linse/frappy
3
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
frappy/secop_psi/ppms.py
Markus Zolliker bc6a99e11b introduce BytesIO 
rename secop.stringio to secop.io, which includes now
also BytesIO and the common base class IOBase

+ a small fix in error handling

Change-Id: I8e305e2c164f4ed131f4b36ef45edd8bd222336d
Reviewed-on: https://forge.frm2.tum.de/review/c/sine2020/secop/playground/+/26393
Tested-by: Jenkins Automated Tests <pedersen+jenkins@frm2.tum.de>
Reviewed-by: Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
Reviewed-by: Markus Zolliker <markus.zolliker@psi.ch>
2021-07-15 15:54:51 +02:00

794 lines
31 KiB
Python
Raw Blame History

#!/usr/bin/env 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:
# Markus Zolliker <markus.zolliker@psi.ch>
# *****************************************************************************
"""PPMS driver
The PPMS hardware has some special requirements:
- the communication to the hardware happens through windows COM
- all measured data including state are handled by one request/reply pair GETDAT?<mask>
- for each channel, the settings are handled through a single request/reply pair,
needing a mechanism to treat a single parameter change correctly.
Polling of value and status is done commonly for all modules. For each registered module
<module>.update_value_status() is called in order to update their value and status.
"""
import threading
import time
import secop.iohandler
from secop.datatypes import BoolType, EnumType, \
FloatRange, IntRange, StatusType, StringType
from secop.errors import HardwareError
from secop.lib import clamp
from secop.lib.enum import Enum
from secop.modules import Attached, Communicator, Done, \
Drivable, Parameter, Property, Readable
from secop.poller import Poller
from secop.io import HasIodev
try:
import secop_psi.ppmswindows as ppmshw
except ImportError:
print('use simulation instead')
import secop_psi.ppmssim as ppmshw
class IOHandler(secop.iohandler.IOHandler):
"""IO handler for PPMS commands
deals with typical format:
- query command: ``<command>?``
- reply: ``<value1>,<value2>, ..``
- change command: ``<command> <value1>,<value2>,...``
"""
CMDARGS = ['no'] # the channel number is needed in channel commands
CMDSEPARATOR = None # no command chaining
def __init__(self, name, querycmd, replyfmt):
changecmd = querycmd.split('?')[0] + ' '
super().__init__(name, querycmd, replyfmt, changecmd)
class Main(Communicator):
"""ppms communicator module"""
pollinterval = Parameter('poll interval', FloatRange(), readonly=False, default=2)
data = Parameter('internal', StringType(), poll=True, export=True, # export for test only
default="", readonly=True)
class_id = Property('Quantum Design class id', StringType(), export=False)
_channel_names = [
'packed_status', 'temp', 'field', 'position', 'r1', 'i1', 'r2', 'i2',
'r3', 'i3', 'r4', 'i4', 'v1', 'v2', 'digital', 'cur1', 'pow1', 'cur2', 'pow2',
'p', 'u20', 'u21', 'u22', 'ts', 'u24', 'u25', 'u26', 'u27', 'u28', 'u29']
assert len(_channel_names) == 30
_channel_to_index = dict(((channel, i) for i, channel in enumerate(_channel_names)))
_status_bitpos = {'temp': 0, 'field': 4, 'chamber': 8, 'position': 12}
pollerClass = Poller
def earlyInit(self):
self.modules = {}
self._ppms_device = ppmshw.QDevice(self.class_id)
self.lock = threading.Lock()
def register(self, other):
self.modules[other.channel] = other
def communicate(self, command):
"""GPIB command"""
with self.lock:
reply = self._ppms_device.send(command)
self.log.debug("%s|%s", command, reply)
return reply
def read_data(self):
mask = 1 # always get packed_status
for channelname, channel in self.modules.items():
if channel.enabled:
mask |= 1 << self._channel_to_index.get(channelname, 0)
# send, read and convert to floats and ints
data = self.communicate('GETDAT? %d' % mask)
reply = data.split(',')
mask = int(reply.pop(0))
reply.pop(0) # pop timestamp
result = {}
for bitpos, channelname in enumerate(self._channel_names):
if mask & (1 << bitpos):
result[channelname] = float(reply.pop(0))
if 'temp' in result:
result['tv'] = result['temp']
if 'ts' in result:
result['temp'] = result['ts']
packed_status = int(result['packed_status'])
result['chamber'] = None # 'chamber' must be in result for status, but value is ignored
for channelname, channel in self.modules.items():
channel.update_value_status(result.get(channelname, None), packed_status)
return data # return data as string
class PpmsBase(HasIodev, Readable):
"""common base for all ppms modules"""
iodev = Attached()
