75e31714b8
Change-Id: I530088d56e31dc2d415cc1c79b1db9d446c0b391 Reviewed-on: https://forge.frm2.tum.de/review/18259 Reviewed-by: Enrico Faulhaber <enrico.faulhaber@frm2.tum.de> Tested-by: JenkinsCodeReview <bjoern_pedersen@frm2.tum.de>
346 lines
13 KiB
Python
346 lines
13 KiB
Python
# -*- coding: utf-8 -*-
|
|
# *****************************************************************************
|
|
#
|
|
# This program is free software; you can redistribute it and/or modify it under
|
|
# the terms of the GNU General Public License as published by the Free Software
|
|
# Foundation; either version 2 of the License, or (at your option) any later
|
|
# version.
|
|
#
|
|
# This program is distributed in the hope that it will be useful, but WITHOUT
|
|
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
|
|
# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
|
|
# details.
|
|
#
|
|
# You should have received a copy of the GNU General Public License along with
|
|
# this program; if not, write to the Free Software Foundation, Inc.,
|
|
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
#
|
|
# Module authors:
|
|
# Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
|
|
#
|
|
# *****************************************************************************
|
|
"""Define Baseclasses for real Modules implemented in the server"""
|
|
|
|
from __future__ import print_function
|
|
|
|
# XXX: connect with 'protocol'-Modules.
|
|
# Idea: every Module defined herein is also a 'protocol'-Module,
|
|
# all others MUST derive from those, the 'interface'-class is still derived
|
|
# from these base classes (how to do this?)
|
|
|
|
import time
|
|
|
|
from secop.lib import formatExtendedStack, mkthread, unset_value
|
|
from secop.lib.enum import Enum
|
|
from secop.errors import ConfigError
|
|
from secop.datatypes import EnumType, TupleOf, StringType, FloatRange, get_datatype
|
|
from secop.metaclass import add_metaclass, ModuleMeta
|
|
from secop.params import Command, Parameter, Override
|
|
|
|
|
|
@add_metaclass(ModuleMeta)
|
|
class Module(object):
|
|
"""Basic Module
|
|
|
|
ALL secop Modules derive from this
|
|
|
|
note: within Modules, parameters should only be addressed as self.<pname>
|
|
i.e. self.value, self.target etc...
|
|
these are accessing the cached version.
|
|
they can also be written to (which auto-calls self.write_<pname> and
|
|
generate an async update)
|
|
|
|
if you want to 'update from the hardware', call self.read_<pname>() instead
|
|
the return value of this method will be used as the new cached value and
|
|
be an async update sent automatically.
|
|
"""
|
|
# static properties, definitions in derived classes should overwrite earlier ones.
|
|
# note: properties don't change after startup and are usually filled
|
|
# with data from a cfg file...
|
|
# note: so far all properties are STRINGS
|
|
# note: only the properties defined here are allowed to be set in the cfg file
|
|
properties = {
|
|
'group': None, # some Modules may be grouped together
|
|
'description': "Short description of this Module class and its functionality.",
|
|
|
|
'meaning': None, # XXX: ???
|
|
'priority': None, # XXX: ???
|
|
'visibility': None, # XXX: ????
|
|
# what else?
|
|
}
|
|
# properties, parameter and commands are auto-merged upon subclassing
|
|
parameters = {}
|
|
commands = {}
|
|
|
|
# reference to the dispatcher (used for sending async updates)
|
|
DISPATCHER = None
|
|
|
|
def __init__(self, logger, cfgdict, modname, dispatcher):
