Merge branch 'ID31_robot' into 'ID31_reflectometry'

Id31 robot

See merge request !325

bliss/comm/gpib/_gpib.py

@@ -15,7 +15,7 @@ from gevent import lock
 from .libnienet import EnetSocket
 from ..tcp import Socket
 from ..exceptions import CommunicationError, CommunicationTimeout
-from ...common.greenlet_utils import KillMask
+from ...common.greenlet_utils import KillMask, protect_from_kill
 
 try:
     from collections import OrderedDict
@@ -285,12 +285,14 @@ class Gpib:
     def _write(self,msg) :
         return self._raw_handler.ibwrt(msg)
 
+    @protect_from_kill
     def write_read(self,msg,write_synchro = None,size = 1,timeout = None) :
         with self._lock:
             self._write(msg)
             if write_synchro: write_synchro.notify()
             return self._read(size)
 
+    @protect_from_kill
     def write_readline(self,msg,write_synchro = None,
                        eol = None,timeout = None) :
         with self._lock:
@@ -298,6 +300,7 @@ class Gpib:
             if write_synchro: write_synchro.notify()
             return self._readline(eol)
 
+    @protect_from_kill
     def write_readlines(self,msg,nb_lines,write_synchro = None,
                         eol = None,timeout = None):
         with self._lock:

bliss/common/greenlet_utils.py

@@ -22,6 +22,7 @@ class KillMask:
                                                      self.__greenlet,
                                                      self.__exception, 
                                                      self.__waiter)
+	    gevent.sleep(0)
         elif self.__exception is not None:
             get_hub().loop.run_callback(self.__greenlet.throw,
                                         self.__exception)

bliss/controllers/motors/ID31Robot.py

+# -*- coding: utf-8 -*-
+#
+# This file is part of the bliss project
+#
+# Copyright (c) 2016 Beamline Control Unit, ESRF
+# Distributed under the GNU LGPLv3. See LICENSE for more info.
+
+import time
+import serial
+
+from bliss.controllers.motor import Controller
+from bliss.common import log as elog
+from bliss.common.axis import AxisState
+from bliss.common.utils import object_attribute_get, object_attribute_set
+
+from StaubPy import id31Controller
+
+
+"""
+Bliss controller for ID31Robot.
+"""
+
+
+class ID31Robot(Controller):
+
+    Cache = {}
+    
+    def initialize(self):
+        """
+        """
+        # opens communication
+        print("Initialisation of ID31 robot.")
+
+        host = self.config.get('host')
+        try:
+            self.id31 = ID31Robot.Cache[host]
+        except KeyError:
+            ID31Robot.Cache[host] = id31Controller.ID31Controller(controllerAssociated=self.config.get('host'))
+            self.id31 = ID31Robot.Cache[host]
+            print("Creating robot 'firmware' and shipping to controller. (fast)")        
+            self.id31.makeOnly()
+
+            print("Starting new robot controller 'firmware' (takes time (5-25sec))")
+            self.id31.loadOnly()
+        
+            print("Initialising values in controller. (fast)")        
+            self.id31.initValues()
+            self.movingStatus="initialised"
+            
+            print("Post Init Actions in controller. (fast)")     
+            self.id31.postInit()
+
+            self.id31.scanSpeed.velocity = self.config.get('speed')
+
+        self.id31.printDebug=False
+            
+    def finalize(self):
+        """
+        """
+        # Closes communication
+
+    def initialize_axis(self, axis):
+        """
+        Reads specific config
+        Adds specific methods
+        """
+        axis.role = axis.config.get('role')
+        
+
+    def read_position(self, axis):
+        """
+        Returns position's setpoint or measured position.
+
+        Args:
+            - <axis> : bliss axis.
+            - [<measured>] : boolean : if True, function returns
+              measured position in ???
+        Returns:
+            - <position> : float : axis setpoint in ???.
+        """
+
+        return getattr(self.id31, axis.role)
+        
+    def read_encoder(self, encoder):
+        raise NotImplementedError
+
+#    def read_velocity(self, axis):
+#        """
+#        Args:
+#            - <axis> : Bliss axis object.
+#        Returns:
+#            - <velocity> : float
+#        """
+#        return self.id31.scanSpeed.velocity
+
+#    def set_velocity(self, axis, new_velocity):
+#        #But bliss do not know that other axis velocity changed also.
+
+    @object_attribute_get(type_info="float")
+    def get_speed(self, axis):
+        return self.id31.scanSpeed.velocity
+
+    @object_attribute_set(type_info="float")
+    def set_speed(self, axis, new_speed):
+        self.id31.scanSpeed.velocity = new_speed
+
+    def state(self, axis):
+        if self.id31.hasMovesProgrammed:            
+            return AxisState("MOVING")
+        else:
+            return AxisState("READY")
+
+    def prepare_move(self, motion): 
+        setattr(self.id31, motion.axis.role, motion.target_pos)
+
+    def start_one(self, motion):
+        """
+        """
+        print("START one", motion)
+        self.id31.moveToPosition()
+
+    def start_all(self, *motion_list):
+        print("START ALL", motion_list)
+        self.id31.moveToPosition()
+        
+    def stop(self, axis):
+        i = 0
+        while self.id31.hasMovesProgrammed and i < 5:
+            self.id31.resetMotion()
+            i += 1
+        if  self.id31.hasMovesProgrammed:
+            logging.error('robot still has programmed moves after 5 attempts to stop')
+
+        