pollerClass = Poller
enabled = True # default, if no parameter enable is defined
_last_settings = None # used by several modules
slow_pollfactor = 1
# as this pollinterval affects only the polling of settings
# it would be confusing to export it.
pollinterval = Parameter(export=False)
def initModule(self):
self._iodev.register(self)
def startModule(self, started_callback):
# no polls except on main module
started_callback()
def read_value(self):
# polling is done by the main module
# and PPMS does not deliver really more fresh values when polled more often
return Done
def read_status(self):
# polling is done by the main module
# and PPMS does not deliver really fresh status values anyway: the status is not
# changed immediately after a target change!
return Done
def update_value_status(self, value, packed_status):
# update value and status
# to be reimplemented for modules looking at packed_status
if not self.enabled:
self.status = (self.Status.DISABLED, 'disabled')
return
if value is None:
self.status = (self.Status.ERROR, 'invalid value')
else:
self.value = value
self.status = (self.Status.IDLE, '')
class Channel(PpmsBase):
"""channel base class"""
value = Parameter('main value of channels', poll=True)
enabled = Parameter('is this channel used?', readonly=False, poll=False,
datatype=BoolType(), default=False)
channel = Property('channel name',
datatype=StringType(), export=False, default='')
no = Property('channel number',
datatype=IntRange(1, 4), export=False)
def earlyInit(self):
Readable.earlyInit(self)
if not self.channel:
self.channel = self.name
def get_settings(self, pname):
return ''
class UserChannel(Channel):
"""user channel"""
# pollinterval = Parameter(visibility=3)
no = Property('channel number',
datatype=IntRange(0, 0), export=False, default=0)
linkenable = Property('name of linked channel for enabling',
datatype=StringType(), export=False, default='')
def write_enabled(self, enabled):
other = self._iodev.modules.get(self.linkenable, None)
if other:
other.enabled = enabled
return enabled
class DriverChannel(Channel):
"""driver channel"""
drvout = IOHandler('drvout', 'DRVOUT? %(no)d', '%d,%g,%g')
current = Parameter('driver current', readonly=False, handler=drvout,
datatype=FloatRange(0., 5000., unit='uA'))
powerlimit = Parameter('power limit', readonly=False, handler=drvout,
datatype=FloatRange(0., 1000., unit='uW'))
# pollinterval = Parameter(visibility=3)
def analyze_drvout(self, no, current, powerlimit):
if self.no != no:
raise HardwareError('DRVOUT command: channel number in reply does not match')
return dict(current=current, powerlimit=powerlimit)
def change_drvout(self, change):
change.readValues()
return change.current, change.powerlimit
class BridgeChannel(Channel):
"""bridge channel"""
bridge = IOHandler('bridge', 'BRIDGE? %(no)d', '%d,%g,%g,%d,%d,%g')
# pylint: disable=invalid-name
ReadingMode = Enum('ReadingMode', standard=0, fast=1, highres=2)
enabled = Parameter(handler=bridge)
excitation = Parameter('excitation current', readonly=False, handler=bridge,
datatype=FloatRange(0.01, 5000., unit='uA'))
