Merge branch 'pi_e727_unification' into 'master'

communication of PI E727 + HW tests + comments + ignore error on STP

Closes #2689

See merge request !3833

bliss/common/motor_group.py

@@ -126,6 +126,9 @@ class _Group(object):
 
     @property
     def position_with_reals(self):
+        """
+        ???
+        """
         return self._dial_or_position("position", with_reals=True)
 
     @property
@@ -133,6 +136,9 @@ class _Group(object):
         return self._dial_or_position("dial", with_reals=True)
 
     def _dial_or_position(self, attr, with_reals=False):
+        """
+        ???
+        """
         positions_dict = dict()
 
         if with_reals:

bliss/controllers/motors/pi_e51x.py

@@ -41,7 +41,8 @@ responses to them are).
 
 
 class PI_E51X(pi_gcs.Communication, pi_gcs.Recorder, Controller):
-    """ Base class for E517 and E518
+    """
+    Base class for E517 and E518
     """
 
     CHAN_LETTER = {1: "A", 2: "B", 3: "C"}
@@ -96,6 +97,9 @@ class PI_E51X(pi_gcs.Communication, pi_gcs.Recorder, Controller):
         # acceleration is not mandatory in config
         self.axis_settings.config_setting["acceleration"] = False
 
+        # should have been set at init of inherited classes.
+        log_debug(self, "model=%s", self.model)
+
     def close(self):
         """
         Called at session exit. 6 times ???
@@ -106,7 +110,7 @@ class PI_E51X(pi_gcs.Communication, pi_gcs.Recorder, Controller):
 
     def initialize_hardware(self):
         """
-        Called once per controller at first axis use.
+        Called once per controller at first use of any of the axes.
         """
         # Initialize socket communication.
         self.com_initialize()
@@ -119,6 +123,8 @@ class PI_E51X(pi_gcs.Communication, pi_gcs.Recorder, Controller):
 
     def initialize_axis(self, axis):
         """
+        Called at first access to <axis> (eg: __info__())
+
         - Reads specific config
         - Adds specific methods
         - Switches piezo to ONLINE mode so that axis motion can be caused

bliss/controllers/motors/pi_e727.py

@@ -6,72 +6,82 @@
 # Distributed under the GNU LGPLv3. See LICENSE for more info.
 
 from bliss.controllers.motor import Controller
-from bliss.common.utils import object_method
+from bliss.common.utils import object_attribute_get, object_attribute_set, object_method
 from bliss.common.axis import AxisState
-from bliss.common.logtools import log_debug, log_error
+from bliss.common.logtools import log_debug, log_error, log_info
 from bliss import global_map
 
 from . import pi_gcs
-from bliss.comm.util import TCP
 
 
-"""
-Bliss controller for ethernet PI E727 piezo controller.
-"""
+class PI_E727(pi_gcs.Communication, pi_gcs.Recorder, Controller):
+    """
+    Bliss controller for ethernet PI E727 piezo controller.
+    """
 
+    model = None
 
-class PI_E727(Controller):
     def __init__(self, *args, **kwargs):
+        # Called at session startup
+        # No hardware access
+        pi_gcs.Communication.__init__(self)
+        pi_gcs.Recorder.__init__(self)
         Controller.__init__(self, *args, **kwargs)
-        self.cname = "E727"
 
     # Init of controller.
     def initialize(self):
         """
-        Controller intialization : open a single socket for all 3 axes.
+        Controller intialization.
+        Called at session startup.
+        Called Only once per controller even if more than
+        one axis is declared in config.
         """
         # acceleration is not mandatory in config
         self.axis_settings.config_setting["acceleration"] = False
 
-        self.trace("controller initialize")
-        self.host = self.config.get("host")
-        self.trace("opening socket")
-        self.sock = pi_gcs.get_pi_comm(self.config, TCP)
-        global_map.register(self, children_list=[self.sock])
+        # model of the controller.
+        self.model = "E727"
+        log_debug(self, "model=%s", self.model)
 
