70a9c42a7a
Change-Id: Ieeaeb3b8efcae004e94aea6c1d2703c9782a8650 Reviewed-on: https://forge.frm2.tum.de/review/c/sine2020/secop/playground/+/21320 Tested-by: Enrico Faulhaber <enrico.faulhaber@frm2.tum.de> Reviewed-by: Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
407 lines
16 KiB
Python
407 lines
16 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 Modules implemented in the server"""
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import sys
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import time
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from collections import OrderedDict
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from secop.datatypes import EnumType, FloatRange, BoolType, IntRange, \
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StringType, TupleOf, get_datatype, ArrayOf, TextType
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from secop.errors import ConfigError, ProgrammingError
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from secop.lib import formatException, \
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formatExtendedStack, mkthread, unset_value
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from secop.lib.enum import Enum
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from secop.metaclass import ModuleMeta
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from secop.params import PREDEFINED_ACCESSIBLES, Command, Override, Parameter, Parameters, Commands
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from secop.properties import HasProperties, Property
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# XXX: connect with 'protocol'-Modules.
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# Idea: every Module defined herein is also a 'protocol'-Module,
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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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class Module(HasProperties, metaclass=ModuleMeta):
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"""Basic Module
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ALL secop Modules derive from this
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note: within Modules, 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 accessing the cached version.
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they can also be written to (which auto-calls self.write_<pname> and
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generate an async update)
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if you want to 'update from the hardware', call self.read_<pname>() instead
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the return value of this method will be used as the new cached value and
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be an async update sent automatically.
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"""
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# static properties, definitions in derived classes should overwrite earlier ones.
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# note: properties don't change after startup and are usually filled
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# with data from a cfg file...
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# note: only the properties predefined here are allowed to be set in the cfg file
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# note: the names map to a [datatype, value] list, value comes from the cfg file,
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# datatype is fixed!
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properties = {
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'export': Property('Flag if this Module is to be exported', BoolType(), default=True, export=False),
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'group': Property('Optional group the Module belongs to', StringType(), default='', extname='group'),
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'description': Property('Description of the module', TextType(), extname='description', mandatory=True),
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'meaning': Property('Optional Meaning indicator', TupleOf(StringType(),IntRange(0,50)),
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default=('',0), extname='meaning'),
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'visibility': Property('Optional visibility hint', EnumType('visibility', user=1, advanced=2, expert=3),
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default='user', extname='visibility'),
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'implementation': Property('Internal name of the implementation class of the module', StringType(),
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extname='implementation'),
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'interface_class': Property('Offical highest Interface-class of the module', ArrayOf(StringType()),
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extname='interface_class'),
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# what else?
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}
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# properties, parameters and commands are auto-merged upon subclassing
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parameters = {}
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commands = {}
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# reference to the dispatcher (used for sending async updates)
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DISPATCHER = None
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def __init__(self, name, logger, cfgdict, srv):
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# remember the dispatcher object (for the async callbacks)
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self.DISPATCHER = srv.dispatcher
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self.log = logger
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self.name = name
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# handle module properties
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# 1) make local copies of properties
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super(Module, self).__init__()
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# 2) check and apply properties specified in cfgdict
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# specified as '.<propertyname> = <propertyvalue>'
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for k, v in list(cfgdict.items()): # keep list() as dict may change during iter
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if k[0] == '.':
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if k[1:] in self.__class__.properties:
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self.setProperty(k[1:], cfgdict.pop(k))
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else:
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raise ConfigError('Module %r has no property %r' %
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(self.name, k[1:]))
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# 4) set 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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# list of all 'secop' modules
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self.properties['interface_class'] = [
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b.__name__ for b in mycls.__mro__ if b.__module__.startswith('secop.modules')]
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# list of only the 'highest' secop module class
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self.properties['interface_class'] = [[
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b.__name__ for b in mycls.__mro__ if b.__module__.startswith('secop.modules')][0]]
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# handle Features
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# XXX: todo
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# handle accessibles
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# 1) make local copies of parameter objects
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# they need to be individual per instance since we use them also
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# to cache the current value + qualifiers...
