def Shutdown_Info(self, request, context: grpc.ServicerContext) \
-> silaFW_pb2.ExecutionInfo:
"""
Returns execution information regarding the command call :meth:`~.Shutdown`.
:param request: A request object with the following properties
commandId: The UUID of the command executed.
:param context: gRPC :class:`~grpc.ServicerContext` object providing gRPC-specific information
:returns: An ExecutionInfo response stream for the command with the following fields:
commandStatus: Status of the command (enumeration)
progressInfo: Information on the progress of the command (0 to 1)
estimatedRemainingTime: Estimate of the remaining time required to run the command
updatedLifetimeOfExecution: An update on the execution lifetime
"""
# Get the UUID of the command
command_uuid = request.value
if not command_uuid or command_uuid != self.command_uuid:
raise SiLAFrameworkError(error_type=SiLAFrameworkErrorType.
INVALID_COMMAND_EXECUTION_UUID)
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.running)
yield silaFW_pb2.ExecutionInfo(commandStatus=silaFW_pb2.ExecutionInfo.
CommandStatus.finishedSuccessfully)
def _get_command_state(self, command_uuid: str) -> silaFW_pb2.ExecutionInfo:
"""
Method to fill an ExecutionInfo message from the SiLA server for observable commands
:param command_uuid: The uuid of the command for which to return the current state
:return: An execution info object with the current command state
"""
#: Enumeration of silaFW_pb2.ExecutionInfo.CommandStatus
command_status = silaFW_pb2.ExecutionInfo.CommandStatus.waiting
#: Real silaFW_pb2.Real(0...1)
command_progress = None
#: Duration silaFW_pb2.Duration(seconds=<seconds>, nanos=<nanos>)
command_estimated_remaining = None
#: Duration silaFW_pb2.Duration(seconds=<seconds>, nanos=<nanos>)
command_lifetime_of_execution = None
# TODO: check the state of the command with the given uuid and return the correct information
# just return a default in this example
return silaFW_pb2.ExecutionInfo(
commandStatus=command_status,
progressInfo=(command_progress if command_progress is not None else None),
estimatedRemainingTime=(command_estimated_remaining if command_estimated_remaining is not None else None),
updatedLifetimeOfExecution=(
command_lifetime_of_execution if command_lifetime_of_execution is not None else None)
)
def _get_initialization_state(self) -> silaFW_pb2.ExecutionInfo:
"""
Method to fill an ExecutionInfo message from the SiLA server for the InitializeContiflow observable command
:return: An execution info object with the current command state
"""
#: Enumeration of silaFW_pb2.ExecutionInfo.CommandStatus
command_status = silaFW_pb2.ExecutionInfo.CommandStatus.waiting
if self.pump.is_initializing() and not self.timer.is_expired():
command_status = silaFW_pb2.ExecutionInfo.CommandStatus.running
elif self.pump.is_initialized():
command_status = silaFW_pb2.ExecutionInfo.CommandStatus.finishedSuccessfully
else:
command_status = silaFW_pb2.ExecutionInfo.CommandStatus.finishedWithError
#: Duration silaFW_pb2.Duration(seconds=<seconds>, nanos=<nanos>)
command_estimated_remaining = self.timer.get_msecs_to_expiration(
) / 1000
return silaFW_pb2.ExecutionInfo(
commandStatus=command_status,
estimatedRemainingTime=silaFW_pb2.Duration(
seconds=int(command_estimated_remaining)),
updatedLifetimeOfExecution=silaFW_pb2.Duration(
seconds=int(self.timer.period_ms / 1000)))
def _wait_calibration_finished(self, timeout_sec):
"""
The function waits until pump calibration has finished or
until the timeout occurs.
"""
if self.pump.is_calibration_finished():
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.
finishedSuccessfully,
progressInfo=silaFW_pb2.Real(value=1))
return
timer = qmixbus.PollingTimer(timeout_sec * 1000)
message_timer = qmixbus.PollingTimer(period_ms=500)
is_calibrating = False
while not (is_calibrating or timer.is_expired()):
time.sleep(0.1)
timeout_sec -= 0.1
if message_timer.is_expired():
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.
running,
progressInfo=silaFW_pb2.Real(
value=(self.CALIBRATION_TIMEOUT - timeout_sec) /
self.CALIBRATION_TIMEOUT),
estimatedRemainingTime=silaFW_pb2.Duration(
seconds=int(timeout_sec)))
message_timer.restart()
is_calibrating = self.pump.is_calibration_finished()
if not is_calibrating and not self.pump.is_in_fault_state():
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.