-    def finalize(self):
+    def close(self):
         """
-        Close the controller socket.
+        Called at session exit. many times ???
         """
-        # not called at end of device server ??? :(
-        # called on a new axis creation ???
-        self.trace("controller finalize")
-        try:
-            self.trace("closing socket")
-            self.sock.close()
-        except:
-            pass
-
-    def trace(self, str):
-        log_debug(self, "{s:{c}<{n}}".format(s=str, n=80, c="-"))
-
-    # Init of each axis.
-    def initialize_axis(self, axis):
-        self.trace("axis initialization")
+        self.com_close()
+
+    def initialize_hardware(self):
+        """
+        Called once per controller at first use of any of the axes.
+
+        NB: not initialized if accessing to the controller before the axis:
+           ex: LILAB [1]: napix.controller.command("CCL 1 advanced")
+               !!! === AttributeError: 'NoneType' object has no attribute 'lock' === !!!
+        """
+        # Initialize socket communication.
+        self.com_initialize()
+
+    def initialize_hardware_axis(self, axis):
+        """
+        Called once per axis at first use of the axis
+        """
+        pass
 
+    def initialize_axis(self, axis):
+        """
+        Called at first access to <axis> (eg: __info__())
+        """
         axis.channel = axis.config.get("channel", int)
 
         # check communication
-        try:
-            _ans = self.get_identifier(axis, 0.1)
-        except Exception as ex:
-            _str = '%r\nERROR on "%s": switch on the controller' % (ex, self.host)
-            # by default, an exception will be raised
-            log_error(self, _str)
+        _ans = self.get_identifier(axis)
 
         # Enables the closed-loop.
+        # To be imporved.
         self._set_closed_loop(axis, True)
 
+        # supposed that we are on target on init
+        axis._last_on_target = True
+
     def initialize_encoder(self, encoder):
         pass
 
@@ -85,17 +95,31 @@ class PI_E727(Controller):
     def set_off(self, axis):
         pass
 
+    """
+    POSITION
+    """
+
     def read_position(self, axis):
-        _ans = self._get_target_pos(axis)
-        log_debug(self, "read_position = %f" % _ans)
-        return _ans
+        """
+        Return position of the axis.
+        After movement is finished, return the target position.
+        """
+        if axis._last_on_target:
+            _pos = self._get_target_pos(axis)
+            log_debug(self, "position read : %g" % _pos)
+        else:
+            # if moving return real position
+            _pos = self._get_pos(axis)
+        return _pos
 
     def read_encoder(self, encoder):
-        _ans = self._get_pos(axis)
+        _ans = self._get_pos(encoder.axis)
         log_debug(self, "read_position measured = %f" % _ans)
         return _ans
 
-    """ VELOCITY """
+    """
+    VELOCITY
+    """
 
     def read_velocity(self, axis):
         return self._get_velocity(axis)
@@ -103,15 +127,16 @@ class PI_E727(Controller):
     def set_velocity(self, axis, new_velocity):
         log_debug(self, "set_velocity new_velocity = %f" % new_velocity)
         _cmd = "VEL %s %f" % (axis.channel, new_velocity)
-        self.send_no_ans(_cmd)
-        self.check_error(_cmd)
+        self.command(_cmd)
 
         return self.read_velocity(axis)
 
-    """ STATE """
+    """
+    STATE
+    """
 
     def state(self, axis):
-        self.trace("axis state")
+        # self.trace("axis state")
         if self._get_closed_loop_status(axis):
             if self._get_on_target_status(axis):
                 return AxisState("READY")
@@ -120,7 +145,9 @@ class PI_E727(Controller):
         else:
             raise RuntimeError("closed loop disabled")
 
-    """ MOVEMENTS """
+    """
+    MOVEMENTS
+    """
 
     def prepare_move(self, motion):
         pass
@@ -128,106 +155,53 @@ class PI_E727(Controller):
     def start_one(self, motion):
         log_debug(self, "start_one target_pos = %f" % motion.target_pos)
 
