def linacts_start(self, devid, value=None):
log.debug("Axis %d start" % devid)
def fxn():
self.status.linact_stats[devid].clearInPosition()
self.status.linact_stats[devid].setMoving()
while not (self.status.LinearActuators[devid]['position'] == self.status.LinearActuators[devid]['requested_position']):
print 'linacts_start() running: pos = ' + str(self.status.LinearActuators[devid]['position']) #debug
# If our error less than 5mm set them equal
if abs(self.status.LinearActuators[devid]['position'] - self.status.LinearActuators[devid]['requested_position']) < 500 :
self.status.LinearActuators[devid]['position'] = self.status.LinearActuators[devid]['requested_position']
break;
# If position is greater than req position deincrement
if (self.status.LinearActuators[devid]['position'] > self.status.LinearActuators[devid]['requested_position']):
step = -100
# Else increment
else:
step = 100
self.status.LinearActuators[devid]['position'] += step
time.sleep(0.01)
self.status.linact_stats[devid].clearMoving()
self.status.linact_stats[devid].setInPosition()
#Timer(0.5, fxn).start()
time.sleep(0.5) #added
fxn()#added
def run_callback(self, cmdpkt):
"""
When a command comes in from the user/host
this fxn is used to properly parse
the packet and execute the proper callback
"""
log.debug("Execute PKT: %s",repr(cmdpkt))
# Determine callback to exectue
cmdfxn, dev_id, param = self.parse_cmd(cmdpkt)
# Execute the callback
cmdfxn(dev_id, *param)
def run_callback(self, cmdpkt):
"""
When a command comes in from the user/host
this fxn is used to properly parse
the packet and execute the proper callback
"""
log.debug("Execute PKT: %s",repr(cmdpkt))
# Determine callback to exectue
cmdfxn, dev_id, param = self.parse_cmd(cmdpkt)
# Execute the callback
cmdfxn(dev_id, *param)
def __init__(self, *args, **kwargs):
log.debug("Creating a controlbox simulator")
self.hwsim = hwsim
self.out_buffer = StringIO("CBOX")
self.dacval0 = 0
self.dacval1 = 0
self.adcval0 = 0
self.adcval1 = 0
self.cbs = dict()
self.cbs['DAC'] = self.cb_dac
self.cbs['ADC'] = self.cb_adc
self.cbs['SSR'] = self.cb_ssr
def write(self, msg):
""" Write message to the control box simulator """
log.debug("CBOXSIM Command: %s" % msg)
params = msg.split('/')
cmd = params[1]
param = params[2]
param = param.split(" ")
if len(param) == 3:
param0 = param[1]
param1 = param[2]
params = (param0, param1)
elif len(param) == 2:
params = param[1]
else:
params = None
self.cbs[cmd](params)
def linacts_home_axis(self, devid, value=None):
""" Linear Actuator home axis """
log.debug("Home the linear actuator %d", devid)
self.status.LinearActuators[devid]['requested_position'] = 0 #Added 5/7/2014 by [email protected]
def fxn():
self.status.linact_stats[devid].clearHome()
self.status.linact_stats[devid].setMoving()
time.sleep(1.0)
while not self.status.LinearActuators[devid]['position'] <= 0:
self.status.LinearActuators[devid]['position'] -= 10
if self.status.LinearActuators[devid]['position'] < 0:
self.status.LinearActuators[devid]['position'] = 0
time.sleep(0.1)
self.status.linact_stats[devid].clear()
#Timer(0.5, fxn).start() #taken out 5/8/2014 by [email protected]
time.sleep(0.5) #added
fxn()#added
def parse_cmd(self, cmd_pkt):
"""
Parse the cmd sent from the host
Expect little endian
-first integer is the cmd_id
-second integer is the device_id
You can think of this as a 2 integer
long register we are writing too
- the parameter type is variable,
so we look it up and get the callback fxn that will change
the proper state variable (or start a thread that will simulate
some HW change)
"""
