async def set_rpm(activate):
if activate:
rpm = config["low_temperature"]["rpm_cold"]
log.warning(f"Low temperature mode. Setting RPM={rpm}.")
else:
rpm = config["low_temperature"]["rpm_normal"]
log.warning(
f"Disabling low temperature mode. Setting RPM={rpm}.")
config["positioner"]["motor_speed"] = rpm
async def set_idle_power(activate):
if activate:
ht = config["low_temperature"]["holding_torque_very_cold"]
log.warning(
"Very low temperature mode. Setting holding torque.")
else:
ht = config["low_temperature"]["holding_torque_normal"]
log.warning(
"Disabling very low temperature mode. Setting holding torque."
)
await self.send_command(
CommandID.SET_HOLDING_CURRENT,
alpha=ht[0],
beta=ht[1],
)
async def unwind(
current_positions: dict[int, tuple[float | None, float | None]],
collision_buffer: float | None = None,
disabled: list[int] = [],
force: bool = False,
):
"""Folds all the robots to the lattice position.
This coroutine uses a process pool executor to run Kaiju routines.
"""
alpha0, beta0 = config["kaiju"]["lattice_position"]
# We create the data directly since it's simple. This should be a bit faster
# than creating a grid and dumping it.
data = {"collision_buffer": collision_buffer, "grid": {}}
for pid, (alpha, beta) in current_positions.items():
data["grid"][int(pid)] = (alpha, beta, alpha0, beta0, pid in disabled)
(to_destination, _, did_fail, deadlocks) = await run_in_executor(
get_path_pair,
data=data,
ignore_did_fail=force,
stop_if_deadlock=force,
executor="process",
)
if did_fail:
if force is False:
raise TrajectoryError(
"Failed generating a valid unwind trajectory. "
f"{len(deadlocks)} deadlocks were found ({deadlocks}).")
else:
log.warning("Deadlocks found in unwind but proceeding anyway.")
return to_destination
async def update_status(
self,
positioner_ids: Optional[int | List[int]] = None,
timeout: float = 1,
) -> bool:
"""Update statuses for all positioners.
Parameters
----------
positioner_ids
The list of positioners to update. If `None`, update all
positioners.
timeout
How long to wait before timing out the command.
"""
if len(self.positioners) == 0:
return True
if positioner_ids is None:
positioner_ids = [0]
elif not isinstance(positioner_ids, (list, tuple)):
positioner_ids = [positioner_ids]
if positioner_ids == [0]:
n_positioners = len(self) if len(self) > 0 else None
else:
n_positioners = None
await self.update_firmware_version(timeout=timeout)
command = self.send_command(
CommandID.GET_STATUS,
positioner_ids=positioner_ids,
n_positioners=n_positioners,
timeout=timeout,
)
await command
if command.status.failed:
log.warning(
f"{CommandID.GET_STATUS.name!r} failed during update status.")
return False
if len(command.replies) == 0:
return True
update_status_coros = []
for pid, status_int in command.get_positioner_status().items(
): # type: ignore
if pid not in self:
continue
update_status_coros.append(self[pid].update_status(status_int))
await asyncio.gather(*update_status_coros)
# Set the status of the FPS based on positioner information.
# First get the current bitmask without the status bit.
current = self.status & ~FPSStatus.STATUS_BITS
pbits = numpy.array([int(p.status) for p in self.values()])
coll_bits = PositionerStatus.COLLISION_ALPHA | PositionerStatus.COLLISION_BETA
if ((pbits & coll_bits) > 0).any():
self.set_status(current | FPSStatus.COLLIDED)
elif ((pbits & PositionerStatus.DISPLACEMENT_COMPLETED) > 0).all():
self.set_status(current | FPSStatus.IDLE)
else:
self.set_status(current | FPSStatus.MOVING)
return True
async def _handle_temperature(self):
"""Handle positioners in low temperature."""
if not isinstance(self.ieb, IEB):
log.error("Cannot handle low-temperature mode. IEB not present.")
