dilsc.cfg: add heater to puck

- use unlocke_write_action

cfg/dilsc.cfg

@@ -0,0 +1,285 @@
+[NODE]
+id = dilsc.psi.ch
+description = triton test
+
+[INTERFACE]
+uri = tcp://5000
+
+[triton]
+class = secop_psi.mercury.IO
+description = connection to triton software
+uri = tcp://192.168.2.33:33576
+
+[T_mix]
+class = secop_psi.triton.TemperatureSensor
+description = mix. chamber temperature
+slot = T8
+io = triton
+
+[T_pt2head]
+class = secop_psi.triton.TemperatureSensor
+description = PTR2 head temperature
+slot = T1
+io = triton
+
+[T_pt2plate]
+class = secop_psi.triton.TemperatureSensor
+description = PTR2 plate temperature
+slot = T2
+io = triton
+
+[T_still]
+class = secop_psi.triton.TemperatureSensor
+description = still temperature
+slot = T3
+io = triton
+
+[htr_still]
+class = secop_psi.triton.HeaterOutput
+description = still heater
+slot = H2
+io = triton
+
+[T_coldpl]
+class = secop_psi.triton.TemperatureSensor
+description = cold plate temperature
+slot = T4
+io = triton
+
+[T_mixcx]
+class = secop_psi.triton.TemperatureSensor
+description = mix. chamber cernox
+slot = T5
+io = triton
+
+[T_pt1head]
+class = secop_psi.triton.TemperatureSensor
+description = PTR1 head temperature
+slot = T6
+io = triton
+
+[T_pt1plate]
+class = secop_psi.triton.TemperatureSensor
+description = PTR1 plate temperature
+slot = T7
+io = triton
+
+[T_pucksensor]
+class = secop_psi.triton.TemperatureLoop
+output_module = htr_pucksensor
+description = puck sensor temperature
+slot = TA
+io = triton
+
+[htr_pucksensor]
+class = secop_psi.triton.HeaterOutputWithRange
+description = mix. chamber heater
+slot = H1,TA
+io = triton
+
+[T_magnet]
+class = secop_psi.triton.TemperatureSensor
+description = magnet temperature
+slot = T13
+io = triton
+
+[action]
+class = secop_psi.triton.Action
+description = higher level scripts
+io = triton
+slot = DR
+
+[p_dump]
+class = secop_psi.mercury.PressureSensor
+description = dump pressure
+slot = P1
+io = triton
+
+[p_cond]
+class = secop_psi.mercury.PressureSensor
+description = condenser pressure
+slot = P2
+io = triton
+
+[p_still]
+class = secop_psi.mercury.PressureSensor
+description = still pressure
+slot = P3
+io = triton
+
+[p_fore]
+class = secop_psi.mercury.PressureSensor
+description = pressure on the pump side
+slot = P5
+io = triton
+
+[p_back]
+class = secop_psi.mercury.PressureSensor
+description = pressure on the back side of the pump
+slot = P4
+io = triton
+
+[p_ovc]
+class = secop_psi.mercury.PressureSensor
+description = outer vacuum pressure
+slot = P6
+io = triton
+
+#[itc]
+#class = secop_psi.mercury.IO
+#description = connection to MercuryiTC
+#uri = serial:///dev/ttyUSB0
+#
+#[T_still_wup]
+#class = secop_psi.mercury.TemperatureLoop
+#description = still warmup temperature
+#slot = MB1.T1
+#io = itc
+#
+#[htr_still_wup]
+#class = secop_psi.mercury.HeaterOutput
+#description = still warmup heater
+#slot = MB0.H1
+#io = itc
+#
+#[T_one_K]
+#class = secop_psi.mercury.TemperatureLoop
+#description = 1 K plate warmup temperature
+#slot = DB5.T1
+#io = itc
+#
+#[htr_one_K]
+#class = secop_psi.mercury.HeaterOutput
+#description = 1 K plate warmup heater
+#slot = DB3.H1
+#io = itc
+#
+#[T_mix_wup]
+#class = secop_psi.mercury.TemperatureLoop
+#description = mix. chamber warmup temperature
+#slot = DB6.T1
+#io = itc
+#
+#[htr_mix_wup]
+#class = secop_psi.mercury.HeaterOutput
+#description = mix. chamber warmup heater
+#slot = DB1.H1
+#io = itc
+#
+#[T_ivc_wup]
+#class = secop_psi.mercury.TemperatureLoop
+#description = IVC warmup temperature
+#slot = DB7.T1
+#io = itc
+#
+#[htr_ivc_wup]
+#class = secop_psi.mercury.HeaterOutput
+#description = IVC warmup heater
+#slot = DB2.H1
+#io = itc
+#
+#[T_cond]
+#class = secop_psi.mercury.TemperatureLoop
+#description = condenser temperature
+#slot = DB8.T1
+#io = itc
+#
+#[htr_cond]
+#class = secop_psi.mercury.HeaterOutput
+#description = condenser heater
+#slot = DB3.H1
+#io = itc
+
+[V1]
+class = secop_psi.triton.Valve
+description = valve V1
+slot = V1
+io = triton
+
+[V2]
+class = secop_psi.triton.Valve
+description = valve V2
+slot = V2
+io = triton
+
+[V4]
+class = secop_psi.triton.Valve
+description = valve V4
+slot = V4
+io = triton
+
+[V5]
+class = secop_psi.triton.Valve
+description = valve V5
+slot = V5
+io = triton
+
+[V9]
+class = secop_psi.triton.Valve
+description = valve V9
+slot = V9
+io = triton
+
+# [turbo]
+# class = secop_psi.triton.TurboPump
+# description = still turbo pump
+# slot = TURB1
+# io = triton
+
+# [fp]
+# class = secop_psi.triton.Pump
+# description = still fore pump
+# slot = FP
+# io = triton
+
+# [compressor]
+# class = secop_psi.triton.Pump
+# description = compressor
+# slot = COMP
+# io = triton
+
+[ips]
+class = secop_psi.mercury.IO
+description = IPS for magnet
+uri = 192.168.127.254:3001
+
+[mf]
+class = secop_psi.dilsc.VectorField
+description = vector field
+x = mfx
+y = mfy
+z = mfz
+sphere_radius = 0.6
+cylinders = ((0.23, 5.2), (0.45, 0.8))
+
+[mfx]
+class = secop_psi.ips_mercury.SimpleField
+description = magnetic field, x-axis
+slot = GRPX
+io = ips
+tolerance = 0.0001
+wait_stable_field = 0
+nunits = 2
+target.max = 0.6
+ramp = 0.225
+
+[mfy]
+class = secop_psi.ips_mercury.SimpleField
+description = magnetic field, y axis
+slot = GRPY
+io = ips
+tolerance = 0.0001
+wait_stable_field = 0
+nunits = 2
+target.max = 0.6
+ramp = 0.225
+
+[mfz]
+class = secop_psi.ips_mercury.Field
+description = magnetic field, z-axis
+slot = GRPZ
+io = ips
+tolerance = 0.0001
+target.max = 5.2
+mode = DRIVEN
+ramp = 0.52

cfg/generalConfig.cfg

@@ -3,3 +3,4 @@
 logdir = ./log
 piddir = ./pid
 confdir = ./cfg
+# comlog = True