# Create struct for unpacking the cmd_id and dev_id
cmd_id_struct = struct.Struct("<ii")
# Length of the packet
len_cmd_id = cmd_id_struct.size
# Extract cmd_id and dev_id
cmd_id, dev_id = cmd_id_struct.unpack(cmd_pkt[:len_cmd_id])
log.debug("CMDID:#%d|DEVID:#%d", cmd_id, dev_id)
# Look up callback and parameter type
cb, param_fmt_str = self.cb_map[cmd_id]
# Create struct to unpack the parameter
param_struct = struct.Struct(param_fmt_str)
# Unpack paramter depending on expected type
param = param_struct.unpack(cmd_pkt[len_cmd_id:])
log.debug("PARAM:%s", param)
# Return the cb fxn, the dev_id and the param
# Something else can pass the dev_id and param in to callback
# This simulates some HW action as a result of a user/host command
return (cb, dev_id, param)
def parse_cmd(self, cmd_pkt):
"""
Parse the cmd sent from the host
Expect little endian
-first integer is the cmd_id
-second integer is the device_id
You can think of this as a 2 integer
long register we are writing too
- the parameter type is variable,
so we look it up and get the callback fxn that will change
the proper state variable (or start a thread that will simulate
some HW change)
"""
# Create struct for unpacking the cmd_id and dev_id
cmd_id_struct = struct.Struct("<ii")
# Length of the packet
len_cmd_id = cmd_id_struct.size
# Extract cmd_id and dev_id
cmd_id, dev_id = cmd_id_struct.unpack(cmd_pkt[:len_cmd_id])
log.debug("CMDID:#%d|DEVID:#%d", cmd_id, dev_id)
# Look up callback and parameter type
cb, param_fmt_str = self.cb_map[cmd_id]
# Create struct to unpack the parameter
param_struct = struct.Struct(param_fmt_str)
# Unpack paramter depending on expected type
param = param_struct.unpack(cmd_pkt[len_cmd_id:])
log.debug("PARAM:%s", param)
# Return the cb fxn, the dev_id and the param
# Something else can pass the dev_id and param in to callback
# This simulates some HW action as a result of a user/host command
return (cb, dev_id, param)
def cb_adc(self, param):
""" Callback for the ADC """
log.debug("ADC CB %s", param)
if param is None:
self.out_buffer = StringIO("ADC %X, %X\n"
% (self.adcval0, self.adcval0))
def fans_turn_off(self, devid, value=None):
""" Fans turn off """
log.debug("Turn off Fan %d", devid)
def linacts_home_axis(self, devid, value=None):
""" Linear Actuator home axis """
log.debug("Home the linear actuator %d", devid)
def tempctrl_turn_on(self, devid, value=None):
""" Turn temperature controller on """
log.debug("Turn on temperture controller %d", devid)
self.status.TemperatureControllers[devid]['error_code'] = '\x01'
def smcinterfaces_set_analog_out(self, devid, value):
""" SMC Interface set analog out """
log.debug(" SMC Interface %d set analog out = %f", devid, value)
def linacts_home_axis(self, devid, value=None):
""" Linear Actuator home axis """
log.debug("Home the linear actuator %d", devid)
def __init__(self):
""" The ElixysSimulator initializes its
status and then registers the callbacks to be executed
when the commands come in from the host/user
"""
self.stat = StatusSimulator()
self.cb_map = {}
log.debug("Initialize the ElixysSimulator, register callbacks")
# Setup Callbacks for Mixer commands
self.register_callback('Mixers',
'set_period',
self.mixers_set_period)
self.register_callback('Mixers',
'set_duty_cycle',
self.mixers_set_duty_cycle)
# Setup Callbacks for Valve commands
self.register_callback('Valves',
'set_state0',
self.valves_set_state0)
self.register_callback('Valves',
'set_state1',
self.valves_set_state1)
self.register_callback('Valves',
'set_state2',
self.valves_set_state2)
# Setup Callbacks for Temperature controllers
self.register_callback('TemperatureControllers',
