def move(comp_name, moves, check_distance=True, to_radians=False):
"""
move (relatively) the axis of the given component by the specified amount of µm
comp_name (str): name of the component
moves (dict str -> str): axis -> distance (as text, and in µm for distances)
check_distance (bool): if the axis is in meters, check that the move is not
too big.
to_radians (bool): will convert from degrees to radians if the axis is in radians,
otherwise will fail
"""
# for safety reason, we use µm instead of meters, as it's harder to type a
# huge distance
component = get_component(comp_name)
act_mv = {} # axis -> value
for axis_name, str_distance in moves.items():
try:
if axis_name not in component.axes:
raise ValueError("Actuator %s has no axis '%s'" % (comp_name, axis_name))
ad = component.axes[axis_name]
except (TypeError, AttributeError):
raise ValueError("Component %s is not an actuator" % comp_name)
if ad.unit == "m":
try:
# Use convert_to_object() to allow typing negative values with e:
# -1e-6 => '!!float -1.0e-6'. It's not very nice, but does work.
distance = float(convert_to_object(str_distance)) * 1e-6 # µm -> m
except ValueError:
raise ValueError("Distance '%s' cannot be converted to a number" %
str_distance)
if check_distance and abs(distance) > MAX_DISTANCE:
raise IOError("Distance of %f m is too big (> %f m), use '--big-distance' to allow the move." %
(abs(distance), MAX_DISTANCE))
else:
distance = convert_to_object(str_distance)
if to_radians:
if ad.unit == "rad":
distance = math.radians(distance)
else:
raise ValueError("Axis %s is in %s, doesn't support value in degrees" % (axis_name, ad.unit))
act_mv[axis_name] = distance
logging.info(u"Will move %s.%s by %s", comp_name, axis_name,
units.readable_str(distance, ad.unit, sig=3))
try:
m = component.moveRel(act_mv)
try:
m.result(120)
except KeyboardInterrupt:
logging.warning("Cancelling relative move of component %s", comp_name)
m.cancel()
raise
except Exception as exc:
raise IOError("Failed to move component %s by %s: %s" %
(comp_name, act_mv, exc))
def move(comp_name, moves, check_distance=True):
"""
move (relatively) the axis of the given component by the specified amount of µm
comp_name (str): name of the component
check_distance (bool): if the axis is in meters, check that the move is not
too big.
moves (dict str -> str): axis -> distance (as text, and in µm for distances)
"""
# for safety reason, we use µm instead of meters, as it's harder to type a
# huge distance
component = get_component(comp_name)
act_mv = {} # axis -> value
for axis_name, str_distance in moves.items():
try:
if axis_name not in component.axes:
raise ValueError("Actuator %s has no axis '%s'" % (comp_name, axis_name))
ad = component.axes[axis_name]
except (TypeError, AttributeError):
raise ValueError("Component %s is not an actuator" % comp_name)
if ad.unit == "m":
try:
# Use convert_to_object() to allow typing negative values with e:
# -1e-6 => '!!float -1.0e-6'. It's not very nice, but does work.
distance = float(convert_to_object(str_distance)) * 1e-6 # µm -> m
except ValueError:
raise ValueError("Distance '%s' cannot be converted to a number" %
str_distance)
if check_distance and abs(distance) > MAX_DISTANCE:
raise IOError("Distance of %f m is too big (> %f m), use '--big-distance' to allow the move." %
(abs(distance), MAX_DISTANCE))
else:
distance = convert_to_object(str_distance)
act_mv[axis_name] = distance
logging.info(u"Will move %s.%s by %s", comp_name, axis_name,
units.readable_str(distance, ad.unit, sig=3))
try:
m = component.moveRel(act_mv)
try:
m.result(120)
except KeyboardInterrupt:
logging.warning("Cancelling relative move of component %s", comp_name)
m.cancel()
raise
except Exception as exc:
raise IOError("Failed to move component %s by %s: %s" %
(comp_name, act_mv, exc))
def test_convertToObject_good(self):
"""
check various inputs and compare to expected output
for values that should work
"""
# example value / input str / expected output
tc = [("-1561", -1561),
("0.123", 0.123),
("true", True),
("c: 6,d: 1.3", {"c": 6., "d":1.3}),
("-9, -8", [-9, -8]),
(" 9, -8", [9, -8]),
("0, -8, -15.e-3, 6.", [0, -8, -15e-3, 6.0]),
("0.1", 0.1),
("[aa,bb]", ["aa", "bb"]),
# TODO: more complicated but nice to support for the user
# ("256 x 256 px", (256, 256)),
# ("21 x 0.2 m", (21, 0.2)),
("", None),
("{5: }", {5: None}), # Should it fail?