|
|
# remember the dispatcher object (for the async callbacks)
|
|
self.DISPATCHER = dispatcher
|
|
self.log = logger
|
|
self.name = modname
|
|
# make local copies of parameter objects
|
|
# they need to be individual per instance since we use them also
|
|
# to cache the current value + qualifiers...
|
|
params = {}
|
|
for k, v in list(self.parameters.items()):
|
|
entry = v.copy()
|
|
if '$' in entry.unit:
|
|
entry.unit = entry.unit.replace('$', self.parameters['value'].unit)
|
|
params[k] = entry
|
|
# do not re-use self.parameters as this is the same for all instances
|
|
self.parameters = params
|
|
|
|
# make local copies of properties
|
|
props = {}
|
|
for k, v in list(self.properties.items()):
|
|
props[k] = v
|
|
self.properties = props
|
|
|
|
# check and apply properties specified in cfgdict
|
|
# moduleproperties are to be specified as
|
|
# '.<propertyname>=<propertyvalue>'
|
|
for k, v in list(cfgdict.items()): # keep list() as dict may change during iter
|
|
if k[0] == '.':
|
|
if k[1:] in self.properties:
|
|
self.properties[k[1:]] = cfgdict.pop(k)
|
|
else:
|
|
raise ConfigError('Module %r has no property %r' %
|
|
(self.name, k[1:]))
|
|
# remove unset (default) module properties
|
|
for k, v in list(self.properties.items()): # keep list() as dict may change during iter
|
|
if v is None:
|
|
del self.properties[k]
|
|
|
|
# MAGIC: derive automatic properties
|
|
mycls = self.__class__
|
|
myclassname = '%s.%s' % (mycls.__module__, mycls.__name__)
|
|
self.properties['_implementation'] = myclassname
|
|
self.properties['interface_class'] = [
|
|
b.__name__ for b in mycls.__mro__ if b.__module__.startswith('secop.modules')]
|
|
|
|
# check and apply parameter_properties
|
|
# specified as '<paramname>.<propertyname> = <propertyvalue>'
|
|
for k, v in list(cfgdict.items()): # keep list() as dict may change during iter
|
|
if '.' in k[1:]:
|
|
paramname, propname = k.split('.', 1)
|
|
if paramname in self.parameters:
|
|
paramobj = self.parameters[paramname]
|
|
if propname == 'datatype':
|
|
paramobj.datatype = get_datatype(cfgdict.pop(k))
|
|
elif hasattr(paramobj, propname):
|
|
setattr(paramobj, propname, cfgdict.pop(k))
|
|
|
|
# check config for problems
|
|
# only accept remaining config items specified in parameters
|
|
for k, v in cfgdict.items():
|
|
if k not in self.parameters:
|
|
raise ConfigError(
|
|
'Module %s:config Parameter %r '
|
|
'not unterstood! (use one of %s)' %
|
|
(self.name, k, ', '.join(self.parameters)))
|
|
|
|
# complain if a Parameter entry has no default value and
|
|
# is not specified in cfgdict
|
|
for k, v in self.parameters.items():
|
|
if k not in cfgdict:
|
|
if v.default is unset_value and k != 'value':
|
|
# unset_value is the one single value you can not specify....
|
|
raise ConfigError('Module %s: Parameter %r has no default '
|
|
'value and was not given in config!' %
|
|
(self.name, k))
|
|
# assume default value was given
|
|
cfgdict[k] = v.default
|
|
|
|
# replace CLASS level Parameter objects with INSTANCE level ones
|
|
# self.parameters[k] = self.parameters[k].copy() # already done above...
|
|
|
|
# now 'apply' config:
|
|
# pass values through the datatypes and store as attributes
|
|
for k, v in cfgdict.items():
|
|
if k == 'value':
|
|
continue
|
|
# apply datatype, complain if type does not fit
|
|
datatype = self.parameters[k].datatype
|
|
try:
|
|
v = datatype.validate(v)
|
|
except (ValueError, TypeError):
|
|
self.log.exception(formatExtendedStack())
|
|
raise
|
|
# raise ConfigError('Module %s: config parameter %r:\n%r' %
|
|
# (self.name, k, e))
|
|
# note: this will call write_* methods which will
|
|
# write to the hardware, if possible!
|
|
setattr(self, k, v)
|
|
|
|
def init(self):
|
|
# may be overriden in derived classes to init stuff
|
|
self.log.debug('empty init()')
|
|
|
|
def postinit(self):
|
|
self.log.debug('empty postinit()')
|
|
|
|
def late_init(self, started_callback):
|
|
'''runs after postinit of all modules
|
|
|
|
started_callback to be called when thread spawned by late_init
|
|
or, if not implmemented, immediately
|
|
'''
|
|
|
|
self.log.debug('empty late init()')
|
|
started_callback(self)
|
|
|
|
|
|
class Readable(Module):
|
|
"""Basic readable Module
|
|
|
|
providing the readonly parameter 'value' and 'status'
|
|
|
|
Also allow configurable polling per 'pollinterval' parameter.
