Markus Zolliker
e4aa2149f7
log only a warning when several retries ware successful Change-Id: I2f1dfba920b0841914da82229820bcdd4b97c6e9
255 lines
10 KiB
Python
255 lines
10 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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# Markus Zolliker <markus.zolliker@psi.ch>
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#
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# *****************************************************************************
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"""driver for phytron motors"""
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from secop.core import Done, Command, EnumType, FloatRange, IntRange, \
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HasIO, Parameter, Property, Drivable, PersistentMixin, PersistentParam, \
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StringIO, StringType, TupleOf
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from secop.errors import CommunicationFailedError, HardwareError, BadValueError
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from secop.lib import clamp
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class PhytronIO(StringIO):
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end_of_line = '\x03' # ETX
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timeout = 0.5
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identification = [('0IVR', 'MCC Minilog .*')]
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def communicate(self, command):
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ntry = 5
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warn = None
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for itry in range(ntry):
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try:
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_, _, reply = super().communicate('\x02' + command).partition('\x02')
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if reply[0] == '\x06': # ACK
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break
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raise CommunicationFailedError('missing ACK %r (cmd: %r)'
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% (reply, command))
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except Exception as e:
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if itry < ntry - 1:
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warn = e
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else:
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raise
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if warn:
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self.log.warning('needed %d retries after %r', itry, warn)
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return reply[1:]
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class Motor(PersistentMixin, HasIO, Drivable):
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axis = Property('motor axis X or Y', StringType(), default='X')
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address = Property('address', IntRange(0, 15), default=0)
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encoder_mode = Parameter('how to treat the encoder', EnumType('encoder', NO=0, READ=1, CHECK=2),
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default=1, readonly=False)
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value = Parameter('angle', FloatRange(unit='deg'))
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target = Parameter('target angle', FloatRange(unit='deg'), readonly=False)
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speed = Parameter('', FloatRange(0, 20, unit='deg/s'), readonly=False)
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accel = Parameter('', FloatRange(2, 250, unit='deg/s/s'), readonly=False)
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encoder_tolerance = Parameter('', FloatRange(unit='deg'), readonly=False, default=0.01)
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offset = PersistentParam('', FloatRange(unit='deg'), readonly=False, default=0)
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sign = PersistentParam('', IntRange(-1,1), readonly=False, default=1)
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encoder = Parameter('encoder reading', FloatRange(unit='deg'))
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backlash = Parameter("""backlash compensation\n
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offset for always approaching from the same side""",
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FloatRange(unit='deg'), readonly=False, default=0)
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abslimits = Parameter('abs limits (raw values)', default=(0, 0),
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datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
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userlimits = PersistentParam('user limits', readonly=False, default=(0, 0), initwrite=True,
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datatype=TupleOf(FloatRange(unit='deg'), FloatRange(unit='deg')))
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ioClass = PhytronIO
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fast_poll = 0.1
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_backlash_pending = False
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_mismatch_count = 0
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_rawlimits = None
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_step_size = None # degree / step
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def earlyInit(self):
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super().earlyInit()
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if self.abslimits == (0, 0):
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self.abslimits = -9e99, 9e99
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if self.userlimits == (0, 0):
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self._rawlimits = self.abslimits
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self.read_userlimits()
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self.loadParameters()
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def get(self, cmd):
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return self.communicate('%x%s%s' % (self.address, self.axis, cmd))
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def set(self, cmd, value):
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# make sure e format is not used, max 8 characters
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strvalue = '%.6g' % value
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if 'e' in strvalue:
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if abs(value) <= 1: # very small number
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strvalue = '%.7f' % value
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elif abs(value) < 99999999: # big number
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strvalue = '%.0f' % value
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else:
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raise ValueError('number (%g) must not have more than 8 digits' % value)
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self.communicate('%x%s%s%s' % (self.address, self.axis, cmd, strvalue))
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def set_get(self, cmd, value, query):
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self.set(cmd, value)
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return self.get(query)
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def read_value(self):
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prev_enc = self.encoder
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pos = float(self.get('P20R')) * self.sign - self.offset
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if self.encoder_mode != 'NO':
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enc = self.read_encoder()
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else:
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enc = pos
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status = self.communicate('%xSE' % self.address)
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status = status[0:4] if self.axis == 'X' else status[4:8]
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self.log.debug('run %s enc %s end %s', status[1], status[2], status[3])
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status = self.get('=H')
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if status == 'N':
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if self.encoder_mode == 'CHECK':
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e1, e2 = sorted((prev_enc, enc))
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if e1 - self.encoder_tolerance <= pos <= e2 + self.encoder_tolerance:
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self.status = self.Status.BUSY, 'driving'
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else:
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self.log.error('encoder lag: %g not within %g..%g',
