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frappy/frappy_psi/ppms.py
Markus Zolliker da15df076a fetched mlz version 
- before some chamges in the gerrit pipline

Change-Id: I33eb2d75f83345a7039d0fb709e66defefb1c3e0
2023-05-02 15:25:11 +02:00

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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 StatusType.
"""
import threading
import time
from ast import literal_eval # convert string as comma separated numbers into tuple
from frappy.datatypes import BoolType, EnumType, \
FloatRange, IntRange, StatusType, StringType
from frappy.errors import HardwareError
from frappy.lib import clamp
from frappy.modules import Communicator, \
Drivable, Parameter, Property, Readable
from frappy.io import HasIO
from frappy.rwhandler import CommonReadHandler, CommonWriteHandler
try:
import frappy_psi.ppmswindows as ppmshw
except ImportError:
print('use simulation instead')
import frappy_psi.ppmssim as ppmshw
class Main(Communicator):
"""ppms communicator module"""
pollinterval = Parameter('poll interval', FloatRange(), readonly=False, default=2)
data = Parameter('internal', StringType(), 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}
def earlyInit(self):
super().earlyInit()
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:
self.comLog(f'> {command}')
reply = self._ppms_device.send(command)
self.comLog("< %s", reply)
return reply
def doPoll(self):
self.read_data()
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(f'GETDAT? {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 PpmsBase(HasIO, Readable):
"""common base for all ppms modules"""
value = Parameter(needscfg=False)
status = Parameter(datatype=StatusType(Readable, 'DISABLED'), needscfg=False)
enabled = True # default, if no parameter enable is defined
_last_settings = None # used by several modules
slow_pollfactor = 1
# as this pollinterval affects only the polling of settings
# it would be confusing to export it.
pollinterval = Parameter(export=False)
def initModule(self):
super().initModule()
self.io.register(self)
def doPoll(self):
# polling is done by the main module
# and PPMS does not deliver really more fresh values when polled more often
pass
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 = (StatusType.DISABLED, 'disabled')
return
if value is None:
self.status = (StatusType.ERROR, 'invalid value')
else:
self.value = value
self.status = (StatusType.IDLE, '')
def comm_write(self, command):
"""write command and check if result is OK"""
reply = self.communicate(command)
if reply != 'OK':
raise HardwareError(f'bad reply {reply!r} to command {command!r}')
class PpmsDrivable(Drivable, PpmsBase):
pass
class Channel(PpmsBase):
"""channel base class"""
value = Parameter('main value of channels')
enabled = Parameter('is this channel used?', readonly=False,
datatype=BoolType(), default=False)
channel = Property('channel name',
datatype=StringType(), export=False, default='')
no = Property('channel number',
datatype=IntRange(1, 4), export=False)
def earlyInit(self):
super().earlyInit()
if not self.channel:
self.channel = self.name
class UserChannel(Channel):
"""user channel"""
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.io.modules.get(self.linkenable, None)
if other:
other.enabled = enabled
return enabled
class DriverChannel(Channel):
"""driver channel"""
current = Parameter('driver current', readonly=False,
datatype=FloatRange(0., 5000., unit='uA'))
powerlimit = Parameter('power limit', readonly=False,
datatype=FloatRange(0., 1000., unit='uW'))
param_names = 'current', 'powerlimit'
@CommonReadHandler(param_names)
def read_params(self):
no, self.current, self.powerlimit = literal_eval(
self.communicate(f'DRVOUT? {self.no}'))
if self.no != no:
raise HardwareError('DRVOUT command: channel number in reply does not match')
@CommonWriteHandler(param_names)
def write_params(self, values):
"""write parameters
:param values: a dict like object containing the parameters to be written
"""
self.read_params() # make sure parameters are up to date
self.comm_write('DRVOUT {no:d},{current:g},{powerlimit:g}'.format_map(values))
self.read_params() # read back
class BridgeChannel(Channel):
"""bridge channel"""
excitation = Parameter('excitation current', readonly=False,
datatype=FloatRange(0.01, 5000., unit='uA'))
powerlimit = Parameter('power limit', readonly=False,
datatype=FloatRange(0.001, 1000., unit='uW'))
dcflag = Parameter('True when excitation is DC (else AC)', readonly=False,
datatype=BoolType())
readingmode = Parameter('reading mode', readonly=False,
datatype=EnumType(standard=0, fast=1, highres=2))
