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frappy/secop_mlz/entangle.py
Enrico Faulhaber bccfe6109b [MLZ] fix entangle integration 
handling of mappings for NamedDigital*put needs to be improved!

Change-Id: I015cb1d26d049d3caecc0e03baa9f523951f004c
Reviewed-on: https://forge.frm2.tum.de/review/c/sine2020/secop/playground/+/22932
Reviewed-by: Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
Tested-by: JenkinsCodeReview <bjoern_pedersen@frm2.tum.de>
2020-04-09 14:43:34 +02:00

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# -*- 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:
# Alexander Lenz <alexander.lenz@frm2.tum.de>
# Enrico Faulhaber <enrico.faulhaber@frm2.tum.de>
#
# *****************************************************************************
# This is based upon the entangle-nicos integration
"""This module contains the MLZ SECoP - TANGO integration.
Here we support devices which fulfill the official
MLZ TANGO interface for the respective device classes.
"""
import re
import threading
from time import time as currenttime
from time import sleep
import PyTango
from secop.datatypes import ArrayOf, EnumType, \
FloatRange, IntRange, StringType, TupleOf, LimitsType
from secop.errors import CommunicationFailedError, \
ConfigError, HardwareError, ProgrammingError
from secop.lib import lazy_property
from secop.modules import Command, Drivable, \
Module, Override, Parameter, Readable, BasicPoller
#####
# Only export these classes for 'from secop_mlz import *'
__all__ = [
'AnalogInput', 'Sensor',
'AnalogOutput', 'Actuator', 'Motor',
'TemperatureController', 'PowerSupply',
'DigitalInput', 'NamedDigitalInput', 'PartialDigitalInput',
'DigitalOutput', 'NamedDigitalOutput', 'PartialDigitalOutput',
'StringIO',
]
EXC_MAPPING = {
PyTango.CommunicationFailed: CommunicationFailedError,
PyTango.WrongNameSyntax: ConfigError,
PyTango.DevFailed: HardwareError,
}
REASON_MAPPING = {
'Entangle_ConfigurationError': ConfigError,
'Entangle_WrongAPICall': ProgrammingError,
'Entangle_CommunicationFailure': CommunicationFailedError,
'Entangle_InvalidValue': ValueError,
'Entangle_ProgrammingError': ProgrammingError,
'Entangle_HardwareFailure': HardwareError,
}
# Tango DevFailed reasons that should not cause a retry
FATAL_REASONS = {
'Entangle_ConfigurationError',
'Entangle_UnrecognizedHardware',
'Entangle_WrongAPICall',
'Entangle_InvalidValue',
'Entangle_NotSupported',
'Entangle_ProgrammingError',
'DB_DeviceNotDefined',
'API_DeviceNotDefined',
'API_CantConnectToDatabase',
'API_TangoHostNotSet',
'API_ServerNotRunning',
'API_DeviceNotExported',
}
def describe_dev_error(exc):
"""Return a better description for a Tango exception.
Most Tango exceptions are quite verbose and not suitable for user
consumption. Map the most common ones, that can also happen during normal
operation, to a bit more friendly ones.
"""
# general attributes
reason = exc.reason.strip()
fulldesc = reason + ': ' + exc.desc.strip()
# reduce Python tracebacks
if '\n' in exc.origin and 'File ' in exc.origin:
origin = exc.origin.splitlines()[-2].strip()
else:
origin = exc.origin.strip()
# we don't need origin info for Tango itself
if origin.startswith(('DeviceProxy::', 'DeviceImpl::', 'Device_3Impl::',
'Device_4Impl::', 'Connection::', 'TangoMonitor::')):
origin = None
# now handle specific cases better
if reason == 'API_AttrNotAllowed':
m = re.search(r'to (read|write) attribute (\w+)', fulldesc)
if m:
if m.group(1) == 'read':
fulldesc = 'reading %r not allowed in current state'
else:
fulldesc = 'writing %r not allowed in current state'
fulldesc %= m.group(2)
elif reason == 'API_CommandNotAllowed':
m = re.search(r'Command (\w+) not allowed when the '
r'device is in (\w+) state', fulldesc)
if m:
fulldesc = 'executing %r not allowed in state %s' \
% (m.group(1), m.group(2))
elif reason == 'API_DeviceNotExported':
m = re.search(r'Device ([\w/]+) is not', fulldesc)
if m:
fulldesc = 'Tango device %s is not exported, is the server ' \
'running?' % m.group(1)
elif reason == 'API_CorbaException':
if 'TRANSIENT_CallTimedout' in fulldesc:
fulldesc = 'Tango client-server call timed out'
elif 'TRANSIENT_ConnectFailed' in fulldesc:
fulldesc = 'connection to Tango server failed, is the server ' \
'running?'
