Markus Zolliker
09f4f1d192
change error class on reading parameters in SEA from HardwareError to ReadFailed. This is in most cases more appropriate. TODO: find errors in SEA that should be should be HardwareErrors and a mechanism to indicate this + for errors related to disabled modules use the DISABLED status Change-Id: I0342a34185a66dcf874c6ca034b7cefc98bf9c8a Reviewed-on: https://forge.frm2.tum.de/review/c/secop/frappy/+/34022 Tested-by: Jenkins Automated Tests <pedersen+jenkins@frm2.tum.de> Reviewed-by: Markus Zolliker <markus.zolliker@psi.ch>
744 lines
29 KiB
Python
744 lines
29 KiB
Python
# *****************************************************************************
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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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# Markus Zolliker <markus.zolliker@psi.ch>
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# *****************************************************************************
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"""generic SEA driver
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a object or subobject in sea may be assigned to a SECoP module
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Examples:
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SECoP SEA hipadaba path mod.obj mod.sub par.sub mod.path
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-------------------------------------------------------------------------------
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tt:maxwait tt /tt/maxwait tt maxwait /tt
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tt:ramp tt set/ramp /tt/set/ramp tt set/ramp /tt
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t1:raw tt t1/raw /tt/t1/raw tt t1 raw /tt/t1
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rx:bla rx bla /some/rx_a/bla rx bla /some/rx_a
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"""
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import json
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import threading
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import time
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import os
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from os.path import expanduser, join, exists
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from frappy.client import ProxyClient
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from frappy.datatypes import ArrayOf, BoolType, \
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EnumType, FloatRange, IntRange, StringType, StatusType
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from frappy.core import IDLE, BUSY, ERROR, DISABLED
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from frappy.errors import ConfigError, HardwareError, ReadFailedError, CommunicationFailedError
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from frappy.lib import generalConfig, mkthread
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from frappy.lib.asynconn import AsynConn, ConnectionClosed
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from frappy.modulebase import Done
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from frappy.modules import Attached, Command, Drivable, \
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Module, Parameter, Property, Readable, Writable
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CFG_HEADER = """Node('%(config)s.sea.psi.ch',
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'''%(nodedescr)s''',
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)
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Mod(%(seaconn)r,
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'frappy_psi.sea.SeaClient',
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'%(service)s sea connection for %(config)s',
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config = %(config)r,
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service = %(service)r,
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)
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"""
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CFG_MODULE = """Mod(%(module)r,
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'frappy_psi.sea.%(modcls)s', '',
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io = %(seaconn)r,
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sea_object = %(module)r,
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)
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"""
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SERVICE_NAMES = {
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'config': 'main',
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'stick': 'stick',
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'addon': 'addons',
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}
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SEA_DIR = expanduser('~/sea')
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seaconfdir = os.environ.get('FRAPPY_SEA_DIR')
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if not exists(seaconfdir):
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for confdir in generalConfig.confdir.split(os.pathsep):
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seaconfdir = join(confdir, 'sea')
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if exists(seaconfdir):
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break
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def get_sea_port(instance):
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for filename in ('sea_%s.tcl' % instance, 'sea.tcl'):
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try:
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with open(join(SEA_DIR, filename), encoding='utf-8') as f:
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for line in f:
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linesplit = line.split()
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if len(linesplit) == 3:
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_, var, value = line.split()
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if var == 'serverport':
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return value
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except FileNotFoundError:
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pass
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return None
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class SeaClient(ProxyClient, Module):
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"""connection to SEA"""
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uri = Parameter('hostname:portnumber', datatype=StringType(), default='localhost:5000')
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timeout = Parameter('timeout for connecting and requests',
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datatype=FloatRange(0), default=10)
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config = Property("""needed SEA configuration, space separated
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Example: "ori4.config ori4.stick"
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""", StringType(), default='')
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service = Property("main/stick/addons", StringType(), default='')
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visibility = 'expert'
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default_json_file = {}
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_instance = None
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_last_connect = 0
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def __init__(self, name, log, opts, srv):
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nodename = srv.node_cfg.get('name') or srv.node_cfg.get('equipment_id')
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instance = nodename.rsplit('_', 1)[0]
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if 'uri' not in opts:
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self._instance = instance
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port = get_sea_port(instance)
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if port is None:
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raise ConfigError('missing sea port for %s' % instance)
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opts['uri'] = {'value': 'tcp://localhost:%s' % port}
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self.objects = set()
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self.shutdown = False
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self.path2param = {}
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self._write_lock = threading.Lock()
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self._connect_thread = None
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self._connected = threading.Event()
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config = opts.get('config')
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if isinstance(config, dict):
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config = config['value']
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if config:
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self.default_json_file[name] = config.split()[0] + '.json'