voltagelimit = Parameter('voltage limit', readonly=False,
datatype=FloatRange(0.0001, 100., unit='mV'))
param_names = 'enabled', 'enabled', 'powerlimit', 'dcflag', 'readingmode', 'voltagelimit'
@CommonReadHandler(param_names)
def read_params(self):
no, excitation, powerlimit, self.dcflag, self.readingmode, voltagelimit = literal_eval(
self.communicate(f'BRIDGE? {self.no}'))
if self.no != no:
raise HardwareError('DRVOUT command: channel number in reply does not match')
self.enabled = excitation != 0 and powerlimit != 0 and voltagelimit != 0
if excitation:
self.excitation = excitation
if powerlimit:
self.powerlimit = powerlimit
if voltagelimit:
self.voltagelimit = voltagelimit
@CommonWriteHandler(param_names)
def write_params(self, values):
"""write parameters
:param values: a dict like object containing the parameters to be written
"""
self.read_params() # make sure parameters are up to date
if not values['enabled']:
values['excitation'] = 0
values['powerlimit'] = 0
values['voltagelimit'] = 0
self.comm_write('BRIDGE {no:d},{enabled:d},{powerlimit:g},{dcflag:d},'
'{readingmode:d},{voltagelimit:g}'.format_map(values))
self.read_params() # read back
class Level(PpmsBase):
"""helium level"""
value = Parameter(datatype=FloatRange(unit='%'))
channel = 'level'
def doPoll(self):
self.read_value()
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 read_value(self):
# ignore 'old reading' state of the flag, as this happens only for a short time
return literal_eval(self.communicate('LEVEL?'))[0]
class Chamber(PpmsDrivable):
"""sample chamber handling
value is an Enum, which is redundant with the status text
"""
code_table = [
# valuecode, status, statusname, opcode, targetname
(0, StatusType.IDLE, 'unknown', 10, 'noop'),
(1, StatusType.IDLE, 'purged_and_sealed', 1, 'purge_and_seal'),
(2, StatusType.IDLE, 'vented_and_sealed', 2, 'vent_and_seal'),
(3, StatusType.WARN, 'sealed_unknown', 0, 'seal_immediately'),
(4, StatusType.BUSY, 'purge_and_seal', None, None),
(5, StatusType.BUSY, 'vent_and_seal', None, None),
(6, StatusType.BUSY, 'pumping_down', None, None),
(8, StatusType.IDLE, 'pumping_continuously', 3, 'pump_continuously'),
(9, StatusType.IDLE, 'venting_continuously', 4, 'vent_continuously'),
(15, StatusType.ERROR, 'general_failure', None, None),
]
value_codes = {k: v for v, _, k, _, _ in code_table}
target_codes = {k: v for v, _, _, _, k in code_table if k}
name2opcode = {k: v for _, _, _, v, k in code_table if k}
opcode2name = {v: k for _, _, _, v, k in code_table if k}
status_map = {v: (c, k.replace('_', ' ')) for v, c, k, _, _ in code_table}
value = Parameter(description='chamber state', datatype=EnumType(**value_codes), default=0)
target = Parameter(description='chamber command', datatype=EnumType(**target_codes), default='noop')
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.value_map['unknown']
self.status = (StatusType.ERROR, f'unknown status code {status_code}')
def read_target(self):
opcode = int(self.communicate('CHAMBER?'))
return self.opcode2name[opcode]
def write_target(self, value):
if value == self.target.noop:
return self.target.noop
opcode = self.name2opcode[self.target.enum(value).name]
assert self.communicate(f'CHAMBER {opcode}') == 'OK'
return self.read_target()
class Temp(PpmsDrivable):
"""temperature"""
value = Parameter(datatype=FloatRange(unit='K'))
status = Parameter(datatype=StatusType(Drivable, 'RAMPING', 'STABILIZING'))
target = Parameter(datatype=FloatRange(1.7, 402.0, unit='K'), needscfg=False)
setpoint = Parameter('intermediate set point',
datatype=FloatRange(1.7, 402.0, unit='K'))
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'), default=0)
approachmode = Parameter('how to approach target!', readonly=False,
datatype=EnumType(fast_settle=0, no_overshoot=1), default=0)
timeout = Parameter('drive timeout, in addition to ramp time', readonly=False,
datatype=FloatRange(0, unit='sec'), default=3600)
general_stop = Property('respect general stop', datatype=BoolType(),
default=True, value=False)
STATUS_MAP = {
1: (StatusType.IDLE, 'stable at target'),
2: (StatusType.RAMPING, 'ramping'),
5: (StatusType.STABILIZING, 'within tolerance'),
6: (StatusType.STABILIZING, 'outside tolerance'),
7: (StatusType.STABILIZING, 'filling/emptying reservoir'),
10: (StatusType.WARN, 'standby'),
13: (StatusType.WARN, 'control disabled'),
14: (StatusType.ERROR, 'can not complete'),
15: (StatusType.ERROR, 'general failure'),
}
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
param_names = 'setpoint', 'workingramp', 'approachmode'
@CommonReadHandler(param_names)
def read_params(self):
settings = literal_eval(self.communicate('TEMP?'))
