',
-                      EnumType('excitation index range', {name: idx for idx, name in enumerate(EXCT_RANGE, start=-1)}),
-                      readonly=False)
-    exct = Parameter('excitation value', FloatRange(0, 3e-2), unit='s', default=300, readonly=False)
-
-    autorange = Parameter('autorange_on', EnumType('autorange', off=0, on=1),
-                          readonly=False, default=0)
-
-    RES_RANGE_values = [string_to_value(value) for value in RES_RANGE]
-    TIME_CONST_values = [string_to_value(value) for value in TIME_CONST]
-    EXCT_RANGE_values = [string_to_value(value) for value in EXCT_RANGE]
-
-    ioClass = BridgeIO
-
-    def doPoll(self):
-        super().doPoll()
-        max_res = abs(self.value)
-        if self.autorange == 1:
-            if max_res >= 0.9 * self.range and self.irange < 9:
-                self.write_irange(self.irange + 1)
-            elif max_res <= 0.3 * self.range and self.irange > 0:
-                self.write_irange(self.irange - 1)
-
-    def read_status(self):
-        """
-        Both the mainframe (SR900) and the module (SR921) have the same commands for the status,
-        here implemented commands are made for module status, not the frame!
-
-        :return: status type and message
-        """
-        esr = int(self.communicate('*esr?'))  # standart event status byte
-        ovsr = int(self.communicate('ovsr?'))  # overload status
-        cesr = int(self.communicate('cesr?'))  # communication error status
-
-        if esr & (1 << 1):
-            return ERROR, 'input error, cleared'
-        if esr & (1 << 2):
-            return ERROR, 'query error'
-        if esr & (1 << 4):
-            return ERROR, 'execution error'
-        if esr & (1 << 5):
-            return ERROR, 'command error'
-        if cesr & (1 << 0):
-            return ERROR, 'parity error'
-        if cesr & (1 << 2):
-            return ERROR, 'noise error'
-        if cesr & (1 << 4):
-            return ERROR, 'input overflow, cleared'
-        if cesr & (1 << 3):
-            return ERROR, 'hardware overflow'
-        if ovsr & (1 << 0):
-            return ERROR, 'output overload'
-        if cesr & (1 << 7):
-            return WARN, 'device clear'
-        if ovsr & (1 << 2):
-            return WARN, 'current saturation'
-        if ovsr & (1 << 3):
-            return WARN, 'under servo'
-        if ovsr & (1 << 4):
-            return WARN, 'over servo'
-        return IDLE, ''
-
-    def read_value(self):
-        return self.query('rval?')
-
-    def read_irange(self):
-        """index of the resistance value according to the range"""
-        return self.query('rang?')
-
-    def write_irange(self, idx):
-        value = int(idx)
-        self.query(f'rang {value}; rang?')
-        self.read_range()
-        return value
-
-    def read_range(self):
-        """value of the resistance range"""
-        idx = self.read_irange()
-        name = self.RES_RANGE[idx]
-        return string_to_value(name)
-
-    def write_range(self, target):
-        cl_idx, cl_value = find_idx(self.RES_RANGE_values, target)
-        self.query(f'rang {cl_idx}; rang?')
-        return cl_value
-
-    def read_output_offset(self):
-        """Output offset, can be set by user. This is the value subtracted from the measured value"""
-        return self.query('rset?')
-
-    def write_output_offset(self, output_offset):
-        self.query(f'rset {output_offset};rset?')
-
-    def read_itc(self):
-        """index of the temperature constant value according to the range"""
-        return self.query('tcon?')
-
-    def write_itc(self, itc):
-        self.read_itc()
-        value = int(itc)
-        return self.query(f'tcon {value}; tcon?')
-
-    def read_tc(self):
-        idx = self.read_itc()
-        name = self.TIME_CONST[idx]
-        return string_to_value(name)
-
-    def write_tc(self, target):
-        cl_idx, cl_value = find_idx(self.TIME_CONST_values, target)
-        self.query(f'tcon {cl_idx};tcon?')
-        return cl_value
-
-    def read_autorange(self):
-        return self.autorange
-
-    def write_autorange(self, value):
-        self.query(f'agai {value:d};agai?')
-        return value
-
-    def read_iexct(self):
-        """index of the excitation value according to the range"""
-        return int(self.query('exci?'))
-
-    def write_iexct(self, iexct):
-        value = int(iexct)
-        return self.query(f'exci {value};exci?')
-
-    def write_exct(self, target):
-        target = float(target)
-        cl_idx = None
-        cl_value = float('inf')
-        min_diff = float('inf')
-
-        for idx, value in enumerate(self.EXCT_RANGE_values):
-            diff = abs(value - target)
-
-            if diff < min_diff:
-                min_diff = diff
-                cl_value = value
-                cl_idx = idx
-
-        self.write_iexct(cl_idx)
-        return cl_value
-
-    def read_exct(self):
-        idx = int(self.read_iexct())
-        name = self.EXCT_RANGE[idx + 1]
-        return string_to_value(name)
-
-    def read_phase_hold(self):
-        """
-        Set the phase hold mode (if on - phase is assumed to be zero).
-        :return: 0 - off, 1 - on
-        """
-        return int(self.communicate('phld?'))
-
-    def write_phase_hold(self, phase_hold):
-        self.communicate(f'phld {phase_hold}')
-        return self.read_phase_hold()
-
-
-class Phase(Readable):
-    resistance = Attached()
-    value = Parameter('phase', FloatRange, default=0, unit='deg')
-
-    def read_value(self):
-        return self.resistance.query('phas?')
-
-
-class Deviation(Readable):
-    resistance = Attached()
-    value = Parameter('resistance deviation', FloatRange(), unit='Ohm')
-
-    def read_value(self):
-        return self.resistance.query('rdev?')