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self.syncio = None
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self.asynio = None
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ProxyClient.__init__(self)
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Module.__init__(self, name, log, opts, srv)
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def doPoll(self):
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if not self._connected.is_set() and time.time() > self._last_connect + self.timeout:
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if not self._last_connect:
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self.log.info('reconnect to SEA %s', self.service)
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if self._connect_thread is None:
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self._connect_thread = mkthread(self._connect)
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self._connected.wait(self.timeout)
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def register_obj(self, module, obj):
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self.objects.add(obj)
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for k, v in module.path2param.items():
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self.path2param.setdefault(k, []).extend(v)
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self.register_callback(module.name, module.updateEvent)
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def _connect(self):
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try:
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if self.syncio:
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try:
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self.syncio.disconnect()
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except Exception:
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pass
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self._last_connect = time.time()
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if self._instance:
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try:
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from servicemanager import SeaManager # pylint: disable=import-outside-toplevel
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SeaManager().do_start(self._instance)
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except ImportError:
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pass
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if '//' not in self.uri:
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self.uri = 'tcp://' + self.uri
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self.asynio = AsynConn(self.uri)
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reply = self.asynio.readline()
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if reply != b'OK':
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raise CommunicationFailedError('reply %r should be "OK"' % reply)
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for _ in range(2):
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self.asynio.writeline(b'Spy 007')
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reply = self.asynio.readline()
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if reply == b'Login OK':
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break
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else:
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raise CommunicationFailedError('reply %r should be "Login OK"' % reply)
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self.syncio = AsynConn(self.uri)
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assert self.syncio.readline() == b'OK'
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self.syncio.writeline(b'seauser seaser')
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assert self.syncio.readline() == b'Login OK'
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result = self.raw_request('frappy_config %s %s' % (self.service, self.config))
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if result.startswith('ERROR:'):
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raise CommunicationFailedError(f'reply from frappy_config: {result}')
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# frappy_async_client switches to the json protocol (better for updates)
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self.asynio.writeline(b'frappy_async_client')
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self.asynio.writeline(('get_all_param ' + ' '.join(self.objects)).encode())
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self.log.info('connected to %s', self.uri)
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self._connected.set()
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mkthread(self._rxthread)
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finally:
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self._connect_thread = None
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def request(self, command, quiet=False):
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with self._write_lock:
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if not self._connected.is_set():
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if self._connect_thread is None:
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# let doPoll do the reconnect
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self.pollInfo.trigger(True)
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raise ConnectionClosed('disconnected - reconnect is tried later')
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return self.raw_request(command, quiet)
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def raw_request(self, command, quiet=False):
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"""send a request and wait for reply"""
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try:
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self.syncio.flush_recv()
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ft = 'fulltransAct' if quiet else 'fulltransact'
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self.syncio.writeline(('%s %s' % (ft, command)).encode())
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result = None
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deadline = time.time() + self.timeout
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while time.time() < deadline:
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reply = self.syncio.readline()
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if reply is None:
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continue
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reply = reply.decode()
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if reply.startswith('TRANSACTIONSTART'):
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result = []
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continue
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if reply == 'TRANSACTIONFINISHED':
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if result is None:
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self.log.info('missing TRANSACTIONSTART on: %s', command)
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return ''
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if not result:
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return ''
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return '\n'.join(result)
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if result is None:
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self.log.info('swallow: %s', reply)
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continue
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if not result:
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result = [reply.split('=', 1)[-1]]
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else:
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result.append(reply)
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raise TimeoutError('no response within 10s')
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except ConnectionClosed:
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self.close_connections()
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raise
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def close_connections(self):
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connections = self.syncio, self.asynio
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self.syncio = self.asynio = None
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for conn in connections:
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try:
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conn.disconnect()
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except Exception:
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pass
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self._connected.clear()
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def _rxthread(self):
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recheck = None
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while not self.shutdown:
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if recheck and time.time() > recheck:
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# try to collect device changes within 1 sec