cfg/magsc.cfg

@@ -0,0 +1,52 @@
+[NODE]
+id = magsc.psi.ch
+description = dilsc mag test
+
+[INTERFACE]
+uri = tcp://5000
+
+[ips]
+class = secop_psi.mercury.IO
+description = IPS for magnet
+uri = 192.168.127.254:3001
+
+[mf]
+class = secop_psi.dilsc.VectorField
+description = vector field
+x = mfx
+y = mfy
+z = mfz
+sphere_radius = 0.06
+cylinders = ((0.023, 0.52), (0.045, 0.08))
+
+[mfx]
+class = secop_psi.ips_mercury.SimpleField
+description = magnetic field, x-axis
+slot = GRPX
+io = ips
+tolerance = 0.0001
+wait_stable_field = 0
+nunits = 2
+target.max = 0.6
+ramp = 0.225
+
+[mfy]
+class = secop_psi.ips_mercury.SimpleField
+description = magnetic field, y axis
+slot = GRPY
+io = ips
+tolerance = 0.0001
+wait_stable_field = 0
+nunits = 2
+target.max = 0.6
+ramp = 0.225
+
+[mfz]
+class = secop_psi.ips_mercury.Field
+description = magnetic field, z-axis
+slot = GRPZ
+io = ips
+tolerance = 0.0001
+target.max = 5.2
+mode = DRIVEN
+ramp = 0.52

secop/features.py

@@ -39,7 +39,7 @@ class HasOffset(Feature):
     implementation to be done in the subclass
     """
     offset = PersistentParam('offset (physical value + offset = HW value)',
-                             FloatRange(unit='deg'), readonly=False, default=0)
+                             FloatRange(unit='$'), readonly=False, default=0)
 
     def write_offset(self, value):
         self.offset = value
@@ -62,9 +62,9 @@ class HasLimits(Feature):
     except for the offset
     """
     abslimits = Property('abs limits (raw values)', default=(-9e99, 9e99), extname='abslimits', export=True,
-                         datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
+                         datatype=TupleOf(FloatRange(unit='$'), FloatRange(unit='$')))
     limits = PersistentParam('user limits', readonly=False, default=(-9e99, 9e99),
-                             datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
+                             datatype=TupleOf(FloatRange(unit='$'), FloatRange(unit='$')))
     _limits = None
 
     def apply_offset(self, sign, *values):

secop/lib/statemachine.py

@@ -30,7 +30,7 @@ The created state object may hold variables needed for the state.
 A state function may return either:
 - a function for the next state to transition to
 - Retry(<delay>) to keep the state and call the
-- or `None` for finishing
+- or `Finish` for finishing
 
 
 Initialisation Code
@@ -44,33 +44,23 @@ def state_x(stateobj):
     ... further code ...
 
 
-Cleanup Function
+Error Handler
-----------------
+-------------
 
-cleanup=<cleanup function> as argument in StateMachine.__init__ or .start
+handler=<handler object> as argument in StateMachine.__init__ or .start
-defines a cleanup function to be called whenever the machine is stopped or
+defines a handler object to be called whenever the machine is stopped,
-an error is raised in a state function. A cleanup function may return
+restarted. finished or an error is raised in a state function.
-either None for finishing or a further state function for continuing.
+<handler>.on_error may return either None for finishing or a further state
-In case of stop or restart, this return value is ignored.
+function for continuing. The other handler methods always return None,
-
+as there is no useful follow up state.
-
-State Specific Cleanup Code
----------------------------
-
-To execute state specific cleanup, the cleanup may examine the current state
-(stateobj.state) in order to decide what to be done.
-
-If a need arises, a future extension to this library may support specific
-cleanup functions by means of a decorator adding the specific cleanup function
-as an attribute to the state function.
 
 
 Threaded Use
 ------------
 
 On start, a thread is started, which is waiting for a trigger event when the
-machine is not active. For test purposes or special needs, the thread creation
+machine is not active. In case the thread creation is disabled. :meth:`cycle`
-may be disabled. :meth:`cycle` must be called periodically in this case.
+must be called periodically for running the state machine.
 """
 
 import time
@@ -80,6 +70,7 @@ from logging import getLogger
 from secop.lib import mkthread, UniqueObject
 
 
+Finish = UniqueObject('Finish')
 Stop = UniqueObject('Stop')
 Restart = UniqueObject('Restart')
 
@@ -89,6 +80,52 @@ class Retry:
         self.delay = delay
 
 
+class StateHandler:
+    """default handlers
+
+    may be used as base class or mixin for implementing custom handlers
+    """
+    def on_error(self, statemachine, exc):
+        """called on error
+
+        :param statemachine: the state machine object
+        :param exc: the exception
+        :return: None or a state function to be executed for handling the error state
+        """
+        statemachine.log.warning('%r raised in state %r', exc, statemachine.status_string)
+
+    def on_transition(self, statemachine, newstate):
+        """called when state is changed
+
+        :param statemachine: the statemachine
+        :param newstate: the new state function
+
+        this method will not be called when the state is changed to None,
+        e.g. on finish, restart, stop or when None is returned from the error handler
+        """
+
+    def on_restart(self, statemachine):
+        """called on restart
+
+        :param statemachine: the state machine object
+        """
+
+    def on_stop(self, statemachine):
+        """called when stopped
+
+        :param statemachine: the state machine object
+        """
+
+    def on_finish(self, statemachine):
+        """called on finish
+
+        :param statemachine: the state machine object
+        """
+
+
+default_handler = StateHandler()
+
+
 class StateMachine:
     """a simple, but powerful state machine"""
     # class attributes are not allowed to be overriden by kwds of __init__ or :meth:`start`
@@ -98,7 +135,7 @@ class StateMachine:
     now = None
     init = True
     stopped = False
-    last_error = None  # last exception raised or Stop or Restart
+    restarted = False
     _last_time = 0
 
     def __init__(self, state=None, logger=None, threaded=True, **kwds):
@@ -109,9 +146,9 @@ class StateMachine:
         :param threaded: whether a thread should be started (default: True)
         :param kwds: any attributes for the state object
         """
-        self.default_delay = 0.25  # default delay when returning None
+        self.default_delay = 0.25  # default delay when returning Retry(None)
         self.now = time.time()  # avoid calling time.time several times per state
-        self.cleanup = self.default_cleanup  # default cleanup: finish on error
+        self.handler = default_handler
         self.log = logger or getLogger('dummy')
         self._update_attributes(kwds)
         self._lock = threading.RLock()
@@ -120,23 +157,9 @@ class StateMachine:
             self._thread_queue = queue.Queue()
         self._idle_event = threading.Event()
         self._thread = None
-        self._restart = None
         if state:
             self.start(state)
 