frappy_psi/calcurve.py

@@ -0,0 +1,576 @@
+#!/usr/bin/env python
+#  -*- coding: utf-8 -*-
+# *****************************************************************************
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Markus Zolliker <markus.zolliker@psi.ch>
+# *****************************************************************************
+"""Software calibration"""
+
+import os
+import re
+from os.path import basename, dirname, exists, join
+
+import numpy as np
+from scipy.interpolate import PchipInterpolator, CubicSpline, PPoly  # pylint: disable=import-error
+
+
+from frappy.errors import ProgrammingError, RangeError
+from frappy.lib import clamp
+
+to_scale = {
+    'lin': lambda x: x,
+    'log': lambda x: np.log10(x),
+}
+from_scale = {
+    'lin': lambda x: x,
+    'log': lambda x: 10 ** np.array(x),
+}
+TYPES = [  # lakeshore type, inp-type, loglog
+    ('DT', 'si', False),  # Si diode
+    ('TG', 'gaalas', False),  # GaAlAs diode
+    ('PT', 'pt250', False),  # platinum, 250 Ohm range
+    ('PT', 'pt500', False),  # platinum, 500 Ohm range
+    ('PT', 'pt2500', False),  # platinum, 2500 Ohm range
+    ('RF', 'rhfe', False),  # rhodium iron
+    ('CC', 'c', True),  # carbon, LakeShore acronym unknown
+    ('CX', 'cernox', True),  # Cernox
+    ('RX', 'ruox', True),  # rutheniumm oxide
+    ('GE', 'ge', True),  # germanium, LakeShore acronym unknown
+]
+
+
+OPTION_TYPE = {
+    'loglog': 0,  # boolean
+    'extrange': 2,  # tuple(min T, max T for extrapolation
+    'calibrange': 2,  # tuple(min T, max T)
+}
+
+
+class HasOptions:
+    def insert_option(self, key, value):
+        key = key.strip()
+        argtype = OPTION_TYPE.get(key, 1)
+        if argtype == 1:  # one number or string
+            try:
+                value = float(value)
+            except ValueError:
+                value = value.strip()
+        elif argtype == 0:
+            if value.strip().lower() in ('false', '0'):
+                value = False
+            else:
+                value = True
+        else:
+            value = [float(f) for f in value.split(',')]
+        self.options[key] = value
+
+
+class StdParser(HasOptions):
+    """parser used for reading columns"""
+    def __init__(self, **options):
+        """keys of options may be either 'x' or 'logx' and either 'y' or 'logy'
+
+        default is x=0, y=1
+        """
+        if 'logx' in options:
+            self.xscale = 'log'
+            self.xcol = options.pop('logx')
+        else:
+            self.xscale = 'lin'
+            self.xcol = options.pop('x', 0)
+        if 'logy' in options:
+            self.yscale = 'log'
+            self.ycol = options.pop('logy')
+        else:
+            self.yscale = 'lin'
+            self.ycol = options.pop('y', 1)
+        self.xdata, self.ydata = [], []
+        self.options = options
+        self.invalid_lines = []
+
+    def parse(self, line):
+        """get numbers from a line and put them to self.xdata / self.ydata"""
+        row = line.split()
+        try:
+            self.xdata.append(float(row[self.xcol]))
+            self.ydata.append(float(row[self.ycol]))
+        except (IndexError, ValueError):
+            self.invalid_lines.append(line)
+            return
+
+    def finish(self):
+        pass
+
+
+class InpParser(StdParser):
+    """M. Zollikers *.inp calcurve format"""
+    HEADERLINE = re.compile(r'#?(?:(\w+)\s*=\s*([^!# \t\n]*)|curv.*)')
+    INP_TYPES = {ityp: (ltyp, loglog) for ltyp, ityp, loglog in TYPES}
+
+    def __init__(self, **options):
+        options.update(x=0, y=1)
+        super().__init__(**options)
+        self.header = True
+
+    def parse(self, line):
+        """scan header"""
+        if self.header:
+            match = self.HEADERLINE.match(line)
+            if match:
+                key, value = match.groups()
+                if key is None:
+                    self.header = False
+                else:
+                    key = key.lower()
+                    value = value.strip()
+                    if key == 'type':
+                        type_, loglog = self.INP_TYPES.get(value.lower(), (None, None))
+                        if type_ is not None:
+                            self.options['type'] = type_
+                        if loglog is not None:
+                            self.options['loglog'] = loglog
+                    else:
+                        self.insert_option(key, value)
+                    return
+            elif line.startswith('!'):
+                return
+        super().parse(line)
+
+
+class Parser340(StdParser):
+    """parser for LakeShore *.340 files"""
+    HEADERLINE = re.compile(r'([^:]*):\s*([^(]*)')
+    CALIBHIGH = dict(L=325, M=420, H=500, B=40)
+
+    def __init__(self, **options):
+        options.update(x=1, y=2)
+        super().__init__(**options)
+        self.header = True
+
+    def parse(self, line):
+        """scan header"""
+        if self.header:
+            match = self.HEADERLINE.match(line)
+            if match:
+                key, value = match.groups()
+                key = ''.join(key.split()).lower()
+                value = value.strip()
+                if key == 'dataformat':
+                    if value[0:1] == '4':
+                        self.xscale, self.yscale = 'log', 'lin'  # logOhm
+                        self.options['loglog'] = True
+                    elif value[0:1] == '5':
+                        self.xscale, self.yscale = 'log', 'log'  # logOhm, logK
+                        self.options['loglog'] = True
+                    elif value[0:1] in ('1', '2', '3'):
+                        self.options['loglog'] = False
+                    else:
+                        raise ValueError('invalid Data Format')
+                    self.options['scale'] = self.xscale + self.yscale
+                self.insert_option(key, value)
+                return
+            if 'No.' in line:
+                self.header = False
+                return
+            if len(line.split()) != 3:
+                return
+        super().parse(line)
+        if self.header and self.xdata:
+            # valid line detected
+            self.header = False
+
+    def finish(self):
+        model = self.options.get('sensormodel', '').split('-')
+        if model[0]:
+            self.options['type'] = model[0]
+        if 'calibrange' not in self.options:
+            if len(model) > 2:
+                try:  # e.g. model[-1] == 1.4M -> calibrange = 1.4, 420
+                    self.options['calibrange'] = float(model[-1][:-1]), self.CALIBHIGH[model[-1][-1]]
+                    return
+                except (ValueError, KeyError):
+                    pass
+
+
+class CaldatParser(StdParser):
+    """parser for format from sea/tcl/startup/calib_ext.tcl"""
+
+    def __init__(self, options):
+        options.update(x=1, y=2)
+        super().__init__(options)
+
+
+PARSERS = {
+    "340": Parser340,
+    "inp": InpParser,
+    "caldat": CaldatParser,
+    "dat": StdParser,  # lakeshore raw data *.dat format
+}
+
+
+def check(x, y, islog):
+    # check interpolation error
+    yi = y[:-2] + (x[1:-1] - x[:-2]) * (y[2:] - y[:-2]) / (x[2:] - x[:-2])
+    if islog:
+        return sum((yi - y[1:-1]) ** 2)
+    return sum((np.log10(yi) - np.log10(y[1:-1])) ** 2)
+
+
+def get_curve(newscale, curves):
+    """get curve from curve cache (converts not existing ones)
+
+    :param newscale: the new scale to get
+    :param curves: a dict <scale> of <array> storing available scales
+    :return: the retrieved or converted curve
+    """
+    if newscale in curves:
+        return curves[newscale]
+    for scale, array in curves.items():
+        curves[newscale] = curve = to_scale[newscale](from_scale[scale](array))
+        return curve
+
+
+class CalCurve(HasOptions):
+    EXTRAPOLATION_AMOUNT = 0.1
+    MAX_EXTRAPOLATION_FACTOR = 2
+
+    def __init__(self, calibspec=None, *, x=None, y=None, cubic_spline=True, **options):
+        """calibration curve
+
+        :param calibspec: a string with name or filename, options
+            lookup path for files in env. variable FRAPPY_CALIB_PATH
+            calibspec format:
+            [<full path> | <name>][,<key>=<value> ...]
+            for <key>/<value> as in parser arguments
+        :param x, y:  x and y arrays (given instead of calibspec)
+        :param cubic_split: set to False for always using Pchip interpolation
+        :param options: options for parsers
+        """
+        self.options = options
+        if calibspec is None:
+            parser = StdParser()
+            parser.xdata = x
+            parser.ydata = y
+        else:
+            if x or y:
+                raise ProgrammingError('can not give both calibspec and x,y ')
+            sensopt = calibspec.split(',')
+            calibname = sensopt.pop(0)
+            _, dot, ext = basename(calibname).rpartition('.')
+            kind = None
+            pathlist = os.environ.get('FRAPPY_CALIB_PATH', '').split(':')
+            pathlist.append(join(dirname(__file__), 'calcurves'))
+            for path in pathlist:
+                # first try without adding kind
+                filename = join(path.strip(), calibname)
+                if exists(filename):
+                    kind = ext if dot else None
+                    break
+                # then try adding all kinds as extension
+                for nam in calibname, calibname.upper(), calibname.lower():
+                    for kind in PARSERS:
+                        filename = join(path.strip(), '%s.%s' % (nam, kind))
+                        if exists(filename):
+                            break
+                    else:
+                        continue
+                    break
+                else:
+                    continue
+                break
+            else:
+                raise FileNotFoundError(calibname)
+            sensopt = iter(sensopt)
+            for opt in sensopt:
+                key, _, value = opt.lower().partition('=')
+                if OPTION_TYPE.get(key) == 2:
+                    self.options[key] = float(value), float(next(sensopt))
+                else:
+                    self.insert_option(key, value)
+            kind = self.options.pop('kind', kind)
+            cls = PARSERS.get(kind, StdParser)
+            try:
+                parser = cls(**self.options)
+                with open(filename, encoding='utf-8') as f:
+                    for line in f:
+                        parser.parse(line)
+                parser.finish()
+            except Exception as e:
+                raise ValueError('error parsing calib curve %s %r' % (calibspec, e)) from e
+            # take defaults from parser options
+            self.options = dict(parser.options, **self.options)
+
+        x = np.asarray(parser.xdata)
+        y = np.asarray(parser.ydata)
+        if len(x) < 2:
+            raise ValueError('calib file %s has less than 2 points' % calibspec)
+
+        if x[0] > x[-1]:
+            x = np.flip(np.array(x))
+            y = np.flip(np.array(y))
+        else:
+            x = np.array(x)
+            y = np.array(y)
+        not_incr_idx = np.argwhere(x[1:] <= x[:-1])
+        if len(not_incr_idx):
+            raise RangeError('x not monotonic at x=%.4g' % x[not_incr_idx[0]])
+
+        self.x = {parser.xscale: x}
+        self.y = {parser.yscale: y}
+        self.lin_forced = [parser.yscale == 'lin' and (y[0] <= 0 or y[-1] <= 0),
+                           parser.xscale == 'lin' and x[0] <= 0]
+        if sum(self.lin_forced):
+            self.loglog = False
+        else:
+            self.loglog = self.options.get('loglog', y[0] > y[-1])  # loglog defaults to True for NTC
+        newscale = 'log' if self.loglog else 'lin'
+        self.scale = newscale
+        x = get_curve(newscale, self.x)
+        y = get_curve(newscale, self.y)
+        self.convert_x = to_scale[newscale]
+        self.convert_y = from_scale[newscale]
+        self.calibrange = self.options.get('calibrange')
+        dirty = set()
+        self.extra_points = False
+        self.cutted = False
+        if self.calibrange:
+            self.calibrange = sorted(self.calibrange)
+            # determine indices (ibeg, iend) of first and last well calibrated point
+            ylin = get_curve('lin', self.y)
+            beg, end = self.calibrange
+            if y[0] > y[-1]:
+                ylin = -ylin
+                beg, end = -end, -beg
+
+            ibeg, iend = np.searchsorted(ylin, (beg, end))
+            if ibeg > 0 and abs(ylin[ibeg-1] - beg) < 0.1 * (ylin[ibeg] - ylin[ibeg-1]):
+                # add previous point, if close
+                ibeg -= 1
+            if iend < len(ylin) and abs(ylin[iend] - end) < 0.1 * (ylin[iend] - ylin[iend-1]):
+                # add next point, if close
+                iend += 1
+            if self.options.get('cut', False):
+                self.cutted = True
+                x = x[ibeg:iend]
+                y = y[ibeg:iend]
+                self.x = {newscale: x}
+                self.y = {newscale: y}
+                ibeg = 0
+                iend = len(x)
+                dirty.add('xy')
+            else:
+                self.extra_points = ibeg, len(x) - iend
+        else:
+            ibeg = 0
+            iend = len(x)
+            ylin = get_curve('lin', self.y)
+            self.calibrange = tuple(sorted([ylin[0], ylin[-1]]))
+
+        if cubic_spline:
+            # fit well calibrated part with spline
+            # determine slopes of calibrated part with CubicSpline
+            spline = CubicSpline(x[ibeg:iend], y[ibeg:iend])
+            roots = spline.derivative().roots(extrapolate=False)
+            if len(roots):
+                cubic_spline = False
+
+        self.cubic_spline = cubic_spline
+        if cubic_spline:
+            coeff = spline.c
+            if self.extra_points:
+                p = PchipInterpolator(x, y).c
+                # use Pchip outside left and right of calibrange
+                # remark: first derivative at end of calibrange is not continuous
+                coeff = np.concatenate((p[:, :ibeg], coeff, p[:, iend-1:]), axis=1)
+        else:
+            spline = PchipInterpolator(x, y)
+            coeff = spline.c
+        # extrapolation extension
+        # linear extrapolation is more robust than spline extrapolation
+        x1, x2 = x[0], x[-1]
+        # take slope at end of calibrated range for extrapolation
+        slopes = spline([x[ibeg], x[iend-1]], 1)
+        for i, j in enumerate([ibeg, iend-2]):
+            # slope of last interval in calibrange
+            si = (y[j+1] - y[j])/(x[j+1] - x[j])
+            # make sure slope is not more than a factor 2 different
+            # from the slope calculated at the outermost calibrated intervals
+            slopes[i] = clamp(slopes[i], 2*si, 0.5 * si)
+        dx = 0.1 if self.loglog else (x2 - x1) * 0.1
+        xe = np.concatenate(([x1 - dx], x, [x2 + dx]))
+        # x3 = np.append(x, x2 + dx)
+        # y3 = np.append(y, y[-1] + slope * dx)
+        y0 = y[0] - slopes[0] * dx
+        coeff = np.concatenate(([[0], [0], [slopes[0]], [y0]], coeff, [[0], [0], [slopes[1]], [y[-1]]]), axis=1)
+        self.spline = PPoly(coeff, xe)
+        # ranges without extrapolation:
+        self.xrange = get_curve('lin', self.x)[[0, -1]]
+        self.yrange = sorted(get_curve('lin', self.y)[[0, -1]])
+        self.calibrange = [max(self.calibrange[0], self.yrange[0]),
+                           min(self.calibrange[1], self.yrange[1])]
+        self.set_extrapolation()
+
+        # check
+        # ys = self.spline(xe)
+        # ye = np.concatenate(([y0], y, [y[-1] + slope2 * dx]))
+        # assert np.all(np.abs(ys - ye) < 1e-5 * (0.1 + np.abs(ys + ye)))
+
+    def set_extrapolation(self, extleft=None, extright=None):
+        """set default extrapolation range for export method
+
+        :param extleft: y value for the lower end of the extrapolation
+        :param extright: y value for the upper end of the extrapolation
+
+        if arguments omitted or None are replaced by a default extrapolation scheme
+
+        on return self.extx and self.exty are set to the extrapolated ranges
+        """
+        yc1, yc2 = self.calibrange
+        y1, y2 = to_scale[self.scale]([yc1, yc2])
+        d = (y2 - y1) * self.EXTRAPOLATION_AMOUNT
+        yex1, yex2 = tuple(from_scale[self.scale]([y1 - d, y2 + d]))
+        t1, t2 = tuple(from_scale[self.scale]([y1, y2]))
+
+        # raw units, excluding extrapolation points at end
+        xrng = self.spline.x[1], self.spline.x[-2]
+        # first and last point
+        yp1, yp2 = sorted(from_scale[self.scale](self.spline(xrng)))
+        xrng = from_scale[self.scale](xrng)
+
+        # limit by maximal factor
+        f = self.MAX_EXTRAPOLATION_FACTOR
+        # but ext range should be at least to the points in curve
+        self.exty = [min(yp1, max(yex1, min(t1 / f, t1 * f))),
+                     max(yp2, min(yex2, max(t2 * f, t2 / f)))]
+        if extleft is not None:
+            self.exty[0] = min(extleft, yp1)
+        if extright is not None:
+            self.exty[1] = max(extright, yp2)
+        self.extx = sorted(self.invert(*yd) for yd in zip(self.exty, xrng))
+        # check that sensor range is not extended by more than a factor f
+        extnew = [max(self.extx[0], min(xrng[0] / f, xrng[0] * f)),
+                  min(self.extx[1], max(xrng[1] / f, xrng[1] * f))]
+        if extnew != self.extx:
+            # need further reduction
+            self.extx = extnew
+            self.exty = sorted(self(extnew))
+
+    def convert(self, value):
+        """convert a single value
+
+        return a tuple (converted value, boolean: was it clamped?)
+        """
+        x = clamp(value, *self.extx)
+        return self(x), x == value
+
+    def __call__(self, value):
+        """convert value or numpy array without checking extrapolation range"""
+        return self.convert_y(self.spline(self.convert_x(value)))
+
+    def invert(self, y, defaultx=None, xscale=True, yscale=True):
+        """invert y, return defaultx if no solution is found"""
+        if yscale:
+            y = to_scale[self.scale](y)
+        r = self.spline.solve(y)
+        try:
+            if xscale:
+                return from_scale[self.scale](r[0])
+            return r[0]
+        except IndexError:
+            return defaultx
+
+    def export(self, logformat=False, nmax=199, yrange=None, extrapolate=True, xlimits=None):
+        """export curve for downloading to hardware
+
+        :param nmax: max number of points. if the number of given points is bigger,
+                     the points with the lowest interpolation error are omitted
+        :param logformat: a list with two elements of None, True or False
+                          True: use log, False: use line, None: use log if self.loglog
+                          values None are replaced with the effectively used format
+                          False / True are replaced by [False, False] / [True, True]
+                          default is False
+        :param yrange: to reduce or extrapolate to this interval (extrapolate is ignored when given)
+        :param extrapolate: a flag indicating whether the curves should be extrapolated
+                            to the preset extrapolation range
+        :param xlimits: max x range
+        :return: numpy array with 2 dimensions returning the curve
+        """
+
+        if logformat in (True, False):
+            logformat = [logformat, logformat]
+        try:
+            scales = []
+            for idx, logfmt in enumerate(logformat):
+                if logfmt and self.lin_forced[idx]:
+                    raise ValueError('%s must contain positive values only' % 'xy'[idx])
+                logformat[idx] = linlog = self.loglog if logfmt is None else logfmt
+                scales.append('log' if linlog else 'lin')
+            xscale, yscale = scales
+        except (TypeError, AssertionError):
+            raise ValueError('logformat must be a 2 element list or a boolean')
+
+        x = self.spline.x[1:-1]  # raw units, excluding extrapolated points
+        x1, x2 = xmin, xmax = x[0], x[-1]
+        y1, y2 = sorted(self.spline([x1, x2]))
+
+        if extrapolate and not yrange:
+            yrange = self.exty
+        if yrange is not None:
+            xmin, xmax = sorted(self.invert(*yd, xscale=False) for yd in zip(yrange, [x1, x2]))
+        if xlimits is not None:
+            lim = to_scale[self.scale](xlimits)
+            xmin = clamp(xmin, *lim)
+            xmax = clamp(xmax, *lim)
+        if xmin != x1 or xmax != x2:
+            ibeg, iend = np.searchsorted(x, (xmin, xmax))
+            if abs(x[ibeg] - xmin) < 0.1 * (x[ibeg + 1] - x[ibeg]):
+                # remove first point, if close
+                ibeg += 1
+            if abs(x[iend - 1] - xmax) < 0.1 * (x[iend - 1] - x[iend - 2]):
+                # remove last point, if close
+                iend -= 1
+            x = np.concatenate(([xmin], x[ibeg:iend], [xmax]))
+        y = self.spline(x)
+
+        # convert to exported scale
+        if xscale != self.scale:
+            x = to_scale[xscale](from_scale[self.scale](x))
+        if yscale != self.scale:
+            y = to_scale[yscale](from_scale[self.scale](y))
+
+        # reduce number of points, if needed
+        n = len(x)
+        i, j = 1, n - 1  # index range for calculating interpolation deviation
+        deviation = np.zeros(n)
+        while True:
+            # calculate interpolation error when a single point is omitted
+            ym = y[i-1:j-1] + (x[i:j] - x[i-1:j-1]) * (y[i+1:j+1] - y[i-1:j-1]) / (x[i+1:j+1] - x[i-1:j-1])
+            if yscale == 'log':
+                deviation[i:j] = np.abs(ym - y[i:j])
+            else:
+                deviation[i:j] = np.abs(ym - y[i:j]) / (np.abs(ym + y[i:j]) + 1e-10)
+            if n <= nmax:
+                break
+            idx = np.argmin(deviation[1:-1]) + 1  # find index of the smallest error
+            y = np.delete(y, idx)
+            x = np.delete(x, idx)
+            deviation = np.delete(deviation, idx)
+            n -= 1
+            # index range to recalculate
+            i, j = max(1, idx - 1), min(n - 1, idx + 1)
+        self.deviation = deviation  # for debugging purposes
+        return np.stack([x, y], axis=1)