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recheck = None
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result = self.request('check_config %s %s' % (self.service, self.config))
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if result == '1':
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self.asynio.writeline(('get_all_param ' + ' '.join(self.objects)).encode())
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else:
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self.secNode.srv.shutdown()
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try:
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reply = self.asynio.readline()
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if reply is None:
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continue
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except ConnectionClosed:
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self.close_connections()
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break
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try:
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msg = json.loads(reply)
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except Exception as e:
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self.log.warn('bad reply %r %r', e, reply)
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continue
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if isinstance(msg, str):
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if msg.startswith('_E '):
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try:
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_, path, readerror = msg.split(None, 2)
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except ValueError:
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continue
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else:
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continue
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# path from sea may contain double slash //
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# this should be fixed, however in the meantime fix it here
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path = path.replace('//', '/')
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data = {'%s.geterror' % path: readerror.replace('ERROR: ', '')}
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obj = None
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flag = 'hdbevent'
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else:
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obj = msg['object']
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flag = msg['flag']
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data = msg['data']
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if flag == 'finish' and obj == 'get_all_param':
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# first updates have finished
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continue
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if flag != 'hdbevent':
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if obj not in ('frappy_async_client', 'get_all_param'):
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self.log.debug('skip %r', msg)
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continue
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if not data:
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continue
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if not isinstance(data, dict):
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self.log.debug('what means %r', msg)
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continue
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now = time.time()
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for path, value in data.items():
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readerror = None
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if path.endswith('.geterror'):
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if value:
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# TODO: add mechanism in SEA to indicate hardware errors
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readerror = ReadFailedError(value)
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path = path.rsplit('.', 1)[0]
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value = None
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mplist = self.path2param.get(path)
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if mplist is None:
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if path.startswith('/device'):
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if path == '/device/changetime':
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recheck = time.time() + 1
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elif path.startswith('/device/frappy_%s' % self.service) and value == '':
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self.secNode.srv.shutdown()
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else:
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for module, param in mplist:
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oldv, oldt, oldr = self.cache.get((module, param), [None, None, None])
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if value is None:
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value = oldv
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if value != oldv or str(readerror) != str(oldr) or abs(now - oldt) > 60:
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# do not update unchanged values within 60 sec
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self.updateValue(module, param, value, now, readerror)
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@Command(StringType(), result=StringType())
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def communicate(self, command):
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"""send a command to SEA"""
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reply = self.request(command)
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return reply
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@Command(StringType(), result=StringType())
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def query(self, cmd, quiet=False):
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"""a request checking for errors and accepting 0 or 1 line as result"""
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errors = []
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reply = None
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for line in self.request(cmd, quiet).split('\n'):
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if line.strip().startswith('ERROR:'):
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errors.append(line[6:].strip())
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elif reply is None:
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reply = line.strip()
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else:
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self.log.info('SEA: superfluous reply %r to %r', reply, cmd)
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if errors:
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raise HardwareError('; '.join(errors))
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return reply
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class SeaConfigCreator(SeaClient):
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def startModule(self, start_events):
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"""save objects (and sub-objects) description and exit"""
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self._connect()
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reply = self.request('describe_all')
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reply = ''.join('' if line.startswith('WARNING') else line for line in reply.split('\n'))
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description, reply = json.loads(reply)
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modules = {}
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modcls = {}
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for filename, obj, descr in reply:
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if filename not in modules:
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modules[filename] = {}
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if descr['params'][0].get('cmd', '').startswith('run '):
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modcls[obj] = 'SeaDrivable'
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elif not descr['params'][0].get('readonly', True):
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modcls[obj] = 'SeaWritable'
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else:
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modcls[obj] = 'SeaReadable'
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modules.setdefault(filename, {})[obj] = descr
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result = []
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for filename, descr in modules.items():
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stripped, _, ext = filename.rpartition('.')
