class TangoDCMotor(Device):
MOVESTARTED = 0
NOTINITIALIZED = 0
UNUSABLE = 0
READY = 2
MOVING = 4
ONLIMIT = 1
stateDict = {
"UNKNOWN": 0,
"OFF": 0,
"ALARM": 1,
"FAULT": 1,
"STANDBY": 2,
"RUNNING": 4,
"MOVING": 4,
"ON": 2,
}
def __init__(self, name):
# State values as expected by Motor bricks
Device.__init__(self, name)
self.GUIstep = 0.1
self.motor_states = MotorStates()
def _init(self):
self.positionValue = 0.0
self.stateValue = "UNKNOWN"
threshold = self.getProperty("threshold")
self.threshold = (
0.0018 # default value. change it with property threshold in xml
)
self.old_value = 0.0
self.tangoname = self.getProperty("tangoname")
self.motor_name = self.getProperty("motor_name")
self.ho = DeviceProxy(self.tangoname)
try:
self.dataType = self.getProperty("datatype")
if self.dataType is None:
self.dataType = "float"
except Exception:
self.dataType = "float"
if threshold is not None:
try:
self.threshold = float(threshold)
except Exception:
pass
self.setIsReady(True)
try:
self.limitsCommand = self.get_command_object("limits")
except KeyError:
self.limitsCommand = None
self.positionChan = self.get_channel_object(
"position"
) # utile seulement si positionchan n'est pas defini dans le code
self.stateChan = self.get_channel_object(
"state"
) # utile seulement si statechan n'est pas defini dans le code
self.positionChan.connectSignal("update", self.positionChanged)
self.stateChan.connectSignal("update", self.motorStateChanged)
def positionChanged(self, value):
self.positionValue = value
if abs(float(value) - self.old_value) > self.threshold:
try:
# logging.getLogger("HWR").error("%s: TangoDCMotor new position , %s", self.name(), value)
self.emit("valueChanged", (value,))
self.old_value = value
except Exception:
logging.getLogger("HWR").error(
"%s: TangoDCMotor not responding, %s", self.name(), ""
)
self.old_value = value
def is_ready(self):
return self.stateValue == "STANDBY"
def connectNotify(self, signal):
if signal == "hardwareObjectName,stateChanged":
self.motorStateChanged(TangoDCMotor.stateDict[self.stateValue])
elif signal == "limitsChanged":
self.motorLimitsChanged()
elif signal == "valueChanged":
self.motorPositionChanged(self.positionValue)
self.setIsReady(True)
def motorState(self):
return TangoDCMotor.stateDict[self.stateValue]
def motorStateChanged(self, state):
self.stateValue = str(state)
self.setIsReady(True)
logging.info("motor state changed. it is %s " % self.stateValue)
self.emit("stateChanged", (TangoDCMotor.stateDict[self.stateValue],))
def get_state(self):
return TangoDCMotor.stateDict[self.stateValue]
def get_limits(self):
try:
logging.getLogger("HWR").info(
"TangoDCMotor.get_limits: trying to get limits for motor_name %s "
% (self.motor_name)
)
limits = self.ho.getMotorLimits(
self.motor_name
) # limitsCommand() # self.ho.getMotorLimits(self.motor_name)
logging.getLogger("HWR").info(
"TangoDCMotor.get_limits: Getting limits for %s -- %s "
% (self.motor_name, str(limits))
)
if numpy.inf in limits:
limits = numpy.array([-10000, 10000])
except Exception:
# import traceback
# logging.getLogger("HWR").info("TangoDCMotor.get_limits: Cannot get limits for %s.\nException %s " % (self.motor_name, traceback.print_exc()))
if self.motor_name in [
"detector_distance",
"detector_horizontal",
"detector_vertical",
]:
info = self.positionChan.getInfo()
limits = [float(info.min_value), float(info.max_value)]