frappy_psi/cetoni_pump.py

@@ -0,0 +1,116 @@
+libpath = '/home/l_samenv/frappy/cetoniSDK/CETONI_SDK_Raspi_64bit_v20220627/python/src/'
+import sys
+if libpath not in sys.path:
+    sys.path.append(libpath)
+
+from frappy.core import Drivable, Readable, StringIO, HasIO, FloatRange, IntRange, StringType, BoolType, EnumType, \
+    Parameter, Property, PersistentParam, Command, IDLE, BUSY, ERROR, Attached
+from qmixsdk import qmixbus
+from qmixsdk import qmixpump
+from qmixsdk import qmixvalve
+from qmixsdk.qmixbus import UnitPrefix, TimeUnit
+
+class LabCannBus(Readable):
+    deviceconfig = Property('config files', StringType(),default="/home/l_samenv/frappy/cetoniSDK/CETONI_SDK_Raspi_64bit_v20220627/config/dual_pumps")
+
+    def earlyInit(self):
+        super().earlyInit()
+        self.bus = qmixbus.Bus()
+        self.bus.open(self.deviceconfig, "")
+
+    def initModule(self):
+        super().initModule()
+        self.bus.start()
+
+    def shutdownModule(self):
+        """Not so gracefully close the connection"""
+        self.bus.stop()
+        self.bus.close()
+
+class SyringePump(Drivable):
+    io = Attached()
+    pump_name = Property('name of pump', StringType(),default="Nemesys_S_1_Pump")
+    valve_name = Property('name of valve', StringType(),default="Nemesys_S_1_Valve")
+    
+    inner_diameter_set = Property('inner diameter', FloatRange(), default=1)
+    piston_stroke_set = Property('piston stroke', FloatRange(), default=60)
+    
+    value = PersistentParam('volume', FloatRange(unit='mL'))
+    status = PersistentParam()
+    
+    max_flow_rate = Parameter('max flow rate', FloatRange(0,100000, unit='mL/min',), readonly=True)
+    max_volume = Parameter('max volume', FloatRange(0,100000, unit='mL',), readonly=True)
+    target_flow_rate = Parameter('target flow rate', FloatRange(unit='mL/min'), readonly=False)
+    real_flow_rate = Parameter('actual flow rate', FloatRange(unit='mL/min'), readonly=True)
+    target = Parameter('target volume', FloatRange(unit='mL'), readonly=False)
+
+    no_of_valve_pos = Property('number of valve positions', IntRange(0,10), default=1)
+    valve_pos = Parameter('valve position', EnumType('valve', CLOSED=0, APP=1, RES=2, OPEN=3), readonly=False)
+
+    def initModule(self):
+        super().initModule()
+
+        self.pump = qmixpump.Pump()
+        self.pump.lookup_by_name(self.pump_name)
+
+        self.valve = qmixvalve.Valve()
+        self.valve.lookup_by_name(self.valve_name)
+
+
+    def initialReads(self):
+        if self.pump.is_in_fault_state():
+            self.pump.clear_fault()
+        
+        if not self.pump.is_enabled():
+            self.pump.enable(True)
+        
+        self.pump.set_syringe_param(self.inner_diameter_set, self.piston_stroke_set)
+
+        self.pump.set_volume_unit(qmixpump.UnitPrefix.milli, qmixpump.VolumeUnit.litres)
+
+        self.pump.set_flow_unit(qmixpump.UnitPrefix.milli, qmixpump.VolumeUnit.litres, qmixpump.TimeUnit.per_minute)
+        
+        self.max_flow_rate = self.pump.get_flow_rate_max()
+        self.max_volume = self.pump.get_volume_max()
+        self.no_of_valve_pos = self.valve.number_of_valve_positions()
+        self.valve_pos = self.valve.actual_valve_position()
+
+        self.target_flow_rate = self.max_flow_rate * 0.5
+        self.target = self.pump.get_fill_level()
+    
+    def read_value(self):
+        return self.pump.get_fill_level()
+
+    def write_target(self, target):
+        self.pump.set_fill_level(target, self.target_flow_rate)
+        self.status = BUSY, 'Target changed'
+        return target
+
+    def write_target_flow_rate(self, rate):
+        self.pump.target_flow_rate = rate
+        return rate
+
+    def read_real_flow_rate(self):
+        return self.pump.get_flow_is()
+
+    def read_valve_pos(self):
+        return self.valve.actual_valve_position()
+
+    def write_valve_pos(self, target_pos):
+        self.valve.switch_valve_to_position(target_pos)
+        return target_pos
+
+    def read_status(self):
+        fault_state = self.pump.is_in_fault_state()
+        pumping = self.pump.is_pumping()
+        if fault_state == True:
+            return ERROR, 'Pump in fault state'
+        elif pumping == True:
+            return BUSY, 'Pumping'
+        else:
+            return IDLE, ''
+
+    @Command
+    def stop(self):
+        self.pump.stop_pumping()
+        self.target = self.pump.get_fill_level()

frappy_psi/dilsc.py

@@ -1,3 +1,4 @@
+#  -*- coding: utf-8 -*-
 # *****************************************************************************
 # This program is free software; you can redistribute it and/or modify it under
 # the terms of the GNU General Public License as published by the Free Software
@@ -18,79 +19,78 @@
 # *****************************************************************************
 """vector field"""
 
