flowsas project as of 2025-04-14

- implement positioner as an io class
- proper shut down behaviour

Change-Id: If04176f779809fd5b08f586556cac668cf188479

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/flowsas_cfg.py

@@ -0,0 +1,60 @@
+Node('flowsas.psi.ch',
+     'flowsas test motors',
+     'tcp://3000',
+)
+
+#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/conti_flow",
+  )
+
+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 = 14.5673,
+    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 = 14.5673,
+    piston_stroke_set = 60,
+  )
+
+Mod('contiflow',
+   'frappy_psi.cetoni_pump.ContiFlowPump',
+   'Continuous flow pump',
+    io='syr_io',
+    inner_diameter_set = 14.5673,
+    piston_stroke_set = 60,
+  )

cfg/peristaltic_pump_cfg.py

@@ -0,0 +1,12 @@
+Node('flowsas.psi.ch',
+     'peristaltic pump',
+     'tcp://3000',
+)
+
+Mod('peripump',
+    'frappy_psi.gilsonpump.PeristalticPump',
+    'Peristaltic pump',
+    addr_AO = 'ao1',
+    addr_dir_relay = 'o1',
+    addr_run_relay = 'o2',
+)

cfg/pressureTest_cfg.py

@@ -0,0 +1,13 @@
+Node('vf.psi.ch',
+     'small vacuum furnace',
+     'tcp://5000',
+)
+
+Mod('p',
+    'frappy_psi.ionopimax.VoltageInput',
+    'Vacuum pressure',
+    addr = 'av2',
+    rawrange = (0, 10),
+    valuerange = (0, 10),
+    value = Param(unit='V'),
+   )

cfg/rheotrigger_cfg.py

@@ -0,0 +1,11 @@
+Node('flowsas.psi.ch',
+     'rheometer triggering',
+     'tcp://3000',
+)
+
+Mod('rheo',
+   'frappy_psi.rheo_trigger.RheoTrigger',
+   'Trigger for the rheometer',
+    addr='dt1',
+    doBeep = False,
+  )

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/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 = aobj.create_from_value(merged_properties[aname], value)
-                aobj.override(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.paramCallbacks = {}
-        self.errorCallbacks = {}
         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.paramCallbacks[pname] = []
-        self.errorCallbacks[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
-                # no change within short time -> omit
-                return
-            pobj.timestamp = timestamp or time.time()
-            if err:
-                callbacks = self.errorCallbacks
-                pobj.readerror = arg = err
             else:
-                callbacks = self.valueCallbacks
+                if not changed and timestamp < (pobj.timestamp or 0) + pobj.omit_unchanged_within:
-                arg = value
+                    # no change within short time -> omit
-                pobj.readerror = None
+                    return
+                value_err = (value,)
+            pobj.timestamp = timestamp or time.time()
+            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:
+    def addCallback(self, pname, callback_function, *args):
-                try:
+        self.paramCallbacks[pname].append((callback_function, args))
-                    cb(arg)
-                except Exception:
-                    # print(formatExtendedTraceback())
-                    pass
 
     def registerCallbacks(self, modobj, autoupdate=()):
         """register callbacks to another module <modobj>
 
-        - whenever a self.<param> changes:
+        whenever a self.<param> changes or changes its error state:
-          <modobj>.update_<param> is called with the new value as argument.
+        <modobj>.update_param(<value> [, <exc>]) is called,
-          If this method raises an exception, <modobj>.<param> gets into an error state.
+        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,
+        if the method does not exist, and <param> is in autoupdate
-          <modobj>.<param> is updated to self.<param>
+        <modobj>.announceUpdate(<pname>, <value>, <exc>) is called
-        - whenever <self>.<param> gets into an error state:
+        with <exc> being None in case of no error.
-          <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)
 
-            updfunc = getattr(modobj, 'update_' + pname, None)
+        Remark: when <modobj>.update_<param> does not accept the <exc> argument,
-            if updfunc:
+        nothing happens (the callback is catched by try / except).
-                def cb(value, ufunc=updfunc, efunc=errcb):
+        Any exceptions raised by the callback function are silently ignored.
-                    try:
+        """
-                        ufunc(value)
+        autoupdate = set(autoupdate)
-                    except Exception as e:
+        for pname in self.parameters:
-                        efunc(e)
+            cbfunc = getattr(modobj, 'update_' + pname, None)
-                self.valueCallbacks[pname].append(cb)
+            if cbfunc:
+                self.addCallback(pname, cbfunc)
             elif pname in autoupdate:
-                def cb(value, p=pname):
+                self.addCallback(pname, modobj.announceUpdate, pname)
-                    modobj.announceUpdate(p, value)
-                self.valueCallbacks[pname].append(cb)
 
     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.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:
+            if 'pollinterval' in mobj.paramCallbacks:
-                mobj.valueCallbacks['pollinterval'].append(pinfo.update_interval)
+                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):
+    def create_from_value(self, properties, value):
-        """override with a bare 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"""
@@ -234,13 +238,15 @@ class Parameter(Accessible):
                 # avoid export=True overrides export=<name>
                 self.ownProperties['export'] = self.export
 