# if self.motor_name == 'detector_ts':
# limits = [96, 1100]
# elif self.motor_name == 'detector_tx':
# limits =
elif self.motor_name == "exposure":
limits = [float(self.min_value), float(self.max_value)]
if limits is None:
try:
limits = self.getProperty("min"), self.getProperty("max")
logging.getLogger("HWR").info(
"TangoDCMotor.get_limits: %.4f ***** %.4f" % limits
)
limits = numpy.array(limits)
except Exception:
# logging.getLogger("HWR").info("TangoDCMotor.get_limits: Cannot get limits for %s" % self.name())
limits = None
return limits
def motorLimitsChanged(self):
self.emit("limitsChanged", (self.get_limits(),))
def motorIsMoving(self):
return self.stateValue == "RUNNING" or self.stateValue == "MOVING"
def motorMoveDone(self, channelValue):
if self.stateValue == "STANDBY":
self.emit("moveDone", (self.tangoname, "tango"))
def motorPositionChanged(self, absolutePosition):
self.emit("valueChanged", (absolutePosition,))
def syncQuestionAnswer(self, specSteps, controllerSteps):
return (
"0" # This is only for spec motors. 0 means do not change anything on sync
)
def get_value(self):
return self.positionChan.getValue()
def convertValue(self, value):
logging.info("TangoDCMotor: converting value to %s " % str(self.dataType))
retvalue = value
if self.dataType in ["short", "int", "long"]:
retvalue = int(value)
return retvalue
def getMotorMnemonic(self):
return self.name()
def _set_value(self, value):
"""Move the motor to the required position
Arguments:
absolutePosition -- position to move to
"""
logging.getLogger("TangoClient").info(
"TangoDCMotor move (%s). Trying to go to %s: type '%s'",
self.motor_name,
value,
type(value),
)
value = float(value)
if not isinstance(value, float) and not isinstance(value, int):
logging.getLogger("TangoClient").error(
"Cannot move %s: position '%s' is not a number. It is a %s",
self.tangoname,
value,
type(value),
)
logging.info("TangoDCMotor: move. motor will go to %s " % str(value))
logging.getLogger("HWR").info(
"TangoDCMotor.move to absolute position: %.3f" % value
)
logging.getLogger("TangoClient").info(
"TangoDCMotor move. Trying to go to %s: that is a '%s'", value, type(value),
)
# if abs(self.get_value() - value) > epsilon:
# logging.info(
# "TangoDCMotor: difference larger then epsilon (%s), executing the move "
# % str(epsilon)
# )
self.positionChan.setValue(self.convertValue(value))
# else:
# logging.info(
# "TangoDCMotor: not moving really as epsilon is large %s " % str(epsilon)
# )
# logging.info("TangoDCMotor: self.get_value() %s " % str(self.get_value()))
# logging.info("TangoDCMotor: value %s " % str(value))
def stop(self):
logging.getLogger("HWR").info("TangoDCMotor.stop")
stopcmd = self.get_command_object("Stop")()
if not stopcmd:
stopcmd = TangoCommand("stopcmd", "Stop", self.tangoname)
stopcmd()
def isSpecConnected(self):
logging.getLogger().debug("%s: TangoDCMotor.isSpecConnected()" % self.name())
return (TruehardwareObjectName,)
class TangoDCMotor(Device):
MOVESTARTED = 0
NOTINITIALIZED = 0
UNUSABLE = 0
READY = 2
MOVING = 4
ONLIMIT = 1
stateDict = {
"UNKNOWN": 0,
"OFF": 0,
"ALARM": 1,
"FAULT": 1,
"STANDBY": 2,
"RUNNING": 4,
"MOVING": 4,
"ON": 2}
def __init__(self, name):
# State values as expected by Motor bricks
Device.__init__(self, name)
self.GUIstep = 0.1
def _init(self):
self.positionValue = 0.0
self.stateValue = 'UNKNOWN'
threshold = self.getProperty("threshold")
self.threshold = 0.0018 # default value. change it with property threshold in xml
self.old_value = 0.