-    @staticmethod
-    def default_cleanup(state):
-        """default cleanup
-
-        :param self: the state object
-        :return: None (for custom cleanup functions this might be a new state)
-        """
-        if state.stopped:  # stop or restart
-            verb = 'stopped' if state.stopped is Stop else 'restarted'
-            state.log.debug('%s in state %r', verb, state.status_string)
-        else:
-            state.log.warning('%r raised in state %r', state.last_error, state.status_string)
-
     def _update_attributes(self, kwds):
         """update allowed attributes"""
         cls = type(self)
@@ -168,10 +191,12 @@ class StateMachine:
 
     def _new_state(self, state):
         self.state = state
+        self.log.debug('state: %s', self.status_string)
+        if state:
+            self.handler.on_transition(self, state)
             self.init = True
             self.now = time.time()
             self.transition_time = self.now
-        self.log.debug('state: %s', self.status_string)
 
     def cycle(self):
         """do one cycle in the thread loop
@@ -187,18 +212,26 @@ class StateMachine:
                     ret = self.state(self)
                     self.init = False
                     if self.stopped:
-                        self.last_error = self.stopped
+                        self.log.debug('stopped in state %r', self.status_string)
-                        self.cleanup(self)
+                        self.handler.on_stop(self)
                         self.stopped = False
                         ret = None
+                    elif self.restarted:
+                        self.log.debug('restarted in state %r', self.status_string)
+                        self.handler.on_restart(self)
+                        self.restarted = False
+                        ret = None
                 except Exception as e:
-                    self.last_error = e
+                    try:
-                    ret = self.cleanup(self)
+                        ret = self.handler.on_error(self, e)
-                    self.log.debug('called %r %sexc=%r', self.cleanup,
+                        self.log.debug('called on_error with exc=%r%s', e,
-                                   'ret=%r ' % ret if ret else '', e)
+                                       ' ret=%r' % ret if ret else '')
-                if ret is None:
+                    except Exception as ee:
-                    self.log.debug('state: None after cleanup')
+                        self.log.exception('%r raised in on_error(state, %r)', ee, e)
-                    self.state = None
+                if ret is Finish:
+                    self.log.debug('finish in state %r', self.status_string)
+                    self.handler.on_finish(self)
+                    self._new_state(None)
                     self._idle_event.set()
                     return None
                 if callable(ret):
@@ -210,12 +243,13 @@ class StateMachine:
                     if ret.delay is None:
                         return self.default_delay
                     return ret.delay
-                self.last_error = RuntimeError('return value must be callable, Retry(...) or finish')
+                self.handler.on_error(self, RuntimeError(
+                    'return value must be callable, Retry(...) or Finish, not %r' % ret))
                 break
             else:
-                self.last_error = RuntimeError('too many states chained - probably infinite loop')
+                self.handler.on_error(self, RuntimeError(
-            self.cleanup(self)
+                    'too many states chained - probably infinite loop'))
-            self.state = None
+            self._new_state(None)
             return None
 
     def trigger(self, delay=0):
@@ -238,9 +272,8 @@ class StateMachine:
             delay = self.cycle()
 
     def _start(self, state, **kwds):
-        self._restart = None
         self._idle_event.clear()
-        self.last_error = None
+        self.restarted = False
         self.stopped = False
         self._update_attributes(kwds)
         self._new_state(state)
@@ -259,19 +292,18 @@ class StateMachine:
         """start with a new state
 
         and interrupt the current state
-        the cleanup function will be called with state.stopped=Restart
+        the cleanup function will be called with state.restarted = True
 
         :param state: the first state
         :param kwds: items to put as attributes on the state machine
         """
         self.log.debug('start %r', kwds)
         if self.state:
-            self.stopped = Restart
+            self.restarted = True
             with self._lock:  # wait for running cycle finished
-                if self.stopped:  # cleanup is not yet done
+                if self.restarted:  # on_restart is not yet called
-                    self.last_error = self.stopped
+                    self.handler.on_restart(self)
-                    self.cleanup(self)  # ignore return state on restart
+                self.restarted = False
-                self.stopped = False
                 self._start(state, **kwds)
         else:
             self._start(state, **kwds)
@@ -279,16 +311,15 @@ class StateMachine:
     def stop(self):
         """stop machine, go to idle state
 
-        the cleanup function will be called with state.stopped=Stop
+        the cleanup function will be called with state.stopped = True
         """
         self.log.debug('stop')
-        self.stopped = Stop
+        self.stopped = True
         with self._lock:
-            if self.stopped:  # cleanup is not yet done
+            if self.stopped:  # on_stop is not yet called
-                self.last_error = self.stopped
+                self.handler.on_stop(self)
-                self.cleanup(self)  # ignore return state on restart
                 self.stopped = False
-            self.state = None
+            self._new_state(None)
 
     def wait(self, timeout=None):
         """wait for state machine being idle"""

secop/modules.py

@@ -46,6 +46,14 @@ Done = UniqueObject('Done')
 indicating that the setter is triggered already"""
 
 
+class DummyLock:
+    def __enter__(self):
+        return self
+
+    def __exit__(self, *args, **kwds):
+        return True
+
+
 class HasAccessibles(HasProperties):
     """base class of Module
 
@@ -327,6 +335,7 @@ class Module(HasAccessibles):
         self.initModuleDone = False
         self.startModuleDone = False
         self.remoteLogHandler = None
+        # self.accessLock = self.updateLock = DummyLock()
         self.accessLock = threading.RLock()  # for read_* / write_* methods
         self.updateLock = threading.RLock()  # for announceUpdate
         self.polledModules = []  # modules polled by thread started in self.startModules

secop/states.py

@@ -0,0 +1,110 @@
+#!/usr/bin/env python
+#  -*- coding: utf-8 -*-
+# *****************************************************************************
+#
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Markus Zolliker <markus.zolliker@psi.ch>
+#
+# *****************************************************************************
+"""mixin for modules with a statemachine"""
+
+from secop.lib.statemachine import StateMachine, Finish, Retry, StateHandler
+from secop.core import BUSY, IDLE, ERROR, Parameter
+from secop.errors import ProgrammingError
+
+
+class status_code:
+    """decorator for state methods"""
+    def __init__(self, code, text=None):
+        self.code = code
+        self.text = text
+
+    def __set_name__(self, owner, name):
+        if not issubclass(owner, HasStates):
+            raise ProgrammingError('when using decorator "status_code", %s must inherit HasStates' % owner.__name__)
+        self.cls = owner
+        self.name = name
+        if 'statusMap' not in owner.__dict__:
+            # we need a copy on each inheritance level
+            owner.statusMap = dict(owner.statusMap)
+        owner.statusMap[name] = self.code, name.replace('_', ' ') if self.text is None else self.text
+        setattr(owner, name, self.func)
+
+    def __call__(self, func):
+        self.func = func
+        return self
+
+
+class HasStates(StateHandler):
+    status = Parameter()  # make sure this is a parameter
+    skip_consecutive_status_changes = False
+    _state_machine = None
+    _next_cycle = 0
+    statusMap = {}
+
+    def init_state_machine(self, fullstatus=True, **kwds):
+        self._state_machine = StateMachine(
+            logger=self.log,
+            threaded=False,
+            handler=self,
+            default_delay=1e-3,  # small but not zero (avoid infinite loop)
+            **kwds)
+
+    def initModule(self):
+        super().initModule()
+        self.init_state_machine()
+
+    def on_error(self, statemachine, exc):
+        """called on error"""
+        error = '%r in %s' % (exc, statemachine.status_string)
+        self.log.error('%s', error)
+        return self.final_status(ERROR, error)
+
+    def on_transition(self, statemachine, newstate):
+        if not self.skip_consecutive_status_changes:
+            self.set_status_from_state(newstate)
+
+    def set_status_from_state(self, newstate):
+        name = newstate.__name__
+        status = self.statusMap.get(name)
+        if status is None:
+            status = BUSY, name.replace('_', ' ')
+        if status != self.status:
+            self.status = status
+
+    def doPoll(self):
+        super().doPoll()
+        now = self.pollInfo.last_main
+        if now > self._next_cycle:
+            delay = self._state_machine.cycle()
+            if delay is None:
+                self._next_cycle = 0
+            else:
+                if self.skip_consecutive_status_changes:
+                    self.set_status_from_state(self._state_machine.state)
+                self._next_cycle = now + delay
+
+    def start_state(self, start_state, fast_poll=True, **kwds):
+        self._state_machine.start(start_state, **kwds)
+        if fast_poll is not None:
+            self.setFastPoll(fast_poll)
+
+    def final_status(self, code=IDLE, text='', fast_poll=False):
+        self.status = code, text
+        if fast_poll is not None:
+            self.setFastPoll(fast_poll)
+        return Finish

