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cont'd refactor Motor class

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This commit is contained in:
augustin_s
2020-07-22 19:16:11 +02:00
parent 7bf6ee9a9e
commit 9bc21fb5e8
1 changed files with 43 additions and 44 deletions
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slic/devices/general/motor.py
+43 -44
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@@ -11,25 +11,22 @@ from slic.utils.eco_components.aliases import Alias
from .motors_new_helper import update_changes, ValueInRange, AdjustableError
_MotorRocordStandardProperties = {}
_posTypes = ["user", "dial", "raw"]
_guiTypes = ["xdm"]
POS_TYPES = ["user", "dial", "raw"]
_status_messages = {
-13: "invalid value (cannot convert to float). Move not attempted.",
-12: "target value outside soft limits. Move not attempted.",
-11: "drive PV is not connected: Move not attempted.",
-8: "move started, but timed-out.",
-7: "move started, timed-out, but appears done.",
-5: "move started, unexpected return value from PV.put()",
-4: "move-with-wait finished, soft limit violation seen",
-3: "move-with-wait finished, hard limit violation seen",
0: "move-with-wait finish OK.",
1: "move-without-wait executed, not confirmed",
2: "move-without-wait executed, move confirmed",
3: "move-without-wait finished, hard limit violation seen",
4: "move-without-wait finished, soft limit violation seen",
STATUS_MESSAGES = {
-13: "invalid value (cannot convert to float). Move not attempted.",
-12: "target value outside soft limits. Move not attempted.",
-11: "drive PV is not connected: Move not attempted.",
-8: "move started, but timed-out.",
-7: "move started, timed-out, but appears done.",
-5: "move started, unexpected return value from PV.put()",
-4: "move-with-wait finished, soft limit violation seen",
-3: "move-with-wait finished, hard limit violation seen",
0: "move-with-wait finish OK.",
1: "move-without-wait executed, not confirmed",
2: "move-without-wait executed, move confirmed",
3: "move-without-wait finished, hard limit violation seen",
4: "move-without-wait finished, soft limit violation seen",
}
@@ -51,13 +48,13 @@ class Motor(SpecConvenience):
self.alias.append(
Alias(an, channel=".".join([pvname, af]), channeltype="CA")
)
self._currentChange = None
self.description = EpicsString(pvname+'.DESC')
self.current_task = None
self.description = EpicsString(pvname + '.DESC')
def set_target_value(self, value, hold=False, check=True):
def changer():
self._status = self._motor.move(value, ignore_limits=(not check), wait=True)
self._status_message = _status_messages[self._status]
self._status_message = STATUS_MESSAGES[self._status]
if self._status < 0:
raise AdjustableError(self._status_message)
elif self._status > 0:
@@ -67,39 +64,40 @@ class Motor(SpecConvenience):
def stop(self):
try:
self._currentChange.stop()
self.current_task.stop()
except:
self._motor.stop()
def get_current_value(self, posType="user", readback=True):
_keywordChecker([("posType", posType, _posTypes)])
if posType == "user":
def get_current_value(self, pos_type="user", readback=True):
_keywordChecker([("pos_type", pos_type, POS_TYPES)])
if pos_type == "user":
return self._motor.get_position(readback=readback)
if posType == "dial":
if pos_type == "dial":
return self._motor.get_position(readback=readback, dial=True)
if posType == "raw":
if pos_type == "raw":
return self._motor.get_position(readback=readback, raw=True)
def reset_current_value_to(self, value, posType="user"):
_keywordChecker([("posType", posType, _posTypes)])
if posType == "user":
def reset_current_value_to(self, value, pos_type="user"):
_keywordChecker([("pos_type", pos_type, POS_TYPES)])
if pos_type == "user":
return self._motor.set_position(value)
if posType == "dial":
if pos_type == "dial":
return self._motor.set_position(value, dial=True)
if posType == "raw":
if pos_type == "raw":
return self._motor.set_position(value, raw=True)
def is_moving(self):
res = PV(str(self.Id + ".DMOV")).value # 0: moving 1: move done
res = PV(self.Id + ".DMOV").value # 0: moving 1: move done
return not bool(res)
def set_limits(self, low_limit, high_limit, posType="user", relative_to_present=False):
_keywordChecker([("posType", posType, _posTypes)])
ll_name, hl_name = "LLM", "HLM"
if posType is "dial":
def set_limits(self, low_limit, high_limit, pos_type="user", relative_to_present=False):
_keywordChecker([("pos_type", pos_type, POS_TYPES)])
if pos_type == "dial":
ll_name, hl_name = "DLLM", "DHLM"
else:
ll_name, hl_name = "LLM", "HLM"
if relative_to_present:
v = self.get_current_value(posType=posType)
v = self.get_current_value(pos_type=pos_type)
low_limit = v + low_limit
high_limit = v + high_limit
self._motor.put(ll_name, low_limit)
@@ -114,14 +112,15 @@ class Motor(SpecConvenience):
else:
self._motor.get_pv("RBV").clear_callbacks()
def get_limits(self, posType="user"):
_keywordChecker([("posType", posType, _posTypes)])
ll_name, hl_name = "LLM", "HLM"
if posType is "dial":
def get_limits(self, pos_type="user"):
_keywordChecker([("pos_type", pos_type, POS_TYPES)])
if pos_type == "dial":
ll_name, hl_name = "DLLM", "DHLM"
else:
ll_name, hl_name = "LLM", "HLM"
return self._motor.get(ll_name), self._motor.get(hl_name)
def gui(self, guiType="xdm"):
def gui(self):
cmd = ["caqtdm", "-macro"]
cmd.append('"P=%s:,M=%s"' % tuple(self.Id.split(":")))
# cmd.append('/sf/common/config/qt/motorx_more.ui')
@@ -131,7 +130,7 @@ class Motor(SpecConvenience):
def __repr__(self):
s = f"{self.name}"
s += f"\t@ {colorama.Style.BRIGHT}{self.get_current_value():1.6g}{colorama.Style.RESET_ALL} (dial @ {self.get_current_value(posType='dial'):1.6g})"
s += f"\t@ {colorama.Style.BRIGHT}{self.get_current_value():1.6g}{colorama.Style.RESET_ALL} (dial @ {self.get_current_value(pos_type='dial'):1.6g})"
# # s += "\tuser limits (low,high) : {:1.6g},{:1.6g}\n".format(*self.get_limits())
s += f"\n{colorama.Style.DIM}low limit {colorama.Style.RESET_ALL}"
s += ValueInRange(*self.get_limits()).get_str(self.get_current_value())