'set_setpoint',
self.tempctrl_set_setpoint)
self.register_callback('TemperatureControllers',
'turn_on',
self.tempctrl_turn_on)
self.register_callback('TemperatureControllers',
'turn_off',
self.tempctrl_turn_off)
# Setup Callbacks for SMC Intrefaces
self.register_callback('SMCInterfaces',
'set_analog_out',
self.smcinterfaces_set_analog_out)
# Setup Callbacks for Fans
self.register_callback('Fans',
'turn_on',
self.fans_turn_on)
self.register_callback('Fans',
'turn_off',
self.fans_turn_off)
# Setup Callback for Linear Actuators
self.register_callback('LinearActuators',
'set_requested_position',
self.linacts_set_requested_position)
self.register_callback('LinearActuators',
'home_axis',
self.linacts_home_axis)
self.tempctrl_thread = thread.start_new_thread(self.run_tempctrls,())
def smcinterfaces_set_analog_out(self, devid, value):
""" SMC Interface set analog out """
log.debug(" SMC Interface %d set analog out = %f", devid, value)
def fans_turn_off(self, devid, value=None):
""" Fans turn off """
log.debug("Turn off Fan %d", devid)
def flushInput(self):
""" Flush in input buffer """
log.debug("Flush the controlbox simulator input buffer")
def __init__(self):
""" The ElixysSimulator initializes its
status and then registers the callbacks to be executed
when the commands come in from the host/user
"""
self.stat = StatusSimulator()
self.cb_map = {}
log.debug("Initialize the ElixysSimulator, register callbacks")
# Setup Callbacks for Mixer commands
self.register_callback('Mixers',
'set_period',
self.mixers_set_period)
self.register_callback('Mixers',
'set_duty_cycle',
self.mixers_set_duty_cycle)
# Setup Callbacks for Valve commands
self.register_callback('Valves',
'set_state0',
self.valves_set_state0)
self.register_callback('Valves',
'set_state1',
self.valves_set_state1)
self.register_callback('Valves',
'set_state2',
self.valves_set_state2)
# Setup Callbacks for Temperature controllers
self.register_callback('TemperatureControllers',
'set_setpoint',
self.tempctrl_set_setpoint)
self.register_callback('TemperatureControllers',
'turn_on',
self.tempctrl_turn_on)
self.register_callback('TemperatureControllers',
'turn_off',
self.tempctrl_turn_off)
# Setup Callbacks for SMC Intrefaces
self.register_callback('SMCInterfaces',
'set_analog_out',
self.smcinterfaces_set_analog_out)
# Setup Callbacks for Fans
self.register_callback('Fans',
'turn_on',
self.fans_turn_on)
self.register_callback('Fans',
'turn_off',
self.fans_turn_off)
# Setup Callback for Linear Actuators
self.register_callback('LinearActuators',
'set_requested_position',
self.linacts_set_requested_position)
self.register_callback('LinearActuators',
'home_axis',
self.linacts_home_axis)
self.tempctrl_thread = thread.start_new_thread(self.run_tempctrls,())
def open(self):
""" Open the control box simulator """
log.debug("Open the controlbox simulator")
def close(self):
""" Close the control box simulator """
log.debug("Close the control box simulator")
def mixers_set_period(self, devid, period):
""" Mixer set period callback """
log.debug("Set mixer %d period = %d", devid, period)
self.status.Mixers[devid]['period'] = period
def fans_turn_off(self, devid, value=None):
""" Fans turn off """
log.debug("Turn off Fan %d", devid)
state = self.status.Fans['state']
state &= ~(1 << devid)
self.status.Fans['state'] = state
def fans_turn_on(self, devid, value=None):
""" Fans turn on """
log.debug("Turn on Fan %d", devid)
state = self.status.Fans['state']
state |= 1 << devid
self.status.Fans['state'] = state
def fans_turn_on(self, devid, value=None):
""" Fans turn on """
log.debug("Turn on Fan %d", devid)
def cb_ssr(self, param):