secop_psi/convergence.py

@@ -21,7 +21,7 @@
 # *****************************************************************************
 
 from secop.core import Parameter, FloatRange, BUSY, IDLE, WARN
-from secop.lib.statemachine import StateMachine, Retry, Stop
+from secop.lib.statemachine import StateMachine, Retry
 
 
 class HasConvergence:
@@ -61,9 +61,8 @@ class HasConvergence:
     def cleanup(self, state):
         state.default_cleanup(state)
         if state.stopped:
-            if state.stopped is Stop:  # and not Restart
             self.status = WARN, 'stopped'
-        else:
+        elif not state.restarted:
             self.status = WARN, repr(state.last_error)
 
     def doPoll(self):

secop_psi/dilsc.py

@@ -0,0 +1,95 @@
+#  -*- coding: utf-8 -*-
+# *****************************************************************************
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Markus Zolliker <markus.zolliker@psi.ch>
+# *****************************************************************************
+"""vector field"""
+
+import math
+from secop.core import Drivable, Done, BUSY, IDLE, ERROR, Parameter, TupleOf, ArrayOf, FloatRange
+from secop.errors import BadValueError
+from secop_psi.vector import Vector
+from secop.states import HasStates, Retry
+
+
+DECREASE = 1
+INCREASE = 2
+
+
+class VectorField(HasStates, Vector, Drivable):
+    sphere_radius = Parameter('max. sphere', datatype=FloatRange(0, 0.7, unit='T'), readonly=True, default=0.6)
+    cylinders = Parameter('allowed cylinders (list of radius and height)',
+                          datatype=ArrayOf(TupleOf(FloatRange(0, 0.6, unit='T'), FloatRange(0, 5.2, unit='T')), 1, 9),
+                          readonly=True, default=((0.23, 5.2), (0.45, 0.8)))
+
+    def initModule(self):
+        super().initModule()
+        # override check_limits of the components with a check for restrictions on the vector
+        for idx, component in enumerate(self.components):
+
+            def outer_check(target, vector=self, i=idx, inner_check=component.check_limits):
+                inner_check(target)
+                if vector:
+                    value = [c.value - math.copysign(c.tolerance, c.value)
+                             for c in vector.components]
+                    value[i] = target
+                    vector.check_limits(value)
+
+            component.check_limits = outer_check
+
+    def merge_status(self):
+        return self.status
+
+    def check_limits(self, value):
+        """check if value is within one of the safe shapes"""
+        if sum((v ** 2 for v in value)) <= self.sphere_radius ** 2:
+            return
+        for r, h in self.cylinders:
+            if sum(v ** 2 for v in value[0:2]) <= r ** 2 and abs(value[2]) <= h:
+                return
+        raise BadValueError('vector %s does not fit in any limiting shape' % repr(value))
+
+    def write_target(self, value):
+        """initiate target change"""
+        # check limits  first
+        for target, component in zip(value, self.components):
+            # check against limits of individual components
+            component.check_limits(target, vector=None)  # no outer check here!
+        self.check_limits(value)
+        for target, component in zip(value, self.components):
+            if target * component.value < 0:
+                # change sign: drive to zero first
+                target = 0
+            if abs(target) > abs(component.value):
+                target = component.value
+            component.write_target(target)
+        self.start_state(self.ramp_down, target=value)
+        return value
+
+    def ramp_down(self, state):
+        for target, component in zip(state.target, self.components):
+            if component.isDriving():
+                return Retry()
+        for target, component in zip(state.target, self.components):
+            component.write_target(target)
+        return self.final_ramp
+
+    def final_ramp(self, state):
+        for component in self.components:
+            if component.isDriving():
+                return Retry()
+        return self.final_status()

secop_psi/ips_mercury.py

@@ -21,11 +21,12 @@
 """oxford instruments mercury IPS power supply"""
 
 import time
-from secop.core import Parameter, EnumType, FloatRange, BoolType
+from secop.core import Parameter, EnumType, FloatRange, BoolType, IntRange, StringType, Property, BUSY
 from secop.lib.enum import Enum
 from secop.errors import BadValueError, HardwareError
-from secop_psi.magfield import Magfield
+from secop_psi.magfield import Magfield, SimpleMagfield, Status
 from secop_psi.mercury import MercuryChannel, off_on, Mapped
+from secop.lib.statemachine import Retry
 
 Action = Enum(hold=0, run_to_set=1, run_to_zero=2, clamped=3)
 hold_rtoz_rtos_clmp = Mapped(HOLD=Action.hold, RTOS=Action.run_to_set,
@@ -33,24 +34,87 @@ hold_rtoz_rtos_clmp = Mapped(HOLD=Action.hold, RTOS=Action.run_to_set,
 CURRENT_CHECK_SIZE = 2
 
 
-class Field(MercuryChannel, Magfield):
+class SimpleField0(MercuryChannel, SimpleMagfield):
+    nunits = Property('number of IPS subunits', IntRange(1, 6), default=1)
     action = Parameter('action', EnumType(Action), readonly=False)
     setpoint = Parameter('field setpoint', FloatRange(unit='T'), default=0)
     voltage = Parameter('leads voltage', FloatRange(unit='V'), default=0)
     atob = Parameter('field to amp', FloatRange(0, unit='A/T'), default=0)
-    I1 = Parameter('master current', FloatRange(unit='A'), default=0)
+    working_ramp = Parameter('effective ramp', FloatRange(0, unit='T/min'), default=0)
-    I2 = Parameter('slave 2 current', FloatRange(unit='A'), default=0)
+    channel_type = 'PSU'
-    I3 = Parameter('slave 3 current', FloatRange(unit='A'), default=0)
+    slave_currents = None
-    V1 = Parameter('master voltage', FloatRange(unit='V'), default=0)
+
-    V2 = Parameter('slave 2 voltage', FloatRange(unit='V'), default=0)
+    def read_value(self):
-    V3 = Parameter('slave 3 voltage', FloatRange(unit='V'), default=0)
+        return self.query('PSU:SIG:FLD')
+
+    def read_ramp(self):
+        return self.query('PSU:SIG:RFST')
+
+    def write_ramp(self, value):
+        return self.change('PSU:SIG:RFST', value)
+
+    def read_action(self):
+        return self.query('PSU:ACTN', hold_rtoz_rtos_clmp)
+
+    def unlocked_write_action(self, value):
+        return self.change('PSU:ACTN', value, hold_rtoz_rtos_clmp)
+
+    def write_action(self, value):
+        return self.unlocked_write_action(value)
+
+    def read_atob(self):
+        return self.query('PSU:ATOB')
+
+    def read_voltage(self):
+        return self.query('PSU:SIG:VOLT')
+
+    def read_working_ramp(self):
+        return self.query('PSU:SIG:RFLD')
+
+    def read_setpoint(self):
+        return self.query('PSU:SIG:FSET')
+
+    def set_and_go(self, value):
+        self.setpoint = self.change('PSU:SIG:FSET', value)
+        assert self.write_action('hold') == 'hold'
+        assert self.write_action('run_to_set') == 'run_to_set'
+
+    def start_ramp_to_target(self, state):
+        # if self.action != 'hold':
+        #     assert self.write_action('hold') == 'hold'
+        #     return Retry()
+        self.set_and_go(state.target)
+        state.try_cnt = 5
+        return self.ramp_to_target
+
+    def ramp_to_target(self, state):
+        try:
+            return super().ramp_to_target(state)
+        except HardwareError:
+            state.try_cnt -= 1
+            if state.try_cnt < 0:
+                raise
+            self.set_and_go(state.target)
+            return Retry()
+
+    def final_status(self, *args, **kwds):
+        self.write_action('hold')
+        return super().final_status(*args, **kwds)
+
+    def on_restart(self, state):
+        self.unlocked_write_action(Action.hold)
+        return super().on_restart(state)
+
+
+class Field0(SimpleField0, Magfield):
+    wait_switch_on = Parameter(
+        'wait time to ensure switch is on', FloatRange(0, unit='s'), readonly=True, default=60)
+    wait_switch_off = Parameter(
+        'wait time to ensure switch is off', FloatRange(0, unit='s'), readonly=True, default=60)
     forced_persistent_field = Parameter(
         'manual indication that persistent field is bad', BoolType(), readonly=False, default=False)
 