self.tangoname = self.getProperty("tangoname")
self.motor_name = self.getProperty("motor_name")
self.ho = DeviceProxy(self.tangoname)
try:
self.dataType = self.getProperty("datatype")
if self.dataType is None:
self.dataType = "float"
except:
self.dataType = "float"
if threshold is not None:
try:
self.threshold = float(threshold)
except:
pass
self.setIsReady(True)
try:
self.limitsCommand = self.getCommandObject("limits")
except KeyError:
self.limitsCommand = None
self.positionChan = self.getChannelObject("position") # utile seulement si positionchan n'est pas defini dans le code
self.stateChan = self.getChannelObject("state") # utile seulement si statechan n'est pas defini dans le code
self.positionChan.connectSignal("update", self.positionChanged)
self.stateChan.connectSignal("update", self.motorStateChanged)
def positionChanged(self, value):
self.positionValue = value
if abs(float(value) - self.old_value ) > self.threshold:
try:
#logging.getLogger("HWR").error("%s: TangoDCMotor new position , %s", self.name(), value)
self.emit('positionChanged', (value,))
self.old_value = value
except:
logging.getLogger("HWR").error("%s: TangoDCMotor not responding, %s", self.name(), '')
self.old_value = value
def isReady(self):
return self.stateValue == 'STANDBY'
def connectNotify(self, signal):
if signal == 'hardwareObjectName,stateChanged':
self.motorStateChanged(TangoDCMotor.stateDict[self.stateValue])
elif signal == 'limitsChanged':
self.motorLimitsChanged()
elif signal == 'positionChanged':
self.motorPositionChanged(self.positionValue)
self.setIsReady(True)
def motorState(self):
return TangoDCMotor.stateDict[self.stateValue]
def motorStateChanged(self, state):
self.stateValue = str(state)
self.setIsReady(True)
logging.info("motor state changed. it is %s " % self.stateValue)
self.emit('stateChanged', (TangoDCMotor.stateDict[self.stateValue], ))
def getState(self):
#state = self.stateValue
return TangoDCMotor.stateDict[self.stateValue]
def getLimits(self):
try:
logging.getLogger("HWR").info("TangoDCMotor.getLimits: trying to get limits for motor_name %s " % (self.motor_name))
limits = self.ho.getMotorLimits(self.motor_name) #limitsCommand() # self.ho.getMotorLimits(self.motor_name)
logging.getLogger("HWR").info("TangoDCMotor.getLimits: Getting limits for %s -- %s " % (self.motor_name, str(limits)))
if numpy.inf in limits:
limits = numpy.array([-10000, 10000])
except:
#import traceback
#logging.getLogger("HWR").info("TangoDCMotor.getLimits: Cannot get limits for %s.\nException %s " % (self.motor_name, traceback.print_exc()))
limits = None
if limits is None:
try:
limits = self.getProperty('min'), self.getProperty('max')
logging.getLogger("HWR").info("TangoDCMotor.getLimits: %.4f ***** %.4f" % limits)
limits = numpy.array(limits)
except:
#logging.getLogger("HWR").info("TangoDCMotor.getLimits: Cannot get limits for %s" % self.name())
limits = None
return limits
def motorLimitsChanged(self):
self.emit('limitsChanged', (self.getLimits(), ))
def motorIsMoving(self):
return( self.stateValue == "RUNNING" or self.stateValue == "MOVING" )
def motorMoveDone(self, channelValue):
if self.stateValue == 'STANDBY':
self.emit('moveDone', (self.tangoname,"tango" ))
def motorPositionChanged(self, absolutePosition):
self.emit('positionChanged', (absolutePosition, ))
def syncQuestionAnswer(self, specSteps, controllerSteps):
return '0' # This is only for spec motors. 0 means do not change anything on sync
def getRealPosition(self):
return self.positionChan.getValue()
def getPosition(self):
pos = self.positionValue
return pos
def getDialPosition(self):
return self.getPosition()
def syncMove(self, position):
prev_position = self.getPosition()
#self.positionValue = position
relative_position = position - prev_position
self.syncMoveRelative(relative_position)