""" Callback for the SSR """
log.debug("SSR CB %s", param)
def linacts_set_requested_position(self, devid, position):
""" Linear Actuator set requested position """
log.debug("Set the linear actuator %d requested position = %d",
devid, position)
def mixers_set_period(self, devid, period):
""" Mixer set period callback """
log.debug("Set mixer %d period = %d", devid, period)
def update_digital_inputs(self):
""" Evaluate the valve states and determine
expected digital input status
"""
# Check for Reactor 0 down (DI 0)
if ((self.stat['Valves']['state0'] & (1 << 6)) and
not(self.stat['Valves']['state1'] & (1 << 6))):
log.debug("Reactor 0 will go down. DI0=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 0)
Timer(2.0, fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 1)
# Check for Reactor 0 up (DI 1)
if ((self.stat['Valves']['state1'] & (1 << 6)) and
not(self.stat['Valves']['state0'] & (1 << 6))):
log.debug("Reactor 0 will go up. DI1=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 1)
Timer(2.0,fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 0)
# Check for Reactor 1 down (DI 3)
if ((self.stat['Valves']['state0'] & (1 << 5)) and
not(self.stat['Valves']['state1'] & (1 << 5))):
log.debug("Reactor 1 will go down. DI3=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 3)
Timer(2.0, fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 2)
# Check for Reactor 1 up (DI 2)
if ((self.stat['Valves']['state1'] & (1 << 5)) and
not(self.stat['Valves']['state0'] & (1 << 5))):
log.debug("Reactor 1 will go up. DI2=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 2)
Timer(2.0,fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 3)
# Check for Reactor 2 down (DI 5)
if ((self.stat['Valves']['state0'] & (1 << 4)) and
not(self.stat['Valves']['state1'] & (1 << 4))):
log.debug("Reactor 1 will go down. DI3=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 5)
Timer(2.0, fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 4)
# Check for Reactor 2 up (DI 4)
if ((self.stat['Valves']['state1'] & (1 << 4)) and
not(self.stat['Valves']['state0'] & (1 << 4))):
log.debug("Reactor 1 will go up. DI2=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 4)
Timer(2.0,fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 5)
# Check for Gripper up (DI 6)
if ((self.stat['Valves']['state0'] & (1 << 10)) and
not(self.stat['Valves']['state1'] & (1 << 10))):
log.debug("Gripper will go up. DI6=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 6)
Timer(1.0,fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 7)
# Check for Gripper lower (DI 7)
if ((self.stat['Valves']['state1'] & (1 << 10)) and
not(self.stat['Valves']['state0'] & (1 << 10))):
log.debug("Gripper will go down. DI7=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 7)
Timer(1.0,fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 6)
# Check for GasTransfer up (DI 9)
if ((self.stat['Valves']['state1'] & (1 << 9)) and
not(self.stat['Valves']['state0'] & (1 << 9))):
log.debug("GasTransfer will go up. DI9=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 9)
Timer(1.0,fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 8)
# Check for GasTransfer lower (DI 8)
if ((self.stat['Valves']['state0'] & (1 << 9)) and
not(self.stat['Valves']['state1'] & (1 << 9))):
log.debug("GasTransfer will go down. DI9=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 8)
Timer(1.0,fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 9)
# Check for Gripper Open (DI 10)
if ((self.stat['Valves']['state1'] & (1 << 8)) and
not(self.stat['Valves']['state0'] & (1 << 8))):
