feat: migrate tunefby python service
This commit is contained in:
Benjamin Labrecque
@@ -5,6 +5,7 @@ description = "AGEBD-TUNEFBY Service"
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requires-python = "==3.10.*"
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dependencies = [
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"agebd",
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"numpy>=2.2.6",
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]
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[dependency-groups]
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@@ -1,12 +1,12 @@
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import time
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from time import perf_counter
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import numpy as np
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from epics import dbr
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from agebd.pv import LocalPVLink
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from agebd.pv import get_pv_class
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from agebd.service.base import BaseService
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from agebd.service.pvs import BasePVs
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from agebd.utils import printgetversion
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from agebd.pv import get_pv_class
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__version__ = printgetversion(__file__)
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@@ -14,36 +14,86 @@ PV = get_pv_class()
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class PVs(BasePVs):
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# Option 1:
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## Service specific PVs from dedicated IOC
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my_pv1 = PV("AGEBD-TUNEFBY:AO") # TODO: is this a good PV to use?
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kp = PV("AGEBD-TUNEFBY:CONTROL-KP.VAL")
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ki = PV("AGEBD-TUNEFBY:CONTROL-KI.VAL")
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kd = PV("AGEBD-TUNEFBY:CONTROL-KD.VAL")
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qy_ref = PV("AGEBD-TUNEFBY:CONTROL-QY.VAL")
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qy_okrng = PV("AGEBD-TUNEFBY:CONTROL-QY-OKRNG.VAL")
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qy_drvh = PV("AGEBD-TUNEFBY:CONTROL-QYMAX.VAL")
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qy_drvl = PV("AGEBD-TUNEFBY:CONTROL-QYMIN.VAL")
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mincur = PV("AGEBD-TUNEFBY:CONTROL-MIN-CURR.VAL")
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dq = PV("AGEBD-TUNEFBY:DELTAQ.VAL")
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dq_ulim = PV("AGEBD-TUNEFBY:DELTAQ-ULIM.VAL")
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dq_llim = PV("AGEBD-TUNEFBY:DELTAQ-LLIM.VAL")
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check1 = PV("AGEBD-TUNEFBY:CHECK1.VAL")
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check2 = PV("AGEBD-TUNEFBY:CHECK2.VAL")
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check3 = PV("AGEBD-TUNEFBY:CHECK3.VAL")
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check4 = PV("AGEBD-TUNEFBY:CHECK4.VAL")
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check5 = PV("AGEBD-TUNEFBY:CHECK5.VAL")
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check6 = PV("AGEBD-TUNEFBY:CHECK6.VAL")
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check7 = PV("AGEBD-TUNEFBY:CHECK7.VAL")
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check8 = PV("AGEBD-TUNEFBY:CHECK8.VAL")
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# Output PVs
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qy_stepdec = PV("AGEBD-TUNEBUMP:QY-STEPDOWN.VAL")
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qy_stepinc = PV("AGEBD-TUNEBUMP:QY-STEPUP.VAL")
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qy_stepsiz = PV("AGEBD-TUNEBUMP:QY-STEPSIZE.VAL")
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## Service specific PVs from other IOCs
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# ...