-from frappy.core import Drivable, Done, BUSY, IDLE, WARN, ERROR
-from frappy.errors import BadValueError
+import math
+from frappy.core import Drivable, Done, BUSY, IDLE, ERROR, Parameter, TupleOf, ArrayOf, FloatRange
+from frappy.errors import RangeError
 from frappy_psi.vector import Vector
+from frappy.states import HasStates, Retry, status_code
 
 
 DECREASE = 1
 INCREASE = 2
 
 
-class VectorField(Vector, Drivable):
-    _state = None
+class VectorField(HasStates, Vector, Drivable):
+    sphere_radius = Parameter('max. sphere', datatype=FloatRange(0, 0.7, unit='T'), readonly=True, default=0.6)
+    cylinders = Parameter('allowed cylinders (list of radius and height)',
+                          datatype=ArrayOf(TupleOf(FloatRange(0, 0.6, unit='T'), FloatRange(0, 5.2, unit='T')), 1, 9),
+                          readonly=True, default=((0.23, 5.2), (0.45, 0.8)))
 
-    def doPoll(self):
-        """periodically called method"""
-        try:
-            if self._starting:
-                # first decrease components
-                driving = False
-                for target, component in zip(self.target, self.components):
-                    if target * component.value < 0:
-                        # change sign: drive to zero first
-                        target = 0
-                    if abs(target) < abs(component.target):
-                        if target != component.target:
-                            component.write_target(target)
-                        if component.isDriving():
-                            driving = True
-                if driving:
-                    return
-                # now we can go to the final targets
-                for target, component in zip(self.target, self.components):
-                     component.write_target(target)
-                self._starting = False
-            else:
-                for component in self.components:
-                    if component.isDriving():
-                        return
-                self.setFastPoll(False)
-        finally:
-            super().doPoll()
+    def initModule(self):
+        super().initModule()
+        # override check_limits of the components with a check for restrictions on the vector
+        for idx, component in enumerate(self.components):
+
+            def outer_check(target, vector=self, i=idx, inner_check=component.check_target):
+                inner_check(target)
+                value = [c.value - math.copysign(c.tolerance, c.value)
+                         for c in vector.components]
+                value[i] = target
+                vector._check_limits(value)
+
+            component.check_target = outer_check
 
     def merge_status(self):
-        names = [c.name for c in self.components if c.status[0] >= ERROR]
-        if names:
-            return ERROR, 'error in %s' % ', '.join(names)
-        names = [c.name for c in self.components if c.isDriving()]
-        if self._state:
-            # self.log.info('merge %r', [c.status for c in self.components])
-            if names:
-                direction = 'down ' if self._state == DECREASE else ''
-                return BUSY, 'ramping %s%s' % (direction, ', '.join(names))
-            if self.status[0] == BUSY:
         return self.status
-            return BUSY, 'driving'
-        if names:
-            return WARN, 'moving %s directly' % ', '.join(names)
-        names = [c.name for c in self.components if c.status[0] >= WARN]
-        if names:
-            return WARN, 'warnings in %s' % ', '.join(names)
-        return IDLE, ''
 
-    def write_target(self, value):
+    def _check_limits(self, value):
+        """check if value is within one of the safe shapes"""
+        if sum((v ** 2 for v in value)) <= self.sphere_radius ** 2:
+            return
+        for r, h in self.cylinders:
+            if sum(v ** 2 for v in value[0:2]) <= r ** 2 and abs(value[2]) <= h:
+                return
+        raise RangeError('vector %s does not fit in any limiting shape' % repr(value))
+
+    def write_target(self, target):
         """initiate target change"""
-        # first make sure target is valid
-        for target, component in zip(self.target, self.components):
-            # check against limits if individual components
-            component.check_limits(target)
-        if sum(v * v for v in value) > 1:
-            raise BadValueError('norm of vector too high')
-        self.log.info('decrease')
-        self.setFastPoll(True)
-        self.target = value
-        self._state = DECREASE
-        self.doPoll()
-        self.log.info('done write_target %r', value)
-        return Done
+        # check limits  first
+        for component_target, component in zip(target, self.components):
+            # check against limits of individual components
+            component.check_target(component_target, vector=None)  # no outer check here!
+        self._check_limits(target)
+        for component_target, component in zip(target, self.components):
+            if component_target * component.value < 0:
+                # change sign: drive to zero first
+                component_target = 0
+            if abs(component_target) > abs(component.value):
+                continue  # do not drive yet
+            component.write_target(component_target)
+        self.start_machine(self.ramp_down, target=target)
+        return target
+
+    @status_code(BUSY)
+    def ramp_down(self, state):
+        for target, component in zip(state.target, self.components):
+            if component.isDriving():
+                return Retry()
+        for target, component in zip(state.target, self.components):
+            component.write_target(target)
+        return self.final_ramp
+
+    @status_code(BUSY)
+    def final_ramp(self, state):
+        for component in self.components:
+            if component.isDriving():
+                return Retry()
+        return self.final_status()

frappy_psi/frozenparam.py

@@ -0,0 +1,123 @@
+# *****************************************************************************
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Markus Zolliker <markus.zolliker@psi.ch>
+# *****************************************************************************
+
+import time
+import math
+from frappy.core import Parameter, FloatRange, IntRange, Property
+from frappy.errors import ProgrammingError
+
+
+class FrozenParam(Parameter):
+    """workaround for lazy hardware
+
+    Some hardware does not react nicely: when a parameter is changed,
+    and read back immediately, still the old value is returned.
+    This special parameter helps fixing this problem.
+
+    Mechanism:
+
+    - after a call to write_<param> for a short time (<n_polls> * <interval>)
+      the hardware is polled until the readback changes before the 'changed'
+      message is replied to the client
+    - if there is no change yet within short time, the 'changed' message is
+      set with the given value and further calls to read_<param> return also
+      this given value until the readback value has changed or until
+      <timeout> sec have passed.
+
+    For float parameters, the behaviour for small changes is improved
+    when the write_<param> method tries to return the (may be rounded) value,
+    as if it would be returned by the hardware. If this behaviour is not
+    known, or the programmer is too lazy to implement it, write_<param>
+    should return None or the given value.
+    Also it will help to adjust the datatype properties
+    'absolute_resolution' and 'relative_resolution' to reasonable values.
+    """
+    timeout = Property('timeout for freezing readback value',
+                       FloatRange(0, unit='s'), default=30)
+    n_polls = Property("""number polls within write method""",
+                       IntRange(0), default=1)
+    interval = Property("""interval for polls within write method
+    
+                        the product n_polls * interval should not be more than a fraction of a second
+                        in order not to block the connection for too long
+                        """,
+                        FloatRange(0, unit='s'), default=0.05)
+    new_value = None
+    previous_value = None
+    expire = 0
+    is_float = True  # assume float. will be fixed later
+
+    def isclose(self, v1, v2):
+        if v1 == v2:
+            return True
+        if self.is_float:
+            dt = self.datatype
+            try:
+                return math.isclose(v1, v2, abs_tol=dt.absolute_tolerance,
+                                    rel_tol=dt.relative_tolerance)
+            except AttributeError:
+                # fix once for ever when datatype is not a float
+                self.is_float = False
+        return False
+
+    def __set_name__(self, owner, name):
+        try:
+            rfunc = getattr(owner, f'read_{name}')
+            wfunc = getattr(owner, f'write_{name}')
+        except AttributeError:
+            raise ProgrammingError(f'FrozenParam: methods read_{name} and write_{name} must exist') from None
+
+        super().__set_name__(owner, name)
+
+        def read_wrapper(self, pname=name, rfunc=rfunc):
+            pobj = self.parameters[pname]
+            value = rfunc(self)
+            if pobj.new_value is None:
+                return value
+            if not pobj.isclose(value, pobj.new_value):
+                if value == pobj.previous_value:
+                    if time.time() < pobj.expire:
+                        return pobj.new_value
+                    self.log.warning('%s readback did not change within %g sec',
+                                     pname, pobj.timeout)
+                else:
+                    # value has changed, but is not matching new value
+                    self.log.warning('%s readback changed from %r to %r but %r was given',
+                                     pname, pobj.previous_value, value, pobj.new_value)
+            # readback value has changed or returned value is roughly equal to the new value
+            pobj.new_value = None
+            return value
+
+        def write_wrapper(self, value, wfunc=wfunc, rfunc=rfunc, read_wrapper=read_wrapper, pname=name):
+            pobj = self.parameters[pname]
+            pobj.previous_value = rfunc(self)
+            pobj.new_value = wfunc(self, value)
+            if pobj.new_value is None:  # as wfunc is the unwrapped write_* method, the return value may be None
+                pobj.new_value = value
+            pobj.expire = time.time() + pobj.timeout
+            for cnt in range(pobj.n_polls):
+                if cnt:  # we may be lucky, and the readback value has already changed
+                    time.sleep(pobj.interval)
+                value = read_wrapper(self)
+                if pobj.new_value is None:
+                    return value
+            return pobj.new_value
+
+        setattr(owner, f'read_{name}', read_wrapper)
+        setattr(owner, f'write_{name}', write_wrapper)

frappy_psi/haake.py

@@ -15,8 +15,6 @@
 #
 # Module authors: Oksana Shliakhtun <oksana.shliakhtun@psi.ch>
 # *****************************************************************************
-"""Thermo Haake Phoenix P1 Bath Circulator"""
-
 import re
 import time
 from frappy.core import StringIO, HasIO, Parameter, FloatRange, BoolType, \
@@ -24,13 +22,7 @@ from frappy.core import StringIO, HasIO, Parameter, FloatRange, BoolType, \
 from frappy_psi.convergence import HasConvergence
 from frappy.errors import CommunicationFailedError
 
-
 def convert(string):
-    """
-    Converts reply to a number
-    :param string: reply from the command
-    :return: number
-    """
     number = re.sub(r'[^0-9.-]', '', string)
     return float(number)
 
@@ -63,21 +55,11 @@ class TemperatureLoop(HasIO, HasConvergence, Drivable):
     ]
 
     def get_values_status(self):
-        """
-        Supplementary command for the operating status method.
-        Removes the extra symbol and converts each status value into integer.
-
-        :return: array of integers
-        """
         reply = self.communicate('B')
         string = reply.rstrip('$')
         return [int(val) for val in string]
 
     def read_status(self):  # control_active update
-        """
-        Operating status.
-        :return: statu type and message
-        """
         values_str = self.get_values_status()
         self.read_control_active()
 