bliss/spec/config/config.py

@@ -9,9 +9,11 @@
 Scan a Spec config file to detect instances of a Eurotherm 2400 temp controller.
 """
 
+import os
+import struct
 import logging
 import datetime
-
+import collections
 
 __all__ = ['SpecConfig', 'Device', 'Motor', 'Counter']
 
@@ -34,6 +36,8 @@ HEADER_TEMPLATE = """\
 # ID Bliss generated config at {timestamp}. All changes will be overwritten!
 """
 
+MotorSettings = collections.namedtuple('Settings', 'accumulator offset, low_limit, high_limit')
+
 class Device:
     """A device controller, can be PSE_MAC_C, PSE_MAC_MOT, HW_GPIBENET_L SDEV_0 etc."""
 
@@ -282,8 +286,8 @@ class Motor:
         MOTPAR:step_size_neg = 2.3
     """
     def __init__(self, line = None, ctrl = None, steps = 2000, sign = 1, \
-            slew = 2000, base = 200, backl = 50, accel = 125, nada = '0', \
-            flags = '0x003', mne = None, name = None):
+                 slew = 2000, base = 200, backl = 50, accel = 125, nada = '0', \
+                 flags = '0x003', mne = None, name = None):
 
         self.__objecttype = 'Motor'
         MotCorr = { 'MAXE_E':'MAXE', 'MAXE_D':'MAXE' }
@@ -338,6 +342,7 @@ class Motor:
             self.umc = unitchan.split('/')
         if self.ctrl in MotCorr:
             self.type = MotCorr[self.ctrl]
+        self.settings = MotorSettings(0, 0., 0., 0.)
 
     def setMotNum(self, num):
         '''
@@ -392,6 +397,8 @@ class Motor:
         else:
             return None
 
+    def setSettings(self, accumulator=0, offset=0., low_limit=0., high_limit=0.):
+        self.settings = MotorSettings(int(accumulator), offset, low_limit, high_limit)
 
 
 class Counter:
@@ -751,8 +758,20 @@ class SpecConfig:
         except:
             print "Unexpected error:", sys.exc_info()[0]
             raise
-        f.write(self.__str__())
+        f.write(str(self))
         f.close()
+        os.chmod(file_name, 0666)
+
+    def writeSettings(self, file_name):
+        fmt = 'ifdd'
+        fmt_size = struct.calcsize(fmt)
+        settings = bytearray((320 * fmt_size)*'\0')
+        for i, motor in enumerate(self.motors):
+            motor.setMotNum(i)
+            struct.pack_into(fmt, settings, i*fmt_size, *motor.settings)
+        with open(file_name, 'wb') as settings_file:
+            settings_file.write(settings)
+        os.chmod(file_name, 0666)
 
     def printalltypes(self):
         for x in self.devicenodes:

bliss/spec/config/generator.py

@@ -26,8 +26,10 @@ Usage:
 
 import os
 import socket
+import struct
 import logging
 import datetime
+import platform
 import collections
 
 try:
@@ -38,7 +40,7 @@ except AttributeError:
 import tango
 
 from bliss.config.static import get_config
-
+from bliss.config.settings import HashSetting
 from ..utils import get_config_path
 from .config import SpecConfig, Device, Motor, Counter
 
@@ -217,6 +219,7 @@ class WagoSetup:
             setup.append(att)
         return '\n'.join(setup) + '\n'
 