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inj_active = PV("AGEBD-PARAMS:INJECTION-ACTIVE.VAL")
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dump_valve = PV("ARS01-VVPG-0210:PLC_STATUS.VAL")
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hor_pinger_trig = PV("AGETI-CVME-MASTER-TMA:Evt-SR-Pinger-H-Ena-Sel.VAL")
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ver_pinger_trig = PV("AGETI-CVME-MASTER-TMA:Evt-SR-Pinger-V-Ena-Sel.VAL")
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cur = PV("ARS07-DPCT-0000:CURR.VAL")
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bpm_qy_pilot_int = PV("ARS07-DBPM-5530:PILOT-INT-SWITCH.VAL") # must be: 0 No Pilot
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bpm_qy_pilot_ext = PV("ARS07-DBPM-5530:PILOT-EXT-SWITCH.VAL") # must be: 0 No Pilot
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bpm_qy_chopper = PV("ARS07-DBPM-5530:CHOPPER-MODE.VAL") # must be: 0 Periodic
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def __init__(self, service_name: str, pv_factory=PV):
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super().__init__(service_name, pv_factory)
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PV = pv_factory
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# TODO: can we do this cleaner? Maybe mechanism for
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# settings initial values in dev mode (e.g. ini file)
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if isinstance(self.onoff, LocalPVLink):
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self.onoff.value = True
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# Option 2:
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## Service specific PVs from dedicated IOC
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self.my_pv2 = PV(
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"AGEBD-TUNEFBY:BO"
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) # TODO: is this a good PV to use?
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## Service specific PVs from other IOCs
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# ...
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# TODO: class attribute names usually lowercase
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# usually it is advisable to trigger the mainloop of a service on changes of certain PVs:
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self.CallbackPV = PV(
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"AGEBD-TUNEFBY:CALLBACK", auto_monitor=dbr.DBE_VALUE
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) # TODO: ok?
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self.CallbackPV = PV("AGEBD-TUNEBUMP:QY.VAL", auto_monitor=dbr.DBE_VALUE)
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class PID:
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# Proportional-Integral-Derivative (PID) controller class
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# PID setup procedure:
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# 1. set integral and derivative gains ki, kd to 0
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# 2. set proportional gain kp to low, stable value
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# 3. increase kp and create a disturbance, e.g., by changing the setpoint
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# 4. increase kp until feedback parameter oscillates
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# 5. set kp to 40 % of the critical value triggering oscillation
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# 6. slowly increase ki to eliminate the steady state error
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# 7. adjust it until setpoint is reached accurately without overshoot
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# 8. tune kd to minimize oscillations and overshoots (caution: high kd can amplify noise)
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def __init__(self, kp, ki, kd, setpoint):
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# Proportional Gain >> The "present" term. It provides a response proportional to the current error. Increasing kp makes the system respond faster, but if pushed too high, it will cause violent overshoot and oscillation.
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self.kp = kp
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# Integral Gain >> The "past" term. It accumulates the errors over time to eliminate steady-state error. However, high ki values can cause sluggishness or instability (e.g., integral windup).
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self.ki = ki
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# Derivative Gain >> The "future" term. It measures the rate of change of the error, acting as a damping factor to reduce overshoot and smooth out rapid, unwanted movements
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self.kd = kd
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self.setpoint = setpoint
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self.integral = 0
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self.prev_error = 0
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def update(self, measurement, dt):
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error = self.setpoint - measurement
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self.integral += error * dt
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derivative = (error - self.prev_error) / dt if dt > 0 else 0
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self.prev_error = error
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# Calculate the final output using Kp, Ki, and Kd which is written to actuator
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output = (self.kp * error) + (self.ki * self.integral) + (self.kd * derivative)
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return output
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class Service(BaseService[PVs]):
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@@ -56,17 +106,100 @@ class Service(BaseService[PVs]):
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):
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super().__init__(name, pvs, version, sleep_interval)
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# TODO: What is this for?
