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Add a PID function for each variable

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This commit is contained in:
Douglas Clowes
2014-02-28 11:15:03 +11:00
parent 23c7b0f000
commit c0f4805a6c
1 changed files with 47 additions and 0 deletions
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47
site_ansto/instrument/util/gen_sct.py
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@ -51,6 +51,7 @@ FunctionTypes = [
'write_function',
'fetch_function',
'check_function',
'pid_function',
'checkrange_function',
]
@ -123,6 +124,7 @@ reserved = {
'WRITE_COMMAND' : 'WRITE_COMMAND',
'WRITE_FUNCTION' : 'WRITE_FUNCTION',
'CHECK_FUNCTION' : 'CHECK_FUNCTION',
'PID_FUNCTION' : 'PID_FUNCTION',
'CHECKRANGE_FUNCTION' : 'CHECKRANGE_FUNCTION',
'CHECKLIMITS_FUNCTION' : 'CHECKLIMITS_FUNCTION',
'CHECKSTATUS_FUNCTION' : 'CHECKSTATUS_FUNCTION',
@ -356,6 +358,7 @@ def p_var_typ_ass(p):
| WRITE_COMMAND EQUALS TEXT_STRING
| WRITE_FUNCTION EQUALS id_or_str
| CHECK_FUNCTION EQUALS id_or_str
| PID_FUNCTION EQUALS id_or_str
| CHECKRANGE_FUNCTION EQUALS id_or_str
| CHECKLIMITS_FUNCTION EQUALS id_or_str
| CHECKSTATUS_FUNCTION EQUALS id_or_str
@ -467,6 +470,7 @@ def p_code_type(p):
| FETCH_FUNCTION
| WRITE_FUNCTION
| CHECK_FUNCTION
| PID_FUNCTION
| CHECKRANGE_FUNCTION
| CHECKLIMITS_FUNCTION
| CHECKSTATUS_FUNCTION
@ -948,6 +952,33 @@ def put_halt_function(MyDriver, func):
txt += ['}']
emit(txt)
def put_pid_function(MyDriver, func):
txt = ['']
txt += ['# pid function for PID control']
txt += ['proc %s::%s {tc_root sp pv} {' % (MyDriver['namespace'], func)]
txt += [' debug_log 1 "%s tc_root=${tc_root} sct=[sct] pv=${pv} sp=${sp}"' % func]
txt += [' sct pid_error [expr ${sp} - ${pv}]']
txt += [' set p_value [expr [sct pid_pvalue] * [sct pid_error]]']
txt += [' set d_value [expr [sct pid_dvalue] * (${pv} - [sct oldval])]']
txt += [' sct pid_deriv [sct pid_error]']
txt += [' sct pid_integ [expr [sct pid_integ] + [sct pid_error]]']
txt += [' if { [sct pid_integ] > [sct pid_imax] } {']
txt += [' sct pid_integ [sct pid_imax]']
txt += [' }']
txt += [' if { [sct pid_integ] < -[sct pid_imax] } {']
txt += [' sct pid_integ -[sct pid_imax]']
txt += [' }']
txt += [' set i_value [expr [sct pid_ivalue] * [sct pid_integ]]']
txt += [' set pid [expr ${p_value} + ${i_value} + ${d_value}]']
if func in MyDriver['Funcs'] and len(MyDriver['Funcs'][func]['text']) > 0:
txt += ['# hook code starts']
txt += MyDriver['Funcs'][func]['text']
txt += ['# hook code ends']
txt += [' sct pid_output ${pid}']
txt += [' return ${pid}']
txt += ['}']
emit(txt)
def put_create_node(MyDriver):
txt = ['']
txt += ['##']
@ -1126,6 +1157,20 @@ def put_group(MyDriver, MyGroup):
msg = 'Driveable: %s does not have required attribute: %s' % (nodename, attr)
print 'Warning:', msg
txt += [' # Warning: ' + msg]
# Check PID attributes are present if required
if 'pid_function' in MyVar:
for attr in ('pid_pvalue',
'pid_ivalue',
'pid_dvalue',
'pid_imax',
'pid_error',
'pid_deriv',
'pid_integ',
):
if attr not in MyVar['Property']:
msg = 'PID: %s does not have required attribute: %s' % (nodename, attr)
print 'Warning:', msg
txt += [' # Warning: ' + msg]
txt += [' hfactory ${scobj_hpath}/%s plain %s %s' % (nodename, MyVar['priv'], MyVar['type'])]
if MyVar['readable'] > 0:
readable_or_writeable = True
@ -1364,6 +1409,8 @@ def put_standard_code(MyDriver):
put_checkstatus_function(MyDriver, func);
elif theFunc['type'] == 'halt_function':
put_halt_function(MyDriver, func);
elif theFunc['type'] == 'pid_function':
put_pid_function(MyDriver, func);
def generate_driver(MyDriver):
global NumberOfLinesOut