class RoboEpicsChannel:
def __init__(self,pvName,verbose=0):
self.MAXPUTS=10
self.pvName=pvName
self.status=0 # no error
self.severity=0
self.statusReady=0 # has a command been executed
self.waiting=0 # is the variable overbooked
self.putAttempts=0 # the number of times it has tried to put a variable
self.putSuccess=0 # if the last put command was successful
self.verbose=verbose # if epics should print everything out for alarms and all
self.CurrentText=""
if ((self.pvName.upper().find("ROBO")<0) & DebugMode):
self.rPrint("Variable "+pvName+" affects beamline and will not be altered")
self.reconnect()
def rPrint(self,cString):
self.CurrentText=self.pvName+": "+cString
print self.CurrentText
def binaryClick(self): #specific method for dealing with the binary variables that return T/F based on success in robot
putOK=self.rPutVal(5)
robotOK=self.getVal()
if (robotOK==5):
time.sleep(.12)
robotOK=self.getVal()
return (putOK & robotOK)
def getVal(self):
try:
val=self.chan.getw()
except:
try: #try one time to reconnect
self.rPrint("Variable "+self.pvName+" appears to be disconnected, attempting reconnect")
self.reconnect()
val=self.chan.getw()
self.statusReady=0
except:
self.connected=0
val=""
self.rPrint("Variable "+self.pvName+" cannot be read after 1 reconnect attempt")
return val
def putVal(self,val): #direct putval without any retry features
try:
if (self.waiting):
time.sleep(2) # give 2 seconds rest while the system is queued
if ((self.pvName.upper().find("ROBO")<0) & DebugMode):
self.rPrint("Debug Mode Enabled, thus not altered")
else:
self.chan.putw(val)
self.statusReady=0
time.sleep(0.12)
# sleep 120 ms to wait for alarm callback
if (self.statusReady==0):
self.alarmUpdate()
return self.putSuccess
except:
self.connected=0
return 0
def rPutVal(self,val): # the safe put function that ensures the robot accepts the command, the CAChannel package makes this trickier than needed
self.putSuccess=0
self.putAttempts=0
while ((self.putSuccess<>1) & (self.putAttempts<self.MAXPUTS)):
self.putVal(val)
if (self.putSuccess==0):
self.rPrint("Ensure Robot is on and in correct Position! Attempt "+self.putAttempts.__str__()+" of "+self.MAXPUTS.__str__())
tempPA=self.putAttempts
self.reconnect()
time.sleep(5)
self.putAttempts=tempPA
if (self.putSuccess):
if (self.verbose):
print self.pvName+" was successfully put"
return 1
else:
self.rPrint("Put was not successful")
return 0
def statusText(self):
return self.pvName+" is currently "+ca.alarmStatusString(self.status)
def alarmHandler(self,epics_args,user_args):
# a function to handle the alarm feedback from epics telling the user what has happened
# the primary purpose is to not allow channels to get overbooked CALC and to know if a variable has been set or nto
self.status=epics_args["pv_status"]
self.severity=epics_args["pv_severity"]
self.alarmUpdate()
def alarmUpdate(self):
self.statusReady=1
if ((self.status<>ca.AlarmStatus.NO_ALARM) & (self.status<>ca.AlarmStatus.CALC_ALARM)):
self.putSuccess=0
self.putAttempts+=1
if (self.verbose):
print self.statusText()
print "Variable "+self.pvName+" not successfully written after "+str(self.putAttempts)+" try"
print "Alarm Severity : "+ca.alarmSeverityString(self.severity)
else:
self.putSuccess=1
self.putAttempts=0
if (self.status==ca.AlarmStatus.CALC_ALARM):
self.waiting=1
if (self.verbose):
print "Variable "+self.pvName+" is currently queued!"
if ((self.waiting==1) & (self.status==ca.AlarmStatus.NO_ALARM)):
self.waiting=0
if (self.verbose):
print "Queue Cleared!"
def reconnect(self):
try:
self.chan=CaChannel()
self.chan.search(self.pvName)
self.chan.pend_io()
if (self.chan.element_count()<1):
self.rPrint("No channels named "+self.pvName+" found, is the SoftIOC running?")
