Markus Zolliker
bf1761bbc4
introduce CommonReadHandler and CommonWriteHandler for better handling of the case when several parameters are read or written in one go. - ppms: use common handlers + ppms: modify error handling when command result is not OK + store poll attribute on read_* methods Change-Id: I9a9d0972e206956bcb5a83c204fe5f92c69716e3 Reviewed-on: https://forge.frm2.tum.de/review/c/sine2020/secop/playground/+/27822 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>
795 lines
34 KiB
Python
795 lines
34 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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# Markus Zolliker <markus.zolliker@psi.ch>
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#
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# *****************************************************************************
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"""Define base classes for real Modules implemented in the server"""
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import sys
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import time
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from collections import OrderedDict
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from functools import wraps
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from secop.datatypes import ArrayOf, BoolType, EnumType, FloatRange, \
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IntRange, StatusType, StringType, TextType, TupleOf, DiscouragedConversion
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from secop.errors import BadValueError, ConfigError, \
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ProgrammingError, SECoPError, SilentError, secop_error
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from secop.lib import formatException, mkthread, UniqueObject, generalConfig
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from secop.lib.enum import Enum
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from secop.params import Accessible, Command, Parameter
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from secop.poller import BasicPoller, Poller
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from secop.properties import HasProperties, Property
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from secop.logging import RemoteLogHandler, HasComlog
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generalConfig.defaults['disable_value_range_check'] = False # check for problematic value range by default
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Done = UniqueObject('already set')
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"""a special return value for a read/write function
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indicating that the setter is triggered already"""
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class HasAccessibles(HasProperties):
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"""base class of Module
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joining the class's properties, parameters and commands dicts with
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those of base classes.
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wrap read_*/write_* methods
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(so the dispatcher will get notified of changed values)
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"""
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@classmethod
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def __init_subclass__(cls): # pylint: disable=too-many-branches
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super().__init_subclass__()
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# merge accessibles from all sub-classes, treat overrides
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# for now, allow to use also the old syntax (parameters/commands dict)
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accessibles = OrderedDict() # dict of accessibles
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merged_properties = {} # dict of dict of merged properties
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new_names = [] # list of names of new accessibles
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override_values = {} # bare values overriding a parameter and methods overriding a command
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for base in reversed(cls.__mro__):
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for key, value in base.__dict__.items():
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if isinstance(value, Accessible):
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value.updateProperties(merged_properties.setdefault(key, {}))
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if base == cls and key not in accessibles:
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new_names.append(key)
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accessibles[key] = value
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override_values.pop(key, None)
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elif key in accessibles:
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override_values[key] = value
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for aname, aobj in list(accessibles.items()):
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if aname in override_values:
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aobj = aobj.copy()
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value = override_values[aname]
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if value is None:
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accessibles.pop(aname)
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continue
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aobj.merge(merged_properties[aname])
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aobj.override(value)
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# replace the bare value by the created accessible
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setattr(cls, aname, aobj)
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else:
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aobj.merge(merged_properties[aname])
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accessibles[aname] = aobj
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# rebuild order: (1) inherited items, (2) items from paramOrder, (3) new accessibles
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# move (2) to the end
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for aname in list(cls.__dict__.get('paramOrder', ())):
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if aname in accessibles:
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accessibles.move_to_end(aname)
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# ignore unknown names
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# move (3) to the end
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for aname in new_names:
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accessibles.move_to_end(aname)
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# note: for python < 3.6 the order of inherited items is not ensured between
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# declarations within the same class
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cls.accessibles = accessibles
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# Correct naming of EnumTypes
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# moved to Parameter.__set_name__
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# check validity of Parameter entries
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for pname, pobj in accessibles.items():
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# XXX: create getters for the units of params ??