time.sleep(0.2) # allow MD2 to change the state
while self.stateValue == "RUNNING" or self.stateValue == "MOVING": # or self.stateValue == SpecMotor.MOVESTARTED:
QApplication.processEvents(100)
def moveRelative(self, position):
old_pos = self.positionValue
self.positionValue = old_pos + position
self.positionChan.setValue( self.convertValue(self.positionValue) )
logging.info("TangoDCMotor: movingRelative. motor will go to %s " % str(self.positionValue))
while self.stateValue == "RUNNING" or self.stateValue == "MOVING":
QApplication.processEvents(100)
def convertValue(self, value):
logging.info("TangoDCMotor: converting value to %s " % str(self.dataType))
retvalue = value
if self.dataType in [ "short", "int", "long"]:
retvalue = int(value)
return retvalue
def syncMoveRelative(self, position):
old_pos = self.positionValue
self.positionValue = old_pos + position
logging.info("TangoDCMotor: syncMoveRelative going to %s " % str( self.convertValue(self.positionValue)))
self.positionChan.setValue( self.convertValue(self.positionValue) )
dev = DeviceProxy(self.tangoname)
time.sleep(0.2) # allow MD2 to change the state
mystate = str( dev.State() )
logging.info("TangoDCMotor: %s syncMoveRelative state is %s / %s " % ( self.tangoname, str( self.stateValue ), mystate))
while mystate == "RUNNING" or mystate == "MOVING":
logging.info("TangoDCMotor: syncMoveRelative is moving %s" % str( mystate ))
time.sleep(0.1)
mystate = str( dev.State() )
QApplication.processEvents(100)
def getMotorMnemonic(self):
return self.name()
def move(self, absolutePosition, epsilon=0., sync=False):
"""Move the motor to the required position
Arguments:
absolutePosition -- position to move to
"""
logging.getLogger("TangoClient").info("TangoDCMotor move (%s). Trying to go to %s: type '%s'", self.motor_name, absolutePosition, type(absolutePosition))
absolutePosition = float(absolutePosition)
if type(absolutePosition) != float and type(absolutePosition) != int:
logging.getLogger("TangoClient").error("Cannot move %s: position '%s' is not a number. It is a %s", self.tangoname, absolutePosition, type(absolutePosition))
logging.info("TangoDCMotor: move. motor will go to %s " % str(absolutePosition))
logging.getLogger("HWR").info("TangoDCMotor.move to absolute position: %.3f" % absolutePosition)
logging.getLogger("TangoClient").info("TangoDCMotor move. Trying to go to %s: that is a '%s'", absolutePosition, type(absolutePosition))
if abs(self.getPosition() - absolutePosition) > epsilon:
logging.info("TangoDCMotor: difference larger then epsilon (%s), executing the move " % str(epsilon))
self.positionChan.setValue( self.convertValue(absolutePosition) )
else:
logging.info("TangoDCMotor: not moving really as epsilon is large %s " % str(epsilon))
logging.info("TangoDCMotor: self.getPosition() %s " % str(self.getPosition()))
logging.info("TangoDCMotor: absolutePosition %s " % str(absolutePosition))
def stop(self):
logging.getLogger("HWR").info("TangoDCMotor.stop")
stopcmd = self.getCommandObject("Stop")()
if not stopcmd:
stopcmd = TangoCommand("stopcmd","Stop",self.tangoname)
stopcmd()
def isSpecConnected(self):
logging.getLogger().debug("%s: TangoDCMotor.isSpecConnected()" % self.name())
return TruehardwareObjectName,
class TangoDCMotor(Device):
MOVESTARTED = 0
NOTINITIALIZED = 0
UNUSABLE = 0
READY = 2
MOVING = 4
ONLIMIT = 1
stateDict = {
"UNKNOWN": 0,
"OFF": 0,
"ALARM": 1,
"FAULT": 1,
"STANDBY": 2,
"RUNNING": 4,
"MOVING": 4,
"ON": 2
}
def __init__(self, name):
# State values as expected by Motor bricks
Device.__init__(self, name)
self.GUIstep = 0.1
self.motor_states = MotorStates()
def _init(self):
self.positionValue = 0.0
self.stateValue = 'UNKNOWN'
threshold = self.getProperty("threshold")
self.threshold = 0.0018 # default value. change it with property threshold in xml
self.old_value = 0.