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service = SERVICE_NAMES[ext]
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seaconn = 'sea_' + service
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cfgfile = join(seaconfdir, stripped + '_cfg.py')
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with open(cfgfile, 'w', encoding='utf-8') as fp:
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fp.write(CFG_HEADER % {'config': filename, 'seaconn': seaconn, 'service': service,
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'nodedescr': description.get(filename, filename)})
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for obj in descr:
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fp.write(CFG_MODULE % {'modcls': modcls[obj], 'module': obj, 'seaconn': seaconn})
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content = json.dumps(descr).replace('}, {', '},\n{').replace('[{', '[\n{').replace('}]}, ', '}]},\n\n')
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result.append('%s\n' % cfgfile)
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with open(join(seaconfdir, filename + '.json'), 'w', encoding='utf-8') as fp:
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fp.write(content + '\n')
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result.append('%s: %s' % (filename, ','.join(n for n in descr)))
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raise SystemExit('; '.join(result))
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@Command(StringType(), result=StringType())
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def query(self, cmd, quiet=False):
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"""a request checking for errors and accepting 0 or 1 line as result"""
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errors = []
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reply = None
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for line in self.request(cmd).split('\n'):
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if line.strip().startswith('ERROR:'):
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errors.append(line[6:].strip())
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elif reply is None:
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reply = line.strip()
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else:
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self.log.info('SEA: superfluous reply %r to %r', reply, cmd)
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if errors:
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raise HardwareError('; '.join(errors))
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return reply
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SEA_TO_SECOPTYPE = {
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'float': FloatRange(),
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'text': StringType(),
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'int': IntRange(-1 << 63, 1 << 63 - 1),
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'bool': BoolType(),
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'none': None,
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'floatvarar': ArrayOf(FloatRange(), 0, 400), # 400 is the current limit for proper notify events in SEA
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}
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class SeaEnum(EnumType):
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"""some sea enum nodes have text type -> accept '<integer>' also"""
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def copy(self):
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return SeaEnum(self._enum)
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def __call__(self, value):
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try:
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value = int(value)
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return super().__call__(value)
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except Exception as e:
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raise ReadFailedError(e)
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def get_datatype(paramdesc):
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typ = paramdesc['type']
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result = SEA_TO_SECOPTYPE.get(typ, False)
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if result is not False: # general case
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return result
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# special cases
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if typ == 'enum':
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return SeaEnum(paramdesc['enum'])
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raise ValueError('unknown SEA type %r' % typ)
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class SeaModule(Module):
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io = Attached()
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path2param = None
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sea_object = None
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hdbpath = None # hdbpath for main writable
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# pylint: disable=too-many-statements,arguments-differ,too-many-branches
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def __new__(cls, name, logger, cfgdict, srv):
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if hasattr(srv, 'extra_sea_modules'):
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extra_modules = srv.extra_sea_modules
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else:
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extra_modules = {}
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srv.extra_sea_modules = extra_modules
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for k, v in cfgdict.items():
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try:
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cfgdict[k] = v['value']
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except (KeyError, TypeError):
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pass
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json_file = cfgdict.pop('json_file', None) or SeaClient.default_json_file[cfgdict['io']]
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visibility_level = cfgdict.pop('visibility_level', 2)
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single_module = cfgdict.pop('single_module', None)
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if single_module:
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sea_object, base, paramdesc = extra_modules[single_module]
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params = [paramdesc]
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paramdesc['key'] = 'value'
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if issubclass(cls, SeaWritable):
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if paramdesc.get('readonly', True):
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raise ConfigError(f"{sea_object}/{paramdesc['path']} is not writable")
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params.insert(0, paramdesc.copy()) # copy value
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paramdesc['key'] = 'target'
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paramdesc['readonly'] = False
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extra_module_set = ()
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if 'description' not in cfgdict:
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cfgdict['description'] = f'{single_module}@{json_file}'
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else:
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sea_object = cfgdict.pop('sea_object')
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rel_paths = cfgdict.pop('rel_paths', '.')
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if 'description' not in cfgdict:
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cfgdict['description'] = '%s@%s%s' % (
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name, json_file, '' if rel_paths == '.' else f' (rel_paths={rel_paths})')
|
|
|
|
with open(join(seaconfdir, json_file), encoding='utf-8') as fp:
|
|
content = json.load(fp)
|
|
descr = content[sea_object]
|
|
if rel_paths == '*' or not rel_paths:
|
|
# take all
|
|
main = descr['params'][0]
|
|
if issubclass(cls, Readable):
|
|
# assert main['path'] == '' # TODO: check cases where this fails
|
|
main['key'] = 'value'
|
|
else:
|
|
descr['params'].pop(0)
|
|
else:
|
|
# filter by relative paths
|
|
result = []
|
|
is_running = None
|
|
for rpath in rel_paths:
|
|
include = True
|
|
for paramdesc in descr['params']:
|
|
path = paramdesc['path']
|
|
if path.endswith('is_running') and issubclass(cls, Drivable):
|
|
# take this independent of visibility
|
|
is_running = paramdesc
|
|
continue
|
|
if paramdesc.get('visibility', 1) > visibility_level:
|
|
continue
|
|
sub = path.split('/', 1)
|
|
if rpath == '.': # take all except subpaths with readonly node at top
|
|
if len(sub) == 1:
|
|
include = paramdesc.get('kids', 0) == 0 or not paramdesc.get('readonly', True)
|
|
if include or path == '':
|
|
result.append(paramdesc)
|
|
elif sub[0] == rpath:
|
|
result.append(paramdesc)
|
|
if is_running: # take this at end
|
|
result.append(is_running)
|
|
descr['params'] = result
|
|
rel0 = '' if rel_paths[0] == '.' else rel_paths[0]
|
|
if result[0]['path'] == rel0:
|
|
if issubclass(cls, Readable):
|
|
result[0]['key'] = 'value'
|
|
else:
|
|
result.pop(0)
|
|
else:
|
|
logger.error('%s: no value found', name)
|
|
base = descr['base']
|
|
params = descr['params']
|
|
if issubclass(cls, SeaWritable):
|
|
paramdesc = params[0]
|
|
assert paramdesc['key'] == 'value'
|
|
params.append(paramdesc.copy()) # copy value?
