Markus Zolliker
bbe70fb3cb
- all of them have to be checked! Change-Id: I89d55ca683d0b2710222f14c2c3cd42f8fbf3a1f
98 lines
3.8 KiB
Python
98 lines
3.8 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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"""vector field"""
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from frappy.core import Drivable, Done, BUSY, IDLE, WARN, ERROR
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from frappy.errors import BadValueError
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from frappy_psi.vector import Vector
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DECREASE = 1
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INCREASE = 2
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class VectorField(Vector, Drivable):
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_state = None
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def doPoll(self):
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"""periodically called method"""
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try:
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if self._starting:
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# first decrease components
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driving = False
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for target, component in zip(self.target, self.components):
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if target * component.value < 0:
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# change sign: drive to zero first
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target = 0
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if abs(target) < abs(component.target):
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if target != component.target:
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component.write_target(target)
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if component.isDriving():
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driving = True
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if driving:
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return
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# now we can go to the final targets
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for target, component in zip(self.target, self.components):
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component.write_target(target)
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self._starting = False
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else:
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for component in self.components:
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if component.isDriving():
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return
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self.setFastPoll(False)
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finally:
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super().doPoll()
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def merge_status(self):
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names = [c.name for c in self.components if c.status[0] >= ERROR]
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if names:
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return ERROR, 'error in %s' % ', '.join(names)
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names = [c.name for c in self.components if c.isDriving()]
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if self._state:
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# self.log.info('merge %r', [c.status for c in self.components])
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if names:
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direction = 'down ' if self._state == DECREASE else ''
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return BUSY, 'ramping %s%s' % (direction, ', '.join(names))
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if self.status[0] == BUSY:
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return self.status
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return BUSY, 'driving'
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if names:
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return WARN, 'moving %s directly' % ', '.join(names)
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names = [c.name for c in self.components if c.status[0] >= WARN]
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if names:
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return WARN, 'warnings in %s' % ', '.join(names)
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return IDLE, ''
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def write_target(self, value):
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"""initiate target change"""
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# first make sure target is valid
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for target, component in zip(self.target, self.components):
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# check against limits if individual components
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component.check_limits(target)
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if sum(v * v for v in value) > 1:
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raise BadValueError('norm of vector too high')
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self.log.info('decrease')
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self.setFastPoll(True)
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self.target = value
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self._state = DECREASE
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self.doPoll()
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self.log.info('done write_target %r', value)
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return Done
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