self.tangoname = self.getProperty("tangoname")
self.motor_name = self.getProperty("motor_name")
self.ho = DeviceProxy(self.tangoname)
try:
self.dataType = self.getProperty("datatype")
if self.dataType is None:
self.dataType = "float"
except:
self.dataType = "float"
if threshold is not None:
try:
self.threshold = float(threshold)
except:
pass
self.setIsReady(True)
try:
self.limitsCommand = self.getCommandObject("limits")
except KeyError:
self.limitsCommand = None
self.positionChan = self.getChannelObject(
"position"
) # utile seulement si positionchan n'est pas defini dans le code
self.stateChan = self.getChannelObject(
"state"
) # utile seulement si statechan n'est pas defini dans le code
self.positionChan.connectSignal("update", self.positionChanged)
self.stateChan.connectSignal("update", self.motorStateChanged)
def positionChanged(self, value):
self.positionValue = value
if abs(float(value) - self.old_value) > self.threshold:
try:
#logging.getLogger("HWR").error("%s: TangoDCMotor new position , %s", self.name(), value)
self.emit('positionChanged', (value, ))
self.old_value = value
except:
logging.getLogger("HWR").error(
"%s: TangoDCMotor not responding, %s", self.name(), '')
self.old_value = value
def is_ready(self):
return self.isReady()
def isReady(self):
return self.stateValue == 'STANDBY'
def connectNotify(self, signal):
if signal == 'hardwareObjectName,stateChanged':
self.motorStateChanged(TangoDCMotor.stateDict[self.stateValue])
elif signal == 'limitsChanged':
self.motorLimitsChanged()
elif signal == 'positionChanged':
self.motorPositionChanged(self.positionValue)
self.setIsReady(True)
def motorState(self):
return TangoDCMotor.stateDict[self.stateValue]
def motorStateChanged(self, state):
self.stateValue = str(state)
self.setIsReady(True)
logging.info("motor state changed. it is %s " % self.stateValue)
self.emit('stateChanged', (TangoDCMotor.stateDict[self.stateValue], ))
def get_state(self):
return self.getState()
def getState(self):
#state = self.stateValue
return TangoDCMotor.stateDict[self.stateValue]
def getLimits(self):
try:
logging.getLogger("HWR").info(
"TangoDCMotor.getLimits: trying to get limits for motor_name %s "
% (self.motor_name))
limits = self.ho.getMotorLimits(
self.motor_name
) #limitsCommand() # self.ho.getMotorLimits(self.motor_name)
logging.getLogger("HWR").info(
"TangoDCMotor.getLimits: Getting limits for %s -- %s " %
(self.motor_name, str(limits)))
if numpy.inf in limits:
limits = numpy.array([-10000, 10000])
except:
#import traceback
#logging.getLogger("HWR").info("TangoDCMotor.getLimits: Cannot get limits for %s.\nException %s " % (self.motor_name, traceback.print_exc()))
if self.motor_name in [
'detector_distance', 'detector_horizontal',
'detector_vertical'
]:
info = self.positionChan.getInfo()
limits = [float(info.min_value), float(info.max_value)]
#if self.motor_name == 'detector_ts':
#limits = [96, 1100]
#elif self.motor_name == 'detector_tx':
#limits =
elif self.motor_name == 'exposure':
limits = [float(self.min_value), float(self.max_value)]
if limits is None:
try:
limits = self.getProperty('min'), self.getProperty('max')
logging.getLogger("HWR").info(
"TangoDCMotor.getLimits: %.4f ***** %.4f" % limits)
limits = numpy.array(limits)
except:
#logging.getLogger("HWR").info("TangoDCMotor.getLimits: Cannot get limits for %s" % self.name())
limits = None
return limits
def motorLimitsChanged(self):
self.emit('limitsChanged', (self.getLimits(), ))
def motorIsMoving(self):
return (self.stateValue == "RUNNING" or self.stateValue == "MOVING")
def motorMoveDone(self, channelValue):
if self.stateValue == 'STANDBY':
self.emit('moveDone', (self.tangoname, "tango"))
def motorPositionChanged(self, absolutePosition):
self.emit('positionChanged', (absolutePosition, ))