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accessibles = OrderedDict()
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# conversion from exported names to internal attribute names
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accessiblename2attr = {}
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for aname, aobj in self.accessibles.items():
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# make a copy of the Parameter/Command object
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aobj = aobj.copy()
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if aobj.export:
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if aobj.export is True:
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predefined_obj = PREDEFINED_ACCESSIBLES.get(aname, None)
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if predefined_obj:
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if isinstance(aobj, predefined_obj):
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aobj.setProperty('export', aname)
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else:
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raise ProgrammingError("can not use '%s' as name of a %s" %
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(aname, aobj.__class__.__name__))
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else: # create custom parameter
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aobj.setProperty('export', '_' + aname)
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accessiblename2attr[aobj.export] = aname
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accessibles[aname] = aobj
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# do not re-use self.accessibles as this is the same for all instances
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self.accessibles = accessibles
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self.accessiblename2attr = accessiblename2attr
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# provide properties to 'filter' out the parameters/commands
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self.parameters = Parameters((k,v) for k,v in accessibles.items() if isinstance(v, Parameter))
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self.commands = Commands((k,v) for k,v in accessibles.items() if isinstance(v, Command))
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# 2) check and apply parameter_properties
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# specified as '<paramname>.<propertyname> = <propertyvalue>'
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for k, v in list(cfgdict.items()): # keep list() as dict may change during iter
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if '.' in k[1:]:
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paramname, propname = k.split('.', 1)
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paramobj = self.accessibles.get(paramname, None)
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# paramobj might also be a command (not sure if this is needed)
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if paramobj:
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if propname == 'datatype':
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paramobj.setProperty('datatype', get_datatype(cfgdict.pop(k)))
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elif propname in paramobj.__class__.properties:
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paramobj.setProperty(propname, cfgdict.pop(k))
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else:
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raise ConfigError('Module %s: Parameter %r has no property %r!' %
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(self.name, paramname, propname))
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# 3) check config for problems:
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# only accept remaining config items specified in parameters
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for k, v in cfgdict.items():
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if k not in self.parameters:
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raise ConfigError(
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'Module %s:config Parameter %r '
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'not understood! (use one of %s)' %
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(self.name, k, ', '.join(self.parameters.keys())))
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# 4) complain if a Parameter entry has no default value and
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# is not specified in cfgdict
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for k, v in self.parameters.items():
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if k not in cfgdict:
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if v.default is unset_value and k != 'value':
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# unset_value is the one single value you can not specify....
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raise ConfigError('Module %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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# 5) 'apply' config:
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# pass values through the datatypes and store as attributes
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for k, v in list(cfgdict.items()):
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# apply datatype, complain if type does not fit
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datatype = self.parameters[k].datatype
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try:
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v = datatype(v)
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self.parameters[k].value = v
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except (ValueError, TypeError):
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self.log.exception(formatExtendedStack())
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raise
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# raise ConfigError('Module %s: config parameter %r:\n%r' %
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# (self.name, k, e))
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# note: this will call write_* methods which will
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# write to the hardware, if possible!
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if k != 'value':
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setattr(self, k, v)
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cfgdict.pop(k)
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# Modify units AFTER applying the cfgdict
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for k, v in self.parameters.items():
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if '$' in v.unit:
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v.unit = v.unit.replace('$', self.parameters['value'].unit)
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# 6) check complete configuration of * properties
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self.checkProperties()
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for p in self.parameters.values():
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p.checkProperties()
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# helper cfg-editor
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def __iter__(self):
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return self.accessibles.__iter__()
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def __getitem__(self, item):
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return self.accessibles.__getitem__(item)
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def isBusy(self):
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'''helper function for treating substates of BUSY correctly'''
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# defined even for non drivable (used for dynamic polling)
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return False
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def earlyInit(self):
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# may be overriden in derived classes to init stuff
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self.log.debug('empty %s.earlyInit()' % self.__class__.__name__)
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def initModule(self):
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self.log.debug('empty %s.initModule()' % self.__class__.__name__)
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def startModule(self, started_callback):
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'''runs after init of all modules
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started_callback to be called when thread spawned by late_init
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or, if not implemented, immediately
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might return a timeout value, if different from default
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'''
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self.log.debug('empty %s.startModule()' % self.__class__.__name__)
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started_callback()
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class Readable(Module):
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"""Basic readable Module
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providing the readonly parameter 'value' and 'status'
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Also allow configurable polling per 'pollinterval' parameter.