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# wrap of reading/writing funcs
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if not isinstance(pobj, Parameter):
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# nothing to do for Commands
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continue
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rfunc = getattr(cls, 'read_' + pname, None)
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# TODO: remove handler stuff here
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rfunc_handler = pobj.handler.get_read_func(cls, pname) if pobj.handler else None
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wrapped = getattr(rfunc, 'wrapped', False) # meaning: wrapped or auto generated
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if rfunc_handler:
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if 'read_' + pname in cls.__dict__:
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if pname in cls.__dict__:
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raise ProgrammingError("parameter '%s' can not have a handler "
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"and read_%s" % (pname, pname))
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# read_<pname> overwrites inherited handler
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else:
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rfunc = rfunc_handler
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wrapped = False
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# create wrapper except when read function is already wrapped
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if not wrapped:
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if rfunc:
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@wraps(rfunc) # handles __wrapped__ and __doc__
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def new_rfunc(self, pname=pname, rfunc=rfunc):
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try:
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value = rfunc(self)
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self.log.debug("read_%s returned %r", pname, value)
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except Exception as e:
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self.log.debug("read_%s failed with %r", pname, e)
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raise
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if value is Done:
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return getattr(self, pname)
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setattr(self, pname, value) # important! trigger the setter
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return value
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new_rfunc.poll = getattr(rfunc, 'poll', True) and pobj.poll
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else:
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def new_rfunc(self, pname=pname):
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return getattr(self, pname)
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new_rfunc.poll = False
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new_rfunc.__doc__ = 'auto generated read method for ' + pname
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new_rfunc.wrapped = True # indicate to subclasses that no more wrapping is needed
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setattr(cls, 'read_' + pname, new_rfunc)
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if not pobj.readonly:
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wfunc = getattr(cls, 'write_' + pname, None)
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wrapped = getattr(wfunc, 'wrapped', False) # meaning: wrapped or auto generated
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if (wfunc is None or wrapped) and pobj.handler:
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# ignore the handler, if a write function is present
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# TODO: remove handler stuff here
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wfunc = pobj.handler.get_write_func(pname)
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wrapped = False
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# create wrapper except when write function is already wrapped
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if not wrapped:
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if wfunc:
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@wraps(wfunc) # handles __wrapped__ and __doc__
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def new_wfunc(self, value, pname=pname, wfunc=wfunc):
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pobj = self.accessibles[pname]
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self.log.debug('validate %r for %r', value, pname)
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# we do not need to handle errors here, we do not
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# want to make a parameter invalid, when a write failed
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value = pobj.datatype(value)
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returned_value = wfunc(self, value)
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self.log.debug('write_%s(%r) returned %r', pname, value, returned_value)
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if returned_value is Done:
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# setattr(self, pname, getattr(self, pname))
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return getattr(self, pname)
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setattr(self, pname, value) # important! trigger the setter
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return value
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else:
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def new_wfunc(self, value, pname=pname):
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setattr(self, pname, value)
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return value
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new_wfunc.__doc__ = 'auto generated write method for ' + pname
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new_wfunc.wrapped = True # indicate to subclasses that no more wrapping is needed
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setattr(cls, 'write_' + pname, new_wfunc)
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# check for programming errors
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for attrname, attrvalue in cls.__dict__.items():
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prefix, _, pname = attrname.partition('_')
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if not pname:
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continue
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if prefix == 'do':
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raise ProgrammingError('%r: old style command %r not supported anymore'
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% (cls.__name__, attrname))
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if prefix in ('read', 'write') and not getattr(attrvalue, 'wrapped', False):
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raise ProgrammingError('%s.%s defined, but %r is no parameter'
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% (cls.__name__, attrname, pname))
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res = {}
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# collect info about properties
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for pn, pv in cls.propertyDict.items():
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if pv.settable:
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res[pn] = pv
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# collect info about parameters and their properties
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for param, pobj in cls.accessibles.items():
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res[param] = {}
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for pn, pv in pobj.getProperties().items():
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if pv.settable:
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res[param][pn] = pv
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cls.configurables = res
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class Module(HasAccessibles):
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"""basic module
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all SECoP modules derive from this.
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:param name: the modules name
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:param logger: a logger instance
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:param cfgdict: the dict from this modules section in the config file
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:param srv: the server instance
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Notes:
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- the programmer normally should not need to reimplement :meth:`__init__`
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- within modules, parameters should only be addressed as ``self.<pname>``,
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i.e. ``self.value``, ``self.target`` etc...
