7e54cd93b7
Change-Id: I4be15d264e402be000811dffc1b28a2bc93ab297 Reviewed-on: https://forge.frm2.tum.de/review/18941 Tested-by: JenkinsCodeReview <bjoern_pedersen@frm2.tum.de> Reviewed-by: Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
136 lines
4.9 KiB
Python
136 lines
4.9 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 Simulation classes"""
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import random
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from time import sleep
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from secop.modules import Module, Readable, Writable, Drivable, Parameter
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from secop.lib import mkthread
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from secop.datatypes import FloatRange
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class SimBase(object):
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def __init__(self, cfgdict):
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# spice up parameters if requested by extra property
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# hint: us a comma-separated list if mor than one extra_param
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# BIG FAT WARNING: changing extra params will NOT generate events!
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# XXX: implement default read_* and write_* methods to handle
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# read and change messages correctly
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if '.extra_params' in cfgdict:
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extra_params = cfgdict.pop('.extra_params')
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# make a copy of self.parameter
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self.accessibles = dict((k, v.copy()) for k, v in self.accessibles.items())
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for k in extra_params.split(','):
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k = k.strip()
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self.accessibles[k] = Parameter('extra_param: %s' % k.strip(),
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datatype=FloatRange(),
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default=0.0)
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def reader(maxage=0, pname=k):
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self.log.debug('simulated reading %s' % pname)
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return self.accessibles[pname].value
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setattr(self, 'read_' + k, reader)
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def writer(newval, pname=k):
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self.log.debug('simulated writing %r to %s' % (newval, pname))
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self.accessibles[pname].value = newval
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return newval
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setattr(self, 'write_' + k, writer)
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def init_module(self):
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self._sim_thread = mkthread(self._sim)
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def _sim(self):
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try:
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while not self.sim():
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pass
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except Exception as e:
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self.log.exception(e)
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self.log.info('sim thread ended')
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def sim(self):
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return True
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def read_value(self, maxage=0):
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if 'jitter' in self.accessibles:
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return self._value + self.jitter*(0.5-random.random())
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return self._value
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class SimModule(SimBase, Module):
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def __init__(self, logger, cfgdict, devname, dispatcher):
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SimBase.__init__(self, cfgdict)
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Module.__init__(self, logger, cfgdict, devname, dispatcher)
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class SimReadable(SimBase, Readable):
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def __init__(self, logger, cfgdict, devname, dispatcher):
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SimBase.__init__(self, cfgdict)
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Readable.__init__(self, logger, cfgdict, devname, dispatcher)
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self._value = self.accessibles['value'].default
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class SimWritable(SimBase, Writable):
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def __init__(self, logger, cfgdict, devname, dispatcher):
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SimBase.__init__(self, cfgdict)
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Writable.__init__(self, logger, cfgdict, devname, dispatcher)
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self._value = self.accessibles['value'].default
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def read_value(self, maxage=0):
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return self.target
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def write_target(self, value):
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self.value = value
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def _hw_wait(self):
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pass
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class SimDrivable(SimBase, Drivable):
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def __init__(self, logger, cfgdict, devname, dispatcher):
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SimBase.__init__(self, cfgdict)
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Drivable.__init__(self, logger, cfgdict, devname, dispatcher)
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self._value = self.accessibles['value'].default
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def sim(self):
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while self._value == self.target:
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sleep(0.3)
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self.status = self.Status.BUSY, 'MOVING'
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speed = 0
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if 'ramp' in self.accessibles:
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speed = self.ramp / 60. # ramp is per minute!
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elif 'speed' in self.accessibles:
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speed = self.speed
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if speed == 0:
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self._value = self.target
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speed *= 0.3
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while self._value != self.target:
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if self._value < self.target - speed:
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self._value += speed
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elif self._value > self.target + speed:
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self._value -= speed
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else:
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self._value = self.target
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sleep(0.3)
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self.status = self.Status.IDLE, ''
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def _hw_wait(self):
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while self.status[0] == self.Status.BUSY:
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sleep(0.3)
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