@@ -90,10 +72,6 @@ class TemperatureLoop(HasIO, HasConvergence, Drivable):
         return IDLE, ''
 
     def read_value(self):
-        """
-        F1 - internal temperature, F2 - external temperature
-        :return: float temperature value
-        """
         if self.mode == 1:
             value = self.communicate('F1')
         else:
@@ -101,11 +79,6 @@ class TemperatureLoop(HasIO, HasConvergence, Drivable):
         return convert(value)
 
     def write_control_active(self, value):
-        """
-        Turning on/off the heating, pump and regulation
-        :param value: 0 is OFF, 1 is ON
-        :return:
-        """
         if value is True:
             self.communicate('GO')  # heating and pump run
             self.communicate('W SR')  # regulation
@@ -126,11 +99,6 @@ class TemperatureLoop(HasIO, HasConvergence, Drivable):
         return convert(string)
 
     def write_target(self, target):
-        """
-        Selecting Celsius, setting the target
-        :param target: target
-        :return: target
-        """
         self.write_control_active(True)
         self.read_status()
         self.communicate('W TE C')
@@ -138,11 +106,6 @@ class TemperatureLoop(HasIO, HasConvergence, Drivable):
         return target
 
     def write_mode(self, mode):
-        """
-        Switching to internal or external control
-        :param mode: internal/external
-        :return: selected mode
-        """
         if mode == 1:
             self.communicate('W IN')
         self.communicate('W EX')
@@ -150,7 +113,7 @@ class TemperatureLoop(HasIO, HasConvergence, Drivable):
 
     @Command
     def clear_errors(self):
-        """ Reset after error. Otherwise the status will not be updated"""
+        """ Reset after error"""
         if self.read_status()[0] == ERROR:
             try:
                 self.communicate('ER')

frappy_psi/ls372.py

@@ -231,14 +231,17 @@ class ResChannel(Channel):
     def _read_value(self):
         """read value, without update"""
         now = time.monotonic()
-        if now + 0.5 < max(self._last_range_change, self.switcher._start_switch) + self.pause:
+        if now - 0.5 < max(self._last_range_change, self.switcher._start_switch) + self.pause:
             return None
         result = float(self.communicate('RDGR?%d' % self.channel))
         if result == 0:
+            if self.autorange:
+                rng = int(max(self.minrange, self.range))  # convert from enum to int
+                self.write_range(min(self.MAX_RNG, rng + 1))
             return None
         if self.autorange:
             self.fix_autorange()
-            if now + 0.5 > self._last_range_change + self.pause:
+            if now - 0.5 > self._last_range_change + self.pause:
                 rng = int(max(self.minrange, self.range))  # convert from enum to int
                 if self.status[0] < self.Status.ERROR:
                     if abs(result) > self.RES_SCALE[rng]:
@@ -251,8 +254,10 @@ class ResChannel(Channel):
                             lim -= 0.05  # not more than 4 steps at once
                         # effectively: <0.16 %: 4 steps, <1%: 3 steps, <5%: 2 steps, <20%: 1 step
                 elif rng < self.MAX_RNG:
+                    self.log.debug('increase range due to error %d', rng)
                     rng = min(self.MAX_RNG, rng + 1)
                 if rng != self.range:
+                    self.log.debug('range change to %d', rng)
                     self.write_range(rng)
                     self._last_range_change = now
         return result
@@ -381,6 +386,10 @@ class TemperatureLoop(HasConvergence, TemperatureChannel, Drivable):
     htrrng = Parameter('', EnumType(HTRRNG), readonly=False)
     _control_active = False
 
+    def doPoll(self):
+        super().doPoll()
+        self.set_htrrng()
+
     @Command
     def control_off(self):
         """switch control off"""

frappy_psi/motorvalve.py

@@ -198,6 +198,10 @@ class MotorValve(PersistentMixin, Drivable):
 
     @Command
     def stop(self):
+        """stop at current position
+
+        state will probably be undefined
+        """
         self._state.stop()
         self.motor.stop()
 

frappy_psi/parmod.py

@@ -22,7 +22,7 @@
 """modules to access parameters"""
 
 from frappy.core import Drivable, EnumType, IDLE, Attached, StringType, Property, \
-    Parameter, FloatRange, Readable, ERROR
+    Parameter, BoolType, FloatRange, Readable, ERROR, nopoll
 from frappy.errors import ConfigError
 from frappy_psi.convergence import HasConvergence
 from frappy_psi.mixins import HasRamp
@@ -72,19 +72,21 @@ class Driv(Drivable):
             raise ConfigError('illegal recursive read/write module')
         super().checkProperties()
 
-    #def registerUpdates(self):
-    #    self.read.valueCallbacks[self.read_param].append(self.update_value)
-    #    self.write.valueCallbacks[self.write_param].append(self.update_target)
-    #
-    #def startModule(self, start_events):
-    #    start_events.queue(self.registerUpdates)
-    #    super().startModule(start_events)
+    def registerUpdates(self):
+        self.read.addCallback(self.read_param, self.announceUpdate, 'value')
+        self.write.addCallback(self.write_param, self.announceUpdate, 'target')
 
+    def startModule(self, start_events):
+        start_events.queue(self.registerUpdates)
+        super().startModule(start_events)
+
+    @nopoll
     def read_value(self):
-        return getattr(self.read, f'{self.read_param}')
+        return getattr(self.read, f'read_{self.read_param}')()
 
+    @nopoll
     def read_target(self):
-        return getattr(self.write, f'{self.write_param}')
+        return getattr(self.write, f'read_{self.write_param}')()
 
     def read_status(self):
         return IDLE, ''
@@ -130,7 +132,7 @@ def set_enabled(modobj, value):
 
 
 def get_value(obj, default):
-    """get the value of given module. if not valid, return the limit (min_high or max_low)"""
+    """get the value of given module. if not valid, return the default"""
     if not getattr(obj, 'enabled', True):
         return default
     # consider also that a value 0 is invalid
@@ -148,14 +150,14 @@ class SwitchDriv(HasConvergence, Drivable):
     max_low = Parameter('maximum low target', FloatRange(unit='$'), readonly=False)
     # disable_other = Parameter('whether to disable unused channel', BoolType(), readonly=False)
     selected = Parameter('selected module', EnumType(low=LOW, high=HIGH), readonly=False, default=0)
-    _switch_target = None  # if not None, switch to selection mhen mid range is reached
+    autoswitch = Parameter('switch sensor automatically', BoolType(), readonly=False, default=True)
+    _switch_target = None  # if not None, switch to selection when mid range is reached
 
     # TODO: copy units from attached module
     # TODO: callbacks for updates
 
     def doPoll(self):
         super().doPoll()
-        if self.isBusy():
         if self._switch_target is not None:
             mid = (self.min_high + self.max_low) * 0.5
             if self._switch_target == HIGH:
@@ -166,33 +168,43 @@ class SwitchDriv(HasConvergence, Drivable):
                     self.write_target(self.target)
                     return
             else:
-                    high = get_value(self.high, mid)  # return mid then high is invalid
-                    if high < mid:
+                high = get_value(self.high, mid)  # return mid when high is invalid
+                if high < mid:  # change to self.max_low
                     self.value = self.high.value
                     self._switch_target = None
                     self.write_target(self.target)
                     return
-        else:
+        if not self.isBusy() and self.autoswitch:
             low = get_value(self.low, self.max_low)
             high = get_value(self.high, self.min_high)
             low_valid = low < self.max_low
             high_valid = high > self.min_high
             if high_valid and high > self.max_low:
-                if not low_valid:
+                if not low_valid and not self.low.control_active:
                     set_enabled(self.low, False)
                 return
             if low_valid and low < self.min_high:
-                if not high_valid:
+                if not high_valid and not self.high.control_active:
                     set_enabled(self.high, False)
                 return
-            set_enabled(self.low, True)
-            set_enabled(self.high, True)
+            # keep only one channel on
+            #set_enabled(self.low, True)
+            #set_enabled(self.high, True)
+
+    def get_selected(self):
+        low = get_value(self.low, self.max_low)
+        high = get_value(self.high, self.min_high)
+        if low < self.min_high:
+            return 0
+        if high > self.max_low:
+            return 1
+        return self.selected
 
     def read_value(self):
-        return self.low.value if self.selected == LOW else self.high.value
+        return self.low.value if self.get_selected() == LOW else self.high.value
 
     def read_status(self):
-        status = self.low.status if self.selected == LOW else self.high.status
+        status = self.low.status if self.get_selected() == LOW else self.high.status
         if status[0] >= ERROR:
             return status
         return super().read_status()  # convergence status
@@ -202,21 +214,22 @@ class SwitchDriv(HasConvergence, Drivable):
         selected = self.selected
         target1 = target
         self._switch_target = None
-        if target > self.max_low:
+        if target > self.max_low * 0.75 + self.min_high * 0.25:
             if self.value < self.min_high:
-                target1 = self.max_low
+                target1 = min(target, self.max_low)
                 self._switch_target = HIGH
                 selected = LOW
             else:
                 this, other = other, this
                 selected = HIGH
-        elif target < self.min_high:
-            if self.value > self.max_low:
-                target1 = self.min_high
-                self._switch_target = LOW
-                this, other = other, this
-                selected = HIGH
-            else:
+        elif target < self.min_high * 0.75 + self.max_low * 0.25:
+            # reinstall this with higher threshold (e.g. 4 K)?
+            #if self.value > self.max_low:
+            #    target1 = max(self.min_high, target)
+            #    self._switch_target = LOW
+            #    this, other = other, this
+            #    selected = HIGH
+            #else:
             selected = LOW
         elif self.selected == HIGH:
             this, other = other, this

frappy_psi/ppms.py

@@ -483,6 +483,10 @@ class Temp(PpmsDrivable):
         self._expected_target_time = time.time() + abs(target - self.value) * 60.0 / max(0.1, ramp)
 
     def stop(self):
+        """set setpoint to current value
+
+        but restrict to values between last target and current target
+        """
         if not self.isDriving():
             return
         if self.status[0] != StatusType.STABILIZING:
@@ -612,6 +616,7 @@ class Field(PpmsDrivable):
         # do not execute FIELD command, as this would trigger a ramp up of leads current
 
     def stop(self):
+        """stop at current driven Field"""
         if not self.isDriving():
             return
         newtarget = clamp(self._last_target, self.value, self.target)
@@ -714,6 +719,7 @@ class Position(PpmsDrivable):
         return value  # do not execute MOVE command, as this would trigger an unnecessary move
 
     def stop(self):
+        """stop motor"""
         if not self.isDriving():
             return
         newtarget = clamp(self._last_target, self.value, self.target)