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- these are accessing the cached version.
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- they can also be written to, generating an async update
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- if you want to 'update from the hardware', call ``self.read_<pname>()`` instead
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- the return value of this method will be used as the new cached value and
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be an async update sent automatically.
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- if you want to 'update the hardware' call ``self.write_<pname>(<new value>)``.
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- The return value of this method will also update the cache.
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"""
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# static properties, definitions in derived classes should overwrite earlier ones.
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# note: properties don't change after startup and are usually filled
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# with data from a cfg file...
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# note: only the properties predefined here are allowed to be set in the cfg file
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export = Property('flag if this module is to be exported', BoolType(), default=True, export=False)
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group = Property('optional group the module belongs to', StringType(), default='', extname='group')
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description = Property('description of the module', TextType(), extname='description', mandatory=True)
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meaning = Property('optional meaning indicator', TupleOf(StringType(), IntRange(0, 50)),
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default=('', 0), extname='meaning')
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visibility = Property('optional visibility hint', EnumType('visibility', user=1, advanced=2, expert=3),
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default='user', extname='visibility')
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implementation = Property('internal name of the implementation class of the module', StringType(),
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extname='implementation')
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interface_classes = Property('offical highest interface-class of the module', ArrayOf(StringType()),
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extname='interface_classes')
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# properties, parameters and commands are auto-merged upon subclassing
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parameters = {}
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commands = {}
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# reference to the dispatcher (used for sending async updates)
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DISPATCHER = None
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pollerClass = Poller #: default poller used
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def __init__(self, name, logger, cfgdict, srv):
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# remember the dispatcher object (for the async callbacks)
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self.DISPATCHER = srv.dispatcher
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self.omit_unchanged_within = getattr(self.DISPATCHER, 'omit_unchanged_within', 0.1)
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self.log = logger
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self.name = name
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self.valueCallbacks = {}
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self.errorCallbacks = {}
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self.earlyInitDone = False
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self.initModuleDone = False
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self.startModuleDone = False
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self.remoteLogHandler = None
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errors = []
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# handle module properties
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# 1) make local copies of properties
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super().__init__()
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# 2) check and apply properties specified in cfgdict as
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# '<propertyname> = <propertyvalue>'
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for key in self.propertyDict:
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value = cfgdict.pop(key, None)
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if value is None:
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# legacy cfg: specified as '.<propertyname> = <propertyvalue>'
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value = cfgdict.pop('.' + key, None)
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if value is not None:
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try:
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self.setProperty(key, value)
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except BadValueError:
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errors.append('%s: value %r does not match %r!' %
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(key, value, self.propertyDict[key].datatype))
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# 3) set automatic properties
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mycls = self.__class__
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myclassname = '%s.%s' % (mycls.__module__, mycls.__name__)
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self.implementation = myclassname
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# list of all 'secop' modules
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# self.interface_classes = [
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# b.__name__ for b in mycls.__mro__ if b.__module__.startswith('secop.modules')]
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# list of only the 'highest' secop module class
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self.interface_classes = [
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b.__name__ for b in mycls.__mro__ if b.__module__.startswith('secop.modules')][0:1]
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# handle Features
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# XXX: todo
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# handle accessibles
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# 1) make local copies of parameter objects
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# they need to be individual per instance since we use them also
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# to cache the current value + qualifiers...