-        # the controller latches the previous error
-        self.clear_error()
-
         axis = motion.axis
-        _cmd = "MOV %s %g" % (axis.channel, motion.target_pos)
-        self.send_no_ans(_cmd)
-
-        self.check_error(_cmd)
+        _cmd = f"MOV {axis.channel} {motion.target_pos}"
+        self.command(_cmd)
 
     def stop(self, axis):
-        log_debug(self, "stop requested")
-        self.send_no_ans("STP %s" % (axis.channel))
-
-    """ COMMUNICATIONS"""
-
-    def send(self, cmd, timeout=None):
-        _cmd = self._append_eoc(cmd)
-        _ans = self.sock.write_readline(_cmd.encode(), timeout=timeout).decode()
-        _ans = self._remove_eoc(_ans)
-        return _ans
-
-    def clear_error(self):
-        self._get_error()
-
-    def check_error(self, cmd):
-        # Check error code
-        (_err_nb, _err_str) = self._get_error()
-        if _err_nb != 0:
-            _str = 'ERROR on cmd "%s": #%d(%s)' % (cmd, _err_nb, _err_str)
-            # by default, an exception will be raised
-            log_error(self, _str)
-            raise RuntimeError(_str)
-
-    def send_no_ans(self, cmd):
-        _cmd = self._append_eoc(cmd)
-        self.sock.write(_cmd.encode())
-
-    @object_method(types_info=("None", "None"))
-    def raw_flush(self, axis):
-        self.sock.flush()
-
-    """ RAW COMMANDS """
-
-    def raw_write(self, cmd):
-        _cmd = self._append_eoc(cmd)
-        self.sock.write(_cmd.encode())
-
-    def raw_write_read(self, cmd):
-        _cmd = self._append_eoc(cmd)
-        return self.sock.write_readline(_cmd.encode()).decode()
-
-    def raw_write_readlines(self, cmd, lines):
-        _cmd = self._append_eoc(cmd)
-        ans = "\n".join(
-            [
-                r.decode().strip()
-                for r in self.sock.write_readlines(_cmd.encode(), lines)
-            ]
-        )
-        _ans = self._remove_eoc(ans)
-        return _ans
-
-    def _append_eoc(self, cmd):
-        _cmd = cmd.strip()
-        if not _cmd.endswith("\n"):
-            _cmd = cmd + "\n"
-        log_debug(self, ">>>> %s" % (_cmd.strip("\n")))
-        return _cmd
-
-    def _remove_eoc(self, ans):
-        _ans = ans.strip()
-        log_debug(self, "<<<< %s" % _ans)
-        return _ans
+        """
+        * STP -> stop asap
+        * 24  -> stop asap
+        * HLT -> stop smoothly
+        * Copy of current position into target position at stop
+        * all 3 commands generate (by default) a 'Disable Error 10'.
+          (This can be disabled via parameter 0x0E000301)
+        """
+        log_debug(self, "stop (HLT) requested")
+        self.command("HLT %s" % (axis.channel))
 
     """
     E727 specific
     """
 
     @object_method(types_info=("None", "str"))
-    def get_identifier(self, axis, timeout=None):
-        return self.send("IDN?", timeout)
+    def get_identifier(self, axis):
+        return self.command("IDN?")
 
+    @object_method(types_info=("None", "float"))
     def get_voltage(self, axis):
         """ Return voltage read from controller."""
-        _ans = self.send("SVA?")
-        _voltage = float(_ans.split("=")[1])
+        _ans = self.command(f"SVA? {axis.channel}")
+        _voltage = float(_ans)
         return _voltage
 
+    @object_method(types_info=("None", "float"))
+    def get_output_voltage(self, axis):
+        """ Return output voltage read from controller. """
+        return float(self.command(f"VOL? {axis.channel}"))
+
     def set_voltage(self, axis, new_voltage):
         """ Set Voltage to the controller."""
         _cmd = "SVA %s %g" % (axis.channel, new_voltage)
-        self.send_no_ans(_cmd)
-        self.check_error(_cmd)
+        self.command(_cmd)
 
     def _get_velocity(self, axis):
         """
         Return velocity taken from controller.
         """
-        _ans = self.send("VEL? %s" % (axis.channel))
-        _velocity = float(_ans.split("=")[1])
+        _ans = self.command(f"VEL? {axis.channel}")
+        _velocity = float(_ans)
 
         return _velocity
 
@@ -235,57 +209,50 @@ class PI_E727(Controller):
         """
         Return real position read by capacitive sensor.
         """
-        _ans = self.send("POS? %s" % (axis.channel))
-        _pos = float(_ans.split("=")[1])
+        _ans = self.command(f"POS? {axis.channel}")
+        _pos = float(_ans)
         return _pos
 