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pos, e1, e2)
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self.get('S') # stop
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self.status = self.Status.ERROR, 'encoder lag error'
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self.setFastPoll(False)
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else:
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self.status = self.Status.BUSY, 'driving'
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else:
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if self._backlash_pending:
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# drive to real target
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self.set('A', self.sign * (self.target + self.offset))
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self._backlash_pending = False
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return pos
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if (self.encoder_mode == 'CHECK' and
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abs(enc - pos) > self.encoder_tolerance):
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if self._mismatch_count < 2:
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self._mismatch_count += 1
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else:
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self.log.error('encoder mismatch: abs(%g - %g) < %g',
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enc, pos, self.encoder_tolerance)
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self.status = self.Status.ERROR, 'encoder does not match pos'
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else:
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self._mismatch_count = 0
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self.status = self.Status.IDLE, ''
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self.setFastPoll(False)
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return pos
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def read_encoder(self):
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if self.encoder_mode == 'NO':
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return self.value
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return float(self.get('P22R')) * self.sign - self.offset
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def write_sign(self, value):
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self.sign = value
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self.saveParameters()
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return Done
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def get_step_size(self):
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self._step_size = float(self.get('P03R'))
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def read_speed(self):
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if self._step_size is None:
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# avoid repeatedly reading step size, as this is polled and will not change
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self.get_step_size()
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return float(self.get('P14R')) * self._step_size
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def write_speed(self, value):
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self.get_step_size() # read step size anyway, it does not harm
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return float(self.set_get('P14S', round(value / self._step_size), 'P14R')) * self._step_size
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def read_accel(self):
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if not self._step_size:
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self.get_step_size()
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return float(self.get('P15R')) * self._step_size
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def write_accel(self, value):
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self.get_step_size()
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return float(self.set_get('P15S', round(value / self._step_size), 'P15R')) * self._step_size
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def _check_limits(self, *values):
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for name, (mn, mx) in ('user', self._rawlimits), ('abs', self.abslimits):
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mn -= self.offset
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mx -= self.offset
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for v in values:
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if not mn <= v <= mx:
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raise BadValueError('%s limits violation: %g <= %g <= %g' % (name, mn, v, mx))
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v += self.offset
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def write_target(self, value):
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if self.status[0] == self.Status.ERROR:
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raise HardwareError('need reset')
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self.status = self.Status.BUSY, 'changed target'
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self._check_limits(value, value + self.backlash)
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if self.backlash:
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# drive first to target + backlash
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# we do not optimize when already driving from the right side
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self._backlash_pending = True
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self.set('A', self.sign * (value + self.offset + self.backlash))
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else:
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self.set('A', self.sign * (value + self.offset))
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self.setFastPoll(True, self.fast_poll)
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return value
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def read_userlimits(self):
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return self._rawlimits[0] - self.offset, self._rawlimits[1] - self.offset
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def write_userlimits(self, value):
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self._rawlimits = [clamp(self.abslimits[0], v + self.offset, self.abslimits[1]) for v in value]
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value = self.read_userlimits()
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self.saveParameters()
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return value
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def write_offset(self, value):
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self.offset = value
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self.read_userlimits()
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self.saveParameters()
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return Done
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def stop(self):
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self.get('S')
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@Command
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def reset(self):
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"""Reset error, set position to encoder"""
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self.read_value()
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if self.status[0] == self.Status.ERROR:
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enc = self.encoder + self.offset
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pos = self.value + self.offset
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if abs(enc - pos) > self.encoder_tolerance:
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if enc < 0:
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# assume we have a rotation (not a linear motor)
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while enc < 0:
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self.offset += 360
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enc += 360
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self.set('P22S', enc * self.sign)
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self.saveParameters()
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self.set('P20S', enc * self.sign) # set pos to encoder
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self.read_value()
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# self.status = self.Status.IDLE, ''
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# TODO:
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# '=E' electronics status
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# '=I+' / '=I-': limit switches
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# use P37 to determine if restarted
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