elif reason == 'API_CantConnectToDevice':
m = re.search(r'connect to device ([\w/]+)', fulldesc)
if m:
fulldesc = 'connection to Tango device %s failed, is the server ' \
'running?' % m.group(1)
elif reason == 'API_CommandTimedOut':
if 'acquire serialization' in fulldesc:
fulldesc = 'Tango call timed out waiting for lock on server'
# append origin if wanted
if origin:
fulldesc += ' in %s' % origin
return fulldesc
class PyTangoDevice(Module):
"""
Basic PyTango device.
The PyTangoDevice uses an internal PyTango.DeviceProxy but wraps command
execution and attribute operations with logging and exception mapping.
"""
pollerClass = BasicPoller
parameters = {
'comtries': Parameter('Maximum retries for communication',
datatype=IntRange(1, 100), default=3, readonly=False,
group='communication'),
'comdelay': Parameter('Delay between retries', datatype=FloatRange(0),
unit='s', default=0.1, readonly=False,
group='communication'),
'tangodevice': Parameter('Tango device name',
datatype=StringType(), readonly=True,
# export=True, # for testing only
export=False,
),
}
commands = {
'reset': Command('Tango reset command', argument=None, result=None),
}
tango_status_mapping = {
PyTango.DevState.ON: Drivable.Status.IDLE,
PyTango.DevState.ALARM: Drivable.Status.WARN,
PyTango.DevState.OFF: Drivable.Status.ERROR,
PyTango.DevState.FAULT: Drivable.Status.ERROR,
PyTango.DevState.MOVING: Drivable.Status.BUSY,
}
@lazy_property
def _com_lock(self):
return threading.Lock()
def _com_retry(self, info, function, *args, **kwds):
"""Try communicating with the hardware/device.
Parameter "info" is passed to _com_return and _com_raise methods that
process the return value or exception raised after maximum tries.
"""
tries = self.comtries
with self._com_lock:
while True:
tries -= 1
try:
result = function(*args, **kwds)
return self._com_return(result, info)
except Exception as err:
if tries == 0:
self._com_raise(err, info)
else:
name = getattr(function, '__name__', 'communication')
self._com_warn(tries, name, err, info)
sleep(self.comdelay)
def earlyInit(self):
# Wrap PyTango client creation (so even for the ctor, logging and
# exception mapping is enabled).
self._createPyTangoDevice = self._applyGuardToFunc(
self._createPyTangoDevice, 'constructor')
super(PyTangoDevice, self).earlyInit()
@lazy_property
def _dev(self):
# for startup be very permissive, wait up to 15 min per device
settings = self.comdelay, self.comtries
self.comdelay, self.comtries = 10, 90
res = self._createPyTangoDevice(self.tangodevice)
self.comdelay, self.comtries = settings
return res
def _hw_wait(self):
"""Wait until hardware status is not BUSY."""
while self.read_status()[0] == Drivable.Status.BUSY:
sleep(0.3)
def _getProperty(self, name, dev=None):
"""
Utility function for getting a property by name easily.
"""
if dev is None:
dev = self._dev
# Entangle and later API
if dev.command_query('GetProperties').in_type == PyTango.DevVoid:
props = dev.GetProperties()
return props[props.index(name) + 1] if name in props else None
# old (pre-Entangle) API
return dev.GetProperties([name, 'device'])[2]
def _createPyTangoDevice(self, address): # pylint: disable=E0202
"""
Creates the PyTango DeviceProxy and wraps command execution and
attribute operations with logging and exception mapping.
