def parse(self, device_url):
device = DeviceProxy(device_url)
result = Documentation()
result.name = device.info().dev_class
result.description = device.description()
# FIXME: perhaps need to query the database about the propertiess
propertyNames = device.get_property_list('*')
for propertyName in propertyNames:
result.addproperty(propertyName, 'TODO description', 'TODO type name', 'TODO default')
attributeInfos = device.attribute_list_query()
for attributeInfo in attributeInfos:
result.addattribute(attributeInfo.name, attributeInfo.description, self.translate(attributeInfo.data_type, attributeInfo.data_format))
commandInfos = device.command_list_query()
for commandInfo in commandInfos:
result.addcommand(
commandInfo.cmd_name,
'TODO command description',
self.translate_command_argument(commandInfo.in_type),
commandInfo.in_type_desc,
self.translate_command_argument(commandInfo.out_type),
commandInfo.out_type_desc)
return [result]
class _DeviceHelper(object):
__CMD_FILTER = set(("init", "state", "status"))
__ATTR_FILTER = set(("state", "status"))
def __init__(self, dev_name, *args, **kwargs):
self.dev_name = dev_name
self.device = Device(dev_name, *args, **kwargs)
self.slots = weakref.WeakKeyDictionary()
def connect(self, signal, slot, event_type=PyTango.EventType.CHANGE_EVENT):
i = self.device.subscribe_event(signal, event_type, slot)
self.slots[slot] = i
return i
def disconnect(self, signal, slot):
i = self.slots.pop(slot)
self.device.unsubscribe_event(i)
def get_attr_cache(self, refresh=False):
try:
cache = self.__attr_cache
if not cache:
refresh = True
except AttributeError:
refresh = True
if refresh:
cache = {}
dev = self.device
try:
for attr_info in dev.attribute_list_query_ex():
attr_name = attr_info.name
if attr_name.lower() in self.__ATTR_FILTER:
continue
cache[attr_name] = attr_info
except PyTango.DevFailed:
pass
self.__attr_cache = cache
return cache
def get_attr_info(self, name):
cache = self.get_attr_cache()
result = cache.get(name)
if result:
return result
else:
cache = self.get_attr_cache(refresh=True)
return cache.get(name)
def get_cmd_cache(self, refresh=False):
try:
cache = self.__cmd_cache
if not cache:
refresh = True
except AttributeError:
refresh = True
if refresh:
cache = {}
dev = self.device
try:
for cmd_info in dev.command_list_query():
cmd_name = cmd_info.cmd_name
if cmd_name.lower() in self.__CMD_FILTER:
continue
cmd_func = functools.partial(_command, dev, cmd_info)
cmd_func.__name__ = cmd_name
cmd_func.__doc__ = cmd_info.in_type_desc
cmd_info.func = cmd_func
cache[cmd_name] = cmd_info
except PyTango.DevFailed:
pass
self.__cmd_cache = cache
return cache
def get_cmd_info(self, name):
cache = self.get_cmd_cache()
result = cache.get(name)
if result:
return result
else:
cache = self.get_cmd_cache(refresh=True)
return cache.get(name)
def is_cmd(self, name):
return name.lower() in self.get_cmd_cache()
def members(self):
result = self.get_attr_cache().keys()
result.extend(self.get_cmd_cache().keys())
return result
def get(self, name):
dev = self.device
result = self.get_attr_info(name)
if result:
result = dev.read_attribute(name)
value = result.value
if result.type == PyTango.DevEncoded:
result = loads(*value)
else:
result = value
return result
result = self.get_cmd_info(name)
if result is None:
raise KeyError("Unknown %s" % name)
return result
def set(self, name, value):
result = self.get_attr_info(name)
if result is None:
raise KeyError("Unknown attribute %s" % name)
if result.data_type == PyTango.DevEncoded:
self.device.write_attribute(name, dumps(value))
else:
self.device.write_attribute(name, value)
def get_info(self):
try:
return self.__info
except AttributeError:
pass
try:
info = self.device.info()
self.__dict__["__info"] = info
return info
except PyTango.DevFailed:
return None
def __str__(self):
return self.dstr()
