2bb96bea70
Also implement lots of fixes and improvements. fixes: #3381 Change-Id: Ibe6664da00756ae5813b90f190295045808b2ff0
521 lines
19 KiB
Python
521 lines
19 KiB
Python
# -*- coding: utf-8 -*-
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# *****************************************************************************
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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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# Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
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#
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# *****************************************************************************
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"""Define Baseclasses for real devices implemented in the server"""
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# XXX: connect with 'protocol'-Devices.
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# Idea: every Device defined herein is also a 'protocol'-device,
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# all others MUST derive from those, the 'interface'-class is still derived
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# from these base classes (how to do this?)
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import time
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import types
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import inspect
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import threading
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from secop.lib import formatExtendedStack, mkthread
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from secop.lib.parsing import format_time
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from secop.errors import ConfigError, ProgrammingError
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from secop.protocol import status
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from secop.datatypes import DataType, EnumType, TupleOf, StringType, FloatRange, export_datatype, get_datatype
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EVENT_ONLY_ON_CHANGED_VALUES = False
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# storage for PARAMeter settings:
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# if readonly is False, the value can be changed (by code, or remote)
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# if no default is given, the parameter MUST be specified in the configfile
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# during startup, value is initialized with the default value or
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# from the config file if specified there
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class PARAM(object):
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def __init__(self,
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description,
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datatype=None,
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default=Ellipsis,
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unit=None,
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readonly=True,
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export=True,
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group='',
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poll=False):
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if not isinstance(datatype, DataType):
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if issubclass(datatype, DataType):
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# goodie: make an instance from a class (forgotten ()???)
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datatype = datatype()
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else:
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raise ValueError(
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'datatype MUST be derived from class DataType!')
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self.description = description
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self.datatype = datatype
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self.default = default
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self.unit = unit
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self.readonly = readonly
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self.export = export
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self.group = group
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# note: auto-converts True/False to 1/0 which yield the expected
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# behaviour...
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self.poll = int(poll)
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# internal caching: value and timestamp of last change...
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self.value = default
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self.timestamp = 0
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def __repr__(self):
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return '%s(%s)' % (self.__class__.__name__, ', '.join(
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['%s=%r' % (k, v) for k, v in sorted(self.__dict__.items())]))
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def copy(self):
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# return a copy of ourselfs
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return PARAM(description=self.description,
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datatype=self.datatype,
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default=self.default,
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unit=self.unit,
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readonly=self.readonly,
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export=self.export,
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group=self.group,
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poll=self.poll,
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)
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def as_dict(self, static_only=False):
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# used for serialisation only
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res = dict(
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description=self.description,
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readonly=self.readonly,
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datatype=export_datatype(self.datatype),
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)
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if self.unit:
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res['unit'] = self.unit
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if self.group:
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res['group'] = self.group
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if not static_only:
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res['value'] = self.value
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if self.timestamp:
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res['timestamp'] = format_time(self.timestamp)
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return res
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@property
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def export_value(self):
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return self.datatype.export(self.value)
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class OVERRIDE(object):
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def __init__(self, **kwds):
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self.kwds = kwds
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def apply(self, paramobj):
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if isinstance(paramobj, PARAM):
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for k, v in self.kwds.iteritems():
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if hasattr(paramobj, k):
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setattr(paramobj, k, v)
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return paramobj
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else:
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raise ProgrammingError(
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"Can not apply Override(%s=%r) to %r: non-existing property!" %
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(k, v, paramobj))
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else:
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raise ProgrammingError(
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"Overrides can only be applied to PARAM's, %r is none!" %
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paramobj)
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# storage for CMDs settings (description + call signature...)
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class CMD(object):
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def __init__(self, description, arguments=[], result=None):
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# descriptive text for humans
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self.description = description
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# list of datatypes for arguments
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self.arguments = arguments
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# datatype for result
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self.resulttype = result
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def __repr__(self):
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return '%s(%s)' % (self.__class__.__name__, ', '.join(
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['%s=%r' % (k, v) for k, v in sorted(self.__dict__.items())]))
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def as_dict(self):
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# used for serialisation only
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return dict(
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description=self.description,
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arguments=map(export_datatype, self.arguments),
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resulttype=export_datatype(self.resulttype), )
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# Meta class
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# warning: MAGIC!