log.debug("Gripper will open. DI10=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 10)
Timer(0.2, fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 11)
# Check for Gripper Close (DI 11)
if ((self.stat['Valves']['state0'] & (1 << 8)) and
not(self.stat['Valves']['state1'] & (1 << 8))):
log.debug("Gripper will close. DI11=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 11)
Timer(0.2, fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 10)
def valves_set_state1(self, devid, state):
""" Set valve state1 """
log.debug("Set valve state1 = %s", bin(state))
self.stat.Valves['state1'] = state
self.update_digital_inputs()
def tempctrl_set_setpoint(self, devid, value):
""" Set temperature controller setpoint """
log.debug("Set temperature controller %d setpoint = %f",
devid, value)
self.stat.TemperatureControllers[devid]['setpoint'] = value
def mixers_set_duty_cycle(self, devid, duty):
""" Mixer set the duty cycle """
log.debug("Set mixer %d duty cycle = %f", devid, duty)
self.status.Mixers[devid]['duty_cycle'] = duty
def __init__(self, *args, **kwargs):
"""
Initialize the status with values we would expect when
the HW first turns on
"""
super(StatusSimulator, self).__init__(self, *args, **kwargs)
log.debug("Initialize The StatusSimulator")
self.is_valid = True
log.debug("Set the initial state of the system")
# Initialize Header
self.store['Header'] = {}
self.store['Header']['packet_id'] = 0
self.store['Header']['packet_type'] = 63
self.store['Header']['system_error_code'] = 0
# Initialize Mixers
mixers = []
self.store['Mixers'] = {}
for i in range(self.sysconf['Mixers']['count']):
mixer = {'duty_cycle':0.0, 'period': 0}
self.store['Mixers'][i] = mixer
mixers.append(mixer)
self.store['Mixers']['Subs'] = mixers
self.store['Mixers']['count'] = \
self.sysconf['Mixers']['count']
self.store['Mixers']['error_code'] = '\x00'
self.store
# Initialize Valves
self.store['Valves'] = {}
self.store['Valves']['error_code'] = '\x00'
self.store['Valves']['state0'] = 0
self.store['Valves']['state1'] = 0
self.store['Valves']['state2'] = 0
# Initialize Thermocouples
thermocouples = []
self.store['Thermocouples'] = {}
for i in range(self.sysconf['Thermocouples']['count']):
thermocouple = {'error_code': '\x00',
'temperature':25.0}
self.store['Thermocouples'][i] = thermocouple
thermocouples.append(thermocouple)
self.store['Thermocouples']['Subs'] = thermocouples
self.store['Thermocouples']['count'] = \
self.sysconf['Thermocouples']['count']
# Initialize AUX Thermocouples
auxthermocouples = []
self.store['AuxThermocouples'] = {}
for i in range(self.sysconf['AuxThermocouples']['count']):
auxthermocouple = {'error_code': '\x00',
'temperature':25.0}
self.store['AuxThermocouples'][i] = auxthermocouple
auxthermocouples.append(auxthermocouple)
self.store['AuxThermocouples']['Subs'] = auxthermocouples
self.store['AuxThermocouples']['count'] = \
self.sysconf['AuxThermocouples']['count']
# Initialize heaters
self['Heaters'] = {'state':0}
# Initialize Temperature Controllers
tempctrls = []
self.store['TemperatureControllers'] = {}
for i in range(self.sysconf['TemperatureControllers']['count']):
tempctrl = {'error_code':'\x00', 'setpoint':0.0}
self.store['TemperatureControllers'][i] = tempctrl
tempctrls.append(tempctrl)
self.store['TemperatureControllers']['error_code'] = 0
self.store['TemperatureControllers']['Subs'] = tempctrls
self.store['TemperatureControllers']['count'] = \
self.sysconf['TemperatureControllers']['count']
# Initialize SMC Interfaces
smcinterfaces = []
self.store['SMCInterfaces'] = {}
for i in range(self.sysconf['SMCInterfaces']['count']):
smcinterface = {'analog_in':0.0,