-    channel_type = 'PSU'
     _field_mismatch = None
-    nslaves = 3
-    slave_currents = None
     __init = True
     __reset_switch_time = False
 
@@ -58,8 +122,15 @@ class Field(MercuryChannel, Magfield):
         super().doPoll()
         self.read_current()
 
+    def startModule(self, start_events):
+        self.switch_time = [0, 0]
+        self.switch_heater = self.query('PSU:SIG:SWHT', off_on)
+        super().startModule(start_events)
+        # on restart, assume switch is changed long time ago, if not, the mercury
+        # # will complain and this will be handled in start_ramp_to_field
+
     def read_value(self):
-        self.current = self.query('PSU:SIG:FLD')
+        current = self.query('PSU:SIG:FLD')
         pf = self.query('PSU:SIG:PFLD')
         if self.__init:
             self.__init = False
@@ -67,10 +138,36 @@ class Field(MercuryChannel, Magfield):
         if self.switch_heater == self.switch_heater.on or self._field_mismatch is None:
             self.forced_persistent_field = False
             self._field_mismatch = False
-            return self.current
+            return current
         self._field_mismatch = abs(self.persistent_field - pf) > self.tolerance
         return pf
 
+    def read_current(self):
+        if self.slave_currents is None:
+            self.slave_currents = [[] for _ in range(self.nunits + 1)]
+        current = self.query('PSU:SIG:CURR')
+        if self.nunits > 1:
+            for i in range(self.nunits + 1):
+                if i:
+                    curri = self.query('DEV:PSU.M%d:PSU:SIG:CURR' % i)
+                    volti = self.query('DEV:PSU.M%d:PSU:SIG:VOLT' % i)
+                    setattr(self, 'I%d' % i, curri)
+                    setattr(self, 'V%d' % i, volti)
+                    self.slave_currents[i].append(curri)
+                else:
+                    self.slave_currents[i].append(current)
+                min_i = min(self.slave_currents[i])
+                max_i = max(self.slave_currents[i])
+                min_ = min(self.slave_currents[0]) / self.nunits
+                max_ = max(self.slave_currents[0]) / self.nunits
+                if len(self.slave_currents[i]) > CURRENT_CHECK_SIZE:
+                    self.slave_currents[i] = self.slave_currents[i][-CURRENT_CHECK_SIZE:]
+                    if i and (min_i - 1 > max_ or min_ > max_i + 1):
+                        self.log.warning('individual currents mismatch %r', self.slave_currents)
+        if self.atob:
+            return current / self.atob
+        return 0
+
     def write_persistent_field(self, value):
         if self.forced_persistent_field:
             self._field_mismatch = False
@@ -83,18 +180,6 @@ class Field(MercuryChannel, Magfield):
             raise BadValueError('persistent field does not match - set persistent field to guessed value first')
         return super().write_target(target)
 
-    def read_ramp(self):
-        return self.query('PSU:SIG:RFST')
-
-    def write_ramp(self, value):
-        return self.change('PSU:SIG:RFST', value)
-
-    def read_action(self):
-        return self.query('PSU:ACTN', hold_rtoz_rtos_clmp)
-
-    def write_action(self, value):
-        return self.change('PSU:ACTN', value, hold_rtoz_rtos_clmp)
-
     def read_switch_heater(self):
         value = self.query('PSU:SIG:SWHT', off_on)
         now = time.time()
@@ -106,74 +191,77 @@ class Field(MercuryChannel, Magfield):
                 return self.switch_heater
         elif self.__reset_switch_time:
             self.__reset_switch_time = False
-            self.switch_time = [None, None]
+            self.switch_time[value] = now
         return value
 
+    def read_wait_switch_on(self):
+        return self.query('PSU:SWONT') * 0.001
+
+    def read_wait_switch_off(self):
+        return self.query('PSU:SWOFT') * 0.001
+
     def write_switch_heater(self, value):
+        if value == self.read_switch_heater():
+            self.log.info('switch heater already %r', value)
+            # we do not want to restart the timer
+            return value
         return self.change('PSU:SIG:SWHT', value, off_on)
 
-    def read_atob(self):
-        return self.query('PSU:ATOB')
-
-    def read_voltage(self):
-        return self.query('PSU:SIG:VOLT')
-
-    def read_setpoint(self):
-        return self.query('PSU:SIG:FSET')
-
-    def read_current(self):
-        if self.slave_currents is None:
-            self.slave_currents = [[] for _ in range(self.nslaves + 1)]
-        current = self.query('PSU:SIG:CURR')
-        for i in range(self.nslaves + 1):
-            if i:
-                curri = self.query('DEV:PSU.M%d:PSU:SIG:CURR' % i)
-                volti = self.query('DEV:PSU.M%d:PSU:SIG:VOLT' % i)
-                setattr(self, 'I%d' % i, curri)
-                setattr(self, 'V%d' % i, volti)
-                self.slave_currents[i].append(curri)
-            else:
-                self.slave_currents[i].append(current)
-            min_i = min(self.slave_currents[i])
-            max_i = max(self.slave_currents[i])
-            min_ = min(self.slave_currents[0]) / self.nslaves
-            max_ = max(self.slave_currents[0]) / self.nslaves
-            if len(self.slave_currents[i]) > CURRENT_CHECK_SIZE:
-                self.slave_currents[i] = self.slave_currents[i][-CURRENT_CHECK_SIZE:]
-                if i and (min_i -1 > max_ or min_ > max_i + 1):
-                    self.log.warning('individual currents mismatch %r', self.slave_currents)
-        if self.atob:
-            return current / self.atob
-        return 0
-
-    def set_and_go(self, value):
-        self.change('PSU:SIG:FSET', value)
-        assert self.write_action('hold') == 'hold'
-        assert self.write_action('run_to_set') == 'run_to_set'
-
     def start_ramp_to_field(self, state):
+        if abs(self.current - self.persistent_field) <= self.tolerance:
+            self.log.info('leads %g are already at %g', self.current, self.persistent_field)
+            return self.ramp_to_field
         try:
             self.set_and_go(self.persistent_field)
-        except (HardwareError, AssertionError):
+        except (HardwareError, AssertionError) as e:
-            state.switch_undef = self.switch_on_time or state.now
+            if self.switch_heater:
+                self.log.warn('switch is already on!')
+                return self.ramp_to_field
+            self.log.warn('wait first for switch off current=%g pf=%g', self.current, self.persistent_field)
+            return Retry()
+            self.status = Status.PREPARING, 'wait for switch off'
+            state.wait_for = 0
             return self.wait_for_switch
         return self.ramp_to_field
 