("-1, 63, 12", [-1, 63, 12]), # NotifyingList becomes a list
("9.3, -8", [9.3, -8]),
# Note: we don't support SI prefixes
("[aa, c a]", ["aa", "c a"]),
]
for str_val, expo in tc:
out = convert_to_object(str_val)
self.assertEqual(out, expo,
"Testing with '%s' -> %s" % (str_val, out))
def update_metadata(comp_name, key_val_str):
"""
update the metadata of the given component with the given key/value
key_val_str (dict str->str): key name -> value as a string
"""
component = get_component(comp_name)
md = {}
for key_name, str_val in key_val_str.items():
# Check that the metadata is a valid one. It's a bit tricky as there is no
# "official" list. But we look at the ones defined in model.MD_*
for n, v in inspect_getmembers(model, lambda m: isinstance(m, str)):
if n.startswith("MD_") and v == key_name:
key = key_name
break
else:
# fallback to looking for MD_{key_name}
try:
key = getattr(model, "MD_%s" % key_name)
except AttributeError:
raise ValueError("Metadata key '%s' is unknown" % key_name)
md[key] = convert_to_object(str_val)
try:
component.updateMetadata(md)
except Exception as exc:
raise IOError("Failed to update metadata of %s to %s: %s" %
(comp_name, md, exc))
def update_metadata(comp_name, key_val_str):
"""
update the metadata of the given component with the given key/value
key_val_str (dict str->str): key name -> value as a string
"""
component = get_component(comp_name)
md = {}
for key_name, str_val in key_val_str.items():
# Check that the metadata is a valid one. It's a bit tricky as there is no
# "official" list. But we look at the ones defined in model.MD_*
for n, v in inspect.getmembers(model, lambda m: isinstance(m, str)):
if n.startswith("MD_") and v == key_name:
key = key_name
break
else:
# fallback to looking for MD_{key_name}
try:
key = getattr(model, "MD_%s" % key_name)
except AttributeError:
raise ValueError("Metadata key '%s' is unknown" % key_name)
md[key] = convert_to_object(str_val)
try:
component.updateMetadata(md)
except Exception as exc:
raise IOError("Failed to update metadata of %s to %s: %s" %
(comp_name, md, exc))
def set_attr(comp_name, attr_val_str):
"""
set the value of vigilant attribute of the given component.
attr_val_str (dict str->str): attribute name -> value as a string
"""
component = get_component(comp_name)
for attr_name, str_val in attr_val_str.items():
try:
attr = getattr(component, attr_name)
except Exception:
raise ValueError("Failed to find attribute '%s' on component '%s'" % (attr_name, comp_name))
if not isinstance(attr, model.VigilantAttributeBase):
raise ValueError("'%s' is not a vigilant attribute of component %s" % (attr_name, comp_name))
new_val = convert_to_object(str_val)