frappy_psi/pulse.py

@@ -1,74 +0,0 @@
-# *****************************************************************************
-# This program is free software; you can redistribute it and/or modify it under
-# the terms of the GNU General Public License as published by the Free Software
-# Foundation; either version 2 of the License, or (at your option) any later
-# version.
-#
-# This program is distributed in the hope that it will be useful, but WITHOUT
-# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
-# details.
-#
-# You should have received a copy of the GNU General Public License along with
-# this program; if not, write to the Free Software Foundation, Inc.,
-# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
-#
-# Module authors: Oksana Shliakhtun <oksana.shliakhtun@psi.ch>
-# *****************************************************************************
-"""Keithley Instruments 2601B-PULSE System (not finished)"""
-
-from frappy.core import StringIO, HasIO, Readable, Writable, \
-    Parameter, FloatRange, EnumType
-
-
-class PulseIO(StringIO):
-    end_of_line = '\n'
-    identification = [('*IDN?', 'Keithley Instruments, Model 2601B-PULSE,.*')]
-
-
-class Base(HasIO):
-
-    def set_source(self):
-        """
-        Set the source -always current
-        :return:
-        """
-        return self.communicate(f'smua.source.func = smua.OUTPUT_DCAMPS')
-
-    def get_par(self, cmd):
-        return self.communicate(f'reading = smua.measure.{cmd}()')
-
-    def auto_onof(self, val):
-        if val == 1:
-            return f'smua.AUTORANGE_ON'
-        if val == 0:
-            return f'smua.AUTORANGE_OFF'
-
-    def set_measure(self, cmd, val):
-        return self.communicate(f'smua.measure.{cmd} = {val}')
-
-
-class Create_Pulse(Base, Readable, Writable):
-    target = Parameter('source target', FloatRange, unit='A', readonly=False)
-    width = Parameter('pulse width', FloatRange, unit="s", readonly=False)
-    resistance = Parameter('resistance', FloatRange)
-
-    SOURCE_RANGE = ['100nA', '1uA', '10uA', '100uA', '1mA', '10mA', '100mA', '1A', '3A']
-    range = Parameter('source range', EnumType('source range',
-                                               {name: idx for idx, name in enumerate(SOURCE_RANGE)}), readonly=False)
-
-    def read_range(self):
-        return self.range
-
-    def write_range(self, range):
-        self.communicate(f'smua.source.rangei = {range}')
-        return self.range
-
-    def write_target(self, target):
-        return self.communicate(f'smua.source.leveli = {target}')
-
-    def read_resistance(self):
-        return self.communicate('reading = smua.measure.r()')
-
-
-class Script(Create_Pulse):

frappy_psi/qnw.py

@@ -16,7 +16,7 @@
 # Module authors:
 #   Oksana Shliakhtun <oksana.shliakhtun@psi.ch>
 # *****************************************************************************
-"""Temperature Controller TC1 Quantum NorthWest"""
+
 
 from frappy.core import Readable, Parameter, FloatRange, IDLE, ERROR, BoolType,\
     StringIO, HasIO, Property, WARN, Drivable, BUSY, StringType, Done
@@ -31,17 +31,10 @@ class QnwIO(StringIO):
 
 class SensorTC1(HasIO, Readable):
     ioClass = QnwIO
-    value = Parameter(unit='degC', min=-55, max=150)
+    value = Parameter(unit='degC', min=-15, max=120)
     channel = Property('channel name', StringType())
 
     def set_param(self, adr, value=None):
-        """
-        Set parameter.
-        Every command starts with "[F1", and the end of line is "]".
-        :param adr: second part of the command
-        :param value: value to set
-        :return: value converted to float
-        """
         short = adr.split()[0]
         # try 3 times in case we got an asynchronous message
         for _ in range(3):
@@ -73,7 +66,7 @@ class SensorTC1(HasIO, Readable):
 
 class TemperatureLoopTC1(SensorTC1, Drivable):
     value = Parameter('temperature', unit='degC')
-    target = Parameter('setpoint', unit='degC', min=-55, max=150)
+    target = Parameter('setpoint', unit='degC', min=-5, max=110)
     control = Parameter('temperature control flag', BoolType(), readonly=False)
     ramp = Parameter('ramping value', FloatRange, unit='degC/min', readonly=False)
     ramp_used = Parameter('ramping status', BoolType(), default=False, readonly=False)
@@ -87,16 +80,6 @@ class TemperatureLoopTC1(SensorTC1, Drivable):
         return self.get_param('MT')
 
     def read_status(self):
-        """
-        the device returns 4 symbols according to the current status. These symbols are:
-        ”0” or “1” - number of unreported errors
-        ”+” or “-” - stirrer is on/off
-        ”+” or ”-” -  temperature control is on/off
-        ”S” or “C” - current sample holder tempeerature is stable/changing
-        There could be the fifth status symbol:
-        ”+” or “-” or “W” - rampping is on/off/waiting
-        :return: status messages
-        """
         status = super().read_status()
         if status[0] == ERROR:
             return status
@@ -158,5 +141,6 @@ class TemperatureLoopTC1(SensorTC1, Drivable):
         return value
 
     def stop(self):
+        """stop at current value (does nothing if ramp is not used)"""
         if self.control and self.ramp_used:
             self.write_target(self.value)

frappy_psi/sea.py

@@ -39,12 +39,13 @@ from os.path import expanduser, join, exists
 from frappy.client import ProxyClient
 from frappy.datatypes import ArrayOf, BoolType, \
     EnumType, FloatRange, IntRange, StringType
-from frappy.errors import ConfigError, HardwareError, secop_error, CommunicationFailedError
+from frappy.core import IDLE, BUSY, ERROR
+from frappy.errors import ConfigError, HardwareError, CommunicationFailedError
 from frappy.lib import generalConfig, mkthread
 from frappy.lib.asynconn import AsynConn, ConnectionClosed
-from frappy.modules import Attached, Command, Done, Drivable, \
+from frappy.modulebase import Done
+from frappy.modules import Attached, Command, Drivable, \
     Module, Parameter, Property, Readable, Writable
-from frappy.protocol.dispatcher import make_update
 
 
 CFG_HEADER = """Node('%(config)s.sea.psi.ch',
@@ -107,7 +108,6 @@ class SeaClient(ProxyClient, Module):
     service = Property("main/stick/addons", StringType(), default='')
     visibility = 'expert'
     default_json_file = {}
-    _connect_thread = None
     _instance = None
     _last_connect = 0
 
@@ -124,6 +124,8 @@ class SeaClient(ProxyClient, Module):
         self.shutdown = False
         self.path2param = {}
         self._write_lock = threading.Lock()
+        self._connect_thread = None
+        self._connected = False
         config = opts.get('config')
         if isinstance(config, dict):
             config = config['value']
@@ -135,14 +137,11 @@ class SeaClient(ProxyClient, Module):
         Module.__init__(self, name, log, opts, srv)
 
     def doPoll(self):
-        if not self.asynio and time.time() > self._last_connect + 10:
-            with self._write_lock:
-                # make sure no more connect thread is running
-                if self._connect_thread and self._connect_thread.isAlive():
-                    return
+        if not self._connected and time.time() > self._last_connect + 10:
             if not self._last_connect:
                 self.log.info('reconnect to SEA %s', self.service)
-                self._connect_thread = mkthread(self._connect, None)
+            if self._connect_thread is None:
+                self._connect_thread = mkthread(self._connect)
 
     def register_obj(self, module, obj):
         self.objects.add(obj)
@@ -150,15 +149,13 @@ class SeaClient(ProxyClient, Module):
             self.path2param.setdefault(k, []).extend(v)
         self.register_callback(module.name, module.updateEvent)
 
-    def _connect(self, started_callback):
-        self.asynio = None
+    def _connect(self):
+        try:
             if self.syncio:
-            # trigger syncio reconnect in self.request()
                 try:
                     self.syncio.disconnect()
                 except Exception:
                     pass
-        self.syncio = None
             self._last_connect = time.time()
             if self._instance:
                 try:
@@ -179,32 +176,34 @@ class SeaClient(ProxyClient, Module):
                     break
             else:
                 raise CommunicationFailedError('reply %r should be "Login OK"' % reply)
-        result = self.request('frappy_config %s %s' % (self.service, self.config))
-        if result.startswith('ERROR:'):
-            raise CommunicationFailedError(f'reply from frappy_config: {result}')
-        # frappy_async_client switches to the json protocol (better for updates)
-        self.asynio.writeline(b'frappy_async_client')
-        self.asynio.writeline(('get_all_param ' + ' '.join(self.objects)).encode())
-        self._connect_thread = None
-        mkthread(self._rxthread, started_callback)
-
-    def request(self, command, quiet=False):
-        """send a request and wait for reply"""
-        with self._write_lock:
-            if not self.syncio or not self.syncio.connection:
-                if not self.asynio or not self.asynio.connection:
-                    try:
-                        self._connect_thread.join()
-                    except AttributeError:
-                        pass
-                    # let doPoll do the reconnect
-                    self.pollInfo.trigger(True)
-                    raise ConnectionClosed('disconnected - reconnect later')
             self.syncio = AsynConn(self.uri)
             assert self.syncio.readline() == b'OK'
             self.syncio.writeline(b'seauser seaser')
             assert self.syncio.readline() == b'Login OK'
             self.log.info('connected to %s', self.uri)
+
+            result = self.raw_request('frappy_config %s %s' % (self.service, self.config))
+            if result.startswith('ERROR:'):
+                raise CommunicationFailedError(f'reply from frappy_config: {result}')
+            # frappy_async_client switches to the json protocol (better for updates)
+            self.asynio.writeline(b'frappy_async_client')
+            self.asynio.writeline(('get_all_param ' + ' '.join(self.objects)).encode())
+            self._connected = True
+            mkthread(self._rxthread)
+        finally:
+            self._connect_thread = None
+
+    def request(self, command, quiet=False):
+        with self._write_lock:
+            if not self._connected:
+                if self._connect_thread is None:
+                    # let doPoll do the reconnect
+                    self.pollInfo.trigger(True)
+                raise ConnectionClosed('disconnected - reconnect is tried later')
+            return self.raw_request(command, quiet)
+
+    def raw_request(self, command, quiet=False):
+        """send a request and wait for reply"""
         try:
             self.syncio.flush_recv()
             ft = 'fulltransAct' if quiet else 'fulltransact'
@@ -233,16 +232,22 @@ class SeaClient(ProxyClient, Module):
                     result = [reply.split('=', 1)[-1]]
                 else:
                     result.append(reply)
+            raise TimeoutError('no response within 10s')
         except ConnectionClosed:
+            self.close_connections()
+            raise
+
+    def close_connections(self):
+        connections = self.syncio, self.asynio
+        self._connected = False
+        self.syncio = self.asynio = None
+        for conn in connections:
             try:
-                    self.syncio.disconnect()
+                conn.disconnect()
             except Exception:
                 pass
-                self.syncio = None
-                raise
-        raise TimeoutError('no response within 10s')
 