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self.path = "sls/bd/bin"
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self.qy_okrng = pvs.qy_okrng.get()
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self.PID = PID(pvs.kp.get(), pvs.ki.get(), pvs.kd.get(), pvs.qy_ref.get())
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# start stop watch
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self.t0 = perf_counter()
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def update(self):
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pvs = self.pvs
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# when callback is fired, this code will be executed
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if self.CallbackFired:
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#######################################################################################
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#######################################################################################
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# here goes all the code that your service
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# is supposed to be running when the callback is fired
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time.sleep(1)
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# here goes all the code that your service is supposed to be
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# running every time when the callback is fired
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# update PID settings
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self.PID.setpoint = pvs.qy_ref.get()
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self.PID.kp = pvs.kp.get()
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self.PID.ki = pvs.ki.get()
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self.PID.kd = pvs.kd.get()
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self.qy_okrng = pvs.qy_okrng.get()
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############
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## CHECKS ##
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############
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# 1. measured tune within drivelimits
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self.check1 = (
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pvs.qy_drvl.get() < self.CallbackValue and self.CallbackValue < pvs.qy_drvh.get()
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)
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pvs.check1.put(self.check1)
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# 2. measured tune outside ok range limits
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self.check2 = self.CallbackValue < (
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self.PID.setpoint - self.qy_okrng
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) or self.CallbackValue > (self.PID.setpoint + self.qy_okrng)
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pvs.check2.put(self.check2)
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# 3. injection not active
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self.check3 = not pvs.inj_active.get()
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pvs.check3.put(self.check3)
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# 4. stored beam current above threshold
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self.check4 = pvs.cur.get() > pvs.mincur.get()
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pvs.check4.put(self.check4)
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# 5. bpm setup correctly for tune measurement
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self.check5 = (
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pvs.bpm_qy_pilot_int.get() == 0
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and pvs.bpm_qy_pilot_ext.get() == 0
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and pvs.bpm_qy_chopper.get() == 1
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)
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pvs.check5.put(self.check5)
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# 6. pingers are on
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self.check6 = pvs.hor_pinger_trig.get() and pvs.ver_pinger_trig.get()
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pvs.check6.put(self.check6)
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# 7. dt corresponds to 3.125 Hz, i.e., min. 2 consecutive valid measurements
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t1 = perf_counter()
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self.dt = t1 - self.t0
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self.t0 = t1
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self.check7 = self.dt < 1.1 / 3.125
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pvs.check7.put(self.check7)
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# check all checks before PID call
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self.checkall = (
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self.check1
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and self.check2
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and self.check3
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and self.check4
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and self.check5
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and self.check6
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and self.check7
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)
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if self.checkall:
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# 8. PID calculated step within limits
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self.control = self.PID.update(self.CallbackValue, self.dt)
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self.dq_llim = pvs.dq_llim.get()
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self.dq_ulim = pvs.dq_ulim.get()
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self.check8 = self.control > self.dq_llim and self.control < self.dq_ulim
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pvs.check8.put(self.check8)
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if self.check8:
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pvs.dq.put(self.control)
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pvs.qy_stepsiz.put(np.abs(self.control))
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if self.control < 0:
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pvs.qy_stepdec.put(1)
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else:
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pvs.qy_stepinc.put(1)
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#######################################################################################
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#######################################################################################
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@@ -77,17 +210,9 @@ class Service(BaseService[PVs]):
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#######################################################################################
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# here goes all the code that your service
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# is supposed to be running in any case, e.g.,
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# update some pvs/vals
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my_pv1_random_val = str(time.clock_gettime_ns(0))[-1]
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self.pvs.my_pv1.put(my_pv1_random_val)
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# self.pvs.my_pv2.put("MY_PV2 value")
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# get some pvs/vals
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self.val1 = self.pvs.my_pv1.get()
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self.val2 = self.pvs.my_pv2.get()
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# maybe sleep to limit the update loop execution rate
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time.sleep(1)
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# sleep(1)
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#######################################################################################
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#######################################################################################
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Generated
+5
-1
@@ -30,6 +30,7 @@ version = "0.1.0"
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source = { editable = "." }
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dependencies = [
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{ name = "agebd" },
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{ name = "numpy" },
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]
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[package.dev-dependencies]
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@@ -40,7 +41,10 @@ dev = [
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]
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[package.metadata]
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requires-dist = [{ name = "agebd", editable = "../../../../packages/agebd" }]
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requires-dist = [
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{ name = "agebd", editable = "../../../../packages/agebd" },
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{ name = "numpy", specifier = ">=2.2.6" },
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]
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[package.metadata.requires-dev]
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dev = [
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