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frappy/secop_psi/ppms.py
Markus Zolliker 1a8ddbc696 removed old style syntax 
- 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>
2021-02-24 08:44:13 +01:00

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#!/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>
# *****************************************************************************
"""PPMS driver
The PPMS hardware has some special requirements:
- the communication to the hardware happens through windows COM
- all measured data including state are handled by one request/reply pair GETDAT?<mask>
- for each channel, the settings are handled through a single request/reply pair,
needing a mechanism to treat a single parameter change correctly.
Polling of value and status is done commonly for all modules. For each registered module
<module>.update_value_status() is called in order to update their value and status.
"""
import time
import threading
from secop.modules import Readable, Drivable, Parameter,\
Communicator, Property, Attached, HasAccessibles, Done
from secop.datatypes import EnumType, FloatRange, IntRange, StringType,\
BoolType, StatusType
from secop.lib.enum import Enum
from secop.lib import clamp
from secop.errors import HardwareError
from secop.poller import Poller
import secop.iohandler
from secop.stringio import HasIodev
try:
import secop_psi.ppmswindows as ppmshw
except ImportError:
print('use simulation instead')
import secop_psi.ppmssim as ppmshw
class IOHandler(secop.iohandler.IOHandler):
"""IO handler for PPMS commands
deals with typical format:
- query command: ``<command>?``
- reply: ``<value1>,<value2>, ..``
- change command: ``<command> <value1>,<value2>,...``
"""
CMDARGS = ['no'] # the channel number is needed in channel commands
CMDSEPARATOR = None # no command chaining
def __init__(self, name, querycmd, replyfmt):
changecmd = querycmd.split('?')[0] + ' '
super().__init__(name, querycmd, replyfmt, changecmd)
class Main(Communicator):
"""ppms communicator module"""
pollinterval = Parameter('poll interval', FloatRange(), readonly=False, default=2)
data = Parameter('internal', StringType(), poll=True, export=True, # export for test only
default="", readonly=True)
class_id = Property('Quantum Design class id', StringType(), export=False)
_channel_names = [
'packed_status', 'temp', 'field', 'position', 'r1', 'i1', 'r2', 'i2',
'r3', 'i3', 'r4', 'i4', 'v1', 'v2', 'digital', 'cur1', 'pow1', 'cur2', 'pow2',
'p', 'u20', 'u21', 'u22', 'ts', 'u24', 'u25', 'u26', 'u27', 'u28', 'u29']
assert len(_channel_names) == 30
_channel_to_index = dict(((channel, i) for i, channel in enumerate(_channel_names)))
_status_bitpos = {'temp': 0, 'field': 4, 'chamber': 8, 'position': 12}
pollerClass = Poller
def earlyInit(self):
self.modules = {}
self._ppms_device = ppmshw.QDevice(self.class_id)
self.lock = threading.Lock()
def register(self, other):
self.modules[other.channel] = other
def communicate(self, command):
"""GPIB command"""
with self.lock:
reply = self._ppms_device.send(command)
self.log.debug("%s|%s", command, reply)
return reply
def read_data(self):
mask = 1 # always get packed_status
for channelname, channel in self.modules.items():
if channel.enabled:
mask |= 1 << self._channel_to_index.get(channelname, 0)
# send, read and convert to floats and ints
data = self.communicate('GETDAT? %d' % mask)
reply = data.split(',')
mask = int(reply.pop(0))
reply.pop(0) # pop timestamp
result = {}
for bitpos, channelname in enumerate(self._channel_names):
if mask & (1 << bitpos):
result[channelname] = float(reply.pop(0))
if 'temp' in result:
result['tv'] = result['temp']
if 'ts' in result:
result['temp'] = result['ts']
packed_status = int(result['packed_status'])
result['chamber'] = None # 'chamber' must be in result for status, but value is ignored
for channelname, channel in self.modules.items():
channel.update_value_status(result.get(channelname, None), packed_status)
return data # return data as string
class PpmsMixin(HasIodev, HasAccessibles):
"""common methods for ppms modules"""
iodev = Attached()
pollerClass = Poller
enabled = True # default, if no parameter enable is defined
_last_settings = None # used by several modules
slow_pollfactor = 1
def initModule(self):
self._iodev.register(self)
def startModule(self, started_callback):
# no polls except on main module
started_callback()
def read_value(self):
# polling is done by the main module
# and PPMS does not deliver really more fresh values when polled more often
return Done
def read_status(self):
