752f8f8093
use parameters/commands for this Change-Id: I41f68c7f65f0ea451e639092a44a8ff8f5710bfc Reviewed-on: https://forge.frm2.tum.de/review/20275 Tested-by: JenkinsCodeReview <bjoern_pedersen@frm2.tum.de> Reviewed-by: Markus Zolliker <markus.zolliker@psi.ch> Reviewed-by: Enrico Faulhaber <enrico.faulhaber@frm2.tum.de> Tested-by: Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
167 lines
7.3 KiB
Python
167 lines
7.3 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 Mixin Features for real Modules implemented in the server"""
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from __future__ import division, print_function
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from secop.datatypes import ArrayOf, BoolType, EnumType, \
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FloatRange, StringType, StructOf, TupleOf
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from secop.metaclass import ModuleMeta, add_metaclass
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from secop.modules import Command, Parameter
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@add_metaclass(ModuleMeta)
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class Feature(object):
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"""all things belonging to a small, predefined functionality influencing the working of a module"""
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pass
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class HAS_PID(Feature):
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# note: implementors should either use p,i,d or pid, but ECS must be handle both cases
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# note: if both p,i,d and pid are implemented, it MUST NOT matter which one gets a change, the final result should be the same
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# note: if there are additional custom accessibles with the same name as an element of the struct, the above applies
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# note: (i would still but them in the same group, though)
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# note: if extra elements are implemented in the pid struct they MUST BE
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# properly described in the description of the pid Parameter
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parameters = {
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'use_pid' : Parameter('use the pid mode', datatype=EnumType(openloop=0, pid_control=1), ),
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'p' : Parameter('proportional part of the regulation', datatype=FloatRange(0), ),
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'i' : Parameter('(optional) integral part', datatype=FloatRange(0), optional=True),
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'd' : Parameter('(optional) derivative part', datatype=FloatRange(0), optional=True),
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'base_output' : Parameter('(optional) minimum output value', datatype=FloatRange(0), optional=True),
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'pid': Parameter('(optional) Struct of p,i,d, minimum output value',
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datatype=StructOf(p=FloatRange(0),
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i=FloatRange(0),
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d=FloatRange(0),
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base_output=FloatRange(0),
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), optional=True,
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), # note: struct may be extended with custom elements (names should be prefixed with '_')
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'output' : Parameter('(optional) output of pid-control', datatype=FloatRange(0), optional=True, readonly=False),
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}
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class Has_PIDTable(HAS_PID):
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parameters = {
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'use_pidtable' : Parameter('use the zoning mode', datatype=EnumType(fixed_pid=0, zone_mode=1)),
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'pidtable' : Parameter('Table of pid-values vs. target temperature', datatype=ArrayOf(TupleOf(FloatRange(0),
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StructOf(p=FloatRange(0),
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i=FloatRange(0),
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d=FloatRange(0),
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_heater_range=FloatRange(0),
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_base_output=FloatRange(0),),),), optional=True), # struct may include 'heaterrange'
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}
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class HAS_Persistent(Feature):
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#extra_Status {
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# 'decoupled' : Status.IDLE+1, # to be discussed.
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# 'coupling' : Status.BUSY+1, # to be discussed.
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# 'coupled' : Status.BUSY+2, # to be discussed.
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# 'decoupling' : Status.BUSY+3, # to be discussed.
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#}
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parameters = {
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'persistent_mode': Parameter('Use persistent mode',
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datatype=EnumType(off=0,on=1),
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default=0, readonly=False),
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'is_persistent': Parameter('current state of persistence',
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datatype=BoolType(), optional=True),
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'stored_value': Parameter('current persistence value, often used as the modules value',
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datatype='main', unit='$', optional=True),
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'driven_value': Parameter('driven value (outside value, syncs with stored_value if non-persistent)',
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datatype='main', unit='$' ),
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}
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class HAS_Tolerance(Feature):
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# detects IDLE status by checking if the value lies in a given window:
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# tolerance is the maximum allowed deviation from target, value must lie in this interval
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# for at least ´timewindow´ seconds.
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parameters = {
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'tolerance': Parameter('Half height of the Window',
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datatype=FloatRange(0), default=1, unit='$'),
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'timewindow': Parameter('Length of the timewindow to check',
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datatype=FloatRange(0), default=30, unit='s',
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optional=True),
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}
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class HAS_Timeout(Feature):
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parameters = {
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'timeout': Parameter('timeout for movement',
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datatype=FloatRange(0), default=0, unit='s'),
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}
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class HAS_Pause(Feature):
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# just a proposal, can't agree on it....
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parameters = {
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'pause': Command('pauses movement', argument=None, result=None),
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'go': Command('continues movement or start a new one if target was change since the last pause',
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argument=None, result=None),
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}
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class HAS_Ramp(Feature):
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parameters = {
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'ramp': Parameter('speed of movement', unit='$/min',
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datatype=FloatRange(0)),
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'use_ramp': Parameter('use the ramping of the setpoint, or jump',
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datatype=EnumType(disable_ramp=0, use_ramp=1),
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optional=True),
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'setpoint': Parameter('currently active setpoint',
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datatype=FloatRange(0), unit='$',
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readonly=True, ),
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}
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class HAS_Speed(Feature):
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parameters = {
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'speed' : Parameter('(maximum) speed of movement (of the main value)',
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unit='$/s', datatype=FloatRange(0)),
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}
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class HAS_Accel(HAS_Speed):
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parameters = {
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'accel' : Parameter('acceleration of movement', unit='$/s^2',
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datatype=FloatRange(0)),
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'decel' : Parameter('deceleration of movement', unit='$/s^2',
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datatype=FloatRange(0), optional=True),
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}
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class HAS_MotorCurrents(Feature):
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parameters = {
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'movecurrent' : Parameter('Current while moving',
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datatype=FloatRange(0)),
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'idlecurrent' : Parameter('Current while idle',
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datatype=FloatRange(0), optional=True),
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}
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class HAS_Curve(Feature):
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# proposed, not yet agreed upon!
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parameters = {
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'curve' : Parameter('Calibration curve', datatype=StringType(80), default='<unset>'),
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# XXX: tbd. (how to upload/download/select a curve?)
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}
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