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accessibles = {}
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# conversion from exported names to internal attribute names
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accessiblename2attr = {}
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for aname, aobj in self.accessibles.items():
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# make a copy of the Parameter/Command object
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aobj = aobj.copy()
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if isinstance(aobj, Parameter):
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# fix default properties poll and needscfg
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if aobj.poll is None:
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aobj.poll = bool(aobj.handler)
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if aobj.needscfg is None:
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aobj.needscfg = not aobj.poll
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if not self.export: # do not export parameters of a module not exported
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aobj.export = False
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if aobj.export:
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accessiblename2attr[aobj.export] = aname
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accessibles[aname] = aobj
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# do not re-use self.accessibles as this is the same for all instances
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self.accessibles = accessibles
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self.accessiblename2attr = accessiblename2attr
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# provide properties to 'filter' out the parameters/commands
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self.parameters = {k: v for k, v in accessibles.items() if isinstance(v, Parameter)}
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self.commands = {k: v for k, v in accessibles.items() if isinstance(v, Command)}
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# 2) check and apply parameter_properties
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# specified as '<paramname>.<propertyname> = <propertyvalue>'
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# this may also be done on commands: e.g. 'stop.visibility = advanced'
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for k, v in list(cfgdict.items()): # keep list() as dict may change during iter
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if '.' in k[1:]:
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aname, propname = k.split('.', 1)
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propvalue = cfgdict.pop(k)
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aobj = self.accessibles.get(aname, None)
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if aobj:
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try:
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aobj.setProperty(propname, propvalue)
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except KeyError:
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errors.append("'%s.%s' does not exist" %
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(aname, propname))
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except BadValueError as e:
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errors.append('%s.%s: %s' %
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(aname, propname, str(e)))
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else:
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errors.append('%r not found' % aname)
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# 3) check config for problems:
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# only accept remaining config items specified in parameters
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bad = [k for k in cfgdict if k not in self.parameters]
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if bad:
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errors.append(
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'%s does not exist (use one of %s)' %
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(', '.join(bad), ', '.join(list(self.parameters) +
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list(self.propertyDict))))
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# 4) complain if a Parameter entry has no default value and
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# is not specified in cfgdict and deal with parameters to be written.
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self.writeDict = {} # values of parameters to be written
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for pname, pobj in self.parameters.items():
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self.valueCallbacks[pname] = []
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self.errorCallbacks[pname] = []
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if not pobj.hasDatatype():
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errors.append('%s needs a datatype' % pname)
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continue
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if pname in cfgdict:
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if not pobj.readonly and pobj.initwrite is not False:
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# parameters given in cfgdict have to call write_<pname>
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# TODO: not sure about readonly (why not a parameter which can only be written from config?)
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try:
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pobj.value = pobj.datatype(cfgdict[pname])
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self.writeDict[pname] = pobj.value
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except BadValueError as e:
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errors.append('%s: %s' % (pname, e))
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else:
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if pobj.default is None:
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if pobj.needscfg:
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errors.append('%r has no default '
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'value and was not given in config!' % pname)
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# we do not want to call the setter for this parameter for now,
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# this should happen on the first read
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pobj.readerror = ConfigError('parameter %r not initialized' % pname)
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# above error will be triggered on activate after startup,
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# when not all hardware parameters are read because of startup timeout
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pobj.value = pobj.datatype(pobj.datatype.default)
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else:
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try:
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value = pobj.datatype(pobj.default)
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except BadValueError as e:
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# this should not happen, as the default is already checked in Parameter
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raise ProgrammingError('bad default for %s:%s: %s' % (name, pname, e)) from None
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if pobj.initwrite and not pobj.readonly:
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# we will need to call write_<pname>
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# if this is not desired, the default must not be given
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# TODO: not sure about readonly (why not a parameter which can only be written from config?)
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pobj.value = value
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self.writeDict[pname] = value
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else:
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cfgdict[pname] = value
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# 5) 'apply' config:
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# pass values through the datatypes and store as attributes
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for k, v in list(cfgdict.items()):
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try:
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# this checks also for the proper datatype
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# note: this will NOT call write_* methods!