"""
device = PyTango.DeviceProxy(address)
# detect not running and not exported devices early, because that
# otherwise would lead to attribute errors later
try:
device.State
except AttributeError:
raise CommunicationFailedError(
self, 'connection to Tango server failed, '
'is the server running?')
return self._applyGuardsToPyTangoDevice(device)
def _applyGuardsToPyTangoDevice(self, dev):
"""
Wraps command execution and attribute operations of the given
device with logging and exception mapping.
"""
dev.command_inout = self._applyGuardToFunc(dev.command_inout)
dev.write_attribute = self._applyGuardToFunc(dev.write_attribute,
'attr_write')
dev.read_attribute = self._applyGuardToFunc(dev.read_attribute,
'attr_read')
dev.attribute_query = self._applyGuardToFunc(dev.attribute_query,
'attr_query')
return dev
def _applyGuardToFunc(self, func, category='cmd'):
"""
Wrap given function with logging and exception mapping.
"""
def wrap(*args, **kwds):
# handle different types for better debug output
if category == 'cmd':
self.log.debug('[PyTango] command: %s%r', args[0], args[1:])
elif category == 'attr_read':
self.log.debug('[PyTango] read attribute: %s', args[0])
elif category == 'attr_write':
self.log.debug('[PyTango] write attribute: %s => %r',
args[0], args[1:])
elif category == 'attr_query':
self.log.debug('[PyTango] query attribute properties: %s',
args[0])
elif category == 'constructor':
self.log.debug('[PyTango] device creation: %s', args[0])
elif category == 'internal':
self.log.debug('[PyTango integration] internal: %s%r',
func.__name__, args)
else:
self.log.debug('[PyTango] call: %s%r', func.__name__, args)
info = category + ' ' + args[0] if args else category
return self._com_retry(info, func, *args, **kwds)
# hide the wrapping
wrap.__name__ = func.__name__
return wrap
def _com_return(self, result, info):
"""Process *result*, the return value of communication.
Can raise an exception to initiate a retry. Default is to return
result unchanged.
"""
# XXX: explicit check for loglevel to avoid expensive reprs
if isinstance(result, PyTango.DeviceAttribute):
the_repr = repr(result.value)[:300]
else:
# This line explicitly logs '=> None' for commands which
# does not return a value. This indicates that the command
# execution ended.
the_repr = repr(result)[:300]
self.log.debug('\t=> %s', the_repr)
return result
def _tango_exc_desc(self, err):
exc = str(err)
if err.args:
exc = err.args[0] # Can be str or DevError
if isinstance(exc, PyTango.DevError):
return describe_dev_error(exc)
return exc
def _tango_exc_reason(self, err):
if err.args and isinstance(err.args[0], PyTango.DevError):
return err.args[0].reason.strip()
return ''
def _com_warn(self, retries, name, err, info):
"""Gives the opportunity to warn the user on failed tries.
Can also call _com_raise to abort early.
"""
if self._tango_exc_reason(err) in FATAL_REASONS:
self._com_raise(err, info)
if retries == self.comtries - 1:
self.log.warning('%s failed, retrying up to %d times: %s',
info, retries, self._tango_exc_desc(err))
def _com_raise(self, err, info):
"""Process the exception raised either by communication or _com_return.
Should raise a NICOS exception. Default is to raise
CommunicationFailedError.
"""
reason = self._tango_exc_reason(err)
exclass = REASON_MAPPING.get(
reason, EXC_MAPPING.get(type(err), CommunicationFailedError))
fulldesc = self._tango_exc_desc(err)
self.log.debug('PyTango error: %s', fulldesc)
raise exclass(self, fulldesc)
def read_status(self):
# Query status code and string
tangoState = self._dev.State()
tangoStatus = self._dev.Status()
# Map status
myState = self.tango_status_mapping.get(tangoState, Drivable.Status.UNKNOWN)
return (myState, tangoStatus)
def do_reset(self):
self._dev.Reset()
class AnalogInput(PyTangoDevice, Readable):
"""
The AnalogInput handles all devices only delivering an analogue value.