powerlimit = Parameter('power limit', readonly=False, handler=bridge,
datatype=FloatRange(0.001, 1000., unit='uW'))
dcflag = Parameter('True when excitation is DC (else AC)', readonly=False, handler=bridge,
datatype=BoolType())
readingmode = Parameter('reading mode', readonly=False, handler=bridge,
datatype=EnumType(ReadingMode))
voltagelimit = Parameter('voltage limit', readonly=False, handler=bridge,
datatype=FloatRange(0.0001, 100., unit='mV'))
# pollinterval = Parameter(visibility=3)
def analyze_bridge(self, no, excitation, powerlimit, dcflag, readingmode, voltagelimit):
if self.no != no:
raise HardwareError('DRVOUT command: channel number in reply does not match')
return dict(
enabled=excitation != 0 and powerlimit != 0 and voltagelimit != 0,
excitation=excitation or self.excitation,
powerlimit=powerlimit or self.powerlimit,
dcflag=dcflag,
readingmode=readingmode,
voltagelimit=voltagelimit or self.voltagelimit,
)
def change_bridge(self, change):
change.readValues()
if change.enabled:
return self.no, change.excitation, change.powerlimit, change.dcflag, change.readingmode, change.voltagelimit
return self.no, 0, 0, change.dcflag, change.readingmode, 0
class Level(PpmsBase):
"""helium level"""
level = IOHandler('level', 'LEVEL?', '%g,%d')
value = Parameter(datatype=FloatRange(unit='%'), handler=level)
status = Parameter(handler=level)
# pollinterval = Parameter(visibility=3)
channel = 'level'
def update_value_status(self, value, packed_status):
pass
# must be a no-op
# when called from Main.read_data, value is always None
# value and status is polled via settings
def analyze_level(self, level, status):
# ignore 'old reading' state of the flag, as this happens only for a short time
# during measuring
return dict(value=level, status=(self.Status.IDLE, ''))
class Chamber(PpmsBase, Drivable):
"""sample chamber handling
value is an Enum, which is redundant with the status text
"""
chamber = IOHandler('chamber', 'CHAMBER?', '%d')
Status = Drivable.Status
# pylint: disable=invalid-name
Operation = Enum(
'Operation',
seal_immediately=0,
purge_and_seal=1,
vent_and_seal=2,
pump_continuously=3,
vent_continuously=4,
hi_vacuum=5,
noop=10,
)
StatusCode = Enum(
'StatusCode',
unknown=0,
purged_and_sealed=1,
vented_and_sealed=2,
sealed_unknown=3,
purge_and_seal=4,
vent_and_seal=5,
pumping_down=6,
at_hi_vacuum=7,
pumping_continuously=8,
venting_continuously=9,
general_failure=15,
)
value = Parameter(description='chamber state', handler=chamber,
datatype=EnumType(StatusCode))
target = Parameter(description='chamber command', handler=chamber,
datatype=EnumType(Operation))
# pollinterval = Parameter(visibility=3)
STATUS_MAP = {
StatusCode.purged_and_sealed: (Status.IDLE, 'purged and sealed'),
StatusCode.vented_and_sealed: (Status.IDLE, 'vented and sealed'),
StatusCode.sealed_unknown: (Status.WARN, 'sealed unknown'),
StatusCode.purge_and_seal: (Status.BUSY, 'purge and seal'),
StatusCode.vent_and_seal: (Status.BUSY, 'vent and seal'),
StatusCode.pumping_down: (Status.BUSY, 'pumping down'),
StatusCode.at_hi_vacuum: (Status.IDLE, 'at hi vacuum'),
StatusCode.pumping_continuously: (Status.IDLE, 'pumping continuously'),
