351 lines
13 KiB
Python
351 lines
13 KiB
Python
# -*- coding: utf-8 -*-
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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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# Markus Zolliker <markus.zolliker@psi.ch>
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# *****************************************************************************
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"""generic persistent magnet driver"""
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import time
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from secop.core import Drivable, Parameter, Done, IDLE, BUSY, ERROR
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from secop.datatypes import FloatRange, EnumType, ArrayOf, TupleOf, StatusType
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from secop.features import HasLimits
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from secop.errors import ConfigError, ProgrammingError, HardwareError
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from secop.lib.enum import Enum
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from secop.states import Retry, HasStates, status_code
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UNLIMITED = FloatRange()
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Mode = Enum(
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DISABLED=0,
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PERSISTENT=30,
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DRIVEN=50,
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)
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Status = Enum(
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Drivable.Status,
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PREPARED=150,
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PREPARING=340,
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RAMPING=370,
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STABILIZING=380,
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FINALIZING=390,
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)
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OFF = 0
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ON = 1
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class SimpleMagfield(HasStates, HasLimits, Drivable):
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value = Parameter('magnetic field', datatype=FloatRange(unit='T'))
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ramp = Parameter(
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'ramp rate for field', FloatRange(unit='$/min'), readonly=False)
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tolerance = Parameter(
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'tolerance', FloatRange(0, unit='$'), readonly=False, default=0.0002)
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trained = Parameter(
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'trained field (positive)',
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TupleOf(FloatRange(-99, 0, unit='$'), FloatRange(0, unit='$')),
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readonly=False, default=(0, 0))
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wait_stable_field = Parameter(
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'wait time to ensure field is stable', FloatRange(0, unit='s'), readonly=False, default=31)
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_last_target = None
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def checkProperties(self):
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dt = self.parameters['target'].datatype
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max_ = dt.max
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if max_ == UNLIMITED.max:
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raise ConfigError('target.max not configured')
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if dt.min == UNLIMITED.min: # not given: assume bipolar symmetric
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dt.min = -max_
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super().checkProperties()
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def stop(self):
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"""keep field at current value"""
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# let the state machine do the needed steps to finish
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self.write_target(self.value)
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def onInterrupt(self, state):
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self.log.info('interrupt target=%g', state.target)
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def write_target(self, target):
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self.check_limits(target)
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self.start_state(self.start_field_change, target=target)
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return target
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def get_progress(self, state, min_ramp):
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"""calculate the inverse slope sec/Tesla
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and return the time needed for a tolerance step
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"""
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result = True
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if state.init:
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state.tol_time = 5 # default minimum stabilize time when tol_time can not be calculated
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else:
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t, v = state.prev_point
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dif = abs(v - self.value)
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tdif = (state.now - t)
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if dif > self.tolerance:
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state.tol_time = tdif * self.tolerance / dif
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state.prev_point = state.now, self.value
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elif tdif > self.tolerance * 60 / min_ramp:
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# real slope is less than 0.001 * ramp -> no progress
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result = False
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else:
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return True
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state.prev_point = state.now, self.value
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return result
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@status_code(BUSY, 'start ramp to target')
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def start_field_change(self, state):
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self.setFastPoll(True, 1.0)
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return self.start_ramp_to_target
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@status_code(BUSY, 'ramping field')
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def ramp_to_target(self, state):
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# Remarks: assume there is a ramp limiting feature
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if abs(self.value - state.target) > self.tolerance:
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if self.get_progress(state, self.ramp * 0.01):
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return Retry()
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raise HardwareError('no progress')
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state.stabilize_start = time.time()
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return self.stabilize_field
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@status_code(BUSY, 'stabilizing field')
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def stabilize_field(self, state):
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if state.now - state.stabilize_start < self.wait_stable_field:
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return Retry()
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return self.final_status()
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class Magfield(SimpleMagfield):
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status = Parameter(datatype=StatusType(Status))
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mode = Parameter(
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'persistent mode', EnumType(Mode), readonly=False, default=Mode.PERSISTENT)
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switch_heater = Parameter('switch heater', EnumType(off=OFF, on=ON),
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readonly=False, default=0)
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persistent_field = Parameter(
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'persistent field', FloatRange(unit='$'), readonly=False)
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current = Parameter(
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'leads current (in units of field)', FloatRange(unit='$'))
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# TODO: time_to_target
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# profile = Parameter(
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# 'ramp limit table', ArrayOf(TupleOf(FloatRange(unit='$'), FloatRange(unit='$/min'))),
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# readonly=False)
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# profile_training = Parameter(
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# 'ramp limit table when in training',
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# ArrayOf(TupleOf(FloatRange(unit='$'), FloatRange(unit='$/min'))), readonly=False)
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# TODO: the following parameters should be changed into properties after tests
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wait_switch_on = Parameter(
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'wait time to ensure switch is on', FloatRange(0, unit='s'), readonly=False, default=61)
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wait_switch_off = Parameter(
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'wait time to ensure switch is off', FloatRange(0, unit='s'), readonly=False, default=61)
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wait_stable_leads = Parameter(
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'wait time to ensure current is stable', FloatRange(0, unit='s'), readonly=False, default=6)
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persistent_limit = Parameter(
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'above this limit, lead currents are not driven to 0',
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FloatRange(0, unit='$'), readonly=False, default=99)
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__init = True
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switch_time = None, None
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def doPoll(self):
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if self.__init:
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self.__init = False
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if self.read_switch_heater() and self.mode == Mode.PERSISTENT:
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self.read_value() # check for persistent field mismatch
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# switch off heater from previous live or manual intervention
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self.write_target(self.persistent_field)
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else:
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self._last_target = self.persistent_field
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else:
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super().doPoll()
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def initStateMachine(self):
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super().initStateMachine()
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self.registerCallbacks(self) # for update_switch_heater
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def write_mode(self, value):
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self.start_state(self.start_field_change, target=self.target, mode=value)
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return value
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def write_target(self, target):