-    def copy(self):
+    def clone(self, properties, **kwds):
-        """return a (deep) copy of ourselfs"""
+        """return a clone of ourselfs with inherited properties"""
-        res = type(self)()
+        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 +259,9 @@ class Parameter(Accessible):
                     merged_properties.pop(key)
         merged_properties.update(self.ownProperties)
 
-    def override(self, value):
+    def create_from_value(self, properties, value):
-        """override default"""
+        """return a clone with given value and inherited properties"""
-        self.value = self.datatype(value)
+        return self.clone(properties, value=self.datatype(value))
 
     def merge(self, merged_properties):
         """merge with inherited properties
@@ -390,7 +396,7 @@ 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__
@@ -439,38 +445,37 @@ 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):
+    def clone(self, properties, **kwds):
-        """return a (deep) copy of ourselfs"""
+        """return a clone of ourselfs with inherited properties"""
-        res = type(self)()
+        res = type(self)(**kwds)
         res.name = self.name
         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):
+    def create_from_value(self, properties, value):
-        """override method
+        """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
+        return self.clone(properties)(value)
-        if value.__doc__:
-            self.description = inspect.cleandoc(value.__doc__)
 
     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):
+                    self.addCallback(pname, self.saveParameters)
-                        m.saveParameters()
-                    self.valueCallbacks[pname].append(cb)
                 self.initData[pname] = pobj.value
                 if not pobj.given:
                     if pname in loaded:
@@ -129,16 +127,18 @@ 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
-            # factory default values were read in the mean time
+            # factory default values were read in the meantime
             return
         self.__save_params()
 

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/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

@@ -641,6 +641,7 @@ class AnalogOutput(PyTangoDevice, Drivable):
             sleep(0.3)
 
     def stop(self):
+        """cease driving, go to IDLE state"""
         self._dev.Stop()
 
 

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
+import threading
-from frappy.features import HasTargetLimits, HasSimpleOffset
+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
+from frappy.errors import BadValueError, HardwareError, ConfigError
-sys.path.append('/home/l_samenv/Documents/anc350/Linux64/userlib/lib')
 from PyANC350v4 import Positioner
 
 
-DIRECTION_NAME = {1: 'forward', -1: 'backward'}
+class IO(Module):
+    """'communication' module for attocube controller
 
-
+    why an extra class:
-class FreezeStatus:
+    - HasIO assures that a single common communicator is used
-    """freeze status for some time
+    - access must be thread safe
-
-    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.
     """
-    __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 initModule(self):
-        def wrapped(self, inner=cls.read_status):
+        if self._hw is None:
-            if time.time() < self.__freeze_status_until:
+            IO._lock = threading.Lock()
-                return Done
+            IO._hw = Positioner()
-            return inner(self)
+        super().initModule()
 
-        cls.read_status = wrapped
+    def shutdownModule(self):
-        super().__init_subclass__()
+        if IO._hw:
+            IO._hw.disconnect()
+            IO._hw = None
 
-    def freeze_status(self, delay, code=BUSY, text='changed target'):
+    def configureAQuadBIn(self, axisNo, enable, resolution):
-        """freezze status to the given value for the given delay"""
+        """Enables and configures the A-Quad-B (quadrature) input for the target position.
-        self.__freeze_status_until = time.time() + delay
+        Parameters
-        self.status = code, text
+            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)
+    gear = Parameter('gear factor', FloatRange(), readonly=False, value=1)
-    tolerance = Parameter('positioning tolerance', FloatRange(0, unit='$'), readonly=False, default=0.01)
+    tolerance = Parameter('positioning tolerance', FloatRange(0, unit='$'),
-    output = Parameter('enable output', BoolType(), readonly=False)
+                          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
+    _thread = None
-    _idle_status = IDLE, ''
+    _moving_since = 0
-    _error_state = ''  # empty string: no error
+    _status = IDLE, ''
-    _history = None
+    _calib_range = None
-    _check_sensor = False
+    _try_cnt = 0
-    _try_count = 0
+    _at_target = False
 
-    def __init__(self, name, logger, opts, srv):
+    def initModule(self):
-        unit = opts.pop('unit', 'deg')
+        super().initModule()
-        opts['value.unit'] = unit
+        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)
+            return self._read_pos()
-        except KeyError as e:
+        except Stopped:
-            raise ConfigError('unsupported unit: %s' % unit)
+            return self.value
-        super().__init__(name, logger, opts, srv)
 
     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)
+        self.io.setFrequency(self.axis, value)
-        return self._hw.getFrequency(self.axis)
+        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)
+        self.io.setAmplitude(self.axis, value)
-        return self._hw.getAmplitude(self.axis)
+        return self.io.getAmplitude(self.axis)
 