StatusCode.venting_continuously: (Status.IDLE, 'venting continuously'),
StatusCode.general_failure: (Status.ERROR, 'general failure'),
}
channel = 'chamber'
def update_value_status(self, value, packed_status):
status_code = (packed_status >> 8) & 0xf
if status_code in self.STATUS_MAP:
self.value = status_code
self.status = self.STATUS_MAP[status_code]
else:
self.value = self.StatusCode.unknown
self.status = (self.Status.ERROR, 'unknown status code %d' % status_code)
def analyze_chamber(self, target):
return dict(target=target)
def change_chamber(self, change):
# write settings, combining <pname>=<value> and current attributes
# and request updated settings
if change.target == self.Operation.noop:
return None
return (change.target,)
class Temp(PpmsBase, Drivable):
"""temperature"""
temp = IOHandler('temp', 'TEMP?', '%g,%g,%d')
Status = Enum(
Drivable.Status,
RAMPING=370,
STABILIZING=380,
)
# pylint: disable=invalid-name
ApproachMode = Enum('ApproachMode', fast_settle=0, no_overshoot=1)
value = Parameter(datatype=FloatRange(unit='K'), poll=True)
status = Parameter(datatype=StatusType(Status), poll=True)
target = Parameter(datatype=FloatRange(1.7, 402.0, unit='K'), poll=False, needscfg=False)
setpoint = Parameter('intermediate set point',
datatype=FloatRange(1.7, 402.0, unit='K'), handler=temp)
ramp = Parameter('ramping speed', readonly=False, default=0,
datatype=FloatRange(0, 20, unit='K/min'))
workingramp = Parameter('intermediate ramp value',
datatype=FloatRange(0, 20, unit='K/min'), handler=temp)
approachmode = Parameter('how to approach target!', readonly=False, handler=temp,
datatype=EnumType(ApproachMode))
# pollinterval = Parameter(visibility=3)
timeout = Parameter('drive timeout, in addition to ramp time', readonly=False,
datatype=FloatRange(0, unit='sec'), default=3600)
# pylint: disable=invalid-name
TempStatus = Enum(
'TempStatus',
stable_at_target=1,
changing=2,
within_tolerance=5,
outside_tolerance=6,
filling_emptying_reservoir=7,
standby=10,
control_disabled=13,
can_not_complete=14,
general_failure=15,
)
STATUS_MAP = {
1: (Status.IDLE, 'stable at target'),
2: (Status.RAMPING, 'ramping'),
5: (Status.STABILIZING, 'within tolerance'),
6: (Status.STABILIZING, 'outside tolerance'),
7: (Status.STABILIZING, 'filling/emptying reservoir'),
10: (Status.WARN, 'standby'),
13: (Status.WARN, 'control disabled'),
14: (Status.ERROR, 'can not complete'),
15: (Status.ERROR, 'general failure'),
}
general_stop = Property('respect general stop', datatype=BoolType(),
default=True, value=False)
channel = 'temp'
_stopped = False
_expected_target_time = 0
_last_change = 0 # 0 means no target change is pending
_last_target = None # last reached target
_cool_deadline = 0
_wait_at10 = False
_ramp_at_limit = False
def update_value_status(self, value, packed_status):
if value is None:
self.status = (self.Status.ERROR, 'invalid value')
return
self.value = value
status_code = packed_status & 0xf
status = self.STATUS_MAP.get(status_code, (self.Status.ERROR, 'unknown status code %d' % status_code))
now = time.time()
if value > 11:
# when starting from T > 50, this will be 15 min.
# when starting from lower T, it will be less
# when ramping with 2 K/min or less, the deadline is now
self._cool_deadline = max(self._cool_deadline, now + min(40, value - 10) * 30) # 30 sec / K
elif self._wait_at10:
if now > self._cool_deadline:
self._wait_at10 = False
self._last_change = now
self.temp.write(self, 'setpoint', self.target)
status = (self.Status.STABILIZING, 'waiting at 10 K')
if self._last_change: # there was a change, which is not yet confirmed by hw
if now > self._last_change + 5:
self._last_change = 0 # give up waiting for busy
elif self.isDriving(status) and status != self._status_before_change:
self.log.debug('time needed to change to busy: %.3g', now - self._last_change)
self._last_change = 0
else:
status = (self.Status.BUSY, 'changed target')
if abs(self.value - self.target) < self.target * 0.01:
self._last_target = self.target
elif self._last_target is None:
self._last_target = self.value
if self._stopped:
# combine 'stopped' with current status text
if status[0] == self.Status.IDLE:
status = (status[0], 'stopped')
else:
status = (status[0], 'stopping (%s)' % status[1])
if self._expected_target_time:
# handle timeout
if self.isDriving(status):
if now > self._expected_target_time + self.timeout:
status = (self.Status.WARN, 'timeout while %s' % status[1])
else:
self._expected_target_time = 0
self.status = status
def analyze_temp(self, setpoint, workingramp, approachmode):
if (setpoint, workingramp, approachmode) == self._last_settings:
# update parameters only on change, as 'ramp' and 'approachmode' are
# not always sent to the hardware
return {}
self._last_settings = setpoint, workingramp, approachmode
if setpoint != 10 or not self._wait_at10:
self.log.debug('read back target %g %r' % (setpoint, self._wait_at10))
self.target = setpoint
if workingramp != 2 or not self._ramp_at_limit:
self.log.debug('read back ramp %g %r' % (workingramp, self._ramp_at_limit))
self.ramp = workingramp
result = dict(setpoint=setpoint, workingramp=workingramp)
self.log.debug('analyze_temp %r %r' % (result, (self.target, self.ramp)))
return result
def change_temp(self, change):
ramp = change.ramp
setpoint = change.setpoint
wait_at10 = False
ramp_at_limit = False
if self.value > 11:
if setpoint <= 10:
wait_at10 = True
setpoint = 10
elif self.value > setpoint:
if ramp >= 2:
ramp = 2
ramp_at_limit = True
self._wait_at10 = wait_at10
self._ramp_at_limit = ramp_at_limit
self.calc_expected(setpoint, ramp)
self.log.debug('change_temp v %r s %r r %r w %r l %r' % (self.value, setpoint, ramp, wait_at10, ramp_at_limit))
return setpoint, ramp, change.approachmode
def write_target(self, target):
self._stopped = False
if abs(self.target - self.value) <= 2e-5 * target and target == self.target:
return None
self._status_before_change = self.status
self.status = (self.Status.BUSY, 'changed target')
self._last_change = time.time()
self.temp.write(self, 'setpoint', target)
self.log.debug('write_target %s' % repr((self.setpoint, target, self._wait_at10)))
return target
def write_approachmode(self, value):
if self.isDriving():
self.temp.write(self, 'approachmode', value)
return Done
self.approachmode = value
return None # do not execute TEMP command, as this would trigger an unnecessary T change
def write_ramp(self, value):
if self.isDriving():
self.temp.write(self, 'ramp', value)
return Done
# self.ramp = value
return None # do not execute TEMP command, as this would trigger an unnecessary T change
def calc_expected(self, target, ramp):
self._expected_target_time = time.time() + abs(target - self.value) * 60.0 / max(0.1, ramp)
def stop(self):
if not self.isDriving():
return
if self.status[0] != self.Status.STABILIZING:
# we are not near target
newtarget = clamp(self._last_target, self.value, self.target)
if newtarget != self.target:
self.log.debug('stop at %s K', newtarget)
self.write_target(newtarget)
self.status = self.status[0], 'stopping (%s)' % self.status[1]
self._stopped = True
class Field(PpmsBase, Drivable):
"""magnetic field"""
field = IOHandler('field', 'FIELD?', '%g,%g,%d,%d')