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self.check_limits(target)
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self.start_state(self.start_field_change, target=target, mode=self.mode)
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return target
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def onError(self, state):
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if self.switch_heater != 0:
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self.persistent_field = self.read_value()
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if state.mode != Mode.DRIVEN:
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self.log.warning('turn switch heater off')
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self.write_switch_heater(0)
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return super().onError(state)
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@status_code('PREPARING')
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def start_field_change(self, state):
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self.setFastPoll(True, 1.0)
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if state.target == self.persistent_field or (
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state.target == self._last_target and
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abs(state.target - self.persistent_field) <= self.tolerance): # short cut
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return self.check_switch_off
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if self.switch_heater:
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return self.start_switch_on
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return self.start_ramp_to_field
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@status_code('PREPARING')
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def start_ramp_to_field(self, state):
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"""start ramping current to persistent field
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initiate ramp to persistent field (with corresponding ramp rate)
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the implementation should return ramp_to_field
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"""
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raise NotImplementedError
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@status_code('PREPARING', 'ramp leads to match field')
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def ramp_to_field(self, state):
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if state.init:
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state.stabilize_start = 0
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progress = self.get_progress(state, self.ramp)
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dif = abs(self.current - self.persistent_field)
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if dif > self.tolerance:
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if progress:
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state.stabilize_start = None
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return Retry()
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raise HardwareError('no progress')
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if state.stabilize_start is None:
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state.stabilize_start = state.now
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return self.stabilize_current
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@status_code('PREPARING')
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def stabilize_current(self, state):
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if state.now - state.stabilize_start < max(state.tol_time, self.wait_stable_leads):
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return Retry()
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return self.start_switch_on
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def update_switch_heater(self, value):
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"""is called whenever switch heater was changed"""
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switch_time = self.switch_time[value]
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if switch_time is None:
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self.log.info('restart switch_timer %r', value)
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switch_time = time.time()
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self.switch_time = [None, None]
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self.switch_time[value] = switch_time
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@status_code('PREPARING')
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def start_switch_on(self, state):
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if self.read_switch_heater() == 0:
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self.status = Status.PREPARING, 'turn switch heater on'
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try:
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self.write_switch_heater(True)
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except Exception as e:
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self.log.warning('write_switch_heater %r', e)
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return Retry()
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else:
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self.status = Status.PREPARING, 'wait for heater on'
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return self.wait_for_switch_on
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@status_code('PREPARING')
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def wait_for_switch_on(self, state):
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if (state.target == self._last_target and
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abs(state.target - self.persistent_field) <= self.tolerance): # short cut
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return self.check_switch_off
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self.read_switch_heater() # trigger switch_time setting
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if self.switch_time[ON] is None:
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self.log.warning('switch turned off manually?')
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return self.start_switch_on
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if state.now - self.switch_time[ON] < self.wait_switch_on:
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if state.delta(10):
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self.log.info('waited for %g sec', state.now - self.switch_time[ON])
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return Retry()
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self._last_target = state.target
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return self.start_ramp_to_target
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@status_code('RAMPING')
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def start_ramp_to_target(self, state):
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"""start ramping current to target field
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initiate ramp to target
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the implementation should return ramp_to_target
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"""
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raise NotImplementedError
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@status_code('RAMPING')
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def ramp_to_target(self, state):
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if state.init:
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state.stabilize_start = 0
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self.persistent_field = self.value
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dif = abs(self.value - state.target)
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# Remarks: assume there is a ramp limiting feature
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if dif > self.tolerance:
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if self.get_progress(state, self.ramp * 0.001):
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state.stabilize_start = None
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return Retry()
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raise HardwareError('no progress')
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if state.stabilize_start is None:
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state.stabilize_start = state.now
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return self.stabilize_field
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@status_code('STABILIZING')
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def stabilize_field(self, state):
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self.persistent_field = self.value
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if state.now - state.stabilize_start < max(state.tol_time, self.wait_stable_field):
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return Retry()
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return self.check_switch_off
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def check_switch_off(self, state):
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if state.mode == Mode.DRIVEN:
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return self.final_status(Status.PREPARED, 'driven')
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return self.start_switch_off
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@status_code('FINALIZING')
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def start_switch_off(self, state):
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if self.switch_heater == 1:
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self.write_switch_heater(False)
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return self.wait_for_switch_off
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@status_code('FINALIZING')
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def wait_for_switch_off(self, state):
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self.persistent_field = self.value
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self.read_switch_heater()
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if self.switch_time[OFF] is None:
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self.log.warning('switch turned on manually?')
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return self.start_switch_off
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if state.now - self.switch_time[OFF] < self.wait_switch_off:
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return Retry()
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if abs(self.value) > self.persistent_limit:
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return self.final_status(Status.IDLE, 'leads current at field, switch off')
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return self.start_ramp_to_zero
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@status_code('FINALIZING')
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def start_ramp_to_zero(self, state):
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"""start ramping current to zero
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initiate ramp to zero (with corresponding ramp rate)
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the implementation should return ramp_to_zero
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"""
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raise NotImplementedError
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@status_code('FINALIZING')
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def ramp_to_zero(self, state):
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"""[FINALIZING] ramp field to zero"""
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if abs(self.current) > self.tolerance:
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if self.get_progress(state, self.ramp):
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return Retry()
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raise HardwareError('no progress')
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if state.mode == Mode.DISABLED and self.persistent_field == 0:
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return self.final_status(Status.DISABLED, 'disabled')
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return self.final_status(Status.IDLE, 'persistent mode')
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