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if k in self.parameters or k in self.propertyDict:
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setattr(self, k, v)
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cfgdict.pop(k)
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except (ValueError, TypeError) as e:
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# self.log.exception(formatExtendedStack())
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errors.append('parameter %s: %s' % (k, e))
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# ensure consistency
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for aobj in self.accessibles.values():
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aobj.finish()
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# Modify units AFTER applying the cfgdict
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for pname, pobj in self.parameters.items():
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dt = pobj.datatype
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if '$' in dt.unit:
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dt.setProperty('unit', dt.unit.replace('$', self.parameters['value'].datatype.unit))
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# 6) check complete configuration of * properties
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if not errors:
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try:
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self.checkProperties()
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except ConfigError as e:
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errors.append(str(e))
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for aname, aobj in self.accessibles.items():
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try:
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aobj.checkProperties()
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except (ConfigError, ProgrammingError) as e:
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errors.append('%s: %s' % (aname, e))
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if errors:
|
|
raise ConfigError(errors)
|
|
|
|
# helper cfg-editor
|
|
def __iter__(self):
|
|
return self.accessibles.__iter__()
|
|
|
|
def __getitem__(self, item):
|
|
return self.accessibles.__getitem__(item)
|
|
|
|
def announceUpdate(self, pname, value=None, err=None, timestamp=None):
|
|
"""announce a changed value or readerror"""
|
|
|
|
# TODO: remove readerror 'property' and replace value with exception
|
|
pobj = self.parameters[pname]
|
|
timestamp = timestamp or time.time()
|
|
changed = pobj.value != value
|
|
try:
|
|
# store the value even in case of error
|
|
pobj.value = pobj.datatype(value)
|
|
except Exception as e:
|
|
if isinstance(e, DiscouragedConversion):
|
|
if DiscouragedConversion.log_message:
|
|
self.log.error(str(e))
|
|
self.log.error('you may disable this behaviour by running the server with --relaxed')
|
|
DiscouragedConversion.log_message = False
|
|
if not err: # do not overwrite given error
|
|
err = e
|
|
if err:
|
|
err = secop_error(err)
|
|
if str(err) == str(pobj.readerror):
|
|
return # do call updates for repeated errors
|
|
elif not changed and timestamp < (pobj.timestamp or 0) + self.omit_unchanged_within:
|
|
# no change within short time -> omit
|
|
return
|
|
pobj.timestamp = timestamp or time.time()
|
|
pobj.readerror = err
|
|
if pobj.export:
|
|
self.DISPATCHER.announce_update(self.name, pname, pobj)
|
|
if err:
|
|
callbacks = self.errorCallbacks
|
|
arg = err
|
|
else:
|
|
callbacks = self.valueCallbacks
|
|
arg = value
|
|
cblist = callbacks[pname]
|
|
for cb in cblist:
|
|
try:
|
|
cb(arg)
|
|
except Exception:
|
|
# print(formatExtendedTraceback())
|
|
pass
|
|
|
|
def registerCallbacks(self, modobj, autoupdate=()):
|
|
"""register callbacks to another module <modobj>
|
|
|
|
- whenever a self.<param> changes:
|
|
<modobj>.update_<param> is called with the new value as argument.
|
|
If this method raises an exception, <modobj>.<param> gets into an error state.
|
|
If the method does not exist and <param> is in autoupdate,
|
|
<modobj>.<param> is updated to self.<param>
|
|
- whenever <self>.<param> gets into an error state:
|
|
<modobj>.error_update_<param> is called with the exception as argument.
|
|
If this method raises an error, <modobj>.<param> gets into an error state.