Status = Enum(
Drivable.Status,
PREPARED=150,
PREPARING=340,
RAMPING=370,
FINALIZING=390,
)
# pylint: disable=invalid-name
PersistentMode = Enum('PersistentMode', persistent=0, driven=1)
ApproachMode = Enum('ApproachMode', linear=0, no_overshoot=1, oscillate=2)
value = Parameter(datatype=FloatRange(unit='T'), poll=True)
status = Parameter(datatype=StatusType(Status), poll=True)
target = Parameter(datatype=FloatRange(-15, 15, unit='T'), handler=field)
ramp = Parameter('ramping speed', readonly=False, handler=field,
datatype=FloatRange(0.064, 1.19, unit='T/min'))
approachmode = Parameter('how to approach target', readonly=False, handler=field,
datatype=EnumType(ApproachMode))
persistentmode = Parameter('what to do after changing field', readonly=False, handler=field,
datatype=EnumType(PersistentMode))
# pollinterval = Parameter(visibility=3)
STATUS_MAP = {
1: (Status.IDLE, 'persistent mode'),
2: (Status.PREPARING, 'switch warming'),
3: (Status.FINALIZING, 'switch cooling'),
4: (Status.IDLE, 'driven stable'),
5: (Status.FINALIZING, 'driven final'),
6: (Status.RAMPING, 'charging'),
7: (Status.RAMPING, 'discharging'),
8: (Status.ERROR, 'current error'),
11: (Status.ERROR, 'probably quenched'),
15: (Status.ERROR, 'general failure'),
}
channel = 'field'
_stopped = False
_last_target = None # last reached target
_last_change = 0 # means no target change is pending
def update_value_status(self, value, packed_status):
if value is None:
self.status = (self.Status.ERROR, 'invalid value')
return
self.value = round(value * 1e-4, 7)
status_code = (packed_status >> 4) & 0xf
status = self.STATUS_MAP.get(status_code, (self.Status.ERROR, 'unknown status code %d' % status_code))
now = time.time()
if self._last_change: # there was a change, which is not yet confirmed by hw
if status_code == 1: # persistent mode
# leads are ramping (ppms has no extra status code for this!)
if now < self._last_change + 30:
status = (self.Status.PREPARING, 'ramping leads')
else:
status = (self.Status.WARN, 'timeout when ramping leads')
elif now > self._last_change + 5:
self._last_change = 0 # give up waiting for driving
elif self.isDriving(status) and status != self._status_before_change:
self._last_change = 0
self.log.debug('time needed to change to busy: %.3g', now - self._last_change)
else:
status = (self.Status.BUSY, 'changed target')
if abs(self.target - self.value) <= 1e-4:
self._last_target = self.target
elif self._last_target is None:
self._last_target = self.value
if self._stopped:
# combine 'stopped' with current status text
if status[0] == self.Status.IDLE:
status = (status[0], 'stopped')
else:
status = (status[0], 'stopping (%s)' % status[1])
self.status = status
def analyze_field(self, target, ramp, approachmode, persistentmode):
# print('last_settings tt %s' % repr(self._last_settings))
if (target, ramp, approachmode, persistentmode) == self._last_settings:
# we update parameters only on change, as 'ramp' and 'approachmode' are
# not always sent to the hardware
return {}
self._last_settings = target, ramp, approachmode, persistentmode
return dict(target=round(target * 1e-4, 7), ramp=ramp * 6e-3, approachmode=approachmode,
persistentmode=persistentmode)
def change_field(self, change):
return change.target * 1e+4, change.ramp / 6e-3, change.approachmode, change.persistentmode
def write_target(self, target):
if abs(self.target - self.value) <= 2e-5 and target == self.target:
self.target = target
return None # avoid ramping leads
self._status_before_change = self.status
self._stopped = False
self._last_change = time.time()
self.status = (self.Status.BUSY, 'changed target')
self.field.write(self, 'target', target)
return Done
def write_persistentmode(self, mode):
if abs(self.target - self.value) <= 2e-5 and mode == self.persistentmode:
self.persistentmode = mode
return None # avoid ramping leads
self._last_change = time.time()
self._status_before_change = self.status
self._stopped = False
self.status = (self.Status.BUSY, 'changed persistent mode')
self.field.write(self, 'persistentmode', mode)
return Done
def write_ramp(self, value):
