Motor controller as BlissController

bliss/common/auto_filter/filterset.py

@@ -610,7 +610,7 @@ class FilterSet:
 
     def get_filters(self):
         """
-        Return the list of the public filters, a list of dictionnary items with at least:
+        Return the list of the public filters, a list of dictionary items with at least:
         - position
         - density_calc
         - transmission_calc

bliss/common/auto_filter/filterset_wago.py

@@ -241,7 +241,7 @@ class FilterSet_Wago(FilterSet):
 
     def get_filters(self):
         """
-        Return the list of the public filters, a list of dictionnary items with at least:
+        Return the list of the public filters, a list of dictionary items with at least:
         - position
         - transmission_calc
         """

bliss/common/auto_filter/filterset_wheel.py

@@ -206,7 +206,7 @@ class FilterSet_Wheel(FilterSet):
 
     def get_filters(self):
         """
-        Return the list of the public filters, a list of dictionnary items with at least:
+        Return the list of the public filters, a list of dictionary items with at least:
         - position
         - transmission_calc
         For the wheel filterset _filters = _config_filters

bliss/common/soft_axis.py

@@ -23,19 +23,7 @@ def SoftAxis(
     unit=None,
 ):
 
-    # if callable(position):
-    #     position = position.__name__
-    # if callable(move):
-    #     move = move.__name__
-    # if callable(stop):
-    #     stop = stop.__name__
-
-    config = {
-        "low_limit": low_limit,
-        "high_limit": high_limit,
-        "limits": (low_limit, high_limit),
-        "name": name,
-    }
+    config = {"low_limit": low_limit, "high_limit": high_limit, "name": name}
 
     if tolerance is not None:
         config["tolerance"] = tolerance
@@ -44,8 +32,8 @@ def SoftAxis(
         config["unit"] = unit
 
     controller = SoftController(name, obj, config, position, move, stop, state)
+    controller._controller_init()
 
-    controller._init()
     axis = controller.get_axis(name)
     axis._positioner = False
 

bliss/config/plugins/bliss_controller.py

@@ -5,62 +5,8 @@
 # Copyright (c) 2015-2020 Beamline Control Unit, ESRF
 # Distributed under the GNU LGPLv3. See LICENSE for more info.
 
-
-# ================ IMPORTANT NOTE_ ABOUT PLUGIN CYCLIC IMPORT =============
-#
-# The plugin prevent cyclic import thanks to the yield name2cacheditems tricks
-# in create_objects_from_config_node() below.
-#
-# however the best way to avoid this problem would be to NOT allow references ($name) of
-# a bliss_controller item within another item of the same bliss_controller.
-# In other words, in a bliss_controller config, only references to external objects should be allowed.
-# (external = not owned by the bliss controller itself)
-# If a BC item needs to reference another item of the same BC, then just using the item name (without '$')
-# should be enough, as the BC knows its items and associated names.
-
-
-from bliss.config.plugins.utils import find_class_and_node
-
-from bliss.config.static import ConfigNode, ConfigList
-
-
-def find_sub_names_config(
-    config, selection=None, level=0, parent_key=None, exclude_ref=True
-):
-    """ Search in a config the sub-sections where the key 'name' is found. 
-        
-        Returns a dict of tuples (sub_config, parent_key) indexed by level (0 is the top level).
-        
-        sub_config: a sub-config containing 'name' key
-        parent_key: key under which the sub_config was found (None for level 0)
-        exclude_ref: if True, exclude sub-config with name as reference ($)
-    """
-
-    if selection is None:
-        selection = {}
-
-    if selection.get(level) is None:
-        selection[level] = []
-
-    if config.get("name"):
-        if not exclude_ref or not config.get("name").startswith("$"):
-            selection[level].append((config, parent_key))
-
-    for (
-        k,
-        v,
-    ) in (
-        config.raw_items()
-    ):  # !!! raw_items to avoid cyclic import while resloving reference !!!
-        if isinstance(v, ConfigNode):
-            find_sub_names_config(v, selection, level + 1, k)
-
-        elif isinstance(v, ConfigList):
-            for i in v:
-                if isinstance(i, ConfigNode):
-                    find_sub_names_config(i, selection, level + 1, k)
-
-    return selection
+from bliss.config.plugins.utils import find_top_class_and_node
+from bliss.controllers.bliss_controller import BlissController
 
 
 def create_objects_from_config_node(cfg_obj, cfg_node):
@@ -71,62 +17,65 @@ def create_objects_from_config_node(cfg_obj, cfg_node):
         