|
|
"""
|
|
# pylint: disable=invalid-name
|
|
Status = Enum('Status',
|
|
IDLE = 100,
|
|
WARN = 200,
|
|
UNSTABLE = 250,
|
|
ERROR = 400,
|
|
UNKNOWN = 900,
|
|
)
|
|
parameters = {
|
|
'value': Parameter('current value of the Module', readonly=True,
|
|
default=0., datatype=FloatRange(),
|
|
unit='', poll=True,
|
|
),
|
|
'pollinterval': Parameter('sleeptime between polls', default=5,
|
|
readonly=False,
|
|
datatype=FloatRange(0.1, 120),
|
|
),
|
|
'status': Parameter('current status of the Module',
|
|
default=(Status.IDLE, ''),
|
|
datatype=TupleOf(EnumType(Status), StringType()),
|
|
readonly=True, poll=True,
|
|
),
|
|
}
|
|
|
|
def init(self):
|
|
Module.init(self)
|
|
|
|
def late_init(self, started_callback):
|
|
'''start polling thread'''
|
|
mkthread(self.__pollThread, started_callback)
|
|
|
|
def __pollThread(self, started_callback):
|
|
while True:
|
|
try:
|
|
self.__pollThread_inner(started_callback)
|
|
except Exception as e:
|
|
self.log.exception(e)
|
|
self.status = (self.Status.ERROR, 'polling thread could not start')
|
|
started_callback(self)
|
|
print(formatExtendedStack())
|
|
|
|
def __pollThread_inner(self, started_callback):
|
|
"""super simple and super stupid per-module polling thread"""
|
|
i = 0
|
|
fastpoll = self.poll(i)
|
|
started_callback(self)
|
|
while True:
|
|
i += 1
|
|
try:
|
|
time.sleep(self.pollinterval * (0.1 if fastpoll else 1))
|
|
except TypeError:
|
|
time.sleep(min(self.pollinterval)
|
|
if fastpoll else max(self.pollinterval))
|
|
fastpoll = self.poll(i)
|
|
|
|
def poll(self, nr=0):
|
|
# Just poll all parameters regularly where polling is enabled
|
|
for pname, pobj in self.parameters.items():
|
|
if not pobj.poll:
|
|
continue
|
|
if nr % abs(int(pobj.poll)) == 0:
|
|
# poll every 'pobj.poll' iteration
|
|
rfunc = getattr(self, 'read_' + pname, None)
|
|
if rfunc:
|
|
try:
|
|
rfunc()
|
|
except Exception: # really all!
|
|
pass
|
|
|
|
|
|
class Writable(Readable):
|
|
"""Basic Writable Module
|
|
|
|
providing a settable 'target' parameter to those of a Readable
|
|
"""
|
|
parameters = {
|
|
'target': Parameter('target value of the Module',
|
|
default=0., readonly=False, datatype=FloatRange(),
|
|
),
|
|
}
|
|
|
|
|
|
class Drivable(Writable):
|
|
"""Basic Drivable Module
|
|
|
|
provides a stop command to interrupt actions.
|
|
Also status gets extended with a BUSY state indicating a running action.
|
|
"""
|
|
|
|
Status = Enum(Readable.Status, BUSY=300)
|
|
|
|
commands = {
|
|
'stop': Command(
|
|
'cease driving, go to IDLE state',
|
|
arguments=[],
|
|
result=None
|
|
),
|
|
}
|
|
|
|
overrides = {
|
|
'status' : Override(datatype=TupleOf(EnumType(Status), StringType())),
|
|
}
|
|
|
|
# improved polling: may poll faster if module is BUSY
|
|
def poll(self, nr=0):
|
|
# poll status first
|
|
stat = self.read_status(0)
|
|
fastpoll = stat[0] == self.Status.BUSY
|
|
for pname, pobj in self.parameters.items():
|
|
if not pobj.poll:
|
|
continue
|
|
if pname == 'status':
|
|
# status was already polled above
|
|
continue
|
|
if ((int(pobj.poll) < 0) and fastpoll) or (
|
|
nr % abs(int(pobj.poll))) == 0:
|
|
# poll always if pobj.poll is negative and fastpoll (i.e. Module is busy)
|
|
# otherwise poll every 'pobj.poll' iteration
|
|
rfunc = getattr(self, 'read_' + pname, None)
|
|
if rfunc:
|
|
try:
|
|
rfunc()
|
|
except Exception: # really all!
|
|
pass
|
|
return fastpoll
|
|
|
|
def do_stop(self):
|
|
"""default implementation of the stop command
|
|
|
|
by default does nothing."""
|
|
|
|
|
|
class Communicator(Module):
|
|
"""Basic communication Module
|
|
|
|
providing no parameters, but a 'communicate' command.
|
|
"""
|
|
|
|
commands = {
|
|
"communicate": Command("provides the simplest mean to communication",
|
|
arguments=[StringType()],
|
|
result=StringType()
|
|
),
|
|
}
|