"""
def startModule(self, started_callback):
super(AnalogInput, self).startModule(started_callback)
# query unit from tango and update value property
attrInfo = self._dev.attribute_query('value')
# prefer configured unit if nothing is set on the Tango device, else
# update
if attrInfo.unit != 'No unit':
self.accessibles['value'].datatype.setProperty('unit', attrInfo.unit)
def read_value(self):
return self._dev.value
class Sensor(AnalogInput):
"""
The sensor interface describes all analog read only devices.
The difference to AnalogInput is that the “value” attribute can be
converted from the “raw value” to a physical value with an offset and a
formula.
"""
# note: we don't transport the formula to secop....
# we support the adjust method
commands = {
'setposition': Command('Set the position to the given value.',
argument=FloatRange(), result=None,
),
}
def do_setposition(self, value):
self._dev.Adjust(value)
class AnalogOutput(PyTangoDevice, Drivable):
"""The AnalogOutput handles all devices which set an analogue value.
The main application field is the output of any signal which may be
considered as continously in a range. The values may have nearly any
value between the limits. The compactness is limited by the resolution of
the hardware.
This class should be considered as a base class for motors, temperature
controllers, ...
"""
parameters = {
'userlimits': Parameter('User defined limits of device value',
datatype=LimitsType(FloatRange(unit='$')),
default=(float('-Inf'), float('+Inf')),
readonly=False, poll=10,
),
'abslimits': Parameter('Absolute limits of device value',
datatype=LimitsType(FloatRange(unit='$')),
),
'precision': Parameter('Precision of the device value (allowed deviation '
'of stable values from target)',
datatype=FloatRange(1e-38, unit='$'),
readonly=False, group='stability',
),
'window': Parameter('Time window for checking stabilization if > 0',
default=60.0, readonly=False,
datatype=FloatRange(0, 900, unit='s'), group='stability',
),
'timeout': Parameter('Timeout for waiting for a stable value (if > 0)',
default=60.0, readonly=False,
datatype=FloatRange(0, 900, unit='s'), group='stability',
),
}
_history = ()
_timeout = None
_moving = False
def initModule(self):
super(AnalogOutput, self).initModule()
# init history
self._history = [] # will keep (timestamp, value) tuple
self._timeout = None # keeps the time at which we will timeout, or None
def startModule(self, started_callback):
super(AnalogOutput, self).startModule(started_callback)
# query unit from tango and update value property
attrInfo = self._dev.attribute_query('value')
# prefer configured unit if nothing is set on the Tango device, else
# update
if attrInfo.unit != 'No unit':
self.accessibles['value'].datatype.setProperty('unit', attrInfo.unit)
def pollParams(self, nr=0):
super(AnalogOutput, self).pollParams(nr)
while len(self._history) > 2:
# if history would be too short, break
if self._history[-1][0] - self._history[1][0] <= self.window:
break
# else: remove a stale point
self._history.pop(0)
def read_value(self):
value = self._dev.value
self._history.append((currenttime(), value))
return value
def read_target(self):
attrObj = self._dev.read_attribute('value')
return attrObj.w_value
def _isAtTarget(self):
if self.target is None:
return True # avoid bootstrapping problems
if not self._history:
return False # no history -> no knowledge
# check subset of _history which is in window
# also check if there is at least one value before window
# to know we have enough datapoints
hist = self._history[:]
window_start = currenttime() - self.window
hist_in_window = [v for (t, v) in hist if t >= window_start]
if not hist_in_window:
return False # no relevant history -> no knowledge
max_in_hist = max(hist_in_window)
min_in_hist = min(hist_in_window)
stable = max_in_hist - min_in_hist <= self.precision
at_target = max_in_hist - self.precision <= self.target <= min_in_hist + self.precision
return stable and at_target
def read_status(self):
if self._isAtTarget():
self._timeout = None
self._moving = False
return super(AnalogOutput, self).read_status()
if self._timeout:
if self._timeout < currenttime():
return self.Status.UNSTABLE, 'timeout after waiting for stable value'
if self._moving:
return (self.Status.BUSY, 'moving')
return (self.Status.IDLE, 'stable')
@property
def absmin(self):
return self.abslimits[0]
@property
def absmax(self):
return self.abslimits[1]
def __getusermin(self):
return self.userlimits[0]
def __setusermin(self, value):
self.userlimits = (value, self.userlimits[1])
usermin = property(__getusermin, __setusermin)
def __getusermax(self):
return self.userlimits[1]
def __setusermax(self, value):
self.userlimits = (self.userlimits[0], value)
usermax = property(__getusermax, __setusermax)
del __getusermin, __setusermin, __getusermax, __setusermax
def _checkLimits(self, limits):
umin, umax = limits
amin, amax = self.abslimits
if umin > umax:
raise ValueError(
self, 'user minimum (%s) above the user '
'maximum (%s)' % (umin, umax))
if umin < amin - abs(amin * 1e-12):
umin = amin
if umax > amax + abs(amax * 1e-12):
umax = amax
return (umin, umax)
def write_userlimits(self, value):
return self._checkLimits(value)
def write_target(self, value=FloatRange()):
if self.status[0] == self.Status.BUSY:
# changing target value during movement is not allowed by the
# Tango base class state machine. If we are moving, stop first.
self.do_stop()
self._hw_wait()
self._dev.value = value
# set meaningful timeout
self._timeout = currenttime() + self.window + self.timeout
if hasattr(self, 'ramp'):
self._timeout += abs((self.target or self.value) - self.value) / \
((self.ramp or 1e-8) * 60)
elif hasattr(self, 'speed'):
self._timeout += abs((self.target or self.value) - self.value) / \
(self.speed or 1e-8)
if not self.timeout:
self._timeout = None
self._moving = True
self._history = [] # clear history
self.read_status() # poll our status to keep it updated
def _hw_wait(self):
while super(AnalogOutput, self).read_status()[0] == self.Status.BUSY:
sleep(0.3)
def do_stop(self):
self._dev.Stop()
class Actuator(AnalogOutput):
"""The aAtuator interface describes all analog devices which DO something
in a defined way.
The difference to AnalogOutput is that there is a speed attribute, and the
value attribute is converted from the “raw value” with a formula and
offset.
"""
# for secop: support the speed and ramp parameters
parameters = {
'speed': Parameter('The speed of changing the value',
readonly=False, datatype=FloatRange(0, unit='$/s'),
),
'ramp': Parameter('The speed of changing the value',
readonly=False, datatype=FloatRange(0, unit='$/s'),
poll=30,
),
}
commands = {
'setposition': Command('Set the position to the given value.',
argument=FloatRange(), result=None,
),
}
def read_speed(self):
return self._dev.speed
def write_speed(self, value):
self._dev.speed = value
def read_ramp(self):
return self.read_speed() * 60
def write_ramp(self, value):
self.write_speed(value / 60.)
return self.read_speed() * 60
def do_setposition(self, value=FloatRange()):
self._dev.Adjust(value)
class Motor(Actuator):
"""This class implements a motor device (in a sense of a real motor
(stepper motor, servo motor, ...)).
It has the ability to move a real object from one place to another place.
"""
parameters = {
'refpos': Parameter('Reference position',
datatype=FloatRange(unit='$'),
),
'accel': Parameter('Acceleration',
datatype=FloatRange(unit='$/s^2'), readonly=False,
),
'decel': Parameter('Deceleration',
datatype=FloatRange(unit='$/s^2'), readonly=False,
),
}
commands = {
'reference': Command('Do a reference run', argument=None, result=None),
}
def read_refpos(self):
return float(self._getProperty('refpos'))
def read_accel(self):
return self._dev.accel
def write_accel(self, value):
self._dev.accel = value
def read_decel(self):
return self._dev.decel
def write_decel(self, value):
self._dev.decel = value
def do_reference(self):
self._dev.Reference()
return self.read_value()
class TemperatureController(Actuator):
"""A temperature control loop device.