         This function resolves dependencies between the BlissController and its sub-objects with a name.
         It looks for the 'class' key in 'cfg_node' (or at upper levels) to instantiate the BlissController.
-        All sub-configs of named sub-objects are stored as cached items for later instantiation via config.get.
+        All sub-configs of named sub-objects owned by the controller are stored as cached items for later instantiation via config.get.
 
         args:
             cfg_obj: a Config object (from config.static)
             cfg_node: a ConfigNode object (from config.static)
 
         yield: 
-            tuple: ( created_items, cached_items)
+            tuple: (created_items, cached_items)
     """
 
-    print("\n===== BLISS CONTROLLER PLUGIN  FROM CONFIG: ", cfg_node["name"])
-
-    name2items = {}
-    name2cacheditems = {}
-
     # search the 'class' key in cfg_node or at a upper node level
-    # return the class and the associated config node
-    # upper_node = cfg_node.parent ??
-    klass, ctrl_node = find_class_and_node(cfg_node)
-    # print("=== FOUND BLISS CONTROLLER CLASS", klass, "WITH NODE", ctrl_node)
-
-    ctrl_name = ctrl_node.get("name")
+    # then return the class and the associated config node
+    klass, ctrl_node = find_top_class_and_node(cfg_node)
+    ctrl_name = ctrl_node.get("name")  # ctrl could have a name in config
     item_name = cfg_node["name"]  # name of the item that should be created and returned
 
     # always create the bliss controller first
-    bctrl = klass(ctrl_node.clone())
-
-    # find all sub objects with a name in controller config
-    sub_cfgs = find_sub_names_config(ctrl_node)  # .to_dict(resolve_references=False))
-    for level in sorted(sub_cfgs.keys()):
-        if level != 0:  # ignore the controller itself
-            for cfg, pkey in sub_cfgs[level]:
-                subname = cfg["name"]
-                # if subname == item_name:  # this is the sub-object to return
-                #     name2items[item_name] = bctrl._create_sub_item(item_name, cfg, pkey)
-                # else:  # store sub-object info for later instantiation
-                name2cacheditems[subname] = (bctrl, cfg, pkey)
-
-    # --- add the controller to stored items if it has a name
-    if ctrl_name:
-        name2items[ctrl_name] = bctrl
-
-    # update the config cache dict NOW to avoid cyclic instanciation (i.e. config.get => create_object_from_... => config.get )
-    yield name2items, name2cacheditems
-
-    # --- don't forget to instanciate the object for which this function has been called (if not a controller)
-    if item_name != ctrl_name:
-        obj = cfg_obj.get(item_name)
-        yield {item_name: obj}
-
-    # --- NOW, any new object_name going through 'config.get( obj_name )' should call 'create_object_from_cache' only.
-    # --- 'create_objects_from_config_node' should never be called again for any object related to the controller instanciated here (see config.get code)
-
-
-def create_object_from_cache(config, name, cached_object_info):
-    print("===== REGULATION FROM CACHE", name)  # config,  name, object_info)
-    bctrl, cfg, pkey = cached_object_info
-    new_object = bctrl._create_sub_item(name, cfg, pkey)
-    return new_object
+    bctrl = klass(ctrl_node)
+
+    print(f"\n=== From config: {item_name} from {bctrl.name}")
+
+    if isinstance(bctrl, BlissController):
+
+        # prepare subitems configs and cache item's controller
+        names_to_cache = bctrl._prepare_subitems_configs(ctrl_node)
+        cachednames2ctrl = {name: bctrl for name in names_to_cache}
+
+        print(f"\n=== Caching: {names_to_cache} from {bctrl.name}")
+
+        # # --- add the controller to stored items if it has a name
+        name2items = {}
+        if ctrl_name:
+            name2items[ctrl_name] = bctrl
+        # name2items[bctrl.name] = bctrl
+
+        # update the config cache dict now to avoid cyclic instanciation with internal references
+        # an internal reference happens when a subitem config uses a reference to another subitem owned by the same controller.
+        yield name2items, cachednames2ctrl
+
+        # load config and init controller
+        bctrl._controller_init()
+
+        # --- don't forget to instanciate the object for which this function has been called (if not a controller)
+        if item_name != ctrl_name:
+            obj = cfg_obj.get(item_name)
+            yield {item_name: obj}
+
+        # --- Now any new object_name going through 'config.get( obj_name )' should call 'create_object_from_cache' only.
+        # --- 'create_objects_from_config_node' should never be called again for any object related to the controller instanciated here (see config.get code)
+
+    elif (
+        item_name == ctrl_name
+    ):  # allow instantiation of top object which is not a BlissController
+        yield {ctrl_name: bctrl}
+        return
+    else:  # prevent instantiation of an item comming from a top controller which is not a BlissController
+        raise TypeError(f"{bctrl} is not a BlissController object!")
+
+
+def create_object_from_cache(config, name, bctrl):
+    print(f"\n=== From cache: {name} from {bctrl.name}")
+    return bctrl._get_subitem(name)