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"""
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# pylint: disable=invalid-name
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Status = Enum('Status',
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IDLE = 100,
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WARN = 200,
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UNSTABLE = 270,
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ERROR = 400,
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DISABLED = 0,
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)
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parameters = {
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'value': Parameter('current value of the Module', readonly=True,
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default=0., datatype=FloatRange(),
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unit='', poll=True,
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),
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'pollinterval': Parameter('sleeptime between polls', default=5,
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readonly=False,
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datatype=FloatRange(0.1, 120),
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),
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'status': Parameter('current status of the Module',
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default=(Status.IDLE, ''),
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datatype=TupleOf(EnumType(Status), StringType()),
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readonly=True, poll=True,
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),
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}
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def startModule(self, started_callback):
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'''start polling thread'''
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if hasattr(self, 'pollerClass'): # an other poller is used
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started_callback()
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else:
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# basic poller kept for reference
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mkthread(self.__pollThread, started_callback)
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def __pollThread(self, started_callback):
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while True:
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try:
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self.__pollThread_inner(started_callback)
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except Exception as e:
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self.log.exception(e)
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self.status = (self.Status.ERROR, 'polling thread could not start')
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started_callback()
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print(formatException(0, sys.exc_info(), verbose=True))
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time.sleep(10)
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def __pollThread_inner(self, started_callback):
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"""super simple and super stupid per-module polling thread"""
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i = 0
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fastpoll = self.pollParams(i)
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started_callback()
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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.pollParams(i)
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def pollParams(self, nr=0):
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# Just poll all parameters regularly where polling is enabled
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for pname, pobj in self.parameters.items():
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if not pobj.poll:
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continue
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if nr % abs(int(pobj.poll)) == 0:
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# pollParams every 'pobj.pollParams' 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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rfunc() # pylint: disable = not-callable
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except Exception: # really all!
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pass
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class Writable(Readable):
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"""Basic Writable Module
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providing a settable 'target' parameter to those of a Readable
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"""
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parameters = {
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'target': Parameter('target value of the Module',
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default=0., readonly=False, datatype=FloatRange(),
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),
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}
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class Drivable(Writable):
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"""Basic Drivable Module
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provides a stop command to interrupt actions.
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Also status gets extended with a BUSY state indicating a running action.
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"""
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Status = Enum(Readable.Status, BUSY=300)
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commands = {
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'stop': Command(
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'cease driving, go to IDLE state',
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argument=None,
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result=None
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),
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}
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overrides = {
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'status' : Override(datatype=TupleOf(EnumType(Status), StringType())),
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}
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def isBusy(self):
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'''helper function for treating substates of BUSY correctly'''
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return 300 <= self.status[0] < 400
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# improved polling: may poll faster if module is BUSY
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def pollParams(self, nr=0):
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# poll status first
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self.read_status()
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fastpoll = self.isBusy()
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for pname, pobj in self.parameters.items():
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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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nr % abs(int(pobj.poll))) == 0:
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# poll always if pobj.poll is negative and fastpoll (i.e. Module 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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rfunc() # pylint: disable = not-callable
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except Exception: # really all!
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pass
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return fastpoll
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def do_stop(self):
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"""default implementation of the stop command
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by default does nothing."""
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class Communicator(Module):
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"""Basic communication Module
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providing no parameters, but a 'communicate' command.
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"""
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commands = {
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"communicate": Command("provides the simplest mean to communication",
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argument=StringType(),
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result=StringType()
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),
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}
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