finishedSuccessfully,
progressInfo=silaFW_pb2.Real(value=1),
estimatedRemainingTime=silaFW_pb2.Duration())
else:
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.
finishedWithError,
progressInfo=silaFW_pb2.Real(value=1),
estimatedRemainingTime=silaFW_pb2.Duration())
logging.error("An unexpected error occurred: %s",
self.pump.read_last_error())
def GenerateFlow_Info(self, request, context: grpc.ServicerContext) \
-> silaFW_pb2.ExecutionInfo:
"""
Returns execution information regarding the command call :meth:`~.GenerateFlow`.
:param request: A request object with the following properties
commandId: The UUID of the command executed.
:param context: gRPC :class:`~grpc.ServicerContext` object providing gRPC-specific information
:returns: An ExecutionInfo response stream for the command with the following fields:
commandStatus: Status of the command (enumeration)
progressInfo: Information on the progress of the command (0 to 1)
estimatedRemainingTime: Estimate of the remaining time required to run the command
updatedLifetimeOfExecution: An update on the execution lifetime
"""
# Get the UUID of the command
command_uuid = request.value
# catch invalid CommandExecutionUUID:
if not command_uuid or self.dosage_uuid != command_uuid:
raise SiLAFrameworkError(
SiLAFrameworkErrorType.INVALID_COMMAND_EXECUTION_UUID
)
is_pumping = True
while is_pumping:
time.sleep(0.5)
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.running
)
is_pumping = self.pump.is_pumping()
if not is_pumping and not self.pump.is_in_fault_state():
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.finishedSuccessfully
)
else:
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.finishedWithError
)
raise QmixSDKSiLAError(self.pump.read_last_error())
def _wait_movement_finished(self, axis: Axis):
"""
The function waits until the last movement command for the given axis has finished
"""
is_moving = True
while is_moving:
time.sleep(0.5)
logging.info("Position: %s", axis.get_actual_position())
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.running)
is_moving = not axis.is_target_position_reached()
if not is_moving:
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.
finishedSuccessfully)
else:
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.
finishedWithError)
logging.error("An unexpected error occurred: %s",
axis.read_last_error())
def RunControlLoop_Info(self, request, controller: ControllerChannel, context: grpc.ServicerContext) \
-> silaFW_pb2.ExecutionInfo:
"""
Returns execution information regarding the command call :meth:`~.RunControlLoop`.
:param request: A request object with the following properties
commandId: The UUID of the command executed.
:param controller: The controller to operate on
:param context: gRPC :class:`~grpc.ServicerContext` object providing gRPC-specific information
:returns: An ExecutionInfo response stream for the command with the following fields:
commandStatus: Status of the command (enumeration)
progressInfo: Information on the progress of the command (0 to 1)
estimatedRemainingTime: Estimate of the remaining time required to run the command
updatedLifetimeOfExecution: An update on the execution lifetime
"""
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.waiting
)
# we loop only as long as the command is running
while controller.is_control_loop_enabled():
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.running
)
logging.debug(f"Current controller value: {controller.read_actual_value()}")
logging.debug(f"Device status: {controller.read_status()}")
# we add a small delay to give the client a chance to keep up.
time.sleep(1)
else:
# one last time yield the status
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.finishedSuccessfully
)
def InitializeContiflow_Info(self, request, context: grpc.ServicerContext) \
-> silaFW_pb2.ExecutionInfo:
"""
Returns execution information regarding the command call :meth:`~.InitializeContiflow`.
:param request: A request object with the following properties
commandId: The UUID of the command executed.