-    """ ON TARGET """
+    """
+    CLOSED LOOP
+    """
 
     def _get_target_pos(self, axis):
         """
         Return last target position (setpoint value).
         """
-        _ans = self.send("MOV? %s" % (axis.channel))
-        # _ans should looks like "1=-8.45709419e+01"
-        _pos = float(_ans.split("=")[1])
-
+        _ans = self.command(f"MOV? {axis.channel}")
+        _pos = float(_ans)
         return _pos
 
     def _get_on_target_status(self, axis):
-        _ans = self.send("ONT? %s" % (axis.channel))
-
-        _status = _ans.split("=")[1]
-
-        if _status == "1":
-            return True
-        elif _status == "0":
-            return False
-        else:
-            log_error(self, "ERROR on _get_on_target_status, _ans=%r" % _ans)
-            return -1
-
-    """ CLOSED LOOP"""
+        """
+        Return 'On-target status' (ONT? command) indicating
+        if movement is finished and measured position is within
+        on-target window.
+        """
+        last_on_target = bool(int(self.command(f"ONT? {axis.channel}")))
+        axis._last_on_target = last_on_target
+        return last_on_target
 
     def _get_closed_loop_status(self, axis):
-        _ans = self.send("SVO? %s" % (axis.channel))
-
-        _status = _ans.split("=")[1]
+        _status = self.command(f"SVO? {axis.channel}")
 
         if _status == "1":
             return True
-        elif _status == "0":
+
+        if _status == "0":
             return False
-        else:
-            log_error(self, "ERROR on _get_closed_loop_status, _ans=%r" % _ans)
-            return -1
+
+        log_error(self, "ERROR on _get_closed_loop_status, _status=%r" % _status)
+        return -1
 
     def _set_closed_loop(self, axis, state):
         if state:
-            _cmd = "SVO %s 1" % (axis.channel)
+            _cmd = f"SVO {axis.channel} 1"
         else:
-            _cmd = "SVO %s 0" % (axis.channel)
-        self.send_no_ans(_cmd)
-        self.check_error(_cmd)
+            _cmd = f"SVO {axis.channel} 0"
+        self.command(_cmd)
 
     @object_method(types_info=("None", "None"))
     def open_loop(self, axis):
@@ -295,45 +262,49 @@ class PI_E727(Controller):
     def close_loop(self, axis):
         self._set_closed_loop(axis, True)
 
-    def _get_error(self):
-        # Does not use send() to be able to call _get_error in send().
-        _error_number = int(self.raw_write_read("ERR?"))
-        _error_str = pi_gcs.get_error_str(int(_error_number))
+    @object_attribute_get(type_info="bool")
+    def get_closed_loop(self, axis):
+        return self._get_closed_loop_status(axis)
 
-        return (_error_number, _error_str)
+    """
+    INFO
+    """
 
-    def __info__(self):
-        _tab = 30
+    @object_attribute_get(type_info="str")
+    def get_model(self, axis):
+        return self.model
 
-        (_err_nb, _err_str) = self._get_error()
-        _txt = "%*s: %d (%s)\n" % (_tab, "Last Error", _err_nb, _err_str)
+    def get_id(self, axis):
+        """
+        Return controller identifier.
+        """
+        return self.command("*IDN?")
 
-        _txt = _txt + "%*s:\n%s\n" % (
-            _tab,
-            "Communication parameters",
-            ",".join(self.raw_write_readlines("IFC?", 5).split("\n")),
-        )
-        _infos = [
-            ("Identifier", "IDN?"),
-            ("Com level", "CCL?"),
-            ("Firmware developer", "SEP? 1 0xffff000f"),
-            ("Firmware name", "SEP? 1 0xffff0007"),
-            ("Firmware version", "SEP? 1 0xffff0008"),
-            ("Firmware description", "SEP? 1 0xffff000d"),
-            ("Firmware date", "SEP? 1 0xffff000e"),
-            ("Firmware developer", "SEP? 1 0xffff000f"),
-        ]
+    def get_axis_info(self, axis):
+        """
+        Return Controller specific info about <axis> for user.
+        Detailed infos are in get_info().
+        """
+        info_str = "PI AXIS INFO:\n"
+        info_str += f"     voltage (SVA) = {self.get_voltage(axis)}\n"
+        info_str += f"     output voltage (VOL) = {self.get_output_voltage(axis)}\n"
+        info_str += f"     closed loop = {self.get_closed_loop(axis)}\n"
 