if settings == self._last_settings:
# update parameters only on change, as 'ramp' and 'approachmode' are
# not always sent to the hardware
return
self.setpoint, self.workingramp, self.approachmode = self._last_settings = settings
if self.setpoint != 10 or not self._wait_at10:
self.log.debug('read back target %g %r', self.setpoint, self._wait_at10)
self.target = self.setpoint
if self.workingramp != 2 or not self._ramp_at_limit:
self.log.debug('read back ramp %g %r', self.workingramp, self._ramp_at_limit)
self.ramp = self.workingramp
def _write_params(self, setpoint, ramp, approachmode):
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)
self.comm_write(f'TEMP {setpoint:g},{ramp:g},{int(approachmode)}')
self.read_params()
def update_value_status(self, value, packed_status):
if value is None:
self.status = (StatusType.ERROR, 'invalid value')
return
self.value = value
status_code = packed_status & 0xf
status = self.STATUS_MAP.get(status_code, (StatusType.ERROR, f'unknown status code {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._write_params(self.target, self.ramp, self.approachmode)
status = (StatusType.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 = (StatusType.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] == StatusType.IDLE:
status = (status[0], 'stopped')
else:
status = (status[0], f'stopping ({status[1]})')
if self._expected_target_time:
# handle timeout
if self.isDriving(status):
if now > self._expected_target_time + self.timeout:
status = (StatusType.WARN, f'timeout while {status[1]}')
else:
self._expected_target_time = 0
self.status = status
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 = (StatusType.BUSY, 'changed target')
self._last_change = time.time()
self._write_params(target, self.ramp, self.approachmode)
self.log.debug('write_target %s', repr((self.setpoint, target, self._wait_at10)))
return target
def write_approachmode(self, value):
if self.isDriving():
self._write_params(self.setpoint, self.ramp, value)
return self.approachmode
return value # do not execute TEMP command, as this would trigger an unnecessary T change
def write_ramp(self, value):
if self.isDriving():
self._write_params(self.setpoint, value, self.approachmode)
return self.ramp
return value # 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] != StatusType.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], f'stopping ({self.status[1]})'
self._stopped = True
class Field(PpmsDrivable):
"""magnetic field"""
value = Parameter(datatype=FloatRange(unit='T'))
status = Parameter(datatype=StatusType(Drivable, 'PREPARED', 'PREPARING', 'RAMPING', 'STABILIZING', 'FINALIZING'))
target = Parameter(datatype=FloatRange(-15, 15, unit='T')) # poll only one parameter
ramp = Parameter('ramping speed', readonly=False,
datatype=FloatRange(0.064, 1.19, unit='T/min'), default=0.19)
approachmode = Parameter('how to approach target', readonly=False,
datatype=EnumType(linear=0, no_overshoot=1, oscillate=2), default=0)
persistentmode = Parameter('what to do after changing field', readonly=False,
datatype=EnumType(persistent=0, driven=1), default=0)
STATUS_MAP = {
1: (StatusType.IDLE, 'persistent mode'),
2: (StatusType.PREPARING, 'switch warming'),
3: (StatusType.FINALIZING, 'switch cooling'),
4: (StatusType.IDLE, 'driven stable'),
5: (StatusType.STABILIZING, 'driven final'),
6: (StatusType.RAMPING, 'charging'),
7: (StatusType.RAMPING, 'discharging'),
8: (StatusType.ERROR, 'current error'),
11: (StatusType.ERROR, 'probably quenched'),
15: (StatusType.ERROR, 'general failure'),
}
channel = 'field'
_stopped = False
_last_target = None # last reached target
_last_change = 0 # means no target change is pending
param_names = 'target', 'ramp', 'approachmode', 'persistentmode'
@CommonReadHandler(param_names)
def read_params(self):
settings = literal_eval(self.communicate('FIELD?'))