async def set_rpm(activate):
if activate:
rpm = config["low_temperature"]["rpm_cold"]
log.warning(f"Low temperature mode. Setting RPM={rpm}.")
else:
rpm = config["low_temperature"]["rpm_normal"]
log.warning(
f"Disabling low temperature mode. Setting RPM={rpm}.")
config["positioner"]["motor_speed"] = rpm
async def set_idle_power(activate):
if activate:
ht = config["low_temperature"]["holding_torque_very_cold"]
log.warning(
"Very low temperature mode. Setting holding torque.")
else:
ht = config["low_temperature"]["holding_torque_normal"]
log.warning(
"Disabling very low temperature mode. Setting holding torque."
)
await self.send_command(
CommandID.SET_HOLDING_CURRENT,
alpha=ht[0],
beta=ht[1],
)
sensor = config["low_temperature"]["sensor"]
cold = config["low_temperature"]["cold_threshold"]
very_cold = config["low_temperature"]["very_cold_threshold"]
interval = config["low_temperature"]["interval"]
while True:
try:
assert isinstance(self.ieb, IEB) and self.ieb.disabled is False
device = self.ieb.get_device(sensor)
temp = (await device.read())[0]
# Get the status without the temperature bits.
base_status = self.status & ~FPSStatus.TEMPERATURE_BITS
if temp <= very_cold:
if self.status & FPSStatus.TEMPERATURE_NORMAL:
await set_rpm(True)
await set_idle_power(True)
elif self.status & FPSStatus.TEMPERATURE_COLD:
await set_idle_power(True)
else:
pass
self.set_status(base_status
| FPSStatus.TEMPERATURE_VERY_COLD)
elif temp <= cold:
if self.status & FPSStatus.TEMPERATURE_NORMAL:
await set_rpm(True)
elif self.status & FPSStatus.TEMPERATURE_COLD:
pass
else:
await set_idle_power(False)
self.set_status(base_status | FPSStatus.TEMPERATURE_COLD)
else:
if self.status & FPSStatus.TEMPERATURE_NORMAL:
pass
elif self.status & FPSStatus.TEMPERATURE_COLD:
await set_rpm(False)
else:
await set_rpm(False)
await set_idle_power(False)
self.set_status(base_status | FPSStatus.TEMPERATURE_NORMAL)
except BaseException as err:
log.warning(
f"Cannot read device {sensor!r}. "
f"Low-temperature tracking temporarily disabled: {err}", )
base_status = self.status & ~FPSStatus.TEMPERATURE_BITS
self.set_status(base_status | FPSStatus.TEMPERATURE_UNKNOWN)
finally:
await asyncio.sleep(interval)
async def apply_correction(
self,
offsets: Optional[pandas.DataFrame] = None,
): # pragma: no cover
"""Applies the offsets. Fails if the trajectory is collided or deadlock."""
if self.fps.locked:
raise FVCError("The FPS is locked. Cannot apply corrections.")
self.log("Preparing correction trajectory.")
if self.offsets is None and offsets is None:
raise FVCError(
"Offsets not set or passed. Cannot apply correction.")
if offsets is None:
offsets = self.offsets
assert offsets is not None
await self.fps.update_position()
target_distance = config["fvc"]["target_distance"]
# Setup robot grid.
grid = get_robot_grid(self.fps)
for robot in grid.robotDict.values():
if robot.isOffline:
continue
positioner = self.fps[robot.id]
robot.setAlphaBeta(positioner.alpha, positioner.beta)
robot.setDestinationAlphaBeta(positioner.alpha, positioner.beta)
if offsets.loc[robot.id].transformation_valid == 0:
continue
new = offsets.loc[robot.id, ["alpha_new", "beta_new"]]
dist = offsets.loc[robot.id,
["xwok_distance", "ywok_distance"]] * 1000.0
if numpy.hypot(dist.xwok_distance,
dist.ywok_distance) > target_distance:
robot.setDestinationAlphaBeta(new.alpha_new, new.beta_new)
else:
robot.isOffline = True
# Check for collisions. If robots are collided just leave them there.
collided = grid.getCollidedRobotList()
n_coll = len(collided)
if n_coll > 0:
for pid in collided:
positioner = self.fps[pid]
alpha = positioner.alpha
beta = positioner.beta
grid.robotDict[pid].setAlphaBeta(alpha, beta)
grid.robotDict[pid].setDestinationAlphaBeta(alpha, beta)