-    def wait_for_switch(self, state):
-        if self.now - self.switch_undef < self.wait_switch_on:
-            return Retry()
-        self.set_and_go(self.persistent_field)
-        return self.ramp_to_field
-        
     def start_ramp_to_target(self, state):
-        self.set_and_go(self.target)
+        state.try_cnt = 5
+        try:
+            self.set_and_go(state.target)
+        except (HardwareError, AssertionError) as e:
+            self.log.warn('switch not yet ready %r', e)
+            self.status = Status.PREPARING, 'wait for switch on'
+            state.wait_for = 1
+            return self.wait_for_switch
         return self.ramp_to_target
 
+    def wait_for_switch(self, state):
+        if not state.delta(10):  # wait at least 10 seconds
+            return Retry()
+        try:
+            # try again
+            self.set_and_go(self.persistent_field)
+        except (HardwareError, AssertionError) as e:
+            return Retry()
+        return self.ramp_to_target if state.wait_for else self.ramp_to_field
+
     def start_ramp_to_zero(self, state):
         assert self.write_action('hold') == 'hold'
         assert self.write_action('run_to_zero') == 'run_to_zero'
         return self.ramp_to_zero
 
-    def finish_state(self, state):
+
-        self.write_action('hold')
+def Field(name, logger, cfgdict, srv, base=Field0):
-        super().finish_state(state)
+    nunits = cfgdict.get('nunits', 1)
+    if nunits == 1:
+        return base(name, logger, cfgdict, srv)
+    # create individual current and voltage parameters dynamically
+    attrs = {}
+    for i in range(1, nunits + 1):
+        attrs['I%d' % i] = Parameter('slave %s current' % i, FloatRange(unit='A'), default=0)
+        attrs['V%d' % i] = Parameter('slave %s voltage' % i, FloatRange(unit='V'), default=0)
+    return type(base.__name__.replace('0', str(nunits)), (base,), attrs)(name, logger, cfgdict, srv)
+
+
+def SimpleField(name, logger, cfgdict, srv):
+    return Field(name, logger, cfgdict, srv, SimpleField0)

secop_psi/magfield.py

@@ -20,12 +20,12 @@
 """generic persistent magnet driver"""
 
 import time
-from secop.core import Drivable, Parameter, Done
+from secop.core import Drivable, Parameter, Done, IDLE, BUSY, ERROR
 from secop.datatypes import FloatRange, EnumType, ArrayOf, TupleOf, StatusType
 from secop.features import HasLimits
-from secop.errors import ConfigError, ProgrammingError
+from secop.errors import ConfigError, ProgrammingError, HardwareError
 from secop.lib.enum import Enum
-from secop.lib.statemachine import Retry, StateMachine
+from secop.states import Retry, HasStates, status_code
 
 UNLIMITED = FloatRange()
 
@@ -48,25 +48,98 @@ OFF = 0
 ON = 1
 
 
-class Magfield(HasLimits, Drivable):
+class SimpleMagfield(HasStates, HasLimits, Drivable):
     value = Parameter('magnetic field', datatype=FloatRange(unit='T'))
+    ramp = Parameter(
+        'ramp rate for field', FloatRange(unit='$/min'), readonly=False)
+    tolerance = Parameter(
+        'tolerance', FloatRange(0, unit='$'), readonly=False, default=0.0002)
+    trained = Parameter(
+        'trained field (positive)',
+        TupleOf(FloatRange(-99, 0, unit='$'), FloatRange(0, unit='$')),
+        readonly=False, default=(0, 0))
+    wait_stable_field = Parameter(
+        'wait time to ensure field is stable', FloatRange(0, unit='s'), readonly=False, default=31)
+
+    _last_target = None
+
+    def checkProperties(self):
+        dt = self.parameters['target'].datatype
+        max_ = dt.max
+        if max_ == UNLIMITED.max:
+            raise ConfigError('target.max not configured')
+        if dt.min == UNLIMITED.min:  # not given: assume bipolar symmetric
+            dt.min = -max_
+        super().checkProperties()
+
+    def stop(self):
+        """keep field at current value"""
+        # let the state machine do the needed steps to finish
+        self.write_target(self.value)
+
+    def onInterrupt(self, state):
+        self.log.info('interrupt target=%g', state.target)
+
+    def write_target(self, target):
+        self.check_limits(target)
+        self.start_state(self.start_field_change, target=target)
+        return target
+
+    def get_progress(self, state, min_ramp):
+        """calculate the inverse slope sec/Tesla
+
+        and return the time needed for a tolerance step
+        """
+        result = True
+        if state.init:
+            state.tol_time = 5  # default minimum stabilize time when tol_time can not be calculated
+        else:
+            t, v = state.prev_point
+            dif = abs(v - self.value)
+            tdif = (state.now - t)
+            if dif > self.tolerance:
+                state.tol_time = tdif * self.tolerance / dif
+                state.prev_point = state.now, self.value
+            elif tdif > self.tolerance * 60 / min_ramp:
+                # real slope is less than 0.001 * ramp -> no progress
+                result = False
+            else:
+                return True
+        state.prev_point = state.now, self.value
+        return result
+
+    @status_code(BUSY, 'start ramp to target')
+    def start_field_change(self, state):
+        self.setFastPoll(True, 1.0)
+        return self.start_ramp_to_target
+
+    @status_code(BUSY, 'ramping field')
+    def ramp_to_target(self, state):
+        # Remarks: assume there is a ramp limiting feature
+        if abs(self.value - state.target) > self.tolerance:
+            if self.get_progress(state, self.ramp * 0.01):
+                return Retry()
+            raise HardwareError('no progress')
+        state.stabilize_start = time.time()
+        return self.stabilize_field
+
+    @status_code(BUSY, 'stabilizing field')
+    def stabilize_field(self, state):
+        if state.now - state.stabilize_start < self.wait_stable_field:
+            return Retry()
+        return self.final_status()
+
+
+class Magfield(SimpleMagfield):
     status = Parameter(datatype=StatusType(Status))
     mode = Parameter(
         'persistent mode', EnumType(Mode), readonly=False, default=Mode.PERSISTENT)
-    tolerance = Parameter(
-        'tolerance', FloatRange(0, unit='$'), readonly=False, default=0.0002)
     switch_heater = Parameter('switch heater', EnumType(off=OFF, on=ON),
                               readonly=False, default=0)
     persistent_field = Parameter(
         'persistent field', FloatRange(unit='$'), readonly=False)
     current = Parameter(
         'leads current (in units of field)', FloatRange(unit='$'))
-    ramp = Parameter(
-        'ramp rate for field', FloatRange(unit='$/min'), readonly=False)
-    trained = Parameter(
-        'trained field (positive)',
-        TupleOf(FloatRange(-99, 0, unit='$'), FloatRange(0, unit='$')),
-        readonly=False, default=(0, 0))
     # TODO: time_to_target
     # profile = Parameter(
     #     'ramp limit table', ArrayOf(TupleOf(FloatRange(unit='$'), FloatRange(unit='$/min'))),
@@ -81,15 +154,11 @@ class Magfield(HasLimits, Drivable):
         'wait time to ensure switch is off', FloatRange(0, unit='s'), readonly=False, default=61)
     wait_stable_leads = Parameter(
         'wait time to ensure current is stable', FloatRange(0, unit='s'), readonly=False, default=6)
-    wait_stable_field = Parameter(
-        'wait time to ensure field is stable', FloatRange(0, unit='s'), readonly=False, default=31)
     persistent_limit = Parameter(
         'above this limit, lead currents are not driven to 0',
         FloatRange(0, unit='$'), readonly=False, default=99)
 