-    def _rxthread(self, started_callback):
+    def _rxthread(self):
         recheck = None
         while not self.shutdown:
             if recheck and time.time() > recheck:
@@ -258,11 +263,7 @@ class SeaClient(ProxyClient, Module):
                 if reply is None:
                     continue
             except ConnectionClosed:
-                try:
-                    self.asynio.disconnect()
-                except Exception:
-                    pass
-                self.asynio = None
+                self.close_connections()
                 break
             try:
                 msg = json.loads(reply)
@@ -289,9 +290,6 @@ class SeaClient(ProxyClient, Module):
                 data = msg['data']
             if flag == 'finish' and obj == 'get_all_param':
                 # first updates have finished
-                if started_callback:
-                    started_callback()
-                    started_callback = None
                 continue
             if flag != 'hdbevent':
                 if obj not in ('frappy_async_client', 'get_all_param'):
@@ -352,7 +350,7 @@ class SeaClient(ProxyClient, Module):
 class SeaConfigCreator(SeaClient):
     def startModule(self, start_events):
         """save objects (and sub-objects) description and exit"""
-        self._connect(None)
+        self._connect()
         reply = self.request('describe_all')
         reply = ''.join('' if line.startswith('WARNING') else line for line in reply.split('\n'))
         description, reply = json.loads(reply)
@@ -644,22 +642,7 @@ class SeaModule(Module):
         if upd:
             upd(value, timestamp, readerror)
             return
-        try:
-            pobj = self.parameters[parameter]
-        except KeyError:
-            self.log.error('do not know %s:%s', self.name, parameter)
-            raise
-        pobj.timestamp = timestamp
-        # should be done here: deal with clock differences
-        if not readerror:
-            try:
-                pobj.value = value  # store the value even in case of a validation error
-                pobj.value = pobj.datatype(value)
-            except Exception as e:
-                readerror = secop_error(e)
-        pobj.readerror = readerror
-        if pobj.export:
-            self.secNode.srv.dispatcher.broadcast_event(make_update(self.name, pobj))
+        self.announceUpdate(parameter, value, readerror, timestamp)
 
     def initModule(self):
         self.io.register_obj(self, self.sea_object)
@@ -670,20 +653,35 @@ class SeaModule(Module):
 
 
 class SeaReadable(SeaModule, Readable):
+    _readerror = None
+    _status = IDLE, ''
+
+    def update_value(self, value, timestamp, readerror):
+        # make sure status is always ERROR when reading value fails
+        self._readerror = readerror
+        if readerror:
+            self.read_status()  # forced ERROR status
+            self.announceUpdate('value', value, readerror, timestamp)
+        else:  # order is important
+            self.value = value  # includes announceUpdate
+            self.read_status()  # send event for ordinary self._status
 
     def update_status(self, value, timestamp, readerror):
         if readerror:
-            value = repr(readerror)
+            value = f'{readerror.name} - {readerror}'
         if value == '':
-            self.status = (self.Status.IDLE, '')
+            self._status = IDLE, ''
         else:
-            self.status = (self.Status.ERROR, value)
+            self._status = ERROR, value
+        self.read_status()
 
     def read_status(self):
-        return self.status
+        if self._readerror:
+            return ERROR, f'{self._readerror.name} - {self._readerror}'
+        return self._status
 
 
-class SeaWritable(SeaModule, Writable):
+class SeaWritable(SeaReadable, Writable):
     def read_value(self):
         return self.target
 
@@ -693,20 +691,13 @@ class SeaWritable(SeaModule, Writable):
             self.value = value
 
 
-class SeaDrivable(SeaModule, Drivable):
-    _sea_status = ''
+class SeaDrivable(SeaReadable, Drivable):
     _is_running = 0
 
     def earlyInit(self):
         super().earlyInit()
         self._run_event = threading.Event()
 
-    def read_status(self):
-        return self.status
-
-    # def read_target(self):
-    #    return self.target
-
     def write_target(self, value):
         self._run_event.clear()
         self.io.query(f'run {self.sea_object} {value}')
@@ -714,25 +705,20 @@ class SeaDrivable(SeaModule, Drivable):
             self.log.warn('target changed but is_running stays 0')
         return value
 
-    def update_status(self, value, timestamp, readerror):
-        if not readerror:
-            self._sea_status = value
-            self.updateStatus()
-
     def update_is_running(self, value, timestamp, readerror):
         if not readerror:
             self._is_running = value
-            self.updateStatus()
+            self.read_status()
             if value:
                 self._run_event.set()
 
-    def updateStatus(self):
-        if self._sea_status:
-            self.status = (self.Status.ERROR, self._sea_status)
-        elif self._is_running:
-            self.status = (self.Status.BUSY, 'driving')
-        else:
-            self.status = (self.Status.IDLE, '')
+    def read_status(self):
+        status = super().read_status()
+        if self._is_running:
+            if status[0] >= ERROR:
+                return ERROR, 'BUSY + ' + status[1]
+            return BUSY, 'driving'
+        return status
 
     def updateTarget(self, module, parameter, value, timestamp, readerror):
         if value is not None:

frappy_psi/softcal.py

@@ -27,7 +27,7 @@ import numpy as np
 from scipy.interpolate import splev, splrep  # pylint: disable=import-error
 
 from frappy.core import Attached, BoolType, Parameter, Readable, StringType, \
-    FloatRange
+    FloatRange, nopoll
 
 
 def linear(x):
@@ -195,35 +195,40 @@ class Sensor(Readable):
         if self.description == '_':
             self.description = f'{self.rawsensor!r} calibrated with curve {self.calib!r}'
 
-    def doPoll(self):
-        self.read_status()
-
     def write_calib(self, value):
         self._calib = CalCurve(value)
         return value
 
-    def update_value(self, value):
+    def _get_value(self, rawvalue):
         if self.abs:
-            value = abs(float(value))
-        self.value = self._calib(value)
-        self._value_error = None
+            rawvalue = abs(float(rawvalue))
+        return self._calib(rawvalue)
 
-    def error_update_value(self, err):
+    def _get_status(self, rawstatus):
+        return rawstatus if self._value_error is None else (self.Status.ERROR, self._value_error)
+
+    def update_value(self, rawvalue, err=None):
+        if err:
             if self.abs and str(err) == 'R_UNDER':  # hack: ignore R_UNDER from ls370
                 self._value_error = None
-            return None
-        self._value_error = repr(err)
-        raise err
-
-    def update_status(self, value):
-        if self._value_error is None:
-            self.status = value
+                return
+            err = repr(err)
         else:
-            self.status = self.Status.ERROR, self._value_error
+            try:
+                self.value = self._get_value(rawvalue)
+            except Exception as e:
+                err = repr(e)
+        if err != self._value_error:
+            self._value_error = err
+            self.status = self._get_status(self.rawsensor.status)
 
+    def update_status(self, rawstatus):
+        self.status = self._get_status(rawstatus)
+
+    @nopoll
     def read_value(self):
-        return self._calib(self.rawsensor.read_value())
+        return self._get_value(self.rawsensor.read_value())
 
+    @nopoll
     def read_status(self):
-        self.update_status(self.rawsensor.status)
-        return self.status
+        return self._get_status(self.rawsensor.read_status())

frappy_psi/triton.py

@@ -26,6 +26,7 @@ from frappy.datatypes import EnumType, FloatRange, StringType
 from frappy.lib.enum import Enum
 from frappy_psi.mercury import MercuryChannel, Mapped, off_on, HasInput
 from frappy_psi import mercury
+from frappy_psi.frozenparam import FrozenParam
 
 actions = Enum(none=0, condense=1, circulate=2, collect=3)
 open_close = Mapped(CLOSE=0, OPEN=1)
@@ -39,22 +40,23 @@ class Action(MercuryChannel, Writable):
     mix_channel = Property('mix channel', StringType(), 'T5')
     still_channel = Property('cool down channel', StringType(), 'T4')
     value = Parameter('running action', EnumType(actions))
-    target = Parameter('action to do', EnumType(none=0, condense=1, collect=3), readonly=False)
+    target = FrozenParam('action to do', EnumType(none=0, condense=1, collect=3), readonly=False)
     _target = 0
 
     def read_value(self):
         return self.query('SYS:DR:ACTN', actions_map)
 
-    def read_target(self):
-        return self._target
+    # as target is a FrozenParam, value might be still lag behind target
+    # but will be updated when changed from an other source
+    read_target = read_value
 
     def write_target(self, value):
-        self._target = value
         self.change('SYS:DR:CHAN:COOL', self.cooldown_channel, str)
         self.change('SYS:DR:CHAN:STIL', self.still_channel, str)
         self.change('SYS:DR:CHAN:MC', self.mix_channel, str)
         self.change('DEV:T5:TEMP:MEAS:ENAB', 'ON', str)
-        return self.change('SYS:DR:ACTN', value, actions_map)
+        self.change('SYS:DR:ACTN', value, actions_map)
+        return value
 
     # actions:
     # NONE (no action)
@@ -74,7 +76,7 @@ class Action(MercuryChannel, Writable):
 class Valve(MercuryChannel, Drivable):
     kind = 'VALV'
     value = Parameter('valve state', EnumType(closed=0, opened=1))
-    target = Parameter('valve target', EnumType(close=0, open=1))
+    target = FrozenParam('valve target', EnumType(close=0, open=1))
 
     _try_count = None
 
@@ -108,6 +110,10 @@ class Valve(MercuryChannel, Drivable):
         self.change('DEV::VALV:SIG:STATE', self.target, open_close)
         return BUSY, 'waiting'
 
+    # as target is a FrozenParam, value might be still lag behind target
+    # but will be updated when changed from an other source
+    read_target = read_value
+
     def write_target(self, value):
         if value != self.read_value():
             self._try_count = 0
@@ -120,13 +126,18 @@ class Valve(MercuryChannel, Drivable):
 class Pump(MercuryChannel, Writable):
     kind = 'PUMP'
     value = Parameter('pump state', EnumType(off=0, on=1))
-    target = Parameter('pump target', EnumType(off=0, on=1))
+    target = FrozenParam('pump target', EnumType(off=0, on=1))
 
     def read_value(self):
         return self.query('DEV::PUMP:SIG:STATE', off_on)
 
+    # as target is a FrozenParam, value might be still lag behind target
+    # but will be updated when changed from an other source
+    read_target = read_value
+
     def write_target(self, value):
-        return self.change('DEV::PUMP:SIG:STATE', value, off_on)
+        self.change('DEV::PUMP:SIG:STATE', value, off_on)
+        return value
 
     def read_status(self):
         return IDLE, ''

frappy_psi/uniax.py

@@ -411,6 +411,7 @@ class Uniax(PersistentMixin, Drivable):
 
     @Command()
     def stop(self):
+        """stop motor and control"""
         if self.motor.isBusy():
             self.log.info('stop motor')
             self.motor_stop()

requirements.txt

@@ -5,6 +5,8 @@ mlzlog >=0.2.0
 # daemonizing
 psutil
 python-daemon >=2.0
+# websocket interface:
+websockets>=11.0
 # for zmq interface
 #pyzmq>=13.1.0
 #for ppms on windows

test/test_attach.py

@@ -19,6 +19,7 @@
 #
 # *****************************************************************************
 