"""
parameters = {
'p': Parameter('Proportional control Parameter', datatype=FloatRange(),
readonly=False, group='pid',
),
'i': Parameter('Integral control Parameter', datatype=FloatRange(),
readonly=False, group='pid',
),
'd': Parameter('Derivative control Parameter', datatype=FloatRange(),
readonly=False, group='pid',
),
'pid': Parameter('pid control Parameters',
datatype=TupleOf(FloatRange(), FloatRange(), FloatRange()),
readonly=False, group='pid', poll=30,
),
'setpoint': Parameter('Current setpoint', datatype=FloatRange(unit='$'), poll=1,
),
'heateroutput': Parameter('Heater output', datatype=FloatRange(), poll=1,
),
}
overrides = {
# We want this to be freely user-settable, and not produce a warning
# on startup, so select a usually sensible default.
'precision': Override(default=0.1),
'ramp': Override(description='Temperature ramp'),
}
def read_ramp(self):
return self._dev.ramp
def write_ramp(self, value):
self._dev.ramp = value
return self._dev.ramp
def read_p(self):
return self._dev.p
def write_p(self, value):
self._dev.p = value
def read_i(self):
return self._dev.i
def write_i(self, value):
self._dev.i = value
def read_d(self):
return self._dev.d
def write_d(self, value):
self._dev.d = value
def read_pid(self):
self.read_p()
self.read_i()
self.read_d()
return self.p, self.i, self.d
def write_pid(self, value):
self._dev.p = value[0]
self._dev.i = value[1]
self._dev.d = value[2]
def read_setpoint(self):
return self._dev.setpoint
def read_heateroutput(self):
return self._dev.heaterOutput
class PowerSupply(Actuator):
"""A power supply (voltage and current) device.
"""
parameters = {
'voltage': Parameter('Actual voltage',
datatype=FloatRange(unit='V'), poll=-5),
'current': Parameter('Actual current',
datatype=FloatRange(unit='A'), poll=-5),
}
overrides = {
'ramp': Override(description='Current/voltage ramp'),
}
def read_ramp(self):
return self._dev.ramp
def write_ramp(self, value):
self._dev.ramp = value
def read_voltage(self):
return self._dev.voltage
def read_current(self):
return self._dev.current
class DigitalInput(PyTangoDevice, Readable):
"""A device reading a bitfield.
"""
overrides = {
'value': Override(datatype=IntRange()),
}
def read_value(self):
return self._dev.value
class NamedDigitalInput(DigitalInput):
"""A DigitalInput with numeric values mapped to names.
"""
parameters = {
'mapping': Parameter('A dictionary mapping state names to integers',
datatype=StringType(), export=False), # XXX:!!!
}
def initModule(self):
super(NamedDigitalInput, self).initModule()
try:
# pylint: disable=eval-used
mapping = eval(self.mapping.replace('\n', ' '))
if isinstance(mapping, str):
# pylint: disable=eval-used
mapping = eval(mapping)
self.accessibles['value'].setProperty('datatype', EnumType('value', **mapping))
except Exception as e:
raise ValueError('Illegal Value for mapping: %r' % e)
def read_value(self):
value = self._dev.value
return value # mapping is done by datatype upon export()
class PartialDigitalInput(NamedDigitalInput):
"""Base class for a TANGO DigitalInput with only a part of the full
bit width accessed.
"""
parameters = {
'startbit': Parameter('Number of the first bit',
datatype=IntRange(0), default=0),
'bitwidth': Parameter('Number of bits',
datatype=IntRange(0), default=1),
}
def initModule(self):
super(PartialDigitalInput, self).initModule()
self._mask = (1 << self.bitwidth) - 1
# self.accessibles['value'].datatype = IntRange(0, self._mask)
def read_value(self):
raw_value = self._dev.value
value = (raw_value >> self.startbit) & self._mask
return value # mapping is done by datatype upon export()
class DigitalOutput(PyTangoDevice, Drivable):
"""A device that can set and read a digital value corresponding to a
bitfield.
"""
overrides = {
'value': Override(datatype=IntRange()),
'target': Override(datatype=IntRange()),
}
def read_value(self):
return self._dev.value # mapping is done by datatype upon export()
def write_target(self, value):
self._dev.value = value
self.read_value()
def read_target(self):
attrObj = self._dev.read_attribute('value')
return attrObj.w_value
class NamedDigitalOutput(DigitalOutput):
"""A DigitalOutput with numeric values mapped to names.