'analog_out':0.0}
self.store['SMCInterfaces'][i] = smcinterface
smcinterfaces.append(smcinterface)
self.store['SMCInterfaces']['Subs'] = smcinterfaces
self.store['SMCInterfaces']['count'] = \
self.sysconf['SMCInterfaces']['count']
self.store['SMCInterfaces']['error_code'] = '\x00'
# Initialize Fans
self.store['Fans'] = {}
self.store['Fans']['state'] = '\x01'
# Initialize Linear Actuators
linacts = []
self['LinearActuators'] = dict()
for i in range(self.sysconf['LinearActuators']['count']):
linact = {'error_code': 0,
'position': 0,
'requested_position':0}
self.store['LinearActuators'][i] = linact
linacts.append(linact)
self['LinearActuators']['Subs'] = linacts
self['LinearActuators']['count'] = \
self.sysconf['LinearActuators']['count']
# Initialize Digital Inputs
self.store['DigitalInputs'] = {}
self.store['DigitalInputs']['error_code'] = '\x00'
self.store['DigitalInputs']['state'] = 4095
# Initialize Liquid Sensors
liqsensors = []
self.store['LiquidSensors'] = {}
for i in range(self.sysconf['LiquidSensors']['count']):
liqsensor = {'analog_in':0.0}
self.store['LiquidSensors'][i] = liqsensor
liqsensors.append(liqsensor)
self.store['LiquidSensors']['Subs'] = liqsensors
self.store['LiquidSensors']['count'] = \
self.sysconf['LiquidSensors']['count']
self.store['LiquidSensors']['error_code'] = '\x00'
for key,value in self.store.items():
setattr(self,key,value)
def __init__(self, *args, **kwargs):
"""
Initialize the status with values we would expect when
the HW first turns on
"""
super(StatusSimulator, self).__init__(self, *args, **kwargs)
log.debug("Initialize The StatusSimulator")
self.is_valid = True
log.debug("Set the initial state of the system")
# Initialize Header
self.store['Header'] = {}
self.store['Header']['packet_id'] = 0
self.store['Header']['packet_type'] = 63
self.store['Header']['system_error_code'] = 0
# Initialize Mixers
mixers = []
self.store['Mixers'] = {}
for i in range(self.sysconf['Mixers']['count']):
mixer = {'duty_cycle':0.0, 'period': 0}
self.store['Mixers'][i] = mixer
mixers.append(mixer)
self.store['Mixers']['Subs'] = mixers
self.store['Mixers']['count'] = \
self.sysconf['Mixers']['count']
self.store['Mixers']['error_code'] = '\x00'
self.store
# Initialize Valves
self.store['Valves'] = {}
self.store['Valves']['error_code'] = '\x00'
self.store['Valves']['state0'] = 0
self.store['Valves']['state1'] = 0
self.store['Valves']['state2'] = 0
# Initialize Thermocouples
thermocouples = []
self.store['Thermocouples'] = {}
for i in range(self.sysconf['Thermocouples']['count']):
thermocouple = {'error_code': '\x00',
'temperature':25.0}
self.store['Thermocouples'][i] = thermocouple
thermocouples.append(thermocouple)
self.store['Thermocouples']['Subs'] = thermocouples
self.store['Thermocouples']['count'] = \
self.sysconf['Thermocouples']['count']
# Initialize AUX Thermocouples
auxthermocouples = []
self.store['AuxThermocouples'] = {}
for i in range(self.sysconf['AuxThermocouples']['count']):
auxthermocouple = {'error_code': '\x00',
'temperature':25.0}
self.store['AuxThermocouples'][i] = auxthermocouple
auxthermocouples.append(auxthermocouple)
self.store['AuxThermocouples']['Subs'] = auxthermocouples
self.store['AuxThermocouples']['count'] = \
self.sysconf['AuxThermocouples']['count']
# Initialize heaters
self['Heaters'] = {'state':0}
# Initialize Temperature Controllers
tempctrls = []
self.store['TemperatureControllers'] = {}
for i in range(self.sysconf['TemperatureControllers']['count']):
tempctrl = {'error_code':'\x00', 'setpoint':0.0}
self.store['TemperatureControllers'][i] = tempctrl
tempctrls.append(tempctrl)