# Generate trajectories.
(to_destination, _, did_fail,
deadlocks) = await get_path_pair_in_executor(
grid,
ignore_did_fail=True,
stop_if_deadlock=True,
ignore_initial_collisions=True,
)
if did_fail:
log.warning(
f"Found {len(deadlocks)} deadlocks but applying correction anyway."
)
self.log("Sending correction trajectory.")
try:
await self.fps.send_trajectory(to_destination,
command=self.command)
except TrajectoryError as err:
raise FVCError(
f"Failed executing the correction trajectory: {err}")
self.correction_applied = True
self.log("Correction applied.")
async def calibrate_positioner(
fps, positioner_id, motors=True, datums=True, cogging=True
):
"""Runs the calibration process and saves it to the internal memory.
Parameters
----------
fps : .FPS
The instance of `.FPS` that will receive the trajectory.
positioner_id : int
The ID of the positioner to calibrate.
motors : bool
Whether to perform the motor calibration.
datums : bool
Whether to perform the datums calibration.
cogging : bool
Whether to perform the cogging calibration (may take more
than one hour).
Raises
------
JaegerError
If encounters a problem during the process.
Examples
--------
::
>>> fps = FPS()
>>> await fps.initialise()
# Calibrate positioner 31.
>>> await calibrate_positioner(fps, 31)
"""
log.info(f"Calibrating positioner {positioner_id}.")
if positioner_id not in fps.positioners:
raise JaegerError(f"Positioner {positioner_id} not found.")
positioner = fps[positioner_id]
if fps.pollers.running:
log.debug("Stopping pollers")
await fps.pollers.stop()
if motors:
log.info("Starting motor calibration.")
cmd = await fps.send_command(
CommandID.START_MOTOR_CALIBRATION,
positioner_ids=positioner_id,
)
if cmd.status.failed:
raise JaegerError("Motor calibration failed.")
await asyncio.sleep(1)
await positioner.wait_for_status(
[
PS.DISPLACEMENT_COMPLETED,
PS.MOTOR_ALPHA_CALIBRATED,
PS.MOTOR_BETA_CALIBRATED,
]
)
else:
log.warning("Skipping motor calibration.")
if datums:
log.info("Starting datum calibration.")
cmd = await fps.send_command(
CommandID.START_DATUM_CALIBRATION,
positioner_ids=positioner_id,
)
if cmd.status.failed:
raise JaegerError("Datum calibration failed.")
await asyncio.sleep(1)
await positioner.wait_for_status(
[
PS.DISPLACEMENT_COMPLETED,
PS.DATUM_ALPHA_CALIBRATED,
PS.DATUM_BETA_CALIBRATED,
]
)
else:
log.warning("Skipping datum calibration.")
if cogging:
log.info("Starting cogging calibration.")
cmd = await fps.send_command(
CommandID.START_COGGING_CALIBRATION,
positioner_ids=positioner_id,
)
if cmd.status.failed:
raise JaegerError("Cogging calibration failed.")
await asyncio.sleep(1)
await positioner.wait_for_status(
[PS.COGGING_ALPHA_CALIBRATED, PS.COGGING_BETA_CALIBRATED]
)
else:
log.warning("Skipping cogging calibration.")
if motors or datums or cogging:
log.info("Saving calibration.")
cmd = await fps.send_command(
CommandID.SAVE_INTERNAL_CALIBRATION,
positioner_ids=positioner_id,
)
if cmd.status.failed:
raise JaegerError("Saving calibration failed.")
log.info(f"Positioner {positioner_id} has been calibrated.")