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class DeviceMeta(type):
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def __new__(mcs, name, bases, attrs):
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newtype = type.__new__(mcs, name, bases, attrs)
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if '__constructed__' in attrs:
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return newtype
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# merge PROPERTIES, PARAM and CMDS from all sub-classes
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for entry in ['PROPERTIES', 'PARAMS', 'CMDS']:
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newentry = {}
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for base in reversed(bases):
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if hasattr(base, entry):
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newentry.update(getattr(base, entry))
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newentry.update(attrs.get(entry, {}))
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setattr(newtype, entry, newentry)
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# apply Overrides from all sub-classes
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newparams = getattr(newtype, 'PARAMS')
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for base in reversed(bases):
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overrides = getattr(base, 'OVERRIDES', {})
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for n, o in overrides.iteritems():
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newparams[n] = o.apply(newparams[n].copy())
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for n, o in attrs.get('OVERRIDES', {}).iteritems():
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newparams[n] = o.apply(newparams[n].copy())
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# check validity of PARAM entries
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for pname, pobj in newtype.PARAMS.items():
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# XXX: allow dicts for overriding certain aspects only.
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if not isinstance(pobj, PARAM):
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raise ProgrammingError('%r: PARAMs entry %r should be a '
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'PARAM object!' % (name, pname))
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# XXX: create getters for the units of params ??
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# wrap of reading/writing funcs
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rfunc = attrs.get('read_' + pname, None)
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for base in bases:
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if rfunc is not None:
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break
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rfunc = getattr(base, 'read_' + pname, None)
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def wrapped_rfunc(self, maxage=0, pname=pname, rfunc=rfunc):
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if rfunc:
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self.log.debug("rfunc(%s): call %r" % (pname, rfunc))
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value = rfunc(self, maxage)
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setattr(self, pname, value)
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return value
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else:
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# return cached value
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self.log.debug("rfunc(%s): return cached value" % pname)
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value = self.PARAMS[pname].value
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setattr(self, pname, value)
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return value
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if rfunc:
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wrapped_rfunc.__doc__ = rfunc.__doc__
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if getattr(rfunc, '__wrapped__', False) == False:
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setattr(newtype, 'read_' + pname, wrapped_rfunc)
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wrapped_rfunc.__wrapped__ = True
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if not pobj.readonly:
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wfunc = attrs.get('write_' + pname, None)
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for base in bases:
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if wfunc is not None:
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break
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wfunc = getattr(base, 'write_' + pname, None)
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def wrapped_wfunc(self, value, pname=pname, wfunc=wfunc):
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self.log.debug("wfunc(%s): set %r" % (pname, value))
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pobj = self.PARAMS[pname]
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value = pobj.datatype.validate(value)
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if wfunc:
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self.log.debug('calling %r(%r)' % (wfunc, value))
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value = wfunc(self, value) or value
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# XXX: use setattr or direct manipulation
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# of self.PARAMS[pname]?
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setattr(self, pname, value)
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return value
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if wfunc:
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wrapped_wfunc.__doc__ = wfunc.__doc__
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if getattr(wfunc, '__wrapped__', False) == False:
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setattr(newtype, 'write_' + pname, wrapped_wfunc)
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wrapped_wfunc.__wrapped__ = True
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def getter(self, pname=pname):
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return self.PARAMS[pname].value
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def setter(self, value, pname=pname):
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pobj = self.PARAMS[pname]
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value = pobj.datatype.validate(value)
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pobj.timestamp = time.time()
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if not EVENT_ONLY_ON_CHANGED_VALUES or (value != pobj.value):
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pobj.value = value
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# also send notification
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self.log.debug('%s is now %r' % (pname, value))
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self.DISPATCHER.announce_update(self, pname, pobj)
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setattr(newtype, pname, property(getter, setter))
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# also collect/update information about CMD's
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setattr(newtype, 'CMDS', getattr(newtype, 'CMDS', {}))
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for name in attrs:
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if name.startswith('do_'):
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if name[3:] in newtype.CMDS:
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continue
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value = getattr(newtype, name)
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if isinstance(value, types.MethodType):
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argspec = inspect.getargspec(value)
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if argspec[0] and argspec[0][0] == 'self':
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del argspec[0][0]
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newtype.CMDS[name[3:]] = CMD(
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getattr(value, '__doc__'), argspec.args,
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None) # XXX: how to find resulttype?