:param context: gRPC :class:`~grpc.ServicerContext` object providing gRPC-specific information
:returns: An ExecutionInfo response stream for the command with the following fields:
commandStatus: Status of the command (enumeration)
progressInfo: Information on the progress of the command (0 to 1)
estimatedRemainingTime: Estimate of the remaining time required to run the command
updatedLifetimeOfExecution: An update on the execution lifetime
"""
# Get the UUID of the command
command_uuid = request.value
# Get the current state
execution_info = self._get_command_state(command_uuid=command_uuid)
# construct the initial return dictionary in case while is not executed
return_values = {'commandStatus': execution_info.commandStatus}
if execution_info.HasField('progressInfo'):
return_values['progressInfo'] = execution_info.progressInfo
if execution_info.HasField('estimatedRemainingTime'):
return_values[
'estimatedRemainingTime'] = execution_info.estimatedRemainingTime
if execution_info.HasField('updatedLifetimeOfExecution'):
return_values[
'updatedLifetimeOfExecution'] = execution_info.updatedLifetimeOfExecution
# we loop only as long as the command is running
while execution_info.commandStatus == silaFW_pb2.ExecutionInfo.CommandStatus.waiting \
or execution_info.commandStatus == silaFW_pb2.ExecutionInfo.CommandStatus.running:
# TODO:
# Evaluate the command status --> command_status. Options:
# command_stats = silaFW_pb2.ExecutionInfo.CommandStatus.waiting
# command_stats = silaFW_pb2.ExecutionInfo.CommandStatus.running
# command_stats = silaFW_pb2.ExecutionInfo.CommandStatus.finishedSuccessfully
# command_stats = silaFW_pb2.ExecutionInfo.CommandStatus.finishedWithError
# Optional:
# * Determine the progress (progressInfo)
# * Determine the estimated remaining time
# * Update the Lifetime of execution
# Update all values
execution_info = self._get_command_state(command_uuid=command_uuid)
# construct the return dictionary
return_values = {'commandStatus': execution_info.commandStatus}
if execution_info.HasField('progressInfo'):
return_values['progressInfo'] = execution_info.progressInfo
if execution_info.HasField('estimatedRemainingTime'):
return_values[
'estimatedRemainingTime'] = execution_info.estimatedRemainingTime
if execution_info.HasField('updatedLifetimeOfExecution'):
return_values[
'updatedLifetimeOfExecution'] = execution_info.updatedLifetimeOfExecution
yield silaFW_pb2.ExecutionInfo(**return_values)
# we add a small delay to give the client a chance to keep up.
time.sleep(0.5)
else:
# one last time yield the status
yield silaFW_pb2.ExecutionInfo(**return_values)
def _wait_dosage_finished(self):
"""
The function waits until the last dosage command has finished or
until a timeout occurs. The timeout is estimated from the dosage's flow
and target volume
"""
if not self.pump.is_pumping():
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.finishedSuccessfully,
progressInfo=silaFW_pb2.Real(value=1)
)
return
target_volume = self.pump.get_target_volume()
logging.debug("target volume: %f", target_volume)
flow_in_sec = self.pump.get_flow_is() / self.pump.get_flow_unit().time_unitid.value
if flow_in_sec == 0:
# try again, maybe the pump didn't start pumping yet
time.sleep(0.5)
flow_in_sec = self.pump.get_flow_is() / self.pump.get_flow_unit().time_unitid.value
if flow_in_sec == 0:
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.finishedWithError,
progressInfo=silaFW_pb2.Real(value=1)
)
logging.error("The pump didn't start pumping. Last error: %s", self.pump.read_last_error())
logging.debug("flow_in_sec: %f", flow_in_sec)
dosing_time_s = self.pump.get_target_volume() / flow_in_sec + 2 # +2 sec buffer
logging.debug("dosing_time_s: %fs", dosing_time_s)
timer = qmixbus.PollingTimer(period_ms=dosing_time_s * 1000)
message_timer = qmixbus.PollingTimer(period_ms=500)
is_pumping = True
while is_pumping and not timer.is_expired():
time.sleep(0.1)
dosing_time_s -= 0.1
if message_timer.is_expired():
logging.info("Fill level: %s", self.pump.get_fill_level())
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.running,
progressInfo=silaFW_pb2.Real(value=self.pump.get_dosed_volume()/target_volume),
estimatedRemainingTime=silaFW_pb2.Duration(
seconds=int(dosing_time_s),
nanos=int(dosing_time_s-int(dosing_time_s)) * 1000000000
)
)
message_timer.restart()
is_pumping = self.pump.is_pumping()
if not is_pumping and not self.pump.is_in_fault_state():
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.finishedSuccessfully,
progressInfo=silaFW_pb2.Real(value=1),
estimatedRemainingTime=silaFW_pb2.Duration()
)
else:
yield silaFW_pb2.ExecutionInfo(
commandStatus=silaFW_pb2.ExecutionInfo.CommandStatus.finishedWithError,
progressInfo=silaFW_pb2.Real(value=1),
estimatedRemainingTime=silaFW_pb2.Duration()
)
logging.error("An unexpected error occurred: %s", self.pump.read_last_error())