+
 #
 # Tango constants
 #
@@ -270,6 +273,20 @@ def TLimaServer(name, host, camera_type, domain):
     return TServer('LimaCCDs', name, host, devices)
 
 
+def get_os():
+    system = platform.system()
+    if system == 'Linux':
+        dist, ver, did = platform.linux_distribution()
+        if dist == 'redhat':
+            result = 'redhat4'
+        else:
+            ver = ver.split('.', 1)
+            result = dist+ver[0]
+    else:
+        result = system
+    return result.lower()
+
+
 class Generator(object):
 
     def __init__(self, spec_name, config=None, **kwargs):
@@ -444,18 +461,35 @@ class Generator(object):
     # Emotion
     ####################
 
+    def __settings_to_spec(self, mot_config, settings):
+        sign = int(mot_config.get('sign', 1))
+        dial = float(settings.get('dial_position', 0))
+        accum = int(dial * float(mot_config.get('steps_per_unit', 1)))
+        offset = float(settings.get('offset', 0.0))
+        try:
+            low_limit = (float(settings['low_limit']) - offset) / sign
+        except KeyError:
+            low_limit = float(mot_config.get('low_limit', 0.0))
+        try:
+            high_limit = (float(settings['high_limit']) - offset) / sign
+        except KeyError:
+            high_limit = float(mot_config.get('high_limit', 0.0))
+        return accum, offset, low_limit, high_limit
+    
     def __add_emotion_axis_to_spec_controller(self, name, config_name, ctrl):
         mot_config = self.config.get_config(config_name)
 
         chan = ctrl.num
         ctrl_addr = 'MAC_MOT:{0}/{1}'.format(ctrl.getCtrlIndex(), chan)
 
-        sign = mot_config.get('sign') or 1
+        sign = int(mot_config.get('sign', 1))
         spec_motor = Motor(ctrl=ctrl_addr, steps=int(1E6), mne=name,
                            name=name, sign=sign, backl=0)
         spec_motor.addPar('MOTPAR:read_mode = 7')
         if config_name != name:
             spec_motor.addPar('MOTPAR:axis_name = %s' % config_name)
+        settings = HashSetting('axis.' + config_name)
+        spec_motor.setSettings(*self.__settings_to_spec(mot_config, settings))
         self.spec_config.addMotor(spec_motor)
         ctrl.addChannel(chan)
         self.__spec_macros.add('tango_mot.mac')
@@ -494,6 +528,7 @@ class Generator(object):
             self.spec_config.addDevice(ctrl)
             self.__spec_setup_icepaps[icepap] = ctrl
         addr = cfg.pop('address')
+        cfg.pop('user_tag', None) # remove user tag so that MOTPAR is not generated
         module, chan = addr.split('/')
         addr = 'MAC_MOT:{0}/{1}'.format(ctrl.getCtrlIndex(), addr)
         spec_motor = Motor(ctrl=addr, mne=name, name=name,
@@ -503,12 +538,15 @@ class Generator(object):
                            base = cfg.pop('base', 0),
                            backl = cfg.pop('backl', 0),
                            accel = cfg.pop('accel'))
+        settings = HashSetting('axis.' + config_name)
+        spec_motor.setSettings(*self.__settings_to_spec(config, settings))
         for k, v in cfg.items():
             spec_motor.addPar('MOTPAR:{0} = {1}'.format(k, v))
         self.spec_config.addMotor(spec_motor)
         ctrl.addChannel(chan)
         self.__spec_macros.add('ice.mac')
-
+        self.__spec_macros.add('blissspecmotor.mac')
+        self.__spec_setup.append('motorsettingssetup %s' % name)
 
     ####################
     # Wago
@@ -1029,7 +1067,9 @@ class Generator(object):
         unit = len(gpibs)
         host = url.strip(head)
         conf = '@gpib_%s' % unit
-        gpib_ctrl = Device(ltype='HW_GPIBENET_L', addr=host, num='', conf=conf)
+        # do not use shared (ie HW_GPIBENET_L) because spec has problems
+        # with ENET 1000
+        gpib_ctrl = Device(ltype='HW_GPIBENET', addr=host, num='', conf=conf)
         self.spec_config.addDevice(gpib_ctrl)
         gpibs[url] = unit
         return unit
@@ -1112,6 +1152,7 @@ class Generator(object):
             os.makedirs(output_dir)
         self.__generate_spec_config(output_dir)
         self.__generate_spec_setup(output_dir)
+        self.__generate_spec_settings(output_dir)
 