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attrs['__constructed__'] = True
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return newtype
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# Basic device class
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#
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# within devices, parameters should only be addressed as self.<pname>
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# i.e. self.value, self.target etc...
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# these are accesses to the cached version.
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# they can also be written to
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# (which auto-calls self.write_<pname> and generate an async update)
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# if you want to 'update from the hardware', call self.read_<pname>
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# the return value of this method will be used as the new cached value and
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# be returned.
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class Device(object):
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"""Basic Device, doesn't do much"""
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__metaclass__ = DeviceMeta
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# static PROPERTIES, definitions in derived classes should overwrite earlier ones.
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# how to configure some stuff which makes sense to take from configfile???
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PROPERTIES = {
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'group': None, # some Modules may be grouped together
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'meaning': None, # XXX: ???
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'priority': None, # XXX: ???
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'visibility': None, # XXX: ????
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'description': "The manufacturer forgot to set a meaningful description. please nag him!",
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# what else?
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}
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# PARAMS and CMDS are auto-merged upon subclassing
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# PARAMS = {
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# 'description': PARAM('short description of this module and its function', datatype=StringType(), default='no specified'),
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# }
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CMDS = {}
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DISPATCHER = None
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def __init__(self, logger, cfgdict, devname, dispatcher):
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# remember the dispatcher object (for the async callbacks)
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self.DISPATCHER = dispatcher
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self.log = logger
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self.name = devname
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# make local copies of PARAMS
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params = {}
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for k, v in self.PARAMS.items()[:]:
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params[k] = v.copy()
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self.PARAMS = params
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# make local copies of PROPERTIES
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props = {}
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for k, v in self.PROPERTIES.items()[:]:
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props[k] = v
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self.PROPERTIES = props
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# check and apply properties specified in cfgdict
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# moduleproperties are to be specified as
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# '.<propertyname>=<propertyvalue>'
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for k, v in cfgdict.items():
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if k[0] == '.':
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if k[1:] in self.PROPERTIES:
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self.PROPERTIES[k[1:]] = v
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del cfgdict[k]
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# derive automatic properties
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mycls = self.__class__
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myclassname = '%s.%s' % (mycls.__module__, mycls.__name__)
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self.PROPERTIES['implementation'] = myclassname
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self.PROPERTIES['interfaces'] = [
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b.__name__ for b in mycls.__mro__ if b.__module__.startswith('secop.modules')]
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self.PROPERTIES['interface'] = self.PROPERTIES['interfaces'][0]
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# remove unset (default) module properties
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for k, v in self.PROPERTIES.items():
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if v is None:
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del self.PROPERTIES[k]
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# check and apply parameter_properties
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# specified as '<paramname>.<propertyname> = <propertyvalue>'
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for k, v in cfgdict.items()[:]:
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if '.' in k[1:]:
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paramname, propname = k.split('.', 1)
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if paramname in self.PARAMS:
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paramobj = self.PARAMS[paramname]
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if propname == 'datatype':
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paramobj.datatype = get_datatype(cfgdict.pop(k))
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elif hasattr(paramobj, propname):
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setattr(paramobj, propname, v)
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del cfgdict[k]
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# check config for problems
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# only accept config items specified in PARAMS
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for k, v in cfgdict.items():
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if k not in self.PARAMS:
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raise ConfigError(
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'Device %s:config Parameter %r '
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'not unterstood! (use on of %r)' %
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(self.name, k, self.PARAMS.keys()))
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# complain if a PARAM entry has no default value and
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# is not specified in cfgdict
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for k, v in self.PARAMS.items():
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if k not in cfgdict:
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if v.default is Ellipsis and k != 'value':
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# Ellipsis is the one single value you can not specify....