bliss/config/plugins/diffractometer.py

@@ -68,9 +68,9 @@ def get_axes_info(diffracto):
 
 
 def create_hkl_motors(diffracto, axes_info):
-    hklmots = HKLMotors(
-        f"{diffracto.name}_motors", diffracto, diffracto.config, axes_info
-    )
+    config = diffracto.config.clone()
+    config["name"] = f"{diffracto.name}_motors"
+    hklmots = HKLMotors(diffracto, diffracto.config, axes_info)
     # --- force axis init before CalcController._init (see emotion)
     for axname in axes_info:
         hklmots.get_axis(axname)

bliss/config/plugins/utils.py

@@ -5,12 +5,13 @@
 # Copyright (c) 2015-2020 Beamline Control Unit, ESRF
 # Distributed under the GNU LGPLv3. See LICENSE for more info.
 
+from os import error
 import re
 from importlib.util import find_spec
+from importlib import import_module
 
-
+# ---- Alias defined for default BLISS controllers
 _ALIAS_TO_MODULE_NAME = {"Lima": "bliss.controllers.lima.lima_base"}
-"""Alias defined for default BLISS controllers"""
 
 
 def camel_case_to_snake_style(name):
@@ -68,3 +69,72 @@ def find_class_and_node(cfg_node, base_path="bliss.controllers"):
         klass = getattr(module, class_name.title())
 
     return klass, node
+
+
+def find_top_class_and_node(cfg_node, base_paths=None):
+
+    if base_paths is None:
+        base_paths = ["bliss.controllers", "bliss.controllers.motors"]
+
+    node = cfg_node.get_top_key_node("class")
+    class_name = node["class"]
+
+    candidates = set()
+    errors = []
+    for base_path in base_paths:
+        module = None
+
+        # --- Find module and try import -----------
+        module_name = resolve_module_name(class_name, node, base_path)
+        try:
+            module = import_module(module_name)
+        except ModuleNotFoundError as e:
+            errors.append(e)
+
+            module_name = "%s.%s" % (base_path, camel_case_to_snake_style(class_name))
+            try:
+                module = import_module(module_name)
+            except ModuleNotFoundError as e2:
+                errors.append(e2)
+
+        if module is not None:
+            # --- Find class and try import -----------
+            if hasattr(module, class_name):
+                klass = getattr(module, class_name)
+                candidates.add((module, klass))
+            else:
+                kname = class_name.title()
+                if kname != class_name:
+                    if hasattr(module, kname):
+                        klass = getattr(module, kname)
+                        candidates.add((module, klass))
+                    else:
+                        errors.append(f"cannot find {class_name} in {module}")
+
+    # --- return if a single candidate was found else raise error
+    if len(candidates) == 1:
+        return candidates.pop()[1], node
+
+    elif len(candidates) > 1:
+        for mod, klass in candidates:
+            if "package" in node:
+                if node["package"] == mod.__name__:
+                    return klass, node
+            elif "module" in node:
+                if node["module"] in mod.__name__:
+                    return klass, node
+
+        msg = f"Multiple candidates found for class '{class_name}':"
+        for mod, _ in candidates:
+            msg += f"\n - {mod}"
+        msg += "\nResolve by providing the 'module' key in yml config\n"
+        raise ModuleNotFoundError(msg)
+    else:
+        msg = f"Config could not find {class_name}:"
+        for err in errors:
+            msg += f"\n{err}"
+        msg += (
+            f"\nCheck that module is located under one of these modules: {base_paths}"
+        )
+        msg += "\nElse, resolve by providing the 'package' key in yml config\n"
+        raise ModuleNotFoundError(msg)

bliss/config/static.py

@@ -462,6 +462,17 