self.store['TemperatureControllers']['error_code'] = 0
self.store['TemperatureControllers']['Subs'] = tempctrls
self.store['TemperatureControllers']['count'] = \
self.sysconf['TemperatureControllers']['count']
# Initialize SMC Interfaces
smcinterfaces = []
self.store['SMCInterfaces'] = {}
for i in range(self.sysconf['SMCInterfaces']['count']):
smcinterface = {'analog_in':0.0,
'analog_out':0.0}
self.store['SMCInterfaces'][i] = smcinterface
smcinterfaces.append(smcinterface)
self.store['SMCInterfaces']['Subs'] = smcinterfaces
self.store['SMCInterfaces']['count'] = \
self.sysconf['SMCInterfaces']['count']
self.store['SMCInterfaces']['error_code'] = '\x00'
# Initialize Fans
self.store['Fans'] = {}
self.store['Fans']['state'] = '\x01'
# Initialize Linear Actuators
linacts = []
self['LinearActuators'] = dict()
for i in range(self.sysconf['LinearActuators']['count']):
linact = {'error_code': 0,
'position': 0,
'requested_position':0}
self.store['LinearActuators'][i] = linact
linacts.append(linact)
self['LinearActuators']['Subs'] = linacts
self['LinearActuators']['count'] = \
self.sysconf['LinearActuators']['count']
# Initialize Digital Inputs
self.store['DigitalInputs'] = {}
self.store['DigitalInputs']['error_code'] = '\x00'
self.store['DigitalInputs']['state'] = 4095
# Initialize Liquid Sensors
liqsensors = []
self.store['LiquidSensors'] = {}
for i in range(self.sysconf['LiquidSensors']['count']):
liqsensor = {'analog_in':0.0}
self.store['LiquidSensors'][i] = liqsensor
liqsensors.append(liqsensor)
self.store['LiquidSensors']['Subs'] = liqsensors
self.store['LiquidSensors']['count'] = \
self.sysconf['LiquidSensors']['count']
self.store['LiquidSensors']['error_code'] = '\x00'
for key,value in self.store.items():
setattr(self,key,value)
def mixers_set_duty_cycle(self, devid, duty):
""" Mixer set the duty cycle """
log.debug("Set mixer %d duty cycle = %f", devid, duty)
def mixers_set_period(self, devid, period):
""" Mixer set period callback """
log.debug("Set mixer %d period = %d", devid, period)
def valves_set_state2(self, devid, state):
""" Set valve state2 """
log.debug("Set valve state2 = %s", bin(state))
self.stat.Valves['state2'] = state
def mixers_set_duty_cycle(self, devid, duty):
""" Mixer set the duty cycle """
log.debug("Set mixer %d duty cycle = %f", devid, duty)
def tempctrl_turn_off(self, devid, value=None):
""" Turn off temperature controllers """
log.debug("Turn off temperature controller %d", devid)
self.stat.TemperatureControllers[devid]['error_code'] = '\x00'
def valves_set_state1(self, devid, state):
""" Set valve state1 """
log.debug("Set valve state1 = %s", bin(state))
self.stat.Valves['state1'] = state
self.update_digital_inputs()
def fans_turn_on(self, devid, value=None):
""" Fans turn on """
log.debug("Turn on Fan %d", devid)
def valves_set_state2(self, devid, state):
""" Set valve state2 """
log.debug("Set valve state2 = %s", bin(state))
self.stat.Valves['state2'] = state
def linacts_set_requested_position(self, devid, position):
""" Linear Actuator set requested position """
log.debug("Set the linear actuator %d requested position = %d",
devid, position)
def tempctrl_set_setpoint(self, devid, value):
""" Set temperature controller setpoint """
log.debug("Set temperature controller %d setpoint = %f",
devid, value)
self.stat.TemperatureControllers[devid]['setpoint'] = value
def update_digital_inputs(self):
""" Evaluate the valve states and determine
expected digital input status
"""
# Check for Reactor 0 down (DI 0)
if ((self.stat['Valves']['state0'] & (1 << 6)) and
not(self.stat['Valves']['state1'] & (1 << 6))):