# polling is done by the main module
# and PPMS does not deliver really fresh status values anyway: the status is not
# changed immediately after a target change!
return Done
def update_value_status(self, value, packed_status):
# update value and status
# to be reimplemented for modules looking at packed_status
if not self.enabled:
self.status = (self.Status.DISABLED, 'disabled')
return
if value is None:
self.status = (self.Status.ERROR, 'invalid value')
else:
self.value = value
self.status = (self.Status.IDLE, '')
class Channel(PpmsMixin, Readable):
"""channel base class"""
value = Parameter('main value of channels', poll=True)
enabled = Parameter('is this channel used?', readonly=False, poll=False,
datatype=BoolType(), default=False)
pollinterval = Parameter(visibility=3)
channel = Property('channel name',
datatype=StringType(), export=False, default='')
no = Property('channel number',
datatype=IntRange(1, 4), export=False)
def earlyInit(self):
Readable.earlyInit(self)
if not self.channel:
self.channel = self.name
def get_settings(self, pname):
return ''
class UserChannel(Channel):
"""user channel"""
pollinterval = Parameter(visibility=3)
no = Property('channel number',
datatype=IntRange(0, 0), export=False, default=0)
linkenable = Property('name of linked channel for enabling',
datatype=StringType(), export=False, default='')
def write_enabled(self, enabled):
other = self._iodev.modules.get(self.linkenable, None)
if other:
other.enabled = enabled
return enabled
class DriverChannel(Channel):
"""driver channel"""
drvout = IOHandler('drvout', 'DRVOUT? %(no)d', '%d,%g,%g')
current = Parameter('driver current', readonly=False, handler=drvout,
datatype=FloatRange(0., 5000., unit='uA'))
powerlimit = Parameter('power limit', readonly=False, handler=drvout,
datatype=FloatRange(0., 1000., unit='uW'))
pollinterval = Parameter(visibility=3)
def analyze_drvout(self, no, current, powerlimit):
if self.no != no:
raise HardwareError('DRVOUT command: channel number in reply does not match')
return dict(current=current, powerlimit=powerlimit)
def change_drvout(self, change):
change.readValues()
return change.current, change.powerlimit
class BridgeChannel(Channel):
"""bridge channel"""
bridge = IOHandler('bridge', 'BRIDGE? %(no)d', '%d,%g,%g,%d,%d,%g')
# pylint: disable=invalid-name
ReadingMode = Enum('ReadingMode', standard=0, fast=1, highres=2)
enabled = Parameter(handler=bridge)
excitation = Parameter('excitation current', readonly=False, handler=bridge,
datatype=FloatRange(0.01, 5000., unit='uA'))
powerlimit = Parameter('power limit', readonly=False, handler=bridge,
datatype=FloatRange(0.001, 1000., unit='uW'))
dcflag = Parameter('True when excitation is DC (else AC)', readonly=False, handler=bridge,
datatype=BoolType())
readingmode = Parameter('reading mode', readonly=False, handler=bridge,
datatype=EnumType(ReadingMode))
voltagelimit = Parameter('voltage limit', readonly=False, handler=bridge,