-    _state = None
     __init = True
-    _last_target = None
     switch_time = None, None
 
     def doPoll(self):
@@ -102,86 +171,67 @@ class Magfield(HasLimits, Drivable):
             else:
                 self._last_target = self.persistent_field
         else:
-            self.read_value()
+            super().doPoll()
-        self._state.cycle()
 
-    def checkProperties(self):
+    def initStateMachine(self):
-        dt = self.parameters['target'].datatype
+        super().initStateMachine()
-        max_ = dt.max
-        if max_ == UNLIMITED.max:
-            raise ConfigError('target.max not configured')
-        if dt.min == UNLIMITED.min:  # not given: assume bipolar symmetric
-            dt.min = -max_
-        super().checkProperties()
-
-    def initModule(self):
-        super().initModule()
         self.registerCallbacks(self)  # for update_switch_heater
-        self._state = StateMachine(logger=self.log, threaded=False, cleanup=self.cleanup_state)
+
+    def write_mode(self, value):
+        self.start_state(self.start_field_change, target=self.target, mode=value)
+        return value
 
     def write_target(self, target):
         self.check_limits(target)
-        self.target = target
+        self.start_state(self.start_field_change, target=target, mode=self.mode)
-        if not self._state.is_active:
+        return target
-            # as long as the state machine is still running, it takes care of changing targets
-            self._state.start(self.start_field_change)
-        self.doPoll()
-        return Done
 
-    def write_mode(self, value):
+    def onError(self, state):
-        self.mode = value
-        if not self._state.is_active:
-            self._state.start(self.start_field_change)
-        self.doPoll()
-        return Done
-
-    def cleanup_state(self, state):
-        self.status = Status.ERROR, repr(state.last_error)
-        self.log.error('in state %s: %r', state.state.__name__, state.last_error)
-        self.setFastPoll(False)
         if self.switch_heater != 0:
             self.persistent_field = self.read_value()
-            if self.mode != Mode.DRIVEN:
+            if state.mode != Mode.DRIVEN:
                 self.log.warning('turn switch heater off')
                 self.write_switch_heater(0)
+        return super().onError(state)
 
-    def stop(self):
+    @status_code('PREPARING')
-        """keep field at current value"""
-        # let the state machine do the needed steps to finish
-        self.write_target(self.value)
-
     def start_field_change(self, state):
         self.setFastPoll(True, 1.0)
-        self.status = Status.PREPARING, 'changed target field'
+        if state.target == self.persistent_field or (
-        if (self.target == self._last_target and
+                state.target == self._last_target and
-                abs(self.target - self.persistent_field) <= self.tolerance):  # short cut
+                abs(state.target - self.persistent_field) <= self.tolerance):  # short cut
             return self.check_switch_off
+        if self.switch_heater:
+            return self.start_switch_on
         return self.start_ramp_to_field
 
+    @status_code('PREPARING')
     def start_ramp_to_field(self, state):
         """start ramping current to persistent field
 
-        should return ramp_to_field
+        initiate ramp to persistent field (with corresponding ramp rate)
+        the implementation should return ramp_to_field
         """
         raise NotImplementedError
 
+    @status_code('PREPARING', 'ramp leads to match field')
     def ramp_to_field(self, state):
-        """ramping, wait for current at persistent field"""
-        if (self.target == self._last_target and
-                abs(self.target - self.persistent_field) <= self.tolerance):  # short cut
-            return self.check_switch_off
-        if abs(self.current - self.persistent_field) > self.tolerance:
         if state.init:
-                self.status = Status.PREPARING, 'ramping leads current to field'
+            state.stabilize_start = 0
+        progress = self.get_progress(state, self.ramp)
+        dif = abs(self.current - self.persistent_field)
+        if dif > self.tolerance:
+            if progress:
+                state.stabilize_start = None
                 return Retry()
-        state.stabilize_start = time.time()
+            raise HardwareError('no progress')
+        if state.stabilize_start is None:
+            state.stabilize_start = state.now
         return self.stabilize_current
 
+    @status_code('PREPARING')
     def stabilize_current(self, state):
-        """wait for stable current at persistent field"""
+        if state.now - state.stabilize_start < max(state.tol_time, self.wait_stable_leads):
-        if state.now - state.stabilize_start < self.wait_stable_leads:
-            if state.init:
-                self.status = Status.PREPARING, 'stabilizing leads current'
             return Retry()
         return self.start_switch_on
 
@@ -189,13 +239,14 @@ class Magfield(HasLimits, Drivable):
         """is called whenever switch heater was changed"""
         switch_time = self.switch_time[value]
         if switch_time is None:
+            self.log.info('restart switch_timer %r', value)
             switch_time = time.time()
         self.switch_time = [None, None]
         self.switch_time[value] = switch_time
 
+    @status_code('PREPARING')
     def start_switch_on(self, state):
-        """switch heater on"""
+        if self.read_switch_heater() == 0:
-        if self.switch_heater == 0:
             self.status = Status.PREPARING, 'turn switch heater on'
             try:
                 self.write_switch_heater(True)
@@ -204,76 +255,69 @@ class Magfield(HasLimits, Drivable):
                 return Retry()
         else:
             self.status = Status.PREPARING, 'wait for heater on'
-        return self.switch_on
+        return self.wait_for_switch_on
 
-    def switch_on(self, state):
+    @status_code('PREPARING')
-        """wait for switch heater open"""
+    def wait_for_switch_on(self, state):
-        if (self.target == self._last_target and
+        if (state.target == self._last_target and
-                abs(self.target - self.persistent_field) <= self.tolerance):  # short cut
+                abs(state.target - self.persistent_field) <= self.tolerance):  # short cut
             return self.check_switch_off
-        self.read_switch_heater()
+        self.read_switch_heater()  # trigger switch_time setting
         if self.switch_time[ON] is None:
             self.log.warning('switch turned off manually?')
             return self.start_switch_on
         if state.now - self.switch_time[ON] < self.wait_switch_on:
+            if state.delta(10):
+                self.log.info('waited for %g sec', state.now - self.switch_time[ON])
             return Retry()
-        self._last_target = self.target
+        self._last_target = state.target
         return self.start_ramp_to_target
 
+    @status_code('RAMPING')
     def start_ramp_to_target(self, state):
-        """start ramping current to target
+        """start ramping current to target field
 
-        should return ramp_to_target
+        initiate ramp to target
+        the implementation should return ramp_to_target
         """
         raise NotImplementedError
 
+    @status_code('RAMPING')
     def ramp_to_target(self, state):
-        """ramp field to target"""
-        if self.target != self._last_target:  # target was changed
-            self._last_target = self.target
-            return self.start_ramp_to_target
-        self.persistent_field = self.value
-        # Remarks: assume there is a ramp limiting feature
-        if abs(self.value - self.target) > self.tolerance:
         if state.init:
-                self.status = Status.RAMPING, 'ramping field'
+            state.stabilize_start = 0
+        self.persistent_field = self.value
+        dif = abs(self.value - state.target)
+        # Remarks: assume there is a ramp limiting feature
+        if dif > self.tolerance:
+            if self.get_progress(state, self.ramp * 0.001):
+                state.stabilize_start = None
                 return Retry()
-        state.stabilize_start = time.time()
+            raise HardwareError('no progress')
+        if state.stabilize_start is None:
+            state.stabilize_start = state.now
         return self.stabilize_field
 
