def read_attributes(self, attrs):
"""
Reads attribute value, returns none in case of na error
:param attr:
:return:
"""
res = []
try:
if not self.test(self.device):
raise ValueError
d = DeviceProxy(self.device)
d.ping()
self.debug("Device ({}) is online".format(self.device))
state = d.state()
values = None
# read value only if the state is fine
if state != DevState.FAULT and state != DevState.UNKNOWN:
values = d.read_attributes(attrs)
for value in values:
res.append(value.value)
self.debug("Attributes value ({}/{}/{})".format(state, attrs, res))
except DevFailed:
self.error(
"There is an error with access to the device ({})".format(
self.device))
except ValueError:
self.error("User has not provided a valid device name")
return res
class TangoDevice(object):
"""
Wrapper for basic Tango device.
It provides registering device, halting device and executing commands
"""
POLL_STATE_TIME = 0.5
TEST_MODE = False
def __init__(self, devicePath=None):
"""
Class constructor
@type devicePath: String
"""
self.devicePath = devicePath
self.maxValue = False
self.minValue = False
self.name = "Generic device"
self.output = {}
self.profiling = False
self.deviceError = False
self.defaultClass = self.__class__
# state change marker
self._bstate_changed = False
self.old_state = None
self.__thread = None
try:
self.__device_init()
except:
logging.error(
str("Device %s could not be connected" % self.devicePath))
self.name = self.devicePath
if config.DEVICE_ALLOW_RETRY:
self._retry_device()
#raise Exception(str("Device %s could not be connected" % self.devicePath))
# logging.error(str("Device %s could not be connected" % self.devicePath))
#else:
#raise Exception(str("Device %s could not be connected" % self.devicePath))
def __postInit__(self):
pass
def __device_init(self):
self.device = DeviceProxy(self.devicePath)
info = self.device.import_info()
self.name = info.name
if (self.name in DEVICE_NAMES):
self.name = DEVICE_NAMES[self.name]
self.deviceError = False
self.__postInit__()
def _retry_device(self, callback=None):
self.deviceError = True
thread = Thread(target=self.__retry_routine, args=([callback]))
threads.add_thread(thread)
thread.start()
self.__class__ = DummyDevice
def __retry_routine(self, callback):
retrySleep = [True]
while (retrySleep[0] and threads.THREAD_KEEP_ALIVE):
try:
DeviceProxy(self.devicePath).state()
logging.error("Device online: %s" % (self.devicePath))
retrySleep = [False]
except:
logging.error("Device offline, retrying: %s" %
(self.devicePath))
threads.thread_sleep(config.DEVICE_RETRY_INTERVAL,
sleepFlags=retrySleep)
if threads.THREAD_KEEP_ALIVE == True:
self.__class__ = self.defaultClass
self.__device_init()
if callback: callback()
return True
def isDeviceError(self):
return self.deviceError
def halt(self, callBack=None):
"""
Stop device
"""
pass
def running_remove(self, *args):
"""
Remove device from all running devices set
"""
try:
if (not stopDevices):
runningDevices.remove(self)
except:
pass
def running_add(self):
"""
Add device to all runing devices set
"""
global runningDevices
runningDevices.add(self)
def is_connected(self):
"""
Return true if device is connected
@rtype: bool
"""
if self.device is None: return False
else: return True
def read_attributes(self, attributes):
try:
return self.device.read_attributes(attributes)
except:
logging.error("Device read attribute error: retrying device")
if not config.DEVICE_ALLOW_RETRY:
raise Exception(
str("Device %s could not be connected" % self.devicePath))
else:
self._retry_device()
return self.read_attributes(attributes)
def read_attribute(self, attribute):
try:
return self.device.read_attribute(attribute)
except:
if not config.DEVICE_ALLOW_RETRY:
raise Exception(
str("Device %s could not be connected" % self.devicePath))
else:
self._retry_device()
return self.read_attribute(attribute)
def write_attributes(self, attributes):
"""
Write attribute to device
@type attributes: list
@rtype: String
"""
res = None
if self.device:
for attribute in attributes:
logging.info("Attribute: %s wrote on device: %s", attribute[0],
self.devicePath)
try:
self.device.state()
res = self.device.write_attributes(attributes)
except (DevFailed, AttributeError) as e:
pass
return res
def write_attributes_async(self, attributes, callback=None):
res = None
if self.device:
for attribute in attributes:
logging.info("Attribute: %s wrote on device: %s", attribute[0],
self.devicePath)
try:
self.device.state()
res = self.device.write_attributes_asynch(attributes, callback)