# Special case for floats, due to rounding error, it's very hard to put the
# exact value if it's an enumerated VA. So just pick the closest one in this
# case.
if isinstance(new_val, float) and (
hasattr(attr, "choices") and isinstance(attr.choices, collections.Iterable)):
orig_val = new_val
new_val = util.find_closest(new_val, attr.choices)
if new_val != orig_val:
logging.debug("Adjusting value to %s", new_val)
try:
attr.value = new_val
except Exception as exc:
raise IOError("Failed to set %s.%s = '%s': %s" % (comp_name, attr_name, str_val, exc))
def test_convertToObject_bad(self):
"""
check various inputs and compare to expected output
for values that should raise an exception
"""
# example value / input str
tc = [("{5:"),
("[5.3"),
# ("5,6]"), # TODO
]
for str_val in tc:
with self.assertRaises((ValueError, TypeError)):
out = convert_to_object(str_val)
def test_convertToObject_bad(self):
"""
check various inputs and compare to expected output
for values that should raise an exception
"""
# example value / input str
tc = [
"{5:",
"[5.3",
# ("5,6]"), # TODO
]
for str_val in tc:
with self.assertRaises((ValueError, TypeError)):
out = convert_to_object(str_val)
def set_attr(comp_name, attr_val_str):
"""
set the value of vigilant attribute of the given component.
attr_val_str (dict str->str): attribute name -> value as a string
"""
component = get_component(comp_name)
for attr_name, str_val in attr_val_str.items():
try:
attr = getattr(component, attr_name)
except Exception:
raise ValueError(
"Failed to find attribute '%s' on component '%s'" %
(attr_name, comp_name))
if not isinstance(attr, model.VigilantAttributeBase):
raise ValueError(
"'%s' is not a vigilant attribute of component %s" %
(attr_name, comp_name))
new_val = convert_to_object(str_val)
# Special case for floats, due to rounding error, it's very hard to put the
# exact value if it's an enumerated VA. So just pick the closest one in this
# case.
if (isinstance(new_val, float) and hasattr(attr, "choices")
and isinstance(attr.choices, collections.Iterable)):
orig_val = new_val
choices = [
v for v in attr.choices if isinstance(v, numbers.Number)
]
new_val = util.find_closest(new_val, choices)
if new_val != orig_val:
logging.debug("Adjusting value to %s", new_val)
# Special case for None being referred to as "null" in YAML, but we should
# also accept "None"
elif new_val == "None" and not isinstance(attr.value, basestring):
new_val = None
logging.debug("Adjusting value to %s (null)", new_val)
try:
attr.value = new_val
except Exception as exc:
raise IOError("Failed to set %s.%s = '%s': %s" %
(comp_name, attr_name, str_val, exc))
def test_convertToObject_good(self):
"""
check various inputs and compare to expected output
for values that should work
"""
# example value / input str / expected output
tc = [
("-1561", -1561),
("0.123", 0.123),
("true", True),
("c: 6,d: 1.3", {
"c": 6.,
"d": 1.3
}),
("-9, -8", [-9, -8]),
(" 9, -8", [9, -8]),
("0, -8, -15.e-3, 6.", [0, -8, -15e-3, 6.0]),
("0.1", 0.1),
("[aa,bb]", ["aa", "bb"]),
# TODO: more complicated but nice to support for the user
# ("256 x 256 px", (256, 256)),
# ("21 x 0.2 m", (21, 0.2)),
("", None),
("{5: }", {
5: None
}), # Should it fail?
("-1, 63, 12", [-1, 63, 12]), # NotifyingList becomes a list
("9.3, -8", [9.3, -8]),
# Note: we don't support SI prefixes
("[aa, c a]", ["aa", "c a"]),
]
for str_val, expo in tc:
out = convert_to_object(str_val)
self.assertEqual(out, expo,
"Testing with '%s' -> %s" % (str_val, out))
def move_abs(comp_name, moves, check_distance=True):
"""
move (in absolute) the axis of the given component to the specified position
comp_name (str): name of the component
check_distance (bool): if the axis is in meters, check that the move is not
too big.