self.connected=(self.chan.state()==ca.ch_state.cs_conn)
self.chan.add_masked_array_event(ca.DBR_STRING,1,ca.DBE_ALARM | ca.DBE_VALUE,self.alarmHandler)
except CaChannelException, status:
print ca.message(status)
self.connected=0
class RealRoboEpicsChannel:
def __init__(self,pvName,verbose=0,asString=0,vcCallback=None):
self.MAXPUTS=10
self.pvName=pvName
self.asString=asString
self.curValue=0
self.lastPoll=0
self.status=0 # no error
self.severity=0
self.statusReady=0 # has a command been executed
self.waiting=0 # is the variable overbooked
self.putAttempts=0 # the number of times it has tried to put a variable
self.putSuccess=0 # if the last put command was successful
self.verbose=verbose # if epics should print everything out for alarms and all
self.CurrentText=""
self.vcCallback=vcCallback # the callback should the value change feed with (chname,newVal,oldVal)
if ((self.pvName.upper().find("ROBO")<0) & DebugMode):
self.rPrint("Variable "+pvName+" affects beamline and will not be altered")
self.reconnect()
def rPrint(self,cString):
self.CurrentText=self.pvName+": "+cString
print self.CurrentText
def binaryClick(self): #specific method for dealing with the binary variables that return T/F based on success in robot
putOK=self.rPutVal(5)
robotOK=self.getVal()
if (robotOK==5):
time.sleep(.12)
robotOK=self.getVal()
if (ReadOnly):
putOK=1
robotOK=1
return (putOK & robotOK)
def getVal(self):
try:
cTime=time.time()
if (cTime-self.lastPoll)>0.2: # prevent double polling
val=self.chgetw()
self.curValue=val
self.lastPoll=cTime
else:
val=self.curValue
except:
try: #try one time to reconnect
self.rPrint("Variable "+self.pvName+" appears to be disconnected, attempting reconnect")
self.reconnect()
val=self.chgetw()
self.statusReady=0
except:
self.connected=0
val=""
self.rPrint("Variable "+self.pvName+" cannot be read after 1 reconnect attempt")
return val
def chgetw(self):
if self.asString==1:
return str(self.chan.getw(ca.DBF_STRING))
else:
return self.chan.getw()
def putVal(self,iVal): #direct putval without any retry features
self.lastPoll=0
# crop string when it is too long
val=iVal
if type(iVal)==type(''):
if len(iVal)>40:
val=iVal[0:39]
print 'String was cropped :'+str(val)
try:
if (self.waiting):
time.sleep(2) # give 2 seconds rest while the system is queued
if ((self.pvName.upper().find("ROBO")<0) & DebugMode):
self.rPrint("Debug Mode Enabled, thus not altered")
else:
if not ReadOnly:
self.curValue=val # default assumption is the value will be loaded
self.chan.putw(val)
self.statusReady=0
time.sleep(0.12)
# sleep 120 ms to wait for alarm callback
if (self.statusReady==0):
self.alarmUpdate()
return self.putSuccess
except:
self.connected=0
return 0
def rPutVal(self,val): # the safe put function that ensures the robot accepts the command, the CAChannel package makes this trickier than needed
self.putSuccess=0
self.putAttempts=0
self.lastPoll=0
while ((self.putSuccess<>1) & (self.putAttempts<self.MAXPUTS)):
self.putVal(val)
if (self.putSuccess==0):
self.rPrint("Ensure Robot is on and in correct Position! Attempt "+self.putAttempts.__str__()+" of "+self.MAXPUTS.__str__())
tempPA=self.putAttempts
self.reconnect()
time.sleep(5)
self.putAttempts=tempPA
if (self.putSuccess):
if (self.verbose):
print self.pvName+" was successfully put"
return 1
else:
self.rPrint("Put was not successful")
return 0
def statusText(self):
return self.pvName+" is currently "+ca.alarmStatusString(self.status)
def vcHandler(self,epics_args,user_args):
# A function to handle value change callbacks
newValue=epics_args['pv_value']
self.lastPoll=time.time()
if newValue!=self.curValue:
# It is different from what we set it to, ick
self.curValue=newValue
self.vcCallback.__call__(self.pvName,newValue,self.curValue)
def alarmHandler(self,epics_args,user_args):
# a function to handle the alarm feedback from epics telling the user what has happened
# the primary purpose is to not allow channels to get overbooked CALC and to know if a variable has been set or nto
self.status=epics_args["pv_status"]
self.severity=epics_args["pv_severity"]
self.alarmUpdate()
def alarmUpdate(self):
self.statusReady=1
if ((self.status<>ca.AlarmStatus.NO_ALARM) & (self.status<>ca.AlarmStatus.CALC_ALARM)):
self.putSuccess=0
self.putAttempts+=1
if (self.verbose):
print self.statusText()
if not (self.pvName.upper()=='ARIDI-PCT:CURRENT'):
print "Variable "+self.pvName+" not successfully written after "+str(self.putAttempts)+" try"
print "Alarm Severity : "+ca.alarmSeverityString(self.severity)
else:
self.putSuccess=1
self.putAttempts=0
if (self.status==ca.AlarmStatus.CALC_ALARM):
self.waiting=1
if (self.verbose):
print "Variable "+self.pvName+" is currently queued!"
if ((self.waiting==1) & (self.status==ca.AlarmStatus.NO_ALARM)):
self.waiting=0
if (self.verbose):
print "Queue Cleared!"
def reconnect(self):
try:
self.chan=CaChannel()
self.chan.search(self.pvName)
self.chan.pend_io()
if (self.chan.element_count()<1):
self.rPrint("No channels named "+self.pvName+" found, is the SoftIOC running?")
self.connected=(self.chan.state()==ca.ch_state.cs_conn)
self.chan.add_masked_array_event(ca.DBR_STRING,None,ca.DBE_ALARM,self.alarmHandler)
self.rebind(self.vcCallback)
except CaChannelException, status:
print ca.message(status)
self.connected=0
