Markus Zolliker
07b758c3dd
- removed secop/metaclass.py - moved code from ModuleMeta to modules.HasAccessibles.__init_subclass__ - reworked properties: assignment obj.property = value now always allowed - reworked Parameters and Command to be true descriptors - Command must now be solely used as decorator - renamed 'usercommand' to 'Command' - command methods no longer start with 'do_' - reworked mechanism to determine accessible order: the attribute paramOrder, if given, determines order of accessibles + fixed some issues makeing the IDE more happy + simplified code for StatusType and added a test for it Change-Id: I8045cf38ee6f4d4862428272df0b12a7c8abaca7 Reviewed-on: https://forge.frm2.tum.de/review/c/sine2020/secop/playground/+/25049 Tested-by: Jenkins Automated Tests <pedersen+jenkins@frm2.tum.de> Reviewed-by: Enrico Faulhaber <enrico.faulhaber@frm2.tum.de> Reviewed-by: Markus Zolliker <markus.zolliker@psi.ch>
176 lines
6.8 KiB
Python
176 lines
6.8 KiB
Python
# -*- coding: utf-8 -*-
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# *****************************************************************************
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#
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# This program is free software; you can redistribute it and/or modify it under
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# the terms of the GNU General Public License as published by the Free Software
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# Foundation; either version 2 of the License, or (at your option) any later
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# version.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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# details.
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#
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# You should have received a copy of the GNU General Public License along with
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# this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#
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# Module authors:
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# Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
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#
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# *****************************************************************************
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"""Define Mixin Features for real Modules implemented in the server"""
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from secop.datatypes import ArrayOf, BoolType, EnumType, \
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FloatRange, StringType, StructOf, TupleOf
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from secop.modules import Command, Parameter, HasAccessibles
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class Feature(HasAccessibles):
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"""all things belonging to a small, predefined functionality influencing the working of a module"""
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class HAS_PID(Feature):
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# note: implementors should either use p,i,d or pid, but ECS must be handle both cases
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# note: if both p,i,d and pid are implemented, it MUST NOT matter which one gets a change, the final result should be the same
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# note: if there are additional custom accessibles with the same name as an element of the struct, the above applies
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# note: (i would still but them in the same group, though)
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# note: if extra elements are implemented in the pid struct they MUST BE
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# properly described in the description of the pid Parameter
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# parameters
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use_pid = Parameter('use the pid mode', datatype=EnumType(openloop=0, pid_control=1), )
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# pylint: disable=invalid-name
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p = Parameter('proportional part of the regulation', datatype=FloatRange(0), )
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i = Parameter('(optional) integral part', datatype=FloatRange(0), optional=True)
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d = Parameter('(optional) derivative part', datatype=FloatRange(0), optional=True)
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base_output = Parameter('(optional) minimum output value', datatype=FloatRange(0), optional=True)
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pid = Parameter('(optional) Struct of p,i,d, minimum output value',
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datatype=StructOf(p=FloatRange(0),
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i=FloatRange(0),
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d=FloatRange(0),
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base_output=FloatRange(0),
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), optional=True,
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) # note: struct may be extended with custom elements (names should be prefixed with '_')
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output = Parameter('(optional) output of pid-control', datatype=FloatRange(0), optional=True, readonly=False)
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class Has_PIDTable(HAS_PID):
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# parameters
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use_pidtable = Parameter('use the zoning mode', datatype=EnumType(fixed_pid=0, zone_mode=1))
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pidtable = Parameter('Table of pid-values vs. target temperature', datatype=ArrayOf(TupleOf(FloatRange(0),
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StructOf(p=FloatRange(0),
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i=FloatRange(0),
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d=FloatRange(0),
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_heater_range=FloatRange(0),
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_base_output=FloatRange(0),),),), optional=True) # struct may include 'heaterrange'
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class HAS_Persistent(Feature):
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#extra_Status {
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# 'decoupled' : Status.IDLE+1, # to be discussed.
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# 'coupling' : Status.BUSY+1, # to be discussed.
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# 'coupled' : Status.BUSY+2, # to be discussed.
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# 'decoupling' : Status.BUSY+3, # to be discussed.
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#}
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# parameters
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persistent_mode = Parameter('Use persistent mode',
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datatype=EnumType(off=0,on=1),
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default=0, readonly=False)
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is_persistent = Parameter('current state of persistence',
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datatype=BoolType(), optional=True)
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stored_value = Parameter('current persistence value, often used as the modules value',
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datatype='main', unit='$', optional=True)
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driven_value = Parameter('driven value (outside value, syncs with stored_value if non-persistent)',
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datatype='main', unit='$' )
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class HAS_Tolerance(Feature):
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# detects IDLE status by checking if the value lies in a given window:
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# tolerance is the maximum allowed deviation from target, value must lie in this interval
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# for at least ´timewindow´ seconds.
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# parameters
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tolerance = Parameter('Half height of the Window',
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datatype=FloatRange(0), default=1, unit='$')
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timewindow = Parameter('Length of the timewindow to check',
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datatype=FloatRange(0), default=30, unit='s',
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optional=True)
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class HAS_Timeout(Feature):
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# parameters
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timeout = Parameter('timeout for movement',
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datatype=FloatRange(0), default=0, unit='s')
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class HAS_Pause(Feature):
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# just a proposal, can't agree on it....
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@Command(argument=None, result=None)
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def pause(self):
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"""pauses movement"""
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@Command(argument=None, result=None)
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def go(self):
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"""continues movement or start a new one if target was change since the last pause"""
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class HAS_Ramp(Feature):
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# parameters
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ramp =Parameter('speed of movement', unit='$/min',
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datatype=FloatRange(0))
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use_ramp = Parameter('use the ramping of the setpoint, or jump',
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datatype=EnumType(disable_ramp=0, use_ramp=1),
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optional=True)
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setpoint = Parameter('currently active setpoint',
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datatype=FloatRange(0), unit='$',
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readonly=True, )
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class HAS_Speed(Feature):
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# parameters
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speed = Parameter('(maximum) speed of movement (of the main value)',
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unit='$/s', datatype=FloatRange(0))
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class HAS_Accel(HAS_Speed):
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# parameters
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accel = Parameter('acceleration of movement', unit='$/s^2',
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datatype=FloatRange(0))
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decel = Parameter('deceleration of movement', unit='$/s^2',
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datatype=FloatRange(0), optional=True)
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class HAS_MotorCurrents(Feature):
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# parameters
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movecurrent = Parameter('Current while moving',
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datatype=FloatRange(0))
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idlecurrent = Parameter('Current while idle',
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datatype=FloatRange(0), optional=True)
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class HAS_Curve(Feature):
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# proposed, not yet agreed upon!
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# parameters
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curve = Parameter('Calibration curve', datatype=StringType(80), default='<unset>')
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