class Dummy(Device):
__metaclass__ = DeviceMeta
green_mode = GreenMode.Gevent
def init_device(self):
Device.init_device(self)
self.proxy = AttributeProxy(self.Attribute)
self.set_state(DevState.ON)
@attribute
def Test(self):
attr = self.proxy.read()
return attr.value
@command(dtype_in=float, dtype_out=str)
def Sleep(self, arg):
gevent.sleep(arg)
return "Done!"
@command(dtype_out=float)
def Read(self):
attr = self.proxy.read()
return attr.value
@command
def SideEffect(self):
raise RuntimeError("Oops!")
Attribute = device_property(dtype=str)
def __init__(self, name, config, axes, encoders):
Controller.__init__(self, name, config, axes, encoders)
self._axis_moves = {}
self.factor = 1
# config
_target_attribute_name = self.config.get("target_attribute")
_gating_ds = self.config.get("gating_ds")
try:
self.target_attribute = AttributeProxy(_target_attribute_name)
except:
elog.error("Unable to connect to attrtribute %s " % _target_attribute_name)
# External DS to use for gating.
# ex: PI-E517 for zap of HPZ.
if _gating_ds is not None:
self.gating_ds = DeviceProxy(_gating_ds)
self.external_gating = True
elog.info("external gating True ; gating ds= %s " % _gating_ds)
else:
# No external gating by default.
self.external_gating = False
# _pos0 must be in controller unit.
self._pos0 = self.target_attribute.read().value * self.factor
elog.info("initial position : %g (in ctrl units)" % self._pos0)
class setpoint(Controller):
def __init__(self, name, config, axes, encoders):
Controller.__init__(self, name, config, axes, encoders)
self._axis_moves = {}
self.factor = 1
# config
_target_attribute_name = self.config.get("target_attribute")
_gating_ds = self.config.get("gating_ds")
try:
self.target_attribute = AttributeProxy(_target_attribute_name)
except:
elog.error("Unable to connect to attrtribute %s " % _target_attribute_name)
# External DS to use for gating.
# ex: PI-E517 for zap of HPZ.
if _gating_ds is not None:
self.gating_ds = DeviceProxy(_gating_ds)
self.external_gating = True
elog.info("external gating True ; gating ds= %s " % _gating_ds)
else:
# No external gating by default.
self.external_gating = False
# _pos0 must be in controller unit.
self._pos0 = self.target_attribute.read().value * self.factor
elog.info("initial position : %g (in ctrl units)" % self._pos0)
def move_done_event_received(self, state):
if self.external_gating:
if state:
elog.debug("movement is finished %f" % time.time())
self.gating_ds.SetGate(False)
else:
elog.debug("movement is starting %f" % time.time())
self.gating_ds.SetGate(True)
"""
Controller initialization actions.
"""
def initialize(self):
pass
"""
Axes initialization actions.
"""
def initialize_axis(self, axis):
self._axis_moves[axis] = {
"end_t": 0,
"end_pos": self._pos0}
# "end of move" event
event.connect(axis, "move_done", self.move_done_event_received)
"""
Actions to perform at controller closing.
"""
def finalize(self):
pass
def start_all(self, *motion_list):
t0 = time.time()
for motion in motion_list:
self.start_one(motion, t0=t0)
def start_one(self, motion, t0=None):
axis = motion.axis
t0 = t0 or time.time()
pos = self.read_position(axis)
v = self.read_velocity(axis) * axis.steps_per_unit
self._axis_moves[axis] = {
"start_pos": pos,
"delta": motion.delta,
"end_pos": motion.target_pos,
"end_t": t0 +
math.fabs(
motion.delta) /
float(v),
"t0": t0}
def read_position(self, axis):
"""
Returns the position taken from controller
in controller unit (steps).
"""
# Always return position
if self._axis_moves[axis]["end_t"]:
# motor is moving
t = time.time()
v = self.read_velocity(axis) * axis.steps_per_unit
d = math.copysign(1, self._axis_moves[axis]["delta"])
dt = t - self._axis_moves[axis]["t0"]
pos = self._axis_moves[axis]["start_pos"] + d * dt * v
self.target_attribute.write(pos)
return pos
else:
_end_pos = self._axis_moves[axis]["end_pos"] / axis.steps_per_unit
self.target_attribute.write(_end_pos)
return _end_pos
def read_encoder(self, encoder):
return self.target_attribute.read().value * self.factor
def read_velocity(self, axis):
"""
Returns the current velocity taken from controller
in motor units.
"""
_user_velocity = axis.settings.get('velocity')
_mot_velocity = _user_velocity * axis.steps_per_unit
return float(_mot_velocity)
def set_velocity(self, axis, new_velocity):
"""
<new_velocity> is in motor units
Returns velocity in motor units.
"""
_user_velocity = new_velocity / axis.steps_per_unit
axis.settings.set('velocity', _user_velocity)
return new_velocity
def read_acceleration(self, axis):
return 1
def set_acceleration(self, axis, new_acc):
pass
"""
Always return the current acceleration time taken from controller
in seconds.
"""
def read_acctime(self, axis):
return float(axis.settings.get('acctime'))
def set_acctime(self, axis, new_acctime):
axis.settings.set('acctime', new_acctime)
return new_acctime
"""
"""
def state(self, axis):
if self._axis_moves[axis]["end_t"] > time.time():
return AxisState("MOVING")
else:
self._axis_moves[axis]["end_t"] = 0
return AxisState("READY")
"""
Must send a command to the controller to abort the motion of given axis.
"""
def stop(self, axis):
self._axis_moves[axis]["end_pos"] = self.read_position(axis)
self._axis_moves[axis]["end_t"] = 0
def stop_all(self, *motion_list):
for motion in motion_list:
axis = motion.axis
self._axis_moves[axis]["end_pos"] = self.read_position(axis)
self._axis_moves[axis]["end_t"] = 0
def home_search(self, axis):
self._axis_moves[axis]["end_pos"] = 0
self._axis_moves[axis]["end_t"] = 0
self._axis_moves[axis]["home_search_start_time"] = time.time()
# def home_set_hardware_position(self, axis, home_pos):
# raise NotImplementedError
def home_state(self, axis):
if (time.time() - self._axis_moves[axis]["home_search_start_time"]) > 2:
return AxisState("READY")
else:
return AxisState("MOVING")
def init_device(self):
Device.init_device(self)
self.proxy = AttributeProxy(self.Attribute)
self.set_state(DevState.ON)