datatype=FloatRange(0.0001, 100., unit='mV'))
pollinterval = Parameter(visibility=3)
def analyze_bridge(self, no, excitation, powerlimit, dcflag, readingmode, voltagelimit):
if self.no != no:
raise HardwareError('DRVOUT command: channel number in reply does not match')
return dict(
enabled=excitation != 0 and powerlimit != 0 and voltagelimit != 0,
excitation=excitation or self.excitation,
powerlimit=powerlimit or self.powerlimit,
dcflag=dcflag,
readingmode=readingmode,
voltagelimit=voltagelimit or self.voltagelimit,
)
def change_bridge(self, change):
change.readValues()
if change.enabled:
return self.no, change.excitation, change.powerlimit, change.dcflag, change.readingmode, change.voltagelimit
return self.no, 0, 0, change.dcflag, change.readingmode, 0
class Level(PpmsMixin, Readable):
"""helium level"""
level = IOHandler('level', 'LEVEL?', '%g,%d')
value = Parameter(datatype=FloatRange(unit='%'), handler=level)
status = Parameter(handler=level)
pollinterval = Parameter(visibility=3)
channel = 'level'
def update_value_status(self, value, packed_status):
pass
# must be a no-op
# when called from Main.read_data, value is always None
# value and status is polled via settings
def analyze_level(self, level, status):
# ignore 'old reading' state of the flag, as this happens only for a short time
# during measuring
return dict(value=level, status=(self.Status.IDLE, ''))
class Chamber(PpmsMixin, Drivable):
"""sample chamber handling
value is an Enum, which is redundant with the status text
"""
chamber = IOHandler('chamber', 'CHAMBER?', '%d')
Status = Drivable.Status
# pylint: disable=invalid-name
Operation = Enum(
'Operation',
seal_immediately=0,
purge_and_seal=1,
vent_and_seal=2,
pump_continuously=3,
vent_continuously=4,
hi_vacuum=5,
noop=10,
)
StatusCode = Enum(
'StatusCode',
unknown=0,
purged_and_sealed=1,
vented_and_sealed=2,
sealed_unknown=3,
purge_and_seal=4,
vent_and_seal=5,
pumping_down=6,
at_hi_vacuum=7,
pumping_continuously=8,
venting_continuously=9,
general_failure=15,
)
value = Parameter(description='chamber state', handler=chamber,
datatype=EnumType(StatusCode))
target = Parameter(description='chamber command', handler=chamber,
datatype=EnumType(Operation))
pollinterval = Parameter(visibility=3)
STATUS_MAP = {
StatusCode.purged_and_sealed: (Status.IDLE, 'purged and sealed'),
StatusCode.vented_and_sealed: (Status.IDLE, 'vented and sealed'),
StatusCode.sealed_unknown: (Status.WARN, 'sealed unknown'),
StatusCode.purge_and_seal: (Status.BUSY, 'purge and seal'),
StatusCode.vent_and_seal: (Status.BUSY, 'vent and seal'),
StatusCode.pumping_down: (Status.BUSY, 'pumping down'),
StatusCode.at_hi_vacuum: (Status.IDLE, 'at hi vacuum'),
StatusCode.pumping_continuously: (Status.IDLE, 'pumping continuously'),
StatusCode.venting_continuously: (Status.IDLE, 'venting continuously'),
StatusCode.general_failure: (Status.ERROR, 'general failure'),
}
