def update(self):
"""Update the valve state.
"""
if self._state.is_state(ValveState.Prepare):
delta_pos = self.target_position - self.current_position
if delta_pos == 0:
self.__stop()
self._state.set_state(ValveState.Wait)
return
time_to_move = self.__to_time(abs(delta_pos))
self.__logger.debug("Time: {}".format(time_to_move))
self.__move_timer.expiration_time = time_to_move
self.__move_timer.update_last_time()
if delta_pos > 0:
self.__open_valve()
elif delta_pos < 0:
self.__close_valve()
self._state.set_state(ValveState.Execute)
elif self._state.is_state(ValveState.Execute):
self.__move_timer.update()
if self.__move_timer.expired:
self.__move_timer.clear()
self.__stop()
self._current_position = self.target_position
self._state.set_state(ValveState.Wait)
cw_limit_state = False # self.__get_close_limit()
ccw_limit_state = False # self.__get_open_limit()
if cw_limit_state or ccw_limit_state:
self.__stop()
GlobalErrorHandler.log_hardware_limit(
self.__logger,
"{} has raised end position.".format(self.name))
self._current_position = self.target_position
self._state.set_state(ValveState.Wait)
elif self._state.is_state(ValveState.Calibrate):
# Wait to start.
if self.__calibration_state.is_state(CalibrationState.NONE):
self.__calibration_state.set_state(CalibrationState.OpenValve)
self.__stop()
# Open the valve.
if self.__calibration_state.is_state(CalibrationState.OpenValve):
self.__stop()
self.__open_valve()
self.__calibration_state.set_state(CalibrationState.EnsureOpen)
self.__limit_timer.update_last_time()
# Wait until it si open at 100%.
if self.__calibration_state.is_state(CalibrationState.EnsureOpen):
# Get CCW limit switch state.
ccw_limit_state = self.__get_open_limit()
if ccw_limit_state:
self.__t0 = time.time()
self.__calibration_state.set_state(
CalibrationState.CloseValve)
# Prevent with timer,
# if the valve is not reacting properly.
self.__limit_timer.update()
if self.__limit_timer.expired:
self.__limit_timer.clear()
self.__calibration_state.set_state(CalibrationState.Error)
# Close the valve.
if self.__calibration_state.is_state(CalibrationState.CloseValve):
self.__stop()
self.__close_valve()
self.__calibration_state.set_state(
CalibrationState.EnsureClose)
self.__limit_timer.update_last_time()
# Wait until it si open at 100%.
if self.__calibration_state.is_state(CalibrationState.EnsureClose):
# Get CW limit switch state.
cw_limit_state = self.__get_close_limit()
if cw_limit_state:
self.__t1 = time.time()
self.__calibration_state.set_state(
CalibrationState.YouDoTheMath)
# Prevent with timer,
# if the valve is not reacting properly.
self.__limit_timer.update()
if self.__limit_timer.expired:
self.__limit_timer.clear()
self.__calibration_state.set_state(CalibrationState.Error)
# Make calculations.
if self.__calibration_state.is_state(
CalibrationState.YouDoTheMath):
self.__stop()
self.__dt = self.__t1 - self.__t0
self._state.set_state(ValveState.Wait)
# Close the valve.
if self.__calibration_state.is_state(CalibrationState.Error):
GlobalErrorHandler.log_hardware_malfunction(
self.__logger,
"The valve {} can not calibrated.".format(self.name))
self._state.set_state(ValveState.Wait)
def update(self):
if self.__blinds_state.is_state(BlindsState.Prepare):
delta_pos = self.__new_position - self.__current_position
if delta_pos == 0:
self.__stop()
self.__blinds_state.set_state(BlindsState.Wait)
return
time_to_move = self.__to_time(abs(delta_pos))
self.__logger.debug("Time: {}".format(time_to_move))
self.__move_timer.expiration_time = time_to_move
self.__move_timer.update_last_time()
if delta_pos > 0:
self.__turn_cw()
elif delta_pos < 0:
self.__turn_ccw()
self.__blinds_state.set_state(BlindsState.Execute)
elif self.__blinds_state.is_state(BlindsState.Execute):
self.__move_timer.update()
if self.__move_timer.expired:
self.__move_timer.clear()
self.__stop()
self.__current_position = self.__new_position
self.__blinds_state.set_state(BlindsState.Wait)
input_fb = self.__reed_fb()
if input_fb:
self.__stop()
GlobalErrorHandler.log_hardware_limit(self.__logger, "{} has raised end position.".format(self.name))
self.__current_position = self.__new_position
self.__blinds_state.set_state(BlindsState.Wait)
elif self.__blinds_state.is_state(BlindsState.Calibrate):
if self.__calibration_state.is_state(CalibrationState.Stop):
self.__stop()
self.__current_position = 0
self.__new_position = 0
self.__calibration_state.set_state(CalibrationState.TurnCW)
elif self.__calibration_state.is_state(CalibrationState.TurnCW):
self.__turn_cw()
self.__calibration_state.set_state(CalibrationState.WaitCurStabCW)
elif self.__calibration_state.is_state(CalibrationState.WaitCurStabCW):
if self.__timout_counter >= 5:
self.__timout_counter = 0
self.__calibration_state.set_state(CalibrationState.WaitLimitCW)
else:
self.__timout_counter += 1
elif self.__calibration_state.is_state(CalibrationState.WaitLimitCW):
fb_value = self.__reed_fb()
if fb_value:
self.__stop()
self.__t1 = time.time()
self.__calibration_state.set_state(CalibrationState.TurnCCW)
elif self.__calibration_state.is_state(CalibrationState.TurnCCW):
self.__turn_ccw()
self.__calibration_state.set_state(CalibrationState.WaitCurStabCCW)
elif self.__calibration_state.is_state(CalibrationState.WaitCurStabCCW):
if self.__timout_counter >= 5:
self.__timout_counter = 0
self.__calibration_state.set_state(CalibrationState.WaitLimitCCW)
else:
self.__timout_counter += 1
elif self.__calibration_state.is_state(CalibrationState.WaitLimitCCW):
fb_value = self.__reed_fb()
if fb_value:
self.__stop()
self.__t2 = time.time()
time_delta = self.__t2 - self.__t1
time_delta -= 4
self.__deg_per_sec = 180 / time_delta
self.__logger.info("DPS: {}".format(self.__deg_per_sec))
self.__turn_cw()
self.__calibration_state.set_state(CalibrationState.ExitTightness)
elif self.__calibration_state.is_state(CalibrationState.ExitTightness):
if self.__timout_counter >= 12:
self.__timout_counter = 0
self.__stop()
self.__calibration_state.set_state(CalibrationState.WaitCurrentStab)
else:
self.__timout_counter += 1
elif self.__calibration_state.is_state(CalibrationState.WaitCurrentStab):
if self.__timout_counter >= 4:
self.__timout_counter = 0
self.__calibration_state.set_state(CalibrationState.GoTo90)
else:
self.__timout_counter += 1
elif self.__calibration_state.is_state(CalibrationState.GoTo90):
self.__calibration_state.set_state(CalibrationState.NONE)
self.__set_position(90)
return