|
|
If this method does not exist, and <param> is in autoupdate,
|
|
<modobj>.<param> gets into the same error state as self.<param>
|
|
"""
|
|
for pname in self.parameters:
|
|
errfunc = getattr(modobj, 'error_update_' + pname, None)
|
|
if errfunc:
|
|
def errcb(err, p=pname, efunc=errfunc):
|
|
try:
|
|
efunc(err)
|
|
except Exception as e:
|
|
modobj.announceUpdate(p, err=e)
|
|
self.errorCallbacks[pname].append(errcb)
|
|
else:
|
|
def errcb(err, p=pname):
|
|
modobj.announceUpdate(p, err=err)
|
|
if pname in autoupdate:
|
|
self.errorCallbacks[pname].append(errcb)
|
|
|
|
updfunc = getattr(modobj, 'update_' + pname, None)
|
|
if updfunc:
|
|
def cb(value, ufunc=updfunc, efunc=errcb):
|
|
try:
|
|
ufunc(value)
|
|
except Exception as e:
|
|
efunc(e)
|
|
self.valueCallbacks[pname].append(cb)
|
|
elif pname in autoupdate:
|
|
def cb(value, p=pname):
|
|
modobj.announceUpdate(p, value)
|
|
self.valueCallbacks[pname].append(cb)
|
|
|
|
def isBusy(self, status=None):
|
|
"""helper function for treating substates of BUSY correctly"""
|
|
# defined even for non drivable (used for dynamic polling)
|
|
return False
|
|
|
|
def earlyInit(self):
|
|
"""initialise module with stuff to be done before all modules are created"""
|
|
self.earlyInitDone = True
|
|
|
|
def initModule(self):
|
|
"""initialise module with stuff to be done after all modules are created"""
|
|
self.initModuleDone = True
|
|
|
|
def startModule(self, start_events):
|
|
"""runs after init of all modules
|
|
|
|
when a thread is started, a trigger function may signal that it
|
|
has finished its initial work
|
|
start_events.get_trigger(<timeout>) creates such a trigger and
|
|
registers it in the server for waiting
|
|
<timeout> defaults to 30 seconds
|
|
"""
|
|
if self.writeDict:
|
|
mkthread(self.writeInitParams, start_events.get_trigger())
|
|
self.startModuleDone = True
|
|
|
|
def pollOneParam(self, pname):
|
|
"""poll parameter <pname> with proper error handling"""
|
|
try:
|
|
rfunc = getattr(self, 'read_' + pname)
|
|
if rfunc.poll: # TODO: handle this in poller
|
|
rfunc()
|
|
except SilentError:
|
|
pass
|
|
except SECoPError as e:
|
|
self.log.error(str(e))
|
|
except Exception:
|
|
self.log.error(formatException())
|
|
|
|
def writeInitParams(self, started_callback=None):
|
|
"""write values for parameters with configured values
|
|
|
|
this must be called at the beginning of the poller thread
|
|
with proper error handling
|
|
"""
|
|
for pname in list(self.writeDict):
|
|
value = self.writeDict.pop(pname, Done)
|
|
# in the mean time, a poller or handler might already have done it
|
|
if value is not Done:
|
|
try:
|
|
self.log.debug('initialize parameter %s', pname)
|
|
getattr(self, 'write_' + pname)(value)
|
|
except SilentError:
|
|
pass
|
|
except SECoPError as e:
|
|
self.log.error(str(e))
|
|
except Exception:
|
|
self.log.error(formatException())
|
|
if started_callback:
|
|
started_callback()
|
|
|
|
def setRemoteLogging(self, conn, level):
|
|
if self.remoteLogHandler is None:
|
|
for handler in self.log.handlers:
|
|
if isinstance(handler, RemoteLogHandler):
|
|
self.remoteLogHandler = handler
|
|
break
|
|
else:
|
|
raise ValueError('remote handler not found')
|
|
self.remoteLogHandler.set_conn_level(self, conn, level)
|
|
|
|
|
|
class Readable(Module):
|
|
"""basic readable module"""
|
|
# pylint: disable=invalid-name
|
|
Status = Enum('Status',
|
|
IDLE=100,
|
|
WARN=200,
|
|
UNSTABLE=270,
|
|
ERROR=400,
|
|
DISABLED=0,
|
|
UNKNOWN=401,
|
|
) #: status codes
|
|
|
|
value = Parameter('current value of the module', FloatRange(), poll=True)
|
|
status = Parameter('current status of the module', TupleOf(EnumType(Status), StringType()),
|
|
default=(Status.IDLE, ''), poll=True)
|
|
pollinterval = Parameter('sleeptime between polls', FloatRange(0.1, 120),
|
|
default=5, readonly=False)
|
|
|
|
def startModule(self, start_events):
|
|
"""start basic polling thread"""
|
|
if self.pollerClass and issubclass(self.pollerClass, BasicPoller):
|
|
# use basic poller for legacy code
|