self.ramp = value
if self.isDriving():
self.field.write(self, 'ramp', value)
return Done
return None # do not execute FIELD command, as this would trigger a ramp up of leads current
def write_approachmode(self, value):
if self.isDriving():
self.field.write(self, 'approachmode', value)
return Done
return None # do not execute FIELD command, as this would trigger a ramp up of leads current
def stop(self):
if not self.isDriving():
return
newtarget = clamp(self._last_target, self.value, self.target)
if newtarget != self.target:
self.log.debug('stop at %s T', newtarget)
self.write_target(newtarget)
self.status = (self.status[0], 'stopping (%s)' % self.status[1])
self._stopped = True
class Position(PpmsBase, Drivable):
"""rotator position"""
move = IOHandler('move', 'MOVE?', '%g,%g,%g')
Status = Drivable.Status
value = Parameter(datatype=FloatRange(unit='deg'), poll=True)
target = Parameter(datatype=FloatRange(-720., 720., unit='deg'), handler=move)
enabled = Parameter('is this channel used?', readonly=False, poll=False,
datatype=BoolType(), default=True)
speed = Parameter('motor speed', readonly=False, handler=move,
datatype=FloatRange(0.8, 12, unit='deg/sec'))
# pollinterval = Parameter(visibility=3)
STATUS_MAP = {
1: (Status.IDLE, 'at target'),
5: (Status.BUSY, 'moving'),
8: (Status.IDLE, 'at limit'),
9: (Status.IDLE, 'at index'),
15: (Status.ERROR, 'general failure'),
}
channel = 'position'
_stopped = False
_last_target = None # last reached target
_last_change = 0
_within_target = 0 # time since we are within target
def update_value_status(self, value, packed_status):
if not self.enabled:
self.status = (self.Status.DISABLED, 'disabled')
return
if value is None:
self.status = (self.Status.ERROR, 'invalid value')
return
self.value = value
status_code = (packed_status >> 12) & 0xf
status = self.STATUS_MAP.get(status_code, (self.Status.ERROR, 'unknown status code %d' % status_code))
if self._last_change: # there was a change, which is not yet confirmed by hw
now = time.time()
if now > self._last_change + 5:
self._last_change = 0 # give up waiting for busy
elif self.isDriving(status) and status != self._status_before_change:
self.log.debug('time needed to change to busy: %.3g', now - self._last_change)
self._last_change = 0
else:
status = (self.Status.BUSY, 'changed target')
# BUSY can not reliably be determined from the status code, we have to do it on our own
if abs(value - self.target) < 0.1:
self._last_target = self.target
if not self._within_target:
self._within_target = time.time()
if time.time() > self._within_target + 1:
if status[0] != self.Status.IDLE:
status = (self.Status.IDLE, status[1])
elif status[0] != self.Status.BUSY:
status = (self.Status.BUSY, status[1])
if self._stopped:
# combine 'stopped' with current status text
if status[0] == self.Status.IDLE:
status = (status[0], 'stopped')
else:
status = (status[0], 'stopping (%s)' % status[1])
self.status = status
def analyze_move(self, target, mode, speed):
if (target, speed) == self._last_settings:
# we update parameters only on change, as 'speed' is
# not always sent to the hardware
return {}
self._last_settings = target, speed
return dict(target=target, speed=(15 - speed) * 0.8)
def change_move(self, change):
speed = int(round(min(14, max(0, 15 - change.speed / 0.8)), 0))
return change.target, 0, speed
def write_target(self, target):
self._stopped = False
self._last_change = 0
self._status_before_change = self.status
self.status = (self.Status.BUSY, 'changed target')
self.move.write(self, 'target', target)
return Done
def write_speed(self, value):
if self.isDriving():
self.move.write(self, 'speed', value)
return Done
self.speed = value
return None # do not execute MOVE command, as this would trigger an unnecessary move
def stop(self):
if not self.isDriving():
return
newtarget = clamp(self._last_target, self.value, self.target)
if newtarget != self.target:
self.log.debug('stop at %s T', newtarget)
self.write_target(newtarget)
self.status = (self.status[0], 'stopping (%s)' % self.status[1])
self._stopped = True
Reference in New Issue View Git Blame Copy Permalink