# print('last_settings tt %s' % repr(self._last_settings))
if settings == self._last_settings:
# we update parameters only on change, as 'ramp' and 'approachmode' are
# not always sent to the hardware
return
target, ramp, self.approachmode, self.persistentmode = self._last_settings = settings
self.target = round(target * 1e-4, 7)
self.ramp = ramp * 6e-3
def _write_params(self, target, ramp, approachmode, persistentmode):
self.comm_write(f'FIELD {target * 10000.0:g},{ramp / 0.006:g},{int(approachmode)},{int(persistentmode)}')
self.read_params()
def update_value_status(self, value, packed_status):
if value is None:
self.status = (StatusType.ERROR, 'invalid value')
return
self.value = round(value * 1e-4, 7)
status_code = (packed_status >> 4) & 0xf
status = self.STATUS_MAP.get(status_code, (StatusType.ERROR, f'unknown status code {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 = (StatusType.PREPARING, 'ramping leads')
else:
status = (StatusType.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 = (StatusType.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] == StatusType.IDLE:
status = (status[0], 'stopped')
else:
status = (status[0], f'stopping ({status[1]})')
self.status = status
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 = (StatusType.BUSY, 'changed target')
self._write_params(target, self.ramp, self.approachmode, self.persistentmode)
return self.target
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 = (StatusType.BUSY, 'changed persistent mode')
self._write_params(self.target, self.ramp, self.approachmode, mode)
return self.persistentmode
def write_ramp(self, value):
if self.isDriving():
self._write_params(self.target, value, self.approachmode, self.persistentmode)
return self.ramp
return value # do not execute FIELD command, as this would trigger a ramp up of leads current
def write_approachmode(self, value):
if self.isDriving():
self._write_params(self.target, self.ramp, value, self.persistentmode)
# 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], f'stopping ({self.status[1]})')
self._stopped = True
class Position(PpmsDrivable):
"""rotator position"""
value = Parameter(datatype=FloatRange(unit='deg'))
target = Parameter(datatype=FloatRange(-720., 720., unit='deg'))
enabled = Parameter('is this channel used?', readonly=False,
datatype=BoolType(), default=True)
speed = Parameter('motor speed', readonly=False, default=12,
datatype=FloatRange(0.8, 12, unit='deg/sec'))
STATUS_MAP = {
1: (StatusType.IDLE, 'at target'),
5: (StatusType.BUSY, 'moving'),
8: (StatusType.IDLE, 'at limit'),
9: (StatusType.IDLE, 'at index'),
15: (StatusType.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
param_names = 'target', 'speed'
@CommonReadHandler(param_names)
def read_params(self):
settings = literal_eval(self.communicate('MOVE?'))
if settings == self._last_settings:
# we update parameters only on change, as 'speed' is
# not always sent to the hardware
return
self.target, _, speed = self._last_settings = settings
self.speed = (15 - speed) * 0.8
def _write_params(self, target, speed):
speed = int(round(min(14, max(0, 15 - speed / 0.8)), 0))
self.comm_write(f'MOVE {target:g},{0},{speed}')
return self.read_params()
def update_value_status(self, value, packed_status):
if not self.enabled:
self.status = (StatusType.DISABLED, 'disabled')
return
if value is None:
self.status = (StatusType.ERROR, 'invalid value')
return
self.value = value
status_code = (packed_status >> 12) & 0xf
status = self.STATUS_MAP.get(status_code, (StatusType.ERROR, f'unknown status code {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 = (StatusType.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] != StatusType.IDLE:
status = (StatusType.IDLE, status[1])
elif status[0] != StatusType.BUSY:
status = (StatusType.BUSY, status[1])
if self._stopped:
# combine 'stopped' with current status text
if status[0] == StatusType.IDLE:
status = (status[0], 'stopped')
else:
status = (status[0], f'stopping ({status[1]})')
self.status = status
def write_target(self, target):
self._stopped = False
self._last_change = 0
self._status_before_change = self.status
self.status = (StatusType.BUSY, 'changed target')
self._write_params(target, self.speed)
return self.target
def write_speed(self, value):
if self.isDriving():
self._write_params(self.target, value)
return self.speed
return value # 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], f'stopping ({self.status[1]})')
self._stopped = True
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