-    def write_tolerance(self, value):
+    def read_statusbits(self):
-        self._hw.setTargetRange(self.axis, value / self._scale)
+        self._get_status()
-        return value
+        return self.statusbits
 
-    def write_output(self, value):
+    def _get_status(self):
-        self._hw.setAxisOutput(self.axis, enable=value, autoDisable=0)
+        """get axis status
-        return value
+
+        - 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)
+        status = self._get_status()
-        sensor, self.output, moving, attarget, eot_fwd, eot_bwd, sensor_error = statusbits
+        if self.step_mode:
-        self.statusbits = ''.join((k for k, v in zip('SOMTFBE', statusbits) if v))
+            return self._status
-        if self._move_steps:
+        if self._moving_since:
-            if not (eot_fwd or eot_bwd):
+            if status[0] != BUSY:
-                return BUSY, 'moving by steps'
+                self._moving_since = 0
-        if not sensor:
+                self.setFastPoll(False)
-            self._error_state = 'no sensor connected'
+        return status
-        elif sensor_error:
+
-            self._error_state = 'sensor error'
+    def _wait(self, delay):
-        elif eot_fwd:
+        if self._stopped.wait(delay):
-            self._error_state = 'end of travel forward'
+            raise Stopped()
-        elif eot_bwd:
+
-            self._error_state = 'end of travel backward'
+    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:
+                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 _thread_wrapper(self, func, *args):
+        try:
+            func(*args)
+        except Stopped as e:
+            self._status = IDLE, str(e)
+        except Exception as e:
+            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 _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:
-            if self._error_state and not DIRECTION_NAME[self._direction] in self._error_state:
+            self._try_cnt = 0
-                self._error_state = ''
+            self.setFastPoll(True, self.fast_interval)
-            status_text = 'moving' if self._try_count == 0 else 'moving (retry %d)' % self._try_count
+            self.io.setTargetPosition(self.axis, target / self._scale)
-            if moving and self._history is not None:  # history None: moving by steps
+            self.io.setAxisOutput(self.axis, enable=1, autoDisable=0)
-                self._history.append(self.value)
+            self.io.startAutoMove(self.axis, enable=1, relative=0)
-                if len(self._history) < 5:
+            self._moving_since = time.time()
-                    return BUSY, status_text
+            self.status = self._get_status()
-                beg = self._history.pop(0)
+        return target
-                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
 
-    def write_target(self, value):
+    @Command()
-        if value == self.read_value():
+    def stop(self):
-            return value
+        if self.step_mode:
-        self.check_limits(value)
+            self._stop_thread()
-        self._try_count = 0
+            self._status = IDLE, 'stopped'
-        self._direction = 1 if value > self.value else -1
+        elif self._moving_since:
-        # if self._error_state and DIRECTION_NAME[-self._direction] not in self._error_state:
+            self._moving_since = False  # indicate stop
-        #    raise BadValueError('can not move (%s)' % self._error_state)
+        self.read_status()
-        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):
-            try:
-                self._hw.setTargetPosition(self.axis, value / self._scale)
-                self._hw.startAutoMove(self.axis, enable=1, relative=0)
-            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
 
-    def doPoll(self):
+    @Command(IntRange())
-        if self._move_steps == 0:
+    def move(self, steps):
-            super().doPoll()
+        """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)
+        previous = self._read_pos()
-        self._move_steps -= self._direction
+        self.io.setAxisOutput(self.axis, enable=1, autoDisable=0)
-        if self._move_steps % int(self.frequency) == 0:  # poll value and status every second
+        # wait for output is really on
-            super().doPoll()
+        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.io.getActuatorType(self.axis)]
-        axistype = ['linear', 'gonio', 'rotator'][self._hw.getActuatorType(self.axis)]
+        name = self.io.getActuatorName(self.axis)
-        return '%s %s %.3gnF' % (self._hw.getActuatorName(self.axis), axistype, cap)
+        cap = self.io.measureCapacitance(self.axis) * 1e9
-
+        return f'{name} {axistype} {cap:.3g}nF'
-    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)