|
|
if paramdesc.get('readonly', True):
|
|
raise ConfigError(f"{sea_object}/{paramdesc['path']} is not writable")
|
|
paramdesc['key'] = 'target'
|
|
paramdesc['readonly'] = False
|
|
extra_module_set = set(cfgdict.pop('extra_modules', ()))
|
|
path2param = {}
|
|
attributes = {'sea_object': sea_object, 'path2param': path2param}
|
|
|
|
# some guesses about visibility (may be overriden in *_cfg.py):
|
|
if sea_object in ('table', 'cc'):
|
|
attributes['visibility'] = 2
|
|
elif base.count('/') > 1:
|
|
attributes['visibility'] = 2
|
|
for paramdesc in params:
|
|
path = paramdesc['path']
|
|
readonly = paramdesc.get('readonly', True)
|
|
dt = get_datatype(paramdesc)
|
|
kwds = {'description': paramdesc.get('description', path),
|
|
'datatype': dt,
|
|
'visibility': paramdesc.get('visibility', 1),
|
|
'needscfg': False, 'readonly': readonly}
|
|
if kwds['datatype'] is None:
|
|
kwds.update(visibility=3, default='', datatype=StringType())
|
|
pathlist = path.split('/') if path else []
|
|
key = paramdesc.get('key') # None, 'value' or 'target'
|
|
if key is None:
|
|
if len(pathlist) > 0:
|
|
if len(pathlist) == 1:
|
|
if issubclass(cls, Readable):
|
|
kwds['group'] = 'more'
|
|
else:
|
|
kwds['group'] = pathlist[-2]
|
|
# flatten path to parameter name
|
|
for i in reversed(range(len(pathlist))):
|
|
key = '_'.join(pathlist[i:])
|
|
if not key in cls.accessibles:
|
|
break
|
|
if key == 'is_running':
|
|
kwds['export'] = False
|
|
if key == 'target' and kwds.get('group') == 'more':
|
|
kwds.pop('group')
|
|
if key in cls.accessibles:
|
|
if key == 'target':
|
|
kwds['readonly'] = False
|
|
prev = cls.accessibles[key]
|
|
if key == 'status':
|
|
# special case: status from sea is a string, not the status tuple
|
|
pobj = prev.copy()
|
|
else:
|
|
pobj = Parameter(**kwds)
|
|
merged_properties = prev.propertyValues.copy()
|
|
pobj.updateProperties(merged_properties)
|
|
pobj.merge(merged_properties)
|
|
else:
|
|
pobj = Parameter(**kwds)
|
|
datatype = pobj.datatype
|
|
if issubclass(cls, SeaWritable) and key == 'target':
|
|
kwds['readonly'] = False
|
|
attributes['value'] = Parameter(**kwds)
|
|
|
|
hdbpath = '/'.join([base] + pathlist)
|
|
if key in extra_module_set:
|
|
extra_modules[name + '.' + key] = sea_object, base, paramdesc
|
|
continue # skip this parameter
|
|
path2param.setdefault(hdbpath, []).append((name, key))
|
|
attributes[key] = pobj
|
|
|
|
def rfunc(self, cmd=f'hval {base}/{path}'):
|
|
reply = self.io.query(cmd, True)
|
|
try:
|
|
reply = float(reply)
|
|
except ValueError:
|
|
pass
|
|
# an updateEvent will be handled before above returns
|
|
return reply
|
|
|
|
rfunc.poll = False
|
|
attributes['read_' + key] = rfunc
|
|
|
|
if not readonly:
|
|
|
|
def wfunc(self, value, datatype=datatype, command=paramdesc['cmd']):
|
|
value = datatype.export_value(value)
|
|
if isinstance(value, bool):
|
|
value = int(value)