moves (dict str -> str): axis -> position (as text)
"""
component = get_component(comp_name)
act_mv = {} # axis -> value
for axis_name, str_position in moves.items():
try:
if axis_name not in component.axes:
raise ValueError("Actuator %s has no axis '%s'" % (comp_name, axis_name))
ad = component.axes[axis_name]
except (TypeError, AttributeError):
raise ValueError("Component %s is not an actuator" % comp_name)
# Allow the user to indicate the position via the user-friendly choice entry
position = None
if hasattr(ad, "choices") and isinstance(ad.choices, dict):
for key, value in ad.choices.items():
if value == str_position:
logging.info("Converting '%s' into %s", str_position, key)
position = key
# Even if it's a big distance, we don't complain as it's likely
# that all choices are safe
break
if position is None:
if ad.unit == "m":
try:
position = float(convert_to_object(str_position))
except ValueError:
raise ValueError("Position '%s' cannot be converted to a number" % str_position)
# compare to the current position, to see if the new position sounds reasonable
cur_pos = component.position.value[axis_name]
if check_distance and abs(cur_pos - position) > MAX_DISTANCE:
raise IOError("Distance of %f m is too big (> %f m), use '--big-distance' to allow the move." %
(abs(cur_pos - position), MAX_DISTANCE))
else:
position = convert_to_object(str_position)
# If only a couple of positions are possible, and asking for a float,
# avoid the rounding error by looking for the closest possible
if (isinstance(position, numbers.Real) and
hasattr(ad, "choices") and
isinstance(ad.choices, collections.Iterable) and
position not in ad.choices):
closest = util.find_closest(position, ad.choices)
if util.almost_equal(closest, position, rtol=1e-3):
logging.debug("Adjusting value %.15g to %.15g", position, closest)
position = closest
act_mv[axis_name] = position
if isinstance(position, numbers.Real):
pos_pretty = units.readable_str(position, ad.unit, sig=3)
else:
pos_pretty = "%s" % (position,)
logging.info(u"Will move %s.%s to %s", comp_name, axis_name, pos_pretty)
try:
m = component.moveAbs(act_mv)
try:
m.result(120)
except KeyboardInterrupt:
logging.warning("Cancelling absolute move of component %s", comp_name)
m.cancel()
raise
except Exception as exc:
raise IOError("Failed to move component %s to %s: %s" %
(comp_name, act_mv, exc))
def move_abs(comp_name, moves, check_distance=True):
"""
move (in absolute) the axis of the given component to the specified position
comp_name (str): name of the component
check_distance (bool): if the axis is in meters, check that the move is not
too big.
moves (dict str -> str): axis -> position (as text)
"""
component = get_component(comp_name)
act_mv = {} # axis -> value
for axis_name, str_position in moves.items():
try:
if axis_name not in component.axes:
raise ValueError("Actuator %s has no axis '%s'" % (comp_name, axis_name))
ad = component.axes[axis_name]
except (TypeError, AttributeError):
raise ValueError("Component %s is not an actuator" % comp_name)
# Allow the user to indicate the position via the user-friendly choice entry
position = None
if (hasattr(ad, "choices") and isinstance(ad.choices, dict)):
for key, value in ad.choices.items():
if value == str_position:
logging.info("Converting '%s' into %s", str_position, key)
position = key
# Even if it's a big distance, we don't complain as it's likely
# that all choices are safe
break
if position is None:
if ad.unit == "m":
try:
position = float(str_position)
except ValueError:
raise ValueError("Position '%s' cannot be converted to a number" % str_position)
# compare to the current position, to see if the new position sounds reasonable
cur_pos = component.position.value[axis_name]
if check_distance and abs(cur_pos - position) > MAX_DISTANCE:
raise IOError("Distance of %f m is too big (> %f m), use '--big-distance' to allow the move." %
(abs(cur_pos - position), MAX_DISTANCE))
else:
position = convert_to_object(str_position)
# If only a couple of positions are possible, and asking for a float,
# avoid the rounding error by looking for the closest possible
if (isinstance(position, numbers.Real) and
hasattr(ad, "choices") and
isinstance(ad.choices, collections.Iterable) and
position not in ad.choices):
closest = util.find_closest(position, ad.choices)
if util.almost_equal(closest, position, rtol=1e-3):
logging.debug("Adjusting value %.15g to %.15g", position, closest)
position = closest
act_mv[axis_name] = position
logging.info(u"Will move %s.%s to %s", comp_name, axis_name,
units.readable_str(position, ad.unit, sig=3))
try:
m = component.moveAbs(act_mv)
try:
m.result(120)
except KeyboardInterrupt:
logging.warning("Cancelling absolute move of component %s", comp_name)
m.cancel()
raise
except Exception as exc:
raise IOError("Failed to move component %s to %s: %s" %
(comp_name, act_mv, exc))