frappy_psi/cetoni_pump.py

@@ -0,0 +1,313 @@
+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, WARN, Attached, Module
+from qmixsdk import qmixbus
+from qmixsdk import qmixpump
+from qmixsdk import qmixvalve
+from qmixsdk.qmixpump import ContiFlowProperty, ContiFlowSwitchingMode
+from qmixsdk.qmixbus import UnitPrefix, TimeUnit
+import time
+
+class LabCannBus(Module):
+    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()
+
+        with open('/sys/class/ionopimax/buzzer/beep', 'w') as f :
+            f.write('200 50 3')
+
+    def shutdownModule(self):
+        """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 = Parameter('volume', FloatRange(unit='uL'))
+    status = Parameter()
+
+    max_flow_rate = Parameter('max flow rate', FloatRange(0,100000, unit='uL/s',), readonly=True)
+    max_volume = Parameter('max volume', FloatRange(0,100000, unit='uL',), readonly=True)
+    
+    target_flow_rate = Parameter('target flow rate', FloatRange(unit='uL/s'), readonly=False)
+    real_flow_rate = Parameter('actual flow rate', FloatRange(unit='uL/s'), readonly=True)
+    
+    target = Parameter('target volume', FloatRange(unit='uL'), 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)
+
+    force = Parameter('syringe force', FloatRange(unit='kN'), readonly=True)
+    max_force = Parameter('max device force', FloatRange(unit='kN'), readonly=True)
+    force_limit = Parameter('user force limit', FloatRange(unit='kN'), readonly=False)
+
+    _resolving_force_overload = 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.micro, qmixpump.VolumeUnit.litres)
+
+        self.pump.set_flow_unit(qmixpump.UnitPrefix.micro, qmixpump.VolumeUnit.litres, qmixpump.TimeUnit.per_second)
+        
+        self.max_flow_rate = round(self.pump.get_flow_rate_max(),2)
+        self.max_volume = round(self.pump.get_volume_max(),2)
+        self.valve_pos = self.valve.actual_valve_position()
+
+        self.target_flow_rate = round(self.max_flow_rate * 0.5,2)
+        self.target = max(0, round(self.pump.get_fill_level(),2))
+
+        self.pump.enable_force_monitoring(True)
+        self.max_force = self.pump.get_max_device_force()
+        self.force_limit = self.max_force
+    
+    def read_value(self):
+        return round(self.pump.get_fill_level(),2)
+
+    def write_target(self, target):
+        if self.read_valve_pos() == 0 :
+            self.status = ERROR, 'Cannot pump if valve is closed'
+            self.log.warn('Cannot pump if valve is closed')
+            return target
+        else:
+            self.pump.set_fill_level(target, self.target_flow_rate)
+            self.status = BUSY, 'Target changed'
+            self.log.info(f'Started pumping at {self.target_flow_rate} ul/s')
+            return target
+
+    def write_target_flow_rate(self, rate):
+        self.target_flow_rate = rate
+        return rate
+
+    def read_real_flow_rate(self):
+        return round(self.pump.get_flow_is(),2)
+
+    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_force(self):
+        return round(self.pump.read_force_sensor(),3)
+
+    def read_force_limit(self):
+        return self.pump.get_force_limit()
+
+    def write_force_limit(self, limit):
+        self.pump.write_force_limit(limit)
+        return limit
+
+    def read_status(self):
+        fault_state = self.pump.is_in_fault_state()
+        pumping = self.pump.is_pumping()
+        pump_enabled = self.pump.is_enabled()
+        safety_stop_active = self.pump.is_force_safety_stop_active()
+        
+        if fault_state == True:
+            return ERROR, 'Pump in fault state'
+        elif self._resolving_force_overload :
+            return BUSY, 'Resolving force overload'
+        elif safety_stop_active:
+            return ERROR, 'Pressure safety stop'
+        elif not pump_enabled:
+            return ERROR, 'Pump not enabled'
+        elif pumping == True:
+            return BUSY, f'Pumping {self.real_flow_rate} ul/s'
+        elif self.read_valve_pos() == 0:
+            return IDLE, 'Valve closed'
+        else:
+            return IDLE, ''
+
+    @Command
+    def stop(self):
+        self.pump.stop_pumping()
+        self.target = self.pump.get_fill_level()
+        self.status = BUSY, 'Stopping'
+
+    @Command
+    def clear_errors(self):
+        """Clear fault state and enable pump"""
+        if self.pump.is_in_fault_state():
+            self.pump.clear_fault()
+            self.log.info('Cleared faults')
+        
+        if not self.pump.is_enabled():
+            self.pump.enable(True)
+            self.log.info('Pump was disabled, re-enabling')
+        
+        self.target = max(0,round(self.value,2))
+        self.status = IDLE, ''
+
+    @Command
+    def resolve_force_overload(self):
+        """Resolve a force overload situation"""
+        if not self.pump.is_force_safety_stop_active():
+            self.status = ERROR, 'No force overload detected'