|
|
# TODO: check if more has to be done for valid tcl data (strings?)
|
|
cmd = f'{command} {value}'
|
|
self.io.query(cmd)
|
|
return Done
|
|
|
|
attributes['write_' + key] = wfunc
|
|
|
|
# create standard parameters like value and status, if not yet there
|
|
for pname, pobj in cls.accessibles.items():
|
|
if pname == 'pollinterval':
|
|
pobj.export = False
|
|
attributes[pname] = pobj
|
|
pobj.__set_name__(cls, pname)
|
|
elif pname not in attributes and isinstance(pobj, Parameter):
|
|
pobj.needscfg = False
|
|
attributes[pname] = pobj
|
|
pobj.__set_name__(cls, pname)
|
|
|
|
classname = f'{cls.__name__}_{name}'
|
|
newcls = type(classname, (cls,), attributes)
|
|
result = Module.__new__(newcls)
|
|
return result
|
|
|
|
def updateEvent(self, module, parameter, value, timestamp, readerror):
|
|
upd = getattr(self, 'update_' + parameter, None)
|
|
if upd:
|
|
upd(value, timestamp, readerror)
|
|
return
|
|
self.announceUpdate(parameter, value, readerror, timestamp)
|
|
|
|
def initModule(self):
|
|
self.io.register_obj(self, self.sea_object)
|
|
super().initModule()
|
|
|
|
def doPoll(self):
|
|
pass
|
|
|
|
|
|
class SeaReadable(SeaModule, Readable):
|
|
_readerror = None
|
|
_status = IDLE, ''
|
|
|
|
status = Parameter(datatype=StatusType(Readable, 'DISABLED'))
|
|
|
|
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 'disable' in value.lower():
|
|
self._status = DISABLED, value
|
|
elif value == '':
|
|
self._status = IDLE, ''
|
|
else:
|
|
self._status = ERROR, value
|
|
self.read_status()
|
|
|
|
def read_status(self):
|
|
if self._readerror:
|
|
if 'disable' in str(self._readerror).lower():
|
|
return DISABLED, str(self._readerror)
|
|
return ERROR, f'{self._readerror.name} - {self._readerror}'
|
|
return self._status
|
|
|
|
|
|
class SeaWritable(SeaReadable, Writable):
|
|
def read_value(self):
|
|
return self.target
|
|
|
|
def update_target(self, value, timestamp, readerror):
|
|
self.target = value
|
|
if not readerror:
|
|
self.value = value
|
|
|
|
|
|
class SeaDrivable(SeaReadable, Drivable):
|
|
_is_running = 0
|
|
|
|
status = Parameter(datatype=StatusType(Drivable, 'DISABLED'))
|
|
|
|
def earlyInit(self):
|
|
super().earlyInit()
|
|
self._run_event = threading.Event()
|
|
|
|
def write_target(self, value):
|
|
self._run_event.clear()
|
|
self.io.query(f'run {self.sea_object} {value}')
|
|
if not self._run_event.wait(5):
|
|
self.log.warn('target changed but is_running stays 0')
|
|
return value
|
|
|
|
def update_is_running(self, value, timestamp, readerror):
|
|
if not readerror:
|
|
self._is_running = value
|
|
self.read_status()
|
|
if value:
|
|
self._run_event.set()
|
|
|
|
def read_status(self):
|
|
status = super().read_status()
|
|
if self._is_running:
|
|
if status[0] >= ERROR:
|
|
return ERROR, 'BUSY + ' + status[1]
|
|
return BUSY, 'driving'
|
|
return status
|
|
|
|
def updateTarget(self, module, parameter, value, timestamp, readerror):
|
|
if value is not None:
|
|
self.target = value
|
|
|
|
@Command()
|
|
def stop(self):
|
|
"""propagate to SEA
|
|
|
|
- on stdsct drivables this will call the halt script
|
|
- on EaseDriv this will set the stopped state
|
|
"""
|
|
self.io.query(f'{self.sea_object} is_running 0')
|