return
async def create_random_configuration(
fps: FPS,
seed: int | None = None,
safe=True,
uniform: tuple[float, ...] | None = None,
collision_buffer: float | None = None,
max_deadlocks: int = 6,
deadlock_retries: int = 5,
**kwargs,
):
"""Creates a random configuration using Kaiju."""
from jaeger.target.configuration import ManualConfiguration
seed = seed or numpy.random.randint(0, 1000000)
numpy.random.seed(seed)
robot_grid = get_robot_grid(fps,
seed=seed,
collision_buffer=collision_buffer)
alphaL, betaL = config["kaiju"]["lattice_position"]
# We use Kaiju for convenience in the non-safe mode.
for robot in robot_grid.robotDict.values():
if robot.isOffline:
continue
if uniform is not None:
alpha0, alpha1, beta0, beta1 = uniform
robot.setAlphaBeta(
numpy.random.uniform(alpha0, alpha1),
numpy.random.uniform(beta0, beta1),
)
else:
if safe:
safe_mode = config["safe_mode"]
if safe_mode is False:
safe_mode = {"min_beta": 165, "max_beta": 175}
robot.setAlphaBeta(
numpy.random.uniform(0, 359.9),
numpy.random.uniform(
safe_mode["min_beta"],
175.0,
),
)
else:
robot.setXYUniform()
robot.setDestinationAlphaBeta(alphaL, betaL)
# Confirm that the configuration is valid. This should only matter
# for full range random configurations.
try:
robot_grid, _ = await decollide_in_executor(robot_grid, simple=True)
grid_data = {
robot.id: (robot.alpha, robot.beta)
for robot in robot_grid.robotDict.values()
}
except JaegerError:
raise JaegerError(
"Decollision failed. Cannot create random configuration.")
_, _, did_fail, deadlocks = await get_path_pair_in_executor(robot_grid)
# If too many deadlocks, just try a new seed.
n_deadlock = len(deadlocks)
if did_fail and n_deadlock > max_deadlocks:
log.warning("Too many deadlocked robots. Trying new seed.")
return await create_random_configuration(
fps,
safe=safe,
uniform=uniform,
collision_buffer=collision_buffer,
deadlock_retries=deadlock_retries,
)
if did_fail and n_deadlock > 0:
# Now the fun part, if there are only a few deadlocks, try assigning them
# a random position.
log.warning(f"Found {n_deadlock} deadlocked robots. Trying to unlock.")
for nn in range(1, deadlock_retries + 1):
log.info(f"Retry {nn} out of {deadlock_retries}.")
to_replace_robot = numpy.random.choice(deadlocks)
robot_grid = get_robot_grid(
fps,
seed=seed + 1,
collision_buffer=collision_buffer,
)
for robot in robot_grid.robotDict.values():
if robot.isOffline:
continue
if robot.id == to_replace_robot:
robot.setXYUniform()
else:
robot.setAlphaBeta(*grid_data[robot.id])
try:
robot_grid, _ = await decollide_in_executor(robot_grid,
simple=True)
grid_data = {
robot.id: (robot.alpha, robot.beta)
for robot in robot_grid.robotDict.values()
}
except JaegerError:
raise JaegerError(
"Decollision failed. Cannot create random configuration.")
_, _, did_fail, deadlocks = await get_path_pair_in_executor(
robot_grid)
if did_fail is False:
log.info("Random configuration has been unlocked.")
break
else:
log.info(f"{len(deadlocks)} deadlocks remaining.")
if nn == deadlock_retries:
log.warning("Failed unlocking. Trying new seed.")
return await create_random_configuration(
fps,
seed=seed + 1,
safe=safe,
uniform=uniform,
collision_buffer=collision_buffer,
deadlock_retries=deadlock_retries,
)
pT = calibration.positionerTable.copy().reset_index()
# Build an assignment dictionary.
data = {}
for pid in grid_data:
holeID = pT.loc[pT.positionerID == pid].holeID.values[0]
data[holeID] = {
"alpha": grid_data[pid][0],
"beta": grid_data[pid][1],
"fibre_type": "Metrology",
}
return ManualConfiguration(data, **kwargs)