+            self.log.warn('No force overload to be resolved')
+            return
+        
+        self._resolving_force_overload = True
+        self.status = BUSY, 'Resolving force overload'
+        self.pump.enable_force_monitoring(False)
+
+        flow = 0  - self.pump.get_flow_rate_max() / 100
+        self.pump.generate_flow(flow)
+
+        safety_stop_active = False
+        while not safety_stop_active:
+            time.sleep(0.1)
+            safety_stop_active = self.pump.is_force_safety_stop_active()
+        self.pump.stop_pumping()
+        self.pump.enable_force_monitoring(True)
+
+        time.sleep(0.3)
+        self._resolving_force_overload = False
+        self.status = self.read_status()
+
+class ContiFlowPump(Drivable):
+    io = Attached()
+
+    inner_diameter_set = Property('inner diameter', FloatRange(), default=1)
+    piston_stroke_set = Property('piston stroke', FloatRange(), default=60)
+
+    crossflow_seconds = Property('crossflow duration', FloatRange(unit='s'),default=2)
+    
+    value = PersistentParam('flow rate', FloatRange(unit='uL/s'))
+    status = PersistentParam()
+
+    max_refill_flow = Parameter('max refill flow', FloatRange(unit='uL/s'), readonly=True)
+    refill_flow = Parameter('refill flow', FloatRange(unit='uL/s'), readonly=False)
+
+    max_flow_rate = Parameter('max flow rate', FloatRange(0,100000, unit='uL/s',), readonly=True)
+    target = Parameter('target flow rate', FloatRange(unit='uL/s'), readonly=False)
+
+    def initModule(self):
+        super().initModule()
+
+        self.pump = qmixpump.ContiFlowPump()
+        self.pump.lookup_by_name("ContiFlowPump_1")
+
+    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.syringe_pump1 = self.pump.get_syringe_pump(0)
+        self.syringe_pump1.set_syringe_param(self.inner_diameter_set, self.piston_stroke_set)
+        self.syringe_pump2 = self.pump.get_syringe_pump(1)
+        self.syringe_pump2.set_syringe_param(self.inner_diameter_set, self.piston_stroke_set)
+        self.pump.set_volume_unit(qmixpump.UnitPrefix.micro, qmixpump.VolumeUnit.litres)
+        self.pump.set_flow_unit(qmixpump.UnitPrefix.micro, qmixpump.VolumeUnit.litres, qmixpump.TimeUnit.per_second)
+
+        self.pump.set_device_property(ContiFlowProperty.SWITCHING_MODE, ContiFlowSwitchingMode.CROSS_FLOW)
+        self.max_refill_flow = self.pump.get_device_property(ContiFlowProperty.MAX_REFILL_FLOW)
+        self.pump.set_device_property(ContiFlowProperty.REFILL_FLOW, self.max_refill_flow / 2.0)
+        self.pump.set_device_property(ContiFlowProperty.CROSSFLOW_DURATION_S, self.crossflow_seconds)
+        self.pump.set_device_property(ContiFlowProperty.OVERLAP_DURATION_S, 0)
+        
+        self.max_flow_rate = self.pump.get_flow_rate_max()
+        self.target = 0
+
+    def read_value(self):
+        return round(self.pump.get_flow_is(),3)
+
+    def write_target(self, target):
+        if target <= 0:
+            self.pump.stop_pumping()
+            self.status = self.read_status()
+            return 0
+        else:
+            self.pump.generate_flow(target)
+            self.status = BUSY, 'Target changed'
+            return target
+
+    def read_refill_flow(self):
+        return round(self.pump.get_device_property(ContiFlowProperty.REFILL_FLOW),3)
+
+    def write_refill_flow(self, refill_flow):
+        self.pump.set_device_property(ContiFlowProperty.REFILL_FLOW, refill_flow)
+        self.max_flow_rate = self.pump.get_flow_rate_max()
+        return refill_flow
+
+    def read_status(self):
+        fault_state = self.pump.is_in_fault_state()
+        pumping = self.pump.is_pumping()
+        pump_enabled = self.pump.is_enabled()
+        pump_initialised = self.pump.is_initialized()
+        pump_initialising = self.pump.is_initializing()
+        
+        if fault_state == True:
+            return ERROR, 'Pump in fault state'
+        elif not pump_enabled:
+            return ERROR, 'Pump not enabled'
+        elif not pump_initialised:
+            return WARN, 'Pump not initialised'
+        elif pump_initialising:
+            return BUSY, 'Pump initialising'
+        elif pumping == True:
+            return BUSY, 'Pumping'
+        else:
+            return IDLE, ''
+
+    @Command
+    def stop(self):
+        self.pump.stop_pumping()
+        self.target = 0
+        self.status = BUSY, 'Stopping'
+
+    @Command
+    def clear_errors(self):
+        """Clear fault state and enable pump"""
+        if self.pump.is_in_fault_state():
+            self.pump.clear_fault()
+            self.log.info('Cleared faults')
+        
+        if not self.pump.is_enabled():
+            self.pump.enable(True)
+            self.log.info('Pump was disabled, re-enabling')
+        
+        self.target = 0
+        self.status = IDLE, ''
+
+    @Command
+    def initialise(self):
+        """Initialise the ConfiFlow pump"""
+        self.pump.initialize()