except (DevFailed, AttributeError) as e:
pass
return res
def execute_command(self, commandName, commandParam=None):
"""
Execute command on device
@type commandName: String
@type commandParam: String
@rtype: String
"""
try:
if self.device:
return self.device.command_inout(commandName, commandParam)
except:
if not config.DEVICE_ALLOW_RETRY:
raise Exception(
str("Device %s could not be connected" % self.devicePath))
else:
self._retry_device()
return self.execute_command(commandName, commandParam)
def wait_for_state(self, state, callback=None):
"""
Wait for state
@type state: DevState.state
"""
if self.device:
while (self.device.state() == state):
sleep(self.POLL_STATE_TIME)
if not (callback is None): callback(self)
def wait_seconds(self, duration=1):
"""
Wait for a time duration
@type duration: float if not config.DEVICE_ALLOW_RETRY:
raise Exception(str("Device %s could not be connected" % self.devicePath))
else:
self._retry_device()
return self.execute_command(commandName, commandParam)
"""
if self.device:
sleep(duration)
def poll(self,
commandName,
duration=0.1,
commandResult=True,
callback=None,
commandParam=None):
"""
Poll device with command
@type commandName: String
@type duration: float
@type callback: fun
@type commandParam: String
"""
while (self.execute_command(commandName, commandParam) == commandResult
and threads.THREAD_KEEP_ALIVE):
self.wait_seconds(duration)
if not (callback is None): callback(self)
def poll_attribute(self,
attrName,
duration=0.1,
attributeResult=True,
callback=None,
commandParam=None):
"""
Poll device with command
@type attrName: String
@type duration: float
@type callback: fun
@type commandParam: String
"""
while (self.read_attribute(attrName).value == attributeResult
and threads.THREAD_KEEP_ALIVE):
self.wait_seconds(duration)
if not (callback is None): callback(self)
def check_idle(self):
"""
Check if device id idle
"""
pass
def is_idle(self):
"""
Return True if is idle, False if not and None if unknown
"""
return None
def start_profiling(self):
if self.profiling: return False
self.profiling = True
logging.info("Profiling of device %s started" % self.devicePath)
return True
def stop_profiling(self):
self.profiling = False
self.cleanup_thread()
def current_value(self, value):
return self.read_attribute(value).value
def __profiling_routine(self):
pass
@property
def thread(self):
return self.__thread
def start_external_profiling(self, func):
"""
Starts profiling with an external function
"""
self.profiling = True
if self.__thread is None:
thread = threads.threading.Thread(target=func, args=([self]))
threads.add_thread(thread)
thread.start()
self.__thread = thread
def cleanup_thread(self):
if self.__thread is not None:
self.profiling = False
threads.join_thread(self.__thread)
self.__thread = None
def state(self):
"""
Overload of the state function to keep track of old states
:return:
"""
state = None
try:
state = DeviceProxy(self.devicePath).state()
self._bstate_changed = False
if state != self.old_state:
self.old_state = state
self._bstate_changed = True
except DevFailed:
pass
return state
def is_state_changed(self):
return self._bstate_changed
class TangoConnector(Connector):
value_changed = pyqtSignal(str, name="valueChanged")
def __init__(self,
uri=None,
attributes=[],
policy=UpdatePolicy.POLLING,
interval=1.0):
#QThread.__init__(self)
self.alive = False
self.connected = False
self.poll_attributes = {}
self.thread = threading.Thread(target=self.run, name=uri)
try:
self.proxy = DeviceProxy(uri)
self.connected = True
except:
self.attributes["state"]["value"] = State.UNKNOWN
self.janus.utils["logger"].error("TangoConnector(" + self.uri +
").__init__() " +
"connection failed")
self.janus.utils["logger"].debug("", exc_info=True)
Connector.__init__(self, uri, attributes, policy, interval)
def add_attribute(self, attribute=None):
Connector.add_attribute(self, attribute=attribute)
if type(attribute) is not dict or "attr" not in attribute:
return
if "mode" in attribute and attribute["mode"] == "execute":
return
if "name" in attribute:
name = attribute["name"]
else:
name = attribute["attr"].lower()
self.poll_attributes[attribute["attr"]] = name
def update_policy(self, policy=UpdatePolicy.POLLING, interval=1.0):
self.interval = interval
if policy != UpdatePolicy.POLLING and self.isRunning():
self.stop()
elif policy != UpdatePolicy.EVENTBASED:
for attr in self.attributes.keys():
if "event" not in self.attributes[attr]:
continue
try:
self.proxy.unsubscribe_event(
self.attributes[attr]["event"])
except:
self.janus.utils["logger"].error(
"TangoConnector(" + self.uri + ").update_policy() " +
"failed to unsubscribe from tango event")
self.janus.utils["logger"].debug("", exc_info=True)
del self.attributes[attr]["event"]
if policy == UpdatePolicy.POLLING and not self.thread.is_alive():
self.thread.start()
elif policy == UpdatePolicy.EVENTBASED:
for attr in self.attributes.keys:
try:
self.attributes[attr]["event"] = \
self.proxy.subscribe_event(EventType.CHANGE_EVENT, \
self.on_tango_event, [], False)
except:
self.janus.utils["logger"].error(
"TangoConnector(" + self.uri + ").update_policy() " +
"failed to subscribe to tango event")
self.janus.utils["logger"].debug("", exc_info=True)
self.policy = policy
def on_tango_event(self, event):
try:
name = event.attr_name
value = event.attr_value.value
except:
self.janus.utils["logger"].warning("TangoConnector(" + self.uri +
").on_tango_event() " +
"invalid tango event type")
self.janus.utils["logger"].debug("", exc_info=True)
self.attributes[self.poll_attributes[name]]["value"] = value
self.value_changed.emit(self.poll_attributes[name])
def stop_device(self):
self.stop()
def stop(self):
self.alive = False
self.thread.join()
pass
def run(self):
print("thread started: {} ({})".format(
threading.get_ident(),
threading.currentThread().getName()))
self.alive = True
while self.alive:
#remember when we started
timestamp = time.time()
#try to poll attributes
try:
attrs = self.proxy.read_attributes(
list(self.poll_attributes.keys()))
except:
self.attributes["state"]["value"] = State.UNKNOWN
self.janus.utils["logger"].error(
"TangoConnector(" + self.uri + ").run() " +
"reading tango attributes failed")
self.janus.utils["logger"].debug("", exc_info=True)
attrs = []
#assign attribute values and fire change signal if necessary
for attr in attrs:
name = self.poll_attributes[attr.name]
changed = False
if "delta" in self.attributes[name]:
if self.attributes[name]["value"] is None or \
abs(self.attributes[name]["value"] - attr.value) > \
self.attributes[name]["delta"]:
changed = True
elif name == "state" and \
int(self.attributes[name]["value"]) != int(attr.value):
changed = True
elif name == "image_8":
changed = True
elif self.attributes[name]["value"] != attr.value:
changed = True
if changed:
if name == "state":
self.attributes[name]["value"] = State(int(attr.value))
else:
self.attributes[name]["value"] = attr.value
self.value_changed.emit(name)
if not self.alive:
break
#wait for the rest of the polling interval
interval = int((self.interval - (time.time() - timestamp)))
while interval > 0:
if interval > 0.05:
time.sleep(0.05)
interval -= 0.05
else:
time.sleep(interval)
interval = 0
if not self.alive:
break
print("closing thread: {} ({})".format(
threading.get_ident(),
threading.currentThread().getName()))
def state(self, refresh=False):
if refresh:
try:
self.attributes["state"]["value"] = State(
int(self.proxy.state()))
except:
self.attributes["state"]["value"] = State.UNKNOWN
self.janus.utils["logger"].error("TangoConnector(" + self.uri +
").state() " +
"reading tango state failed")
self.janus.utils["logger"].debug("", exc_info=True)
return self.attributes["state"]["value"]
def read(self, attribute=None, refresh=False, alt=None):
if refresh or self.attributes[attribute]["value"] is None:
try:
self.attributes[attribute]["value"] = \
self.proxy.read_attribute(self.attributes[attribute]["attr"]).value
except:
self.janus.utils["logger"].error(
"TangoConnector(" + self.uri + ")" + ".read(" + attribute +
") " + "reading tango attribute failed")
self.janus.utils["logger"].debug("", exc_info=True)
if self.attributes[attribute]["value"] is None \
and alt is not None:
return alt
return self.attributes[attribute]["value"]
def write(self, attribute=None, value=None):
try:
self.proxy.write_attribute(self.attributes[attribute]["attr"],
value)
return True
except:
self.janus.utils["logger"].error("TangoConnector(" + self.uri +
")" + ".write(" + attribute +
") " +
"writing tango attribute failed")
self.janus.utils["logger"].debug("", exc_info=True)
return False
def execute(self, command=None, *values):
try:
if len(values) == 0:
value = self.proxy.command_inout(
self.attributes[command]["attr"])
else:
value = self.proxy.command_inout(
self.attributes[command]["attr"], values)
except Exception as e:
self.janus.utils["logger"].error("TangoConnector(" + self.uri +
")" + ".execute(" + command +
") " +
"executing tango command failed")
self.janus.utils["logger"].debug("", exc_info=True)
return None
return value