+from frappy.io import HasIO
 from frappy.modules import Module, Attached
 from frappy.protocol.dispatcher import Dispatcher
 
@@ -29,6 +30,9 @@ class LoggerStub:
     info = warning = exception = debug
     handlers = []
 
+    def getChild(self, name):
+        return self
+
 
 logger = LoggerStub()
 
@@ -51,6 +55,7 @@ class ServerStub:
     def __init__(self):
         self.secnode = SecNodeStub()
         self.dispatcher = Dispatcher('dispatcher', logger, {}, self)
+        self.log = logger
 
 
 def test_attach():
@@ -64,3 +69,22 @@ def test_attach():
     srv.secnode.add_module(a, 'a')
     srv.secnode.add_module(m, 'm')
     assert m.att == a
+
+
+def test_attach_hasio_uri():
+    class TestIO(Module):
+        def __init__(self, name, logger, cfgdict, srv):
+            self._uri = cfgdict.pop('uri')
+            super().__init__(name, logger, cfgdict, srv)
+
+    class HasIOTest(HasIO):
+        ioClass = TestIO
+
+    srv = ServerStub()
+    m = HasIOTest('m', logger, {'description': '', 'uri': 'abc'}, srv)
+    assert srv.secnode.modules['m_io']._uri == 'abc'
+    assert m.io == srv.secnode.modules['m_io']
+    # two modules with the same IO should use the same io module
+    m2 = HasIOTest('m', logger, {'description': '', 'uri': 'abc'}, srv)
+    assert m2.io == srv.secnode.modules['m_io']
+

test/test_callbacks.py

@@ -0,0 +1,155 @@
+# *****************************************************************************
+#
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Markus Zolliker <markus.zolliker@psi.ch>
+#
+# *****************************************************************************
+"""test parameter callbacks"""
+
+from test.test_modules import LoggerStub, ServerStub
+import pytest
+from frappy.core import Module, Parameter, FloatRange
+from frappy.errors import WrongTypeError
+
+
+WRONG_TYPE = WrongTypeError()
+
+
+class Mod(Module):
+    a = Parameter('', FloatRange())
+    b = Parameter('', FloatRange())
+    c = Parameter('', FloatRange())
+
+    def read_a(self):
+        raise WRONG_TYPE
+
+    def read_b(self):
+        raise WRONG_TYPE
+
+    def read_c(self):
+        raise WRONG_TYPE
+
+
+class Dbl(Module):
+    a = Parameter('', FloatRange())
+    b = Parameter('', FloatRange())
+    c = Parameter('', FloatRange())
+    _error_a = None
+    _value_b = None
+    _error_c = None
+
+    def update_a(self, value, err=None):
+        # treat error updates
+        try:
+            self.a = value * 2
+        except TypeError:  # value is None -> err
+            self.announceUpdate('a', None, err)
+
+    def update_b(self, value):
+        self._value_b = value
+        # error updates are ignored
+        self.b = value * 2
+
+
+def make(cls):
+    logger = LoggerStub()
+    srv = ServerStub({})
+    return cls('mod1', logger, {'description': ''}, srv)
+
+
+def test_simple_callback():
+    mod1 = make(Mod)
+    result = []
+
+    def cbfunc(arg1, arg2, value):
+        result[:] = arg1, arg2, value
+
+    mod1.addCallback('a', cbfunc, 'ARG1', 'arg2')
+
+    mod1.a = 1.5
+    assert result == ['ARG1', 'arg2', 1.5]
+
+    result.clear()
+
+    with pytest.raises(WrongTypeError):
+        mod1.read_a()
+
+    assert not result  # callback function is NOT called
+
+
+def test_combi_callback():
+    mod1 = make(Mod)
+    result = []
+
+    def cbfunc(arg1, arg2, value, err=None):
+        result[:] = arg1, arg2, value, err
+
+    mod1.addCallback('a', cbfunc, 'ARG1', 'arg2')
+
+    mod1.a = 1.5
+    assert result == ['ARG1', 'arg2', 1.5, None]
+
+    result.clear()
+
+    with pytest.raises(WrongTypeError):
+        mod1.read_a()
+
+    assert result[:3] == ['ARG1', 'arg2', None]  # callback function called with value None
+    assert isinstance(result[3], WrongTypeError)
+
+
+def test_autoupdate():
+    mod1 = make(Mod)
+    mod2 = make(Dbl)
+    mod1.registerCallbacks(mod2, autoupdate=['c'])
+
+    result = {}
+
+    def cbfunc(pname, *args):
+        result[pname] = args
+
+    for param in 'a', 'b', 'c':
+        mod2.addCallback(param, cbfunc, param)
+
+    # test update_a without error
+    mod1.a = 5
+    assert mod2.a == 10
+    assert result.pop('a') == (10,)
+
+    # test update_a with error
+    with pytest.raises(WrongTypeError):
+        mod1.read_a()
+
+    assert result.pop('a') == (None, WRONG_TYPE)
+
+    # test that update_b is ignored in case of error
+    mod1.b = 3
+    assert mod2.b == 6  # no error
+    assert result.pop('b') == (6,)
+
+    with pytest.raises(WrongTypeError):
+        mod1.read_b()
+    assert 'b' not in result
+
+    # test autoupdate
+    mod1.c = 3
+    assert mod2.c == 3
+    assert result['c'] == (3,)
+
+    with pytest.raises(WrongTypeError):
+        mod1.read_c()
+    assert result['c'] == (None, WRONG_TYPE)

test/test_extparams.py

@@ -18,12 +18,14 @@
 #   Markus Zolliker <markus.zolliker@psi.ch>
 #
 # *****************************************************************************
-"""test frappy.mixins.HasCtrlPars"""
+"""test frappy.extparams"""
 
 
 from test.test_modules import LoggerStub, ServerStub
+import pytest
 from frappy.core import FloatRange, Module, Parameter
-from frappy.structparam import StructParam
+from frappy.extparams import StructParam, FloatEnumParam
+from frappy.errors import ProgrammingError
 
 
 def test_with_read_ctrlpars():
@@ -130,3 +132,76 @@ def test_order_dependence1():
 def test_order_dependence2():
     test_with_read_ctrlpars()
     test_without_read_ctrlpars()
+
+
+def test_float_enum():
+    class Mod(Module):
+        vrange = FloatEnumParam('voltage range', [
+            (1, '50uV'), '200 µV', '1mV', ('5mV', 0.006), (9, 'max', 0.024)], 'V')
+        gain = FloatEnumParam('gain factor', ('1', '2', '4', '8'), idx_name='igain')
+        dist = FloatEnumParam('distance', ('1m', '1mm', '1µm'), unit='m')
+
+        _vrange_idx = None
+
+        def write_vrange_idx(self, value):
+            self._vrange_idx = value
+
+    logger = LoggerStub()
+    updates = {}
+    srv = ServerStub(updates)
+
+    m = Mod('m', logger, {'description': ''}, srv)
+
+    assert m.write_vrange_idx(1) == 1
+    assert m._vrange_idx == '50uV'
+    assert m._vrange_idx == 1
+    assert m.vrange == 5e-5
+
+    assert m.write_vrange_idx(2) == 2
+    assert m._vrange_idx == '200 µV'
+    assert m._vrange_idx == 2
+    assert m.vrange == 2e-4
+
+    assert m.write_vrange(6e-5) == 5e-5  # round to the next value
+    assert m._vrange_idx == '50uV'
+    assert m._vrange_idx == 1
+    assert m.write_vrange(20e-3) == 24e-3  # round to the next value
+    assert m._vrange_idx == 'max'
+    assert m._vrange_idx == 9
+
+    for idx in range(4):
+        value = 2 ** idx
+        updates.clear()
+        assert m.write_igain(idx) == idx
+        assert updates == {'m': {'igain': idx, 'gain': value}}
+        assert m.igain == idx
+        assert m.igain == str(value)
+        assert m.gain == value
+
+    for idx in range(4):
+        value = 2 ** idx
+        assert m.write_gain(value) == value
+        assert m.igain == idx
+        assert m.igain == str(value)
+
+    for idx in range(3):
+        value = 10 ** (-3 * idx)
+        assert m.write_dist(value) == value
+        assert m.dist_idx == idx
+
+
+@pytest.mark.parametrize('labels, unit, error', [
+    (FloatRange(),      '', 'not a datatype'),     # 2nd arg must not be a datatype
+    ([(1, 2, 3)],       '', 'must be strings'),    # label is not a string
+    ([(1, '1V', 3, 4)], 'V', 'labels or tuples'),  # 4-tuple
+    ([('1A', 3, 4)],    'A', 'labels or tuples'),  # two values after label
+    (('1m', (0, '1k')), '', 'conflicts with'),     # two times index 0
+    (['1mV', '10mA'],   'V', 'not the form'),      # wrong unit
+    (['.mV'],           'V', 'not the form'),      # bad number
+    (['mV'],            'V', 'not the form'),      # missing number
+    (['1+mV'],          'V', 'not the form'),      # bad number
+])
+def test_bad_float_enum(labels, unit, error):
+    with pytest.raises(ProgrammingError, match=error):
+        class Mod(Module):  # pylint:disable=unused-variable
+            param = FloatEnumParam('', labels, unit)

test/test_modules.py

@@ -23,6 +23,8 @@
 
 import sys
 import threading
+import importlib
+from glob import glob
 import pytest
 
 from frappy.datatypes import BoolType, FloatRange, StringType, IntRange, ScaledInteger
@@ -440,12 +442,12 @@ def test_override():
     assert Mod.value.value == 5
     assert Mod.stop.description == "no decorator needed"
 
-    class Mod2(Drivable):
-        @Command()
+    class Mod2(Mod):
         def stop(self):
             pass
 
-    assert Mod2.stop.description == Drivable.stop.description
+    # inherit doc string
+    assert Mod2.stop.description == Mod.stop.description
 
 
 def test_command_config():
@@ -920,3 +922,24 @@ def test_interface_classes(bases, iface_classes):
         pass
     m = Mod('mod', LoggerStub(), {'description': 'test'}, srv)
     assert m.interface_classes == iface_classes
+
+
+all_drivables = set()
+for pyfile in glob('frappy_*/*.py'):
+    module = pyfile[:-3].replace('/', '.')
+    try:
+        importlib.import_module(module)
+    except Exception as e:
+        print(module, e)
+        continue
+    for obj_ in sys.modules[module].__dict__.values():
+        if isinstance(obj_, type) and issubclass(obj_, Drivable):
+            all_drivables.add(obj_)
+
+
+@pytest.mark.parametrize('modcls', all_drivables)
+def test_stop_doc(modcls):
+    # make sure that implemented stop methods have a doc string
+    if (modcls.stop.description == Drivable.stop.description
+            and modcls.stop.func != Drivable.stop.func):
+        assert modcls.stop.func.__doc__  # stop method needs a doc string