def syncQuestionAnswer(self, specSteps, controllerSteps):
return '0' # This is only for spec motors. 0 means do not change anything on sync
def getRealPosition(self):
return self.positionChan.getValue()
def get_position(self):
return self.getRealPosition()
def getPosition(self):
pos = self.positionValue
return pos
def getDialPosition(self):
return self.getPosition()
def syncMove(self, position):
prev_position = self.getPosition()
#self.positionValue = position
relative_position = position - prev_position
self.syncMoveRelative(relative_position)
gevent.sleep(0.2) # allow MD2 to change the state
while self.stateValue == "RUNNING" or self.stateValue == "MOVING": # or self.stateValue == SpecMotor.MOVESTARTED:
QApplication.processEvents(100)
def moveRelative(self, position):
old_pos = self.positionValue
self.positionValue = old_pos + position
self.positionChan.setValue(self.convertValue(self.positionValue))
logging.info("TangoDCMotor: movingRelative. motor will go to %s " %
str(self.positionValue))
while self.stateValue == "RUNNING" or self.stateValue == "MOVING":
QApplication.processEvents(100)
def convertValue(self, value):
logging.info("TangoDCMotor: converting value to %s " %
str(self.dataType))
retvalue = value
if self.dataType in ["short", "int", "long"]:
retvalue = int(value)
return retvalue
def syncMoveRelative(self, position):
old_pos = self.positionValue
self.positionValue = old_pos + position
logging.info("TangoDCMotor: syncMoveRelative going to %s " %
str(self.convertValue(self.positionValue)))
self.positionChan.setValue(self.convertValue(self.positionValue))
dev = DeviceProxy(self.tangoname)
gevent.sleep(0.2) # allow MD2 to change the state
mystate = str(dev.State())
logging.info("TangoDCMotor: %s syncMoveRelative state is %s / %s " %
(self.tangoname, str(self.stateValue), mystate))
while mystate == "RUNNING" or mystate == "MOVING":
logging.info("TangoDCMotor: syncMoveRelative is moving %s" %
str(mystate))
gevent.sleep(0.1)
mystate = str(dev.State())
QApplication.processEvents(100)
def getMotorMnemonic(self):
return self.name()
def move(self, absolutePosition, epsilon=0., sync=False):
"""Move the motor to the required position
Arguments:
absolutePosition -- position to move to
"""
logging.getLogger("TangoClient").info(
"TangoDCMotor move (%s). Trying to go to %s: type '%s'",
self.motor_name, absolutePosition, type(absolutePosition))
absolutePosition = float(absolutePosition)
if type(absolutePosition) != float and type(absolutePosition) != int:
logging.getLogger("TangoClient").error(
"Cannot move %s: position '%s' is not a number. It is a %s",
self.tangoname, absolutePosition, type(absolutePosition))
logging.info("TangoDCMotor: move. motor will go to %s " %
str(absolutePosition))
logging.getLogger("HWR").info(
"TangoDCMotor.move to absolute position: %.3f" % absolutePosition)
logging.getLogger("TangoClient").info(
"TangoDCMotor move. Trying to go to %s: that is a '%s'",
absolutePosition, type(absolutePosition))
if abs(self.getPosition() - absolutePosition) > epsilon:
logging.info(
"TangoDCMotor: difference larger then epsilon (%s), executing the move "
% str(epsilon))
self.positionChan.setValue(self.convertValue(absolutePosition))
else:
logging.info(
"TangoDCMotor: not moving really as epsilon is large %s " %
str(epsilon))
logging.info("TangoDCMotor: self.getPosition() %s " %
str(self.getPosition()))
logging.info("TangoDCMotor: absolutePosition %s " %
str(absolutePosition))
def stop(self):
logging.getLogger("HWR").info("TangoDCMotor.stop")
stopcmd = self.getCommandObject("Stop")()
if not stopcmd:
stopcmd = TangoCommand("stopcmd", "Stop", self.tangoname)
stopcmd()
def isSpecConnected(self):
logging.getLogger().debug("%s: TangoDCMotor.isSpecConnected()" %
self.name())
return TruehardwareObjectName,