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raise ConfigError('Device %s: Parameter %r has no default '
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'value and was not given in config!' %
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(self.name, k))
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# assume default value was given
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cfgdict[k] = v.default
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# replace CLASS level PARAM objects with INSTANCE level ones
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self.PARAMS[k] = self.PARAMS[k].copy()
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# now 'apply' config:
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# pass values through the datatypes and store as attributes
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for k, v in cfgdict.items():
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if k == 'value':
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continue
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# apply datatype, complain if type does not fit
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datatype = self.PARAMS[k].datatype
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if datatype is not None:
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# only check if datatype given
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try:
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v = datatype.validate(v)
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except (ValueError, TypeError) as e:
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self.log.exception(formatExtendedStack())
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raise
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raise ConfigError('Device %s: config parameter %r:\n%r' %
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(self.name, k, e))
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setattr(self, k, v)
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self._requestLock = threading.RLock()
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def init(self):
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# may be overriden in derived classes to init stuff
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self.log.debug('empty init()')
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mkthread(self.late_init)
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def late_init(self):
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self.log.debug('late init()')
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class Readable(Device):
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"""Basic readable device
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providing the readonly parameter 'value' and 'status'
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"""
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PARAMS = {
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'value': PARAM('current value of the device', readonly=True, default=0.,
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datatype=FloatRange(), unit='', poll=True),
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'pollinterval': PARAM('sleeptime between polls', default=5,
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readonly=False, datatype=FloatRange(0.1, 120), ),
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'status': PARAM('current status of the device', default=(status.OK, ''),
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datatype=TupleOf(
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EnumType(**{
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'IDLE': status.OK,
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'BUSY': status.BUSY,
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'WARN': status.WARN,
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'UNSTABLE': status.UNSTABLE,
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'ERROR': status.ERROR,
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'UNKNOWN': status.UNKNOWN
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}), StringType()),
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readonly=True, poll=True),
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}
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def init(self):
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Device.init(self)
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self._pollthread = threading.Thread(target=self.__pollThread)
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self._pollthread.daemon = True
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self._pollthread.start()
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def __pollThread(self):
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"""super simple and super stupid per-module polling thread"""
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i = 0
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fastpoll = True # first update should be quick
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while True:
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i = 1
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try:
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time.sleep(self.pollinterval * (0.1 if fastpoll else 1))
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except TypeError:
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time.sleep(min(self.pollinterval)
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if fastpoll else max(self.pollinterval))
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fastpoll = self.poll(i)
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def poll(self, nr):
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# poll status first
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fastpoll = False
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if 'status' in self.PARAMS:
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stat = self.read_status(0)
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# self.log.info('polling read_status -> %r' % (stat,))
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fastpoll = stat[0] == status.BUSY
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# if fastpoll:
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# self.log.info('fastpoll!')
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for pname, pobj in self.PARAMS.iteritems():
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if not pobj.poll:
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continue
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if pname == 'status':
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# status was already polled above
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continue
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if ((int(pobj.poll) < 0) and fastpoll) or (
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0 == nr % abs(int(pobj.poll))):
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# poll always if pobj.poll is negative and fastpoll (i.e. device is busy)
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# otherwise poll every 'pobj.poll' iteration
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rfunc = getattr(self, 'read_' + pname, None)
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if rfunc:
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try:
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# self.log.info('polling read_%s -> %r' % (pname, rfunc()))
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rfunc()
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except Exception: # really all!
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pass
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return fastpoll
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class Driveable(Readable):
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"""Basic Driveable device
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providing a settable 'target' parameter to those of a Readable
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"""
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PARAMS = {
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'target': PARAM(
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'target value of the device',
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default=0.,
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readonly=False,
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datatype=FloatRange(),
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),
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}
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# XXX: CMDS ???? auto deriving working well enough?
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def do_start(self):
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"""normally does nothing,
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but there may be modules which _start_ the action here
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|
"""
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def do_stop(self):
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|
"""Testing command implementation
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wait a second"""
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|
time.sleep(1) # for testing !
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def do_pause(self):
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|
"""if implemented should pause the module
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|
use start to continue movement
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|
"""
|