log.debug("Reactor 0 will go down. DI0=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 0)
Timer(2.0, fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 1)
# Check for Reactor 0 up (DI 1)
if ((self.stat['Valves']['state1'] & (1 << 6)) and
not(self.stat['Valves']['state0'] & (1 << 6))):
log.debug("Reactor 0 will go up. DI1=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 1)
Timer(2.0,fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 0)
# Check for Reactor 1 down (DI 3)
if ((self.stat['Valves']['state0'] & (1 << 5)) and
not(self.stat['Valves']['state1'] & (1 << 5))):
log.debug("Reactor 1 will go down. DI3=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 3)
Timer(2.0, fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 2)
# Check for Reactor 1 up (DI 2)
if ((self.stat['Valves']['state1'] & (1 << 5)) and
not(self.stat['Valves']['state0'] & (1 << 5))):
log.debug("Reactor 1 will go up. DI2=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 2)
Timer(2.0,fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 3)
# Check for Reactor 2 down (DI 5)
if ((self.stat['Valves']['state0'] & (1 << 4)) and
not(self.stat['Valves']['state1'] & (1 << 4))):
log.debug("Reactor 1 will go down. DI3=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 5)
Timer(2.0, fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 4)
# Check for Reactor 2 up (DI 4)
if ((self.stat['Valves']['state1'] & (1 << 4)) and
not(self.stat['Valves']['state0'] & (1 << 4))):
log.debug("Reactor 1 will go up. DI2=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 4)
Timer(2.0,fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 5)
# Check for Gripper up (DI 6)
if ((self.stat['Valves']['state0'] & (1 << 10)) and
not(self.stat['Valves']['state1'] & (1 << 10))):
log.debug("Gripper will go up. DI6=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 6)
Timer(1.0,fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 7)
# Check for Gripper lower (DI 7)
if ((self.stat['Valves']['state1'] & (1 << 10)) and
not(self.stat['Valves']['state0'] & (1 << 10))):
log.debug("Gripper will go down. DI7=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 7)
Timer(1.0,fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 6)
# Check for GasTransfer up (DI 9)
if ((self.stat['Valves']['state1'] & (1 << 9)) and
not(self.stat['Valves']['state0'] & (1 << 9))):
log.debug("GasTransfer will go up. DI9=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 9)
Timer(1.0,fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 8)
# Check for GasTransfer lower (DI 8)
if ((self.stat['Valves']['state0'] & (1 << 9)) and
not(self.stat['Valves']['state1'] & (1 << 9))):
log.debug("GasTransfer will go down. DI9=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 8)
Timer(1.0,fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 9)
# Check for Gripper Open (DI 10)
if ((self.stat['Valves']['state1'] & (1 << 8)) and
not(self.stat['Valves']['state0'] & (1 << 8))):
log.debug("Gripper will open. DI10=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 10)
Timer(0.2, fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 11)
# Check for Gripper Close (DI 11)
if ((self.stat['Valves']['state0'] & (1 << 8)) and
not(self.stat['Valves']['state1'] & (1 << 8))):
log.debug("Gripper will close. DI11=True")
def fxn():
self.stat['DigitalInputs']['state'] &= ~(1 << 11)
Timer(0.2, fxn).start()
self.stat['DigitalInputs']['state'] |= (1 << 10)
def tempctrl_turn_off(self, devid, value=None):
""" Turn off temperature controllers """
log.debug("Turn off temperature controller %d", devid)
self.stat.TemperatureControllers[devid]['error_code'] = '\x00'