frappy_psi/gilsonpump.py

@@ -0,0 +1,104 @@
+# Author: Wouter Gruenewald<wouter.gruenewald@psi.ch>
+
+from frappy.core import StringType, BoolType, EnumType, FloatRange, Parameter, Property, PersistentParam, Command, IDLE, ERROR, WARN, BUSY, Drivable
+
+
+class PeristalticPump(Drivable):
+    value = Parameter('Pump speed', FloatRange(0,100,unit="%"), default=0)
+    target = Parameter('Target pump speed', FloatRange(0,100,unit="%"), default=0)
+    status = Parameter()
+
+    addr_AO = Property('Address of the analog out', StringType())
+    addr_dir_relay = Property('Address of the direction relay', StringType())
+    addr_run_relay = Property('Address of the running relay', StringType())
+
+    direction = Parameter('pump direction', EnumType('direction', CLOCKWISE=0, ANTICLOCKWISE=1), default=0, readonly=False)
+    active = Parameter('pump running', BoolType(), default=False, readonly=False)
+
+    def initModule(self):
+        super().initModule()
+        with open('/sys/class/ionopimax/analog_out/'+self.addr_AO+'_enabled', 'w') as f :
+            f.write('0')
+        with open('/sys/class/ionopimax/analog_out/'+self.addr_AO+'_mode', 'w') as f :
+            f.write('V')
+        with open('/sys/class/ionopimax/analog_out/'+self.addr_AO, 'w') as f :
+            f.write('0')
+        with open('/sys/class/ionopimax/analog_out/'+self.addr_AO+'_enabled', 'w') as f :
+            f.write('1')
+
+    def shutdownModule(self):
+        '''Disable analog output'''
+        with open('/sys/class/ionopimax/analog_out/'+self.addr_AO, 'w') as f :
+            f.write('0')
+        with open('/sys/class/ionopimax/analog_out/'+self.addr_AO+'_enabled', 'w') as f :
+            f.write('0')
+
+    def read_value(self):
+        with open('/sys/class/ionopimax/analog_out/'+self.addr_AO, 'r') as f :
+            raw_value = f.read().strip('\n')
+        value = (int(raw_value) / 5000) * 100
+        return value
+
+    def write_target(self, target):
+        raw_value = (target / 100)*5000
+        with open('/sys/class/ionopimax/analog_out/'+self.addr_AO, 'w') as f :
+            f.write(str(int(raw_value)))
+        return target
+
+    def read_direction(self):
+        with open('/sys/class/ionopimax/digital_out/'+self.addr_dir_relay, 'r') as f :
+            raw_direction = f.read().strip('\n')
+        if raw_direction == '0' or raw_direction == 'F':
+            return 0
+        if raw_direction == '1' or raw_direction == 'S':
+            return 1
+        else:
+            return None
+
+    def write_direction(self, direction):
+        if direction == 0:
+            raw_direction = '0'
+        elif direction == 1:
+            raw_direction = '1'
+        with open('/sys/class/ionopimax/digital_out/'+self.addr_dir_relay, 'w') as f :
+            f.write(raw_direction)
+        return direction
+
+    def read_active(self):
+        with open('/sys/class/ionopimax/digital_out/'+self.addr_run_relay, 'r') as f :
+            raw_active = f.read().strip('\n')
+        if raw_active == '0' or raw_active == 'F':
+            return False
+        elif raw_active == '1' or raw_active == 'S':
+            return True
+        else:
+            return None
+
+    def write_active(self, active):
+        if active == False:
+            raw_active = '0'
+        elif active == True:
+            raw_active = '1'
+        with open('/sys/class/ionopimax/digital_out/'+self.addr_run_relay, 'w') as f :
+            f.write(raw_active)
+        return active
+
+
+    def read_status(self):
+        with open('/sys/class/ionopimax/digital_out/'+self.addr_dir_relay, 'r') as f :
+            raw_direction = f.read().strip('\n')
+        with open('/sys/class/ionopimax/digital_out/'+self.addr_run_relay, 'r') as f :
+            raw_active = f.read().strip('\n')
+
+        if raw_direction == 'F' or raw_direction == 'S':
+            return ERROR, 'Fault on direction relay'
+        elif raw_active == 'F' or raw_active == 'S':
+            return ERROR, 'Fault on pump activation relay'
+        elif self.active == True:
+            return BUSY, 'Pump running'
+        else:
+            return IDLE, ''
+
+    @Command
+    def stop(self):
+        self.write_active(False)

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, BoolType, 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):
+    def registerUpdates(self):
-    #    self.read.valueCallbacks[self.read_param].append(self.update_value)
+        self.read.addCallback(self.read_param, self.announceUpdate, 'value')
-    #    self.write.valueCallbacks[self.write_param].append(self.update_target)
+        self.write.addCallback(self.write_param, self.announceUpdate, 'target')
-    #
-    #def startModule(self, start_events):
-    #    start_events.queue(self.registerUpdates)
-    #    super().startModule(start_events)
 
+    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

frappy_psi/phytron.py

@@ -62,7 +62,7 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
 
     encoder_mode = Parameter('how to treat the encoder', EnumType('encoder', NO=0, READ=1, CHECK=2),
                              default=1, readonly=False)
-    check_limit_switches = Parameter('whethter limit switches are checked',BoolType(),
+    check_limit_switches = Parameter('whether limit switches are checked',BoolType(),
                                      default=0, readonly=False)
     value = PersistentParam('angle', FloatRange(unit='deg'))
     status = PersistentParam()
@@ -90,6 +90,8 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
     status_bits = ['power stage error', 'undervoltage', 'overtemperature', 'active',
                    'lower switch active', 'upper switch active', 'step failure', 'encoder error']
 