-        for i in _infos:
-            _cmd = i[1]
-            _ans = self.send(_cmd)
-            _txt = _txt + "%*s: %s\n" % (_tab, i[0], _ans)
-            self.check_error(_cmd)
-        return _txt
+        return info_str
+
+    def __info__(self):
+        info_str = "CONTROLLER:\n"
+
+        (_err_nb, _err_str) = self.get_error()
+        info_str = f"Last Error: {_err_nb} ({_err_str})\n"
+        info_str += "COMMUNICATION CONFIG:\n     "
+        info_str += self.sock.__info__()
+        return info_str
 
+    @object_method(types_info=("None", "string"))
     def get_info(self, axis):
         """
-        Return information about controller.
+        Return detailed information about controller.
         Helpful to tune the device.
         """
         axis.position  # force axis initialization
@@ -342,6 +313,10 @@ class PI_E727(Controller):
         _txt = ""
 
         # use command "HPA?" to get parameters address + description
+
+        # NB: 0x7000000 used and not 0x07000000
+        #     because PI 727 remove first 0 in the command answer
+        #     -> cause problem in answer check.
         _infos = [
             ("Real Position", "POS? %s"),
             ("Setpoint Position", "MOV? %s"),
@@ -352,23 +327,19 @@ class PI_E727(Controller):
             ("Analog input setpoint", "AOS? %s"),
             ("ADC value of analog input", "TAD? %s"),
             ("Analog setpoints", "TSP? %s"),
-            ("AutoZero Low Voltage", "SPA? 1 0x07000A00"),
-            ("AutoZero High Voltage", "SPA? 1 0x07000A01"),
-            ("Range Limit min", "SPA? 1 0x07000000"),
-            ("Range Limit max", "SPA? 1 0x07000001"),
-            ("ON Target Tolerance", "SPA? 1 0x07000900"),
-            ("Settling time", "SPA? 1 0X07000901"),
+            ("AutoZero Low Voltage", "SPA? %s 0x7000A00"),
+            ("AutoZero High Voltage", "SPA? %s 0x7000A01"),
+            ("Range Limit min", "SPA? %s 0x7000000"),
+            ("Range Limit max", "SPA? %s 0x7000001"),
+            ("ON Target Tolerance", "SPA? %s 0x7000900"),
+            ("Settling time", "SPA? %s 0X7000901"),
         ]
 
         for i in _infos:
             _cmd = i[1]
             if "%s" in _cmd:
                 _cmd = _cmd % (axis.channel)
-            _ans = self.send(_cmd)
+            _ans = self.command(_cmd)
             _txt = _txt + "%*s: %s\n" % (_tab, i[0], _ans)
-            self.check_error(_cmd)
 
         return _txt
-
-    def get_axis_info(self, axis):
-        return self.get_info(axis)

bliss/controllers/motors/pi_e753.py

@@ -11,10 +11,11 @@ from bliss.controllers.motor import Controller
 from bliss.common.utils import object_attribute_get, object_attribute_set, object_method
 from bliss.common.axis import AxisState
 from bliss.common import axis as axis_module
-from bliss.common.logtools import log_debug, log_info
+from bliss.common.logtools import log_debug, log_error, log_info
+
+import gevent
 
 from . import pi_gcs
-import gevent.lock
 
 
 """
@@ -35,16 +36,24 @@ responses to them are).
 
 
 class PI_E753(pi_gcs.Communication, pi_gcs.Recorder, Controller):
+    """
+    Bliss controller for ethernet PI E753 / E754  piezo controllers.
+    """
+
     def __init__(self, *args, **kwargs):
         pi_gcs.Communication.__init__(self)
         pi_gcs.Recorder.__init__(self)
         Controller.__init__(self, *args, **kwargs)