channel = 'chamber'
def update_value_status(self, value, packed_status):
status_code = (packed_status >> 8) & 0xf
if status_code in self.STATUS_MAP:
self.value = status_code
self.status = self.STATUS_MAP[status_code]
else:
self.value = self.StatusCode.unknown
self.status = (self.Status.ERROR, 'unknown status code %d' % status_code)
def analyze_chamber(self, target):
return dict(target=target)
def change_chamber(self, change):
# write settings, combining <pname>=<value> and current attributes
# and request updated settings
if change.target == self.Operation.noop:
return None
return (change.target,)
class Temp(PpmsMixin, Drivable):
"""temperature"""
temp = IOHandler('temp', 'TEMP?', '%g,%g,%d')
Status = Enum(
Drivable.Status,
RAMPING=370,
STABILIZING=380,
)
# pylint: disable=invalid-name
ApproachMode = Enum('ApproachMode', fast_settle=0, no_overshoot=1)
value = Parameter(datatype=FloatRange(unit='K'), poll=True)
status = Parameter(datatype=StatusType(Status), poll=True)
target = Parameter(datatype=FloatRange(1.7, 402.0, unit='K'), poll=False, needscfg=False)
setpoint = Parameter('intermediate set point',
datatype=FloatRange(1.7, 402.0, unit='K'), handler=temp)
ramp = Parameter('ramping speed', readonly=False, default=0,
datatype=FloatRange(0, 20, unit='K/min'))
workingramp = Parameter('intermediate ramp value',
datatype=FloatRange(0, 20, unit='K/min'), handler=temp)
approachmode = Parameter('how to approach target!', readonly=False, handler=temp,
datatype=EnumType(ApproachMode))
pollinterval = Parameter(visibility=3)
timeout = Parameter('drive timeout, in addition to ramp time', readonly=False,
datatype=FloatRange(0, unit='sec'), default=3600)
# pylint: disable=invalid-name
TempStatus = Enum(
'TempStatus',
stable_at_target=1,
changing=2,
within_tolerance=5,
outside_tolerance=6,
filling_emptying_reservoir=7,
standby=10,
control_disabled=13,
can_not_complete=14,
general_failure=15,
)
STATUS_MAP = {
1: (Status.IDLE, 'stable at target'),
2: (Status.RAMPING, 'ramping'),
5: (Status.STABILIZING, 'within tolerance'),
6: (Status.STABILIZING, 'outside tolerance'),
7: (Status.STABILIZING, 'filling/emptying reservoir'),
10: (Status.WARN, 'standby'),
13: (Status.WARN, 'control disabled'),
14: (Status.ERROR, 'can not complete'),
15: (Status.ERROR, 'general failure'),
}
general_stop = Property('respect general stop', datatype=BoolType(),
default=True, value=False)
channel = 'temp'
_stopped = False
_expected_target_time = 0
_last_change = 0 # 0 means no target change is pending
_last_target = None # last reached target
_cool_deadline = 0
_wait_at10 = False
_ramp_at_limit = False
def update_value_status(self, value, packed_status):
if value is None:
self.status = (self.Status.ERROR, 'invalid value')
return
self.value = value
status_code = packed_status & 0xf
status = self.STATUS_MAP.get(status_code, (self.Status.ERROR, 'unknown status code %d' % status_code))
now = time.time()
if value > 11:
# when starting from T > 50, this will be 15 min.
# when starting from lower T, it will be less
# when ramping with 2 K/min or less, the deadline is now
self._cool_deadline = max(self._cool_deadline, now + min(40, value - 10) * 30) # 30 sec / K
elif self._wait_at10:
if now > self._cool_deadline:
self._wait_at10 = False
self._last_change = now
self.temp.write(self, 'setpoint', self.target)
status = (self.Status.STABILIZING, 'waiting at 10 K')
if self._last_change: # there was a change, which is not yet confirmed by hw
if now > self._last_change + 5:
self._last_change = 0 # give up waiting for busy
elif self.isDriving(status) and status != self._status_before_change:
self.log.debug('time needed to change to busy: %.3g', now - self._last_change)
self._last_change = 0
else:
status = (self.Status.BUSY, 'changed target')
if abs(self.value - self.target) < self.target * 0.01:
self._last_target = self.target
elif self._last_target is None:
self._last_target = self.value
if self._stopped:
# combine 'stopped' with current status text
if status[0] == self.Status.IDLE:
status = (status[0], 'stopped')
else:
status = (status[0], 'stopping (%s)' % status[1])
if self._expected_target_time:
# handle timeout
if self.isDriving(status):
if now > self._expected_target_time + self.timeout:
status = (self.Status.WARN, 'timeout while %s' % status[1])
else:
self._expected_target_time = 0
self.status = status
def analyze_temp(self, setpoint, workingramp, approachmode):
if (setpoint, workingramp, approachmode) == self._last_settings:
# update parameters only on change, as 'ramp' and 'approachmode' are
# not always sent to the hardware
return {}
self._last_settings = setpoint, workingramp, approachmode
if setpoint != 10 or not self._wait_at10:
self.log.debug('read back target %g %r' % (setpoint, self._wait_at10))
self.target = setpoint
if workingramp != 2 or not self._ramp_at_limit:
self.log.debug('read back ramp %g %r' % (workingramp, self._ramp_at_limit))
self.ramp = workingramp
result = dict(setpoint=setpoint, workingramp=workingramp)
self.log.debug('analyze_temp %r %r' % (result, (self.target, self.ramp)))
return result
def change_temp(self, change):
ramp = change.ramp
setpoint = change.setpoint
wait_at10 = False
ramp_at_limit = False
if self.value > 11:
if setpoint <= 10:
wait_at10 = True
setpoint = 10
elif self.value > setpoint:
if ramp >= 2:
ramp = 2
ramp_at_limit = True
self._wait_at10 = wait_at10
self._ramp_at_limit = ramp_at_limit
self.calc_expected(setpoint, ramp)
self.log.debug('change_temp v %r s %r r %r w %r l %r' % (self.value, setpoint, ramp, wait_at10, ramp_at_limit))
return setpoint, ramp, change.approachmode
def write_target(self, target):
self._stopped = False
if abs(self.target - self.value) <= 2e-5 * target and target == self.target:
return None
self._status_before_change = self.status
self.status = (self.Status.BUSY, 'changed target')
self._last_change = time.time()
self.temp.write(self, 'setpoint', target)
self.log.debug('write_target %s' % repr((self.setpoint, target, self._wait_at10)))
return target
def write_approachmode(self, value):
if self.isDriving():
self.temp.write(self, 'approachmode', value)
return Done
self.approachmode = value
return None # do not execute TEMP command, as this would trigger an unnecessary T change
def write_ramp(self, value):
if self.isDriving():
self.temp.write(self, 'ramp', value)
return Done
# self.ramp = value
return None # do not execute TEMP command, as this would trigger an unnecessary T change
def calc_expected(self, target, ramp):
self._expected_target_time = time.time() + abs(target - self.value) * 60.0 / max(0.1, ramp)
def stop(self):
if not self.isDriving():
return
if self.status[0] != self.Status.STABILIZING:
# we are not near target
newtarget = clamp(self._last_target, self.value, self.target)
if newtarget != self.target:
self.log.debug('stop at %s K', newtarget)
self.write_target(newtarget)
self.status = self.status[0], 'stopping (%s)' % self.status[1]
self._stopped = True
class Field(PpmsMixin, Drivable):
"""magnetic field"""
field = IOHandler('field', 'FIELD?', '%g,%g,%d,%d')
