8538659b22
Change-Id: I1be9814b33884034301da0d8f3984011dfcf53b9 Reviewed-on: https://forge.frm2.tum.de/review/17128 Tested-by: JenkinsCodeReview <bjoern_pedersen@frm2.tum.de> Reviewed-by: Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
120 lines
4.2 KiB
Python
120 lines
4.2 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 Simulation classes"""
|
|
|
|
import random
|
|
from time import sleep
|
|
|
|
from secop.modules import Module, Readable, Writable, Drivable, PARAM
|
|
from secop.lib import mkthread
|
|
from secop.protocol import status
|
|
from secop.datatypes import FloatRange
|
|
|
|
|
|
class SimBase(object):
|
|
def __init__(self, cfgdict):
|
|
# spice up PARAMS if requested by extra property
|
|
# hint: us a comma-separated list if mor than one extra_param
|
|
# BIG FAT WARNING: changing extra params will NOT generate events!
|
|
# XXX: implement default read_* and write_* methods to handle
|
|
# read and change messages correctly
|
|
if '.extra_params' in cfgdict:
|
|
extra_params = cfgdict.pop('.extra_params')
|
|
# make a copy of self.PARAMS
|
|
self.PARAMS=dict((k,v.copy()) for k,v in self.PARAMS.items())
|
|
for k in extra_params.split(','):
|
|
self.PARAMS[k] = PARAM('extra_param: %s' % k.strip(),
|
|
datatype=FloatRange(),
|
|
default=0.0)
|
|
def late_init(self):
|
|
self._sim_thread = mkthread(self._sim)
|
|
|
|
def _sim(self):
|
|
try:
|
|
while not self.sim():
|
|
pass
|
|
except Exception as e:
|
|
self.log.exception(e)
|
|
self.log.info('sim thread ended')
|
|
|
|
def sim(self):
|
|
return True
|
|
|
|
def read_value(self, maxage=0):
|
|
if 'jitter' in self.PARAMS:
|
|
return self._value + self.jitter*(0.5-random.random())
|
|
return self._value
|
|
|
|
|
|
class SimModule(SimBase, Module):
|
|
def __init__(self, logger, cfgdict, devname, dispatcher):
|
|
SimBase.__init__(self, cfgdict)
|
|
Module.__init__(self, logger, cfgdict, devname, dispatcher)
|
|
|
|
|
|
class SimReadable(SimBase, Readable):
|
|
def __init__(self, logger, cfgdict, devname, dispatcher):
|
|
SimBase.__init__(self, cfgdict)
|
|
Readable.__init__(self, logger, cfgdict, devname, dispatcher)
|
|
self._value = self.PARAMS['value'].default
|
|
|
|
|
|
class SimWritable(SimBase, Writable):
|
|
def __init__(self, logger, cfgdict, devname, dispatcher):
|
|
SimBase.__init__(self, cfgdict)
|
|
Writable.__init__(self, logger, cfgdict, devname, dispatcher)
|
|
self._value = self.PARAMS['value'].default
|
|
def read_value(self, maxage=0):
|
|
return self.target
|
|
def write_target(self, value):
|
|
self.value = value
|
|
|
|
|
|
class SimDrivable(SimBase, Drivable):
|
|
def __init__(self, logger, cfgdict, devname, dispatcher):
|
|
SimBase.__init__(self, cfgdict)
|
|
Drivable.__init__(self, logger, cfgdict, devname, dispatcher)
|
|
self._value = self.PARAMS['value'].default
|
|
|
|
def sim(self):
|
|
while self._value == self.target:
|
|
sleep(0.3)
|
|
self.status = status.BUSY, 'MOVING'
|
|
speed = 0
|
|
if 'ramp' in self.PARAMS:
|
|
speed = self.ramp / 60. # ramp is per minute!
|
|
elif 'speed' in self.PARAMS:
|
|
speed = self.speed
|
|
if speed == 0:
|
|
self._value = self.target
|
|
speed *= 0.3
|
|
|
|
while self._value != self.target:
|
|
if self._value < self.target - speed:
|
|
self._value += speed
|
|
elif self._value > self.target + speed:
|
|
self._value -= speed
|
|
else:
|
|
self._value = self.target
|
|
sleep(0.3)
|
|
self.status = status.OK, ''
|