|
mkthread(self.__pollThread, start_events.get_trigger(timeout=30))
|
|
else:
|
|
super().startModule(start_events)
|
|
|
|
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()
|
|
print(formatException(0, sys.exc_info(), verbose=True))
|
|
time.sleep(10)
|
|
|
|
def __pollThread_inner(self, started_callback):
|
|
"""super simple and super stupid per-module polling thread"""
|
|
self.writeInitParams()
|
|
i = 0
|
|
fastpoll = self.pollParams(i)
|
|
started_callback()
|
|
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.pollParams(i)
|
|
|
|
def pollParams(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:
|
|
# pollParams every 'pobj.pollParams' iteration
|
|
self.pollOneParam(pname)
|
|
return False
|
|
|
|
|
|
class Writable(Readable):
|
|
"""basic writable module"""
|
|
disable_value_range_check = Property('disable value range check', BoolType(), default=False)
|
|
target = Parameter('target value of the module',
|
|
default=0, readonly=False, datatype=FloatRange(unit='$'))
|
|
|
|
def __init__(self, name, logger, cfgdict, srv):
|
|
super().__init__(name, logger, cfgdict, srv)
|
|
value_dt = self.parameters['value'].datatype
|
|
target_dt = self.parameters['target'].datatype
|
|
try:
|
|
# this handles also the cases where the limits on the value are more
|
|
# restrictive than on the target
|
|
target_dt.compatible(value_dt)
|
|
except Exception:
|
|
if type(value_dt) == type(target_dt):
|
|
raise ConfigError('the target range extends beyond the value range') from None
|
|
raise ProgrammingError('the datatypes of target and value are not compatible') from None
|
|
if isinstance(value_dt, FloatRange):
|
|
if (not self.disable_value_range_check and not generalConfig.disable_value_range_check
|
|
and value_dt.problematic_range(target_dt)):
|
|
self.log.error('the value range must be bigger than the target range!')
|
|
self.log.error('you may disable this error message by running the server with --relaxed')
|
|
self.log.error('or by setting the disable_value_range_check property of the module to True')
|
|
raise ConfigError('the value range must be bigger than the target range')
|
|
|
|
|
|
class Drivable(Writable):
|
|
"""basic drivable module"""
|
|
|
|
Status = Enum(Readable.Status, BUSY=300) #: status codes
|
|
|
|
status = Parameter(datatype=StatusType(Status)) # override Readable.status
|
|
|
|
def isBusy(self, status=None):
|
|
"""check for busy, treating substates correctly
|
|
|
|
returns True when busy (also when finalizing)
|
|
"""
|
|
return 300 <= (status or self.status)[0] < 400
|
|
|
|
def isDriving(self, status=None):
|
|
"""check for driving, treating status substates correctly
|
|
|
|
returns True when busy, but not finalizing
|
|
"""
|
|
return 300 <= (status or self.status)[0] < 390
|
|
|
|
# improved polling: may poll faster if module is BUSY
|
|
def pollParams(self, nr=0):
|
|
# poll status first
|
|
self.read_status()
|
|
fastpoll = self.isBusy()
|
|
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
|
|
self.pollOneParam(pname)
|
|
return fastpoll
|
|
|
|
@Command(None, result=None)
|
|
def stop(self):
|
|
"""cease driving, go to IDLE state"""
|
|
|
|
|
|
class Communicator(HasComlog, Module):
|
|
"""basic abstract communication module"""
|
|
|
|
@Command(StringType(), result=StringType())
|
|
def communicate(self, command):
|
|
"""communicate command
|
|
|
|
:param command: the command to be sent
|
|
:return: the reply
|
|
"""
|
|
raise NotImplementedError()
|
|
|
|
|
|
class Attached(Property):
|
|
"""a special property, defining an attached module
|
|
|
|
assign a module name to this property in the cfg file,
|
|
and the server will create an attribute with this module
|
|
"""
|
|
module = None
|
|
|
|
def __init__(self, description='attached module'):
|
|
super().__init__(description, StringType(), mandatory=False)
|
|
|
|
def __get__(self, obj, owner):
|
|
if obj is None:
|
|
return self
|
|
if self.module is None:
|
|
self.module = obj.DISPATCHER.get_module(super().__get__(obj, owner))
|
|
return self.module
|