Status = Enum(
Drivable.Status,
PREPARED=150,
PREPARING=340,
RAMPING=370,
FINALIZING=390,
)
# pylint: disable=invalid-name
PersistentMode = Enum('PersistentMode', persistent=0, driven=1)
ApproachMode = Enum('ApproachMode', linear=0, no_overshoot=1, oscillate=2)
value = Parameter(datatype=FloatRange(unit='T'), poll=True)
status = Parameter(datatype=StatusType(Status), poll=True)
target = Parameter(datatype=FloatRange(-15, 15, unit='T'), handler=field)
ramp = Parameter('ramping speed', readonly=False, handler=field,
datatype=FloatRange(0.064, 1.19, unit='T/min'))
approachmode = Parameter('how to approach target', readonly=False, handler=field,
datatype=EnumType(ApproachMode))
persistentmode = Parameter('what to do after changing field', readonly=False, handler=field,
datatype=EnumType(PersistentMode))
pollinterval = Parameter(visibility=3)
STATUS_MAP = {
1: (Status.IDLE, 'persistent mode'),
2: (Status.PREPARING, 'switch warming'),
3: (Status.FINALIZING, 'switch cooling'),
4: (Status.IDLE, 'driven stable'),
5: (Status.FINALIZING, 'driven final'),
6: (Status.RAMPING, 'charging'),
7: (Status.RAMPING, 'discharging'),
8: (Status.ERROR, 'current error'),
11: (Status.ERROR, 'probably quenched'),
15: (Status.ERROR, 'general failure'),
}
channel = 'field'
_stopped = False
_last_target = None # last reached target
_last_change = 0 # means no target change is pending
def update_value_status(self, value, packed_status):
if value is None:
self.status = (self.Status.ERROR, 'invalid value')
return
self.value = round(value * 1e-4, 7)
status_code = (packed_status >> 4) & 0xf
status = self.STATUS_MAP.get(status_code, (self.Status.ERROR, 'unknown status code %d' % status_code))
now = time.time()
if self._last_change: # there was a change, which is not yet confirmed by hw
if status_code == 1: # persistent mode
# leads are ramping (ppms has no extra status code for this!)
if now < self._last_change + 30:
status = (self.Status.PREPARING, 'ramping leads')
else:
status = (self.Status.WARN, 'timeout when ramping leads')
elif now > self._last_change + 5:
self._last_change = 0 # give up waiting for driving
elif self.isDriving(status) and status != self._status_before_change:
self._last_change = 0
self.log.debug('time needed to change to busy: %.3g', now - self._last_change)
else:
status = (self.Status.BUSY, 'changed target')
if abs(self.target - self.value) <= 1e-4:
self._last_target = self.target
elif self._last_target is None:
self._last_target = self.value
if self._stopped:
# combine 'stopped' with current status text
if status[0] == self.Status.IDLE:
status = (status[0], 'stopped')
else:
status = (status[0], 'stopping (%s)' % status[1])
self.status = status
def analyze_field(self, target, ramp, approachmode, persistentmode):
# print('last_settings tt %s' % repr(self._last_settings))
if (target, ramp, approachmode, persistentmode) == self._last_settings:
# we update parameters only on change, as 'ramp' and 'approachmode' are
# not always sent to the hardware
return {}
self._last_settings = target, ramp, approachmode, persistentmode
return dict(target=round(target * 1e-4, 7), ramp=ramp * 6e-3, approachmode=approachmode,
persistentmode=persistentmode)
def change_field(self, change):
return change.target * 1e+4, change.ramp / 6e-3, change.approachmode, change.persistentmode
def write_target(self, target):
if abs(self.target - self.value) <= 2e-5 and target == self.target:
self.target = target
return None # avoid ramping leads
self._status_before_change = self.status
self._stopped = False
self._last_change = time.time()
self.status = (self.Status.BUSY, 'changed target')
self.field.write(self, 'target', target)
return Done
def write_persistentmode(self, mode):
if abs(self.target - self.value) <= 2e-5 and mode == self.persistentmode:
self.persistentmode = mode
return None # avoid ramping leads
self._last_change = time.time()
self._status_before_change = self.status
self._stopped = False
self.status = (self.Status.BUSY, 'changed persistent mode')
self.field.write(self, 'persistentmode', mode)
return Done
def write_ramp(self, value):