def __repr__(self):
return str(self)
def dstr(self):
info = self.get_info()
klass = "Device"
if info:
klass = info.dev_class
return "{0}({1})".format(klass, self.dev_name)
def __init__(self, connector=None, uri=None, updateInterval = 0.02):
Motor.__init__(self)
self.uri = uri
self.type = "Simulation"
attributes = {}
attributes["AerotechEnsemble"] = [ \
{"attr": "Position", "delta": 0.1},
{"attr": "Velocity"},
{"attr": "Acceleration"},
{"attr": "SoftLimitCcw", "name": "soft_limit_min"},
{"attr": "SoftLimitCw", "name": "soft_limit_max"},
{"attr": "CcwSoftLimitFault", "name": "soft_limit_min_fault"},
{"attr": "CwSoftLimitFault", "name": "soft_limit_max_fault"},
{"attr": "CcwLimitFault", "name": "hard_limit_min_fault"},
{"attr": "CwLimitFault", "name": "hard_limit_max_fault"},
{"attr": "AbortMove", "name": "stop", "mode": "execute"},
{"attr": "Calibrate", "mode": "execute"},
]
attributes["GalilDMCMotor"] = [ \
{"attr": "Position", "delta": 0.1},
{"attr": "Velocity"},
{"attr": "Acceleration"},
{"attr": "SoftCcwLimit", "name": "soft_limit_min"},
{"attr": "SoftCwLimit", "name": "soft_limit_max"},
{"attr": "SoftCcwLimitFault", "name": "soft_limit_min_fault"},
{"attr": "SoftCwLimitFault", "name": "soft_limit_max_fault"},
{"attr": "Stop", "name": "stop", "mode": "execute"},
{"attr": "Calibrate", "mode": "execute"},
]
attributes["OmsMaxV"] = [ \
{"attr": "Position", "delta": 0.1},
{"attr": "VelocityUnits", "name": "velocity"},
{"attr": "AccelerationUnits"},
{"attr": "SoftLimitMinUnits", "name": "soft_limit_min"},
{"attr": "SoftLimitMaxUnits", "name": "soft_limit_max"},
{"attr": "FlagCcwLimit", "name": "hard_limit_min_fault"},
{"attr": "FlagCwLimit", "name": "hard_limit_max_fault"},
{"attr": "AbortMove", "name": "stop", "mode": "execute"},
{"attr": "Calibrate", "mode": "execute"},
{"attr": "PIDactive", "name": "pid_active"},
]
attributes["OmsVme58"] = [ \
{"attr": "Position"},
{"attr": "SlewRate", "name": "velocity"},
{"attr": "Acceleration"},
{"attr": "UnitLimitMin", "name": "soft_limit_min"},
{"attr": "UnitLimitMax", "name": "soft_limit_max"},
{"attr": "CcwLimit", "name": "hard_limit_min_fault"},
{"attr": "CwLimit", "name": "hard_limit_max_fault"},
{"attr": "StopMove", "name": "stop", "mode": "execute"},
{"attr": "Calibrate", "mode": "execute"},
{"attr": "Conversion"},
]
attributes["PowerPMAC_Motor"] = [ \
{"attr": "Position", "delta": 0.1},
{"attr": "Velocity"},
{"attr": "Acceleration"},
{"attr": "SoftCcwLimit", "name": "soft_limit_min"},
{"attr": "SoftCwLimit", "name": "soft_limit_max"},
{"attr": "SoftCcwLimitFault", "name": "soft_limit_min_fault"},
{"attr": "SoftCwLimitFault", "name": "soft_limit_max_fault"},
{"attr": "CcwLimitFault", "name": "hard_limit_min_fault"},
{"attr": "CwLimitFault", "name": "hard_limit_max_fault"},
{"attr": "Stop", "name": "stop", "mode": "execute"},
{"attr": "Calibrate", "mode": "execute"},
]
attributes["Simulation"] = [ \
{"attr": "Position"},
{"attr": "Velocity"},
{"attr": "Acceleration"},
{"attr": "Soft_Limit_Min"},
{"attr": "Soft_Limit_Max"},
{"attr": "Stop", "mode": "execute"},
{"attr": "Calibrate", "mode": "execute"},
]
self.connector = None
if connector == "tango":
try:
proxy = DeviceProxy(uri)
type = proxy.info().dev_class
self.type = type
if self.type == "GalilDMCMotor" and "CwLimitFault" in \
proxy.get_attribute_list():
attributes["GalilDMCMotor"].append(
{"attr": "CcwLimitFault", "name": "hard_limit_min_fault"},
{"attr": "CwLimitFault", "name": "hard_limit_max_fault"},
)
except Exception as e:
self.janus.utils["logger"].error(
"TangoMotor({}).__init__() connection failed".format(self.uri))
self.janus.utils["logger"].debug("", exc_info=True)
if self.type in attributes:
self.connector = TangoConnector(uri, attributes[self.type], interval=updateInterval)
if connector == "simulation" or self.connector is None:
self.connector = SimulationConnector(uri, attributes["Simulation"])
self.connector.write("state", State.ON)
if connector != "simulation":
self.connector.write("state", State.UNKNOWN)
self.connector.write("position", 0)
self.connector.write("velocity", 1000)
self.connector.write("acceleration", 1000)
self.connector.write("soft_limit_min", 0)
self.connector.write("soft_limit_max", 0)
self.last_soft_limit_min_fault = \
self.soft_limit_min_fault(refresh=True)
self.last_soft_limit_max_fault = \
self.soft_limit_max_fault(refresh=True)
self.last_state = self.connector.read("state", refresh=True)
if self.type in ["OmsMaxV", "OmsVme58", "Simulation"]:
self.connector.value_changed.connect(self.on_value_changed)
else:
self.connector.value_changed.connect(self.value_changed.emit)
class _DeviceHelper(object):
__CMD_FILTER = set(("init", "state", "status"))
__ATTR_FILTER = set(("state", "status"))
def __init__(self, dev_name, *args, **kwargs):
self.dev_name = dev_name
self.device = Device(dev_name, *args, **kwargs)
self.slots = weakref.WeakKeyDictionary()
def connect(self, signal, slot, event_type=PyTango.EventType.CHANGE_EVENT):
i = self.device.subscribe_event(signal, event_type, slot)
self.slots[slot] = i
return i
def disconnect(self, signal, slot):
i = self.slots.pop(slot)
self.device.unsubscribe_event(i)
def get_attr_cache(self, refresh=False):
try:
cache = self.__attr_cache
if not cache:
refresh = True
except AttributeError:
refresh = True
if refresh:
cache = {}
dev = self.device
try:
for attr_info in dev.attribute_list_query_ex():
attr_name = attr_info.name
if attr_name.lower() in self.__ATTR_FILTER:
continue
cache[attr_name] = attr_info
except PyTango.DevFailed:
pass
self.__attr_cache = cache
return cache
def get_attr_info(self, name):
cache = self.get_attr_cache()
result = cache.get(name)
if result:
return result
else:
cache = self.get_attr_cache(refresh=True)
return cache.get(name)
def get_cmd_cache(self, refresh=False):
try:
cache = self.__cmd_cache
if not cache:
refresh = True
except AttributeError:
refresh = True
if refresh:
cache = {}
dev = self.device
try:
for cmd_info in dev.command_list_query():
cmd_name = cmd_info.cmd_name
if cmd_name.lower() in self.__CMD_FILTER:
continue
cmd_func = functools.partial(_command, dev, cmd_info)
cmd_func.__name__ = cmd_name
cmd_func.__doc__ = cmd_info.in_type_desc
cmd_info.func = cmd_func
cache[cmd_name] = cmd_info
except PyTango.DevFailed:
pass
self.__cmd_cache = cache
return cache
def get_cmd_info(self, name):
cache = self.get_cmd_cache()
result = cache.get(name)
if result:
return result
else:
cache = self.get_cmd_cache(refresh=True)
return cache.get(name)
def is_cmd(self, name):
return name.lower() in self.get_cmd_cache()
def members(self):
result = self.get_attr_cache().keys()
result.extend(self.get_cmd_cache().keys())
return result
def get(self, name):
dev = self.device
result = self.get_attr_info(name)
if result:
result = dev.read_attribute(name)
value = result.value
if result.type == PyTango.DevEncoded:
result = loads(*value)
else:
result = value
return result
result = self.get_cmd_info(name)
if result is None:
raise KeyError("Unknown %s" % name)
return result
def set(self, name, value):
result = self.get_attr_info(name)
if result is None:
raise KeyError("Unknown attribute %s" % name)
if result.data_type == PyTango.DevEncoded:
self.device.write_attribute(name, dumps(value))
else:
self.device.write_attribute(name, value)
def get_info(self):
try:
return self.__info
except AttributeError:
pass
try:
info = self.device.info()
self.__dict__["__info"] = info
return info
except PyTango.DevFailed:
return None
def __str__(self):
return self.dstr()
def __repr__(self):
return str(self)
def dstr(self):
info = self.get_info()
klass = "Device"
if info:
klass = info.dev_class
return "{0}({1})".format(klass, self.dev_name)