     def __generate_spec_config(self, spec_dir):
         config_file = os.path.join(spec_dir, 'config')
@@ -1139,6 +1180,15 @@ class Generator(object):
         self._log.debug('writting spec setup file %s', setup_file)
         with open(setup_file, 'w') as sf:
             sf.write(setup_content)
+        os.chmod(setup_file, 0666)
+
+    def __generate_spec_settings(self, spec_dir):
+        output_dir = os.path.join(spec_dir, get_os())
+        if not os.path.isdir(output_dir):
+            os.makedirs(output_dir)
+        settings_file = os.path.join(output_dir, 'settings')
+        self._log.debug('writting settings file %s', settings_file)
+        self.spec_config.writeSettings(settings_file)
 
 
 def main():

spec/blissspecmotor.mac

+need bliss
+
+#################################
+# Spec motor settings
+#################################
+
+# <motor-mne> ...
+def motorsettingssetup '{
+    local i mne args[] nargs mnum motor_class
+
+    if (!BLISS["device"])
+        blisssetup
+
+    nargs = split("$*", args)
+    if (nargs == 0) {
+        args[0] = getval("Enter the motor mnemonic", "")
+	nargs = 1
+    }
+    for (i = 0; i < nargs; i++) {
+        mne = args[i]
+	mnum = motor_num(mne)
+	if ((mnum < 0) || (motor_mne(mnum) != mne)) {
+            printf("Invalid motor: %s\n", mne)
+            exit
+        }
+    }
+
+    motor_class = "axis"
+    bliss_register_settings_class(motor_class, "motor_dump_object_settings", \
+                                               "motor_load_object_settings")
+    for (i = 0; i < nargs; i++) {
+        mne = args[i]
+        bliss_add_settings_object(motor_class, mne)
+    }
+
+    setup_tail("motorsettings", "$*")
+}'
+
+def motorsettingsunsetup '{
+    local i mne args[] nargs motor_class
+    
+    motor_class = "axis"
+
+    nargs = split("$*", args)
+    for (i = 0; i < nargs; i++) {
+        mne = args[i]
+        if (bliss_del_settings_object(mne, motor_class))
+            bliss_unregister_settings_class(motor_class)
+    }
+}'
+
+def motor_dump_object_settings(motor_class, mne) '{
+    local mnum obj_settings[]
+
+    mnum = motor_num(mne)
+    obj_settings["dial_position"] = dial(mnum, A[mnum])
+    obj_settings["offset"] = user(mnum, 0)
+    obj_settings["low_limit"] = user(mnum, get_lim(mnum, -1))
+    obj_settings["high_limit"] = user(mnum, get_lim(mnum, 1))
+    return obj_settings
+}'
+
+def motor_load_object_settings(motor_class, mne, obj_settings) '{
+    local mnum
+
+    mnum = motor_num(mne)
+    if (bliss_is_default_settings(obj_settings)) {
+        printf("Warning: ignoring default settings load for %s!\n", mne)
+    } else {
+        local m_dial s_m_dial m_offset s_m_offset
+	local m_low_limit s_m_low_limit m_high_limit s_m_high_limit
+
+	m_dial = dial(mnum, A[mnum])
+	m_offset = user(mnum, 0)
+	m_low_limit = user(mnum, get_lim(mnum, -1))
+	m_high_limit = user(mnum, get_lim(mnum, 1))
+	
+	s_m_dial = obj_settings["dial_position"]
+	s_m_offset = obj_settings["offset"]
+	s_m_low_limit = obj_settings["low_limit"]
+	s_m_high_limit = obj_settings["high_limit"]
+
+	if (s_m_dial != m_dial)
+            printf("Warning: %s dial_position mismatch: set=%.4f, spec=%.4f\n",\
+                   mne, s_m_dial, m_dial)
+        if (s_m_offset != offset)
+            printf("Warning: %s offset mismatch: set=%.4f, spec=%.4f\n",\
+                   mne, s_m_offset, m_offset)
+        if (s_m_low_limit != m_low_limit)
+            printf("Warning: %s low_lim mismatch: set=%.4f, spec=%.4f\n",\
+                   mne, s_m_low_limit, m_low_limit)
+        if (s_m_high_limit != m_high_limit)
+            printf("Warning: %s high_lim mismatch: set=%.4f, spec=%.4f\n",\
+                   mne, s_m_high_limit, m_high_limit)
+    }
+}'
+