self.ramp = value
if self.isDriving():
self.field.write(self, 'ramp', value)
return Done
return None # do not execute FIELD command, as this would trigger a ramp up of leads current
def write_approachmode(self, value):
if self.isDriving():
self.field.write(self, 'approachmode', value)
return Done
return None # do not execute FIELD command, as this would trigger a ramp up of leads current
def stop(self):
if not self.isDriving():
return
newtarget = clamp(self._last_target, self.value, self.target)
if newtarget != self.target:
self.log.debug('stop at %s T', newtarget)
self.write_target(newtarget)
self.status = (self.status[0], 'stopping (%s)' % self.status[1])
self._stopped = True
class Position(PpmsMixin, Drivable):
"""rotator position"""
move = IOHandler('move', 'MOVE?', '%g,%g,%g')
Status = Drivable.Status
value = Parameter(datatype=FloatRange(unit='deg'), poll=True)
target = Parameter(datatype=FloatRange(-720., 720., unit='deg'), handler=move)
enabled = Parameter('is this channel used?', readonly=False, poll=False,
datatype=BoolType(), default=True)
speed = Parameter('motor speed', readonly=False, handler=move,
datatype=FloatRange(0.8, 12, unit='deg/sec'))
pollinterval = Parameter(visibility=3)
STATUS_MAP = {
1: (Status.IDLE, 'at target'),
5: (Status.BUSY, 'moving'),
8: (Status.IDLE, 'at limit'),
9: (Status.IDLE, 'at index'),
15: (Status.ERROR, 'general failure'),
}
channel = 'position'
_stopped = False
_last_target = None # last reached target
_last_change = 0
_within_target = 0 # time since we are within target
def update_value_status(self, value, packed_status):
if not self.enabled:
self.status = (self.Status.DISABLED, 'disabled')
return
if value is None:
self.status = (self.Status.ERROR, 'invalid value')
return
self.value = value
status_code = (packed_status >> 12) & 0xf
status = self.STATUS_MAP.get(status_code, (self.Status.ERROR, 'unknown status code %d' % status_code))
if self._last_change: # there was a change, which is not yet confirmed by hw
now = time.time()
if now > self._last_change + 5:
self._last_change = 0 # give up waiting for busy
elif self.isDriving(status) and status != self._status_before_change:
self.log.debug('time needed to change to busy: %.3g', now - self._last_change)
self._last_change = 0
else:
status = (self.Status.BUSY, 'changed target')
# BUSY can not reliably be determined from the status code, we have to do it on our own
if abs(value - self.target) < 0.1:
self._last_target = self.target
if not self._within_target:
self._within_target = time.time()
if time.time() > self._within_target + 1:
if status[0] != self.Status.IDLE:
status = (self.Status.IDLE, status[1])
elif status[0] != self.Status.BUSY:
status = (self.Status.BUSY, status[1])
if self._stopped:
# combine 'stopped' with current status text
if status[0] == self.Status.IDLE:
status = (status[0], 'stopped')
else:
status = (status[0], 'stopping (%s)' % status[1])
self.status = status
def analyze_move(self, target, mode, speed):
if (target, speed) == self._last_settings:
# we update parameters only on change, as 'speed' is
# not always sent to the hardware
return {}
self._last_settings = target, speed
return dict(target=target, speed=(15 - speed) * 0.8)
def change_move(self, change):
speed = int(round(min(14, max(0, 15 - change.speed / 0.8)), 0))
return change.target, 0, speed
def write_target(self, target):
self._stopped = False
self._last_change = 0
self._status_before_change = self.status
self.status = (self.Status.BUSY, 'changed target')
self.move.write(self, 'target', target)
return Done
def write_speed(self, value):
if self.isDriving():
self.move.write(self, 'speed', value)
return Done
self.speed = value
return None # do not execute MOVE command, as this would trigger an unnecessary move
def stop(self):
if not self.isDriving():
return
newtarget = clamp(self._last_target, self.value, self.target)
if newtarget != self.target:
self.log.debug('stop at %s T', newtarget)
self.write_target(newtarget)
self.status = (self.status[0], 'stopping (%s)' % self.status[1])
self._stopped = True
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