"""
parameters = {
'mapping': Parameter('A dictionary mapping state names to integers',
datatype=StringType(), export=False),
}
def initModule(self):
super(NamedDigitalOutput, self).initModule()
try:
# pylint: disable=eval-used
mapping = eval(self.mapping.replace('\n', ' '))
if isinstance(mapping, str):
# pylint: disable=eval-used
mapping = eval(mapping)
self.accessibles['value'].setProperty('datatype', EnumType('value', **mapping))
self.accessibles['target'].setProperty('datatype', EnumType('target', **mapping))
except Exception as e:
raise ValueError('Illegal Value for mapping: %r' % e)
def write_target(self, value):
# map from enum-str to integer value
self._dev.value = int(value)
self.read_value()
class PartialDigitalOutput(NamedDigitalOutput):
"""Base class for a TANGO DigitalOutput with only a part of the full
bit width accessed.
"""
parameters = {
'startbit': Parameter('Number of the first bit',
datatype=IntRange(0), default=0),
'bitwidth': Parameter('Number of bits',
datatype=IntRange(0), default=1),
}
def initModule(self):
super(PartialDigitalOutput, self).initModule()
self._mask = (1 << self.bitwidth) - 1
# self.accessibles['value'].datatype = IntRange(0, self._mask)
# self.accessibles['target'].datatype = IntRange(0, self._mask)
def read_value(self):
raw_value = self._dev.value
value = (raw_value >> self.startbit) & self._mask
return value # mapping is done by datatype upon export()
def write_target(self, value):
curvalue = self._dev.value
newvalue = (curvalue & ~(self._mask << self.startbit)) | \
(value << self.startbit)
self._dev.value = newvalue
self.read_value()
class StringIO(PyTangoDevice, Module):
"""StringIO abstracts communication over a hardware bus that sends and
receives strings.
"""
parameters = {
'bustimeout': Parameter('Communication timeout',
datatype=FloatRange(unit='s'), readonly=False,
group='communication'),
'endofline': Parameter('End of line',
datatype=StringType(), readonly=False,
group='communication'),
'startofline': Parameter('Start of line',
datatype=StringType(), readonly=False,
group='communication'),
}
def read_bustimeout(self):
return self._dev.communicationTimeout
def write_bustimeout(self, value):
self._dev.communicationTimeout = value
def read_endofline(self):
return self._dev.endOfLine
def write_endofline(self, value):
self._dev.endOfLine = value
def read_startofline(self):
return self._dev.startOfLine
def write_startofline(self, value):
self._dev.startOfLine = value
commands = {
'communicate': Command('Send a string and return the reply',
argument=StringType(),
result=StringType()),
'flush': Command('Flush output buffer',
argument=None, result=None),
'read': Command('read some characters from input buffer',
argument=IntRange(0), result=StringType()),
'write': Command('write some chars to output',
argument=StringType(), result=None),
'readLine': Command('Read sol - a whole line - eol',
argument=None, result=StringType()),
'writeLine': Command('write sol + a whole line + eol',
argument=StringType(), result=None),
'availableChars': Command('return number of chars in input buffer',
argument=None, result=IntRange(0)),
'availableLines': Command('return number of lines in input buffer',
argument=None, result=IntRange(0)),
'multiCommunicate': Command('perform a sequence of communications',
argument=ArrayOf(
TupleOf(StringType(), IntRange()), 100),
result=ArrayOf(StringType(), 100)),
}
def do_communicate(self, value=StringType()):
return self._dev.Communicate(value)
def do_flush(self):
self._dev.Flush()
def do_read(self, value):
return self._dev.Read(value)
def do_write(self, value):
return self._dev.Write(value)
def do_readLine(self):
return self._dev.ReadLine()
def do_writeLine(self, value):
return self._dev.WriteLine(value)
def do_multiCommunicate(self, value):
return self._dev.MultiCommunicate(value)
def do_availableChars(self):
return self._dev.availableChars
def do_availableLines(self):
return self._dev.availableLines
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