+    _doing_reference = False
+
     def get(self, cmd):
         return self.communicate(f'{self.address:x}{self.axis}{cmd}')
 
@@ -178,10 +180,14 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
 
     def doPoll(self):
         super().doPoll()
-        if self._running and not self.isBusy():
+        if self._running and not self.isBusy() and not self._doing_reference:
             if time.time() > self._stopped_at + 5:
                 self.log.warning('stop motor not started by us')
                 self.hw_stop()
+        if self._doing_reference and self.get('=H') == 'E' :
+            self.status = IDLE, ''
+            self.target = 0
+            self._doing_reference = False
 
     def read_status(self):
         hexstatus = 0x100
@@ -207,6 +213,9 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
         if status[0] == ERROR:
             self._blocking_error = status[1]
             return status
+        if self._doing_reference and self.get('=H') == 'N':
+            status = BUSY, 'Doing reference run'
+            return status
         return super().read_status()  # status from state machine
 
     def check_moving(self):
@@ -346,3 +355,10 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
             self.status = 'IDLE', 'after error reset'
             self._blocking_error = None
             self.target = self.value  # clear error in target
+
+    @Command
+    def make_ref_run(self):
+        '''Do reference run'''
+        self._doing_reference = True
+        self.status = BUSY, 'Doing reference run'
+        self.communicate(f'{self.address:x}{self.axis}0-')

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/qnw.py

@@ -141,5 +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/rheo_trigger.py

@@ -0,0 +1,70 @@
+from frappy.core import StringType, BoolType, Parameter, Property, PersistentParam, Command, IDLE, ERROR, WARN, Writable
+import time
+
+class RheoTrigger(Writable):
+    addr = Property('Port address', StringType())
+    value = Parameter('Output state', BoolType(), default=0)
+    target = Parameter('target', BoolType(), default=0, readonly=False)
+    status = Parameter()
+    doBeep = Property('Make noise', BoolType(), default=0)
+
+    _status = 0
+
+    def initModule(self):
+        super().initModule()
+        with open('/sys/class/ionopimax/digital_io/'+self.addr+'_mode', 'w') as f :
+            f.write('out')
+
+        if self.doBeep:
+            with open('/sys/class/ionopimax/buzzer/beep', 'w') as f :
+                f.write('200 50 3')
+
+    def read_value(self):
+        with open('/sys/class/ionopimax/digital_io/'+self.addr, 'r') as f :
+            file_value = f.read()
+        if file_value == '0\n':
+            value = False
+            self._status = 0
+        elif file_value == '1\n':
+            value = True
+            self._status = 1
+        else:
+            self._status = -1
+            value = False
+        return value
+
+    
+    def write_target(self,target):
+        if target == self.value:
+            return target
+        else: 
+            with open('/sys/class/ionopimax/digital_io/'+self.addr, 'w') as f :
+                if target == True:
+                    f.write('1')
+                elif target == False:
+                    f.write('0')
+            time.sleep(0.05)
+            if self.doBeep:
+                with open('/sys/class/ionopimax/buzzer/beep', 'w') as f :
+                    f.write('200')
+            self.status = self.read_status()
+            return target
+
+    def read_status(self):
+        self.value = self.read_value()
+        if self._status == 0:
+            return IDLE, 'Signal low'
+        elif self._status == 1:
+            return IDLE, 'Signal high'
+        else:
+            return ERROR, 'Cannot read status'
+    
+    
+    @Command
+    def toggle(self):
+        """Toggle output"""
+        value = self.read_value()
+        if value == True:
+            self.write_target(False)
+        else:
+            self.write_target(True)

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:
+        if not self._connected and time.time() > self._last_connect + 10:
-            with self._write_lock:
+            if not self._last_connect:
-                # make sure no more connect thread is running
+                self.log.info('reconnect to SEA %s', self.service)
-                if self._connect_thread and self._connect_thread.isAlive():
+            if self._connect_thread is None:
-                    return
+                self._connect_thread = mkthread(self._connect)
-                if not self._last_connect:
-                    self.log.info('reconnect to SEA %s', self.service)
-                self._connect_thread = mkthread(self._connect, None)
 
     def register_obj(self, module, obj):
         self.objects.add(obj)
@@ -150,99 +149,105 @@ class SeaClient(ProxyClient, Module):
             self.path2param.setdefault(k, []).extend(v)
         self.register_callback(module.name, module.updateEvent)
 