+    @status_code('STABILIZING')
     def stabilize_field(self, state):
-        """stabilize field"""
-        if self.target != self._last_target:  # target was changed
-            self._last_target = self.target
-            return self.start_ramp_to_target
         self.persistent_field = self.value
-        if state.now - state.stabilize_start < self.wait_stable_field:
+        if state.now - state.stabilize_start < max(state.tol_time, self.wait_stable_field):
-            if state.init:
-                self.status = Status.STABILIZING, 'stabilizing field'
             return Retry()
         return self.check_switch_off
 
     def check_switch_off(self, state):
-        if self.mode == Mode.DRIVEN:
+        if state.mode == Mode.DRIVEN:
-            self.status = Status.PREPARED, 'driven'
+            return self.final_status(Status.PREPARED, 'driven')
-            return self.finish_state
         return self.start_switch_off
 
+    @status_code('FINALIZING')
     def start_switch_off(self, state):
-        """turn off switch heater"""
         if self.switch_heater == 1:
-            self.status = Status.FINALIZING, 'turn switch heater off'
             self.write_switch_heater(False)
-        else:
+        return self.wait_for_switch_off
-            self.status = Status.FINALIZING, 'wait for heater off'
-        return self.switch_off
 
-    def switch_off(self, state):
+    @status_code('FINALIZING')
-        """wait for switch heater closed"""
+    def wait_for_switch_off(self, state):
-        if self.target != self._last_target or self.mode == Mode.DRIVEN:
-            # target or mode has changed -> redo
-            self._last_target = None
-            return self.start_switch_on
         self.persistent_field = self.value
         self.read_switch_heater()
         if self.switch_time[OFF] is None:
@@ -282,35 +326,25 @@ class Magfield(HasLimits, Drivable):
         if state.now - self.switch_time[OFF] < self.wait_switch_off:
             return Retry()
         if abs(self.value) > self.persistent_limit:
-            self.status = Status.IDLE, 'leads current at field, switch off'
+            return self.final_status(Status.IDLE, 'leads current at field, switch off')
-            return self.finish_state
         return self.start_ramp_to_zero
 
+    @status_code('FINALIZING')
     def start_ramp_to_zero(self, state):
-        """start ramping current to target
+        """start ramping current to zero
 
         initiate ramp to zero (with corresponding ramp rate)
-        should return ramp_to_zero
+        the implementation should return ramp_to_zero
         """
         raise NotImplementedError
 
+    @status_code('FINALIZING')
     def ramp_to_zero(self, state):
-        """ramp field to zero"""
+        """[FINALIZING] ramp field to zero"""
-        if self.target != self._last_target or self.mode == Mode.DRIVEN:
-            # target or mode has changed -> redo
-            self._last_target = None
-            return self.start_field_change
         if abs(self.current) > self.tolerance:
-            if state.init:
+            if self.get_progress(state, self.ramp):
-                self.status = Status.FINALIZING, 'ramp leads to zero'
                 return Retry()
-        if self.mode == Mode.DISABLED and self.persistent_field == 0:
+            raise HardwareError('no progress')
-            self.status = Status.DISABLED, 'disabled'
+        if state.mode == Mode.DISABLED and self.persistent_field == 0:
-        else:
+            return self.final_status(Status.DISABLED, 'disabled')
-            self.status = Status.IDLE, 'persistent mode'
+        return self.final_status(Status.IDLE, 'persistent mode')
-        return self.finish_state
-
-    def finish_state(self, state):
-        """finish"""
-        self.setFastPoll(False)
-        return None

secop_psi/mercury.py

@@ -62,6 +62,7 @@ fast_slow = Mapped(ON=0, OFF=1)  # maps OIs slow=ON/fast=OFF to sample_rate.slow
 
 class IO(StringIO):
     identification = [('*IDN?', r'IDN:OXFORD INSTRUMENTS:*')]
+    timeout = 5
 
 
 class MercuryChannel(HasIO):

secop_psi/motorvalve.py

@@ -253,8 +253,9 @@ class MotorValve(PersistentMixin, Drivable):
         return self.close_valve
 
     def handle_error(self, state):
-        if state.stopped:  # stop or restart case
+        if state.restarted:
-            if state.stopped is Stop:
+            return
+        if state.stopped:
             self.status = WARN, 'stopped'
             return None
         if state.count > 0:

secop_psi/uniax.py

@@ -26,7 +26,7 @@ import math
 from secop.core import Drivable, Parameter, FloatRange, Done, \
     Attached, Command, PersistentMixin, PersistentParam, BoolType
 from secop.errors import BadValueError, SECoPError
-from secop.lib.statemachine import Retry, StateMachine, Restart
+from secop.lib.statemachine import Retry, StateMachine
 
 
 class Error(SECoPError):
@@ -186,9 +186,9 @@ class Uniax(PersistentMixin, Drivable):
 
     def cleanup(self, state):
         """in case of error, set error status"""
-        if state.stopped:  # stop or restart
+        if state.restarted:
-            if state.stopped is Restart:
             return
+        if state.stopped:
             self.status = 'IDLE', 'stopped'
             self.log.warning('stopped')
         else:

secop_psi/vector.py

@@ -0,0 +1,89 @@
+#  -*- coding: utf-8 -*-
+# *****************************************************************************
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Markus Zolliker <markus.zolliker@psi.ch>
+# *****************************************************************************
+"""generic 3D vector"""
+
+from secop.core import Attached, Drivable, Readable, Parameter
+from secop.datatypes import FloatRange, TupleOf, StatusType, Enum
+
+
+class VectorRd(Readable):
+    """generic readable vector"""
+    value = Parameter(datatype=TupleOf(FloatRange(), FloatRange(), FloatRange()))
+    x = Attached()
+    y = Attached()
+    z = Attached()
+    pollFuncs = None
+    components = None
+
+    def initModule(self):
+        super().initModule()
+        members = []
+        status_codes = {}  # collect all possible status codes
+        components = []
+        for name in 'xyz':
+            component = getattr(self, name)
+            members.append(component.parameters['value'].datatype.copy())
+            components.append(component)
+            for code in component.status[0].enum.members:
+                status_codes[int(code)] = code.name
+        self.parameters['value'].datatype = TupleOf(*members)
+        self.parameters['status'].datatype = StatusType(Enum(
+            'status', **{k: v for v, k in status_codes.items()}))
+        self.components = components
+
+    def doPoll(self):
+        for component in self.components:
+            component.doPoll()
+            # update
+            component.pollInfo.last_main = self.pollInfo.last_main
+        self.value = self.merge_value()
+        self.status = self.merge_status()
+
+    def merge_value(self):
+        return [c.value for c in self.components]
+
+    def merge_status(self):
+        status = -1, ''
+        for c in self.components:
+            if c.status[0] > status[0]:
+                status = c.status
+        return status
+
+    def read_value(self):
+        return tuple((c.read_value() for c in self.components))
+
+    def read_status(self):
+        [c.read_status() for c in self.components]
+        return self.merge_status()
+
+
+class Vector(Drivable, VectorRd):
+    """generic drivable vector"""
+    target = Parameter(datatype=TupleOf(FloatRange(), FloatRange(), FloatRange()))
+
+    def initModule(self):
+        super().initModule()
+        members = []
+        for component in self.components:
+            members.append(component.parameters['target'].datatype.copy())
+        self.parameters['target'].datatype = TupleOf(*members)
+
+    def write_target(self, value):
+        return tuple((c.write_target(v) for v, c in zip(value, self.components)))