-    def _connect(self, started_callback):
+    def _connect(self):
-        self.asynio = None
+        try:
-        if self.syncio:
+            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:
-                from servicemanager import SeaManager  # pylint: disable=import-outside-toplevel
-                SeaManager().do_start(self._instance)
-            except ImportError:
-                pass
-        if '//' not in self.uri:
-            self.uri = 'tcp://' + self.uri
-        self.asynio = AsynConn(self.uri)
-        reply = self.asynio.readline()
-        if reply != b'OK':
-            raise CommunicationFailedError('reply %r should be "OK"' % reply)
-        for _ in range(2):
-            self.asynio.writeline(b'Spy 007')
-            reply = self.asynio.readline()
-            if reply == b'Login OK':
-                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)
-            try:
-                self.syncio.flush_recv()
-                ft = 'fulltransAct' if quiet else 'fulltransact'
-                self.syncio.writeline(('%s %s' % (ft, command)).encode())
-                result = None
-                deadline = time.time() + 10
-                while time.time() < deadline:
-                    reply = self.syncio.readline()
-                    if reply is None:
-                        continue
-                    reply = reply.decode()
-                    if reply.startswith('TRANSACTIONSTART'):
-                        result = []
-                        continue
-                    if reply == 'TRANSACTIONFINISHED':
-                        if result is None:
-                            self.log.info('missing TRANSACTIONSTART on: %s', command)
-                            return ''
-                        if not result:
-                            return ''
-                        return '\n'.join(result)
-                    if result is None:
-                        self.log.info('swallow: %s', reply)
-                        continue
-                    if not result:
-                        result = [reply.split('=', 1)[-1]]
-                    else:
-                        result.append(reply)
-            except ConnectionClosed:
                 try:
                     self.syncio.disconnect()
                 except Exception:
                     pass
-                self.syncio = None
+            self._last_connect = time.time()
-                raise
+            if self._instance:
-        raise TimeoutError('no response within 10s')
+                try:
+                    from servicemanager import SeaManager  # pylint: disable=import-outside-toplevel
+                    SeaManager().do_start(self._instance)
+                except ImportError:
+                    pass
+            if '//' not in self.uri:
+                self.uri = 'tcp://' + self.uri
+            self.asynio = AsynConn(self.uri)
+            reply = self.asynio.readline()
+            if reply != b'OK':
+                raise CommunicationFailedError('reply %r should be "OK"' % reply)
+            for _ in range(2):
+                self.asynio.writeline(b'Spy 007')
+                reply = self.asynio.readline()
+                if reply == b'Login OK':
+                    break
+            else:
+                raise CommunicationFailedError('reply %r should be "Login OK"' % reply)
+            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)
 
-    def _rxthread(self, started_callback):
+            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'
+            self.syncio.writeline(('%s %s' % (ft, command)).encode())
+            result = None
+            deadline = time.time() + 10
+            while time.time() < deadline:
+                reply = self.syncio.readline()
+                if reply is None:
+                    continue
+                reply = reply.decode()
+                if reply.startswith('TRANSACTIONSTART'):
+                    result = []
+                    continue
+                if reply == 'TRANSACTIONFINISHED':
+                    if result is None:
+                        self.log.info('missing TRANSACTIONSTART on: %s', command)
+                        return ''
+                    if not result:
+                        return ''
+                    return '\n'.join(result)
+                if result is None:
+                    self.log.info('swallow: %s', reply)
+                    continue
+                if not result:
+                    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:
+                conn.disconnect()
+            except Exception:
+                pass
+
+    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.close_connections()
-                    self.asynio.disconnect()
-                except Exception:
-                    pass
-                self.asynio = None
                 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:
+        self.announceUpdate(parameter, value, readerror, timestamp)
-            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))
 
     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):
+class SeaDrivable(SeaReadable, Drivable):
-    _sea_status = ''
     _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):
+    def read_status(self):
-        if self._sea_status:
+        status = super().read_status()
-            self.status = (self.Status.ERROR, self._sea_status)
+        if self._is_running:
-        elif self._is_running:
+            if status[0] >= ERROR:
-            self.status = (self.Status.BUSY, 'driving')
+                return ERROR, 'BUSY + ' + status[1]
-        else:
+            return BUSY, 'driving'
-            self.status = (self.Status.IDLE, '')
+        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))
+            rawvalue = abs(float(rawvalue))
-        self.value = self._calib(value)
+        return self._calib(rawvalue)
-        self._value_error = None
 
-    def error_update_value(self, err):
+    def _get_status(self, rawstatus):
-        if self.abs and str(err) == 'R_UNDER':  # hack: ignore R_UNDER from ls370
+        return rawstatus if self._value_error is None else (self.Status.ERROR, self._value_error)
-            self._value_error = None
-            return None
-        self._value_error = repr(err)
-        raise err
 
-    def update_status(self, value):
+    def update_value(self, rawvalue, err=None):
-        if self._value_error is None:
+        if err:
-            self.status = value
+            if self.abs and str(err) == 'R_UNDER':  # hack: ignore R_UNDER from ls370
+                self._value_error = None
+                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._get_status(self.rawsensor.read_status())
-        return self.status

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()

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):
+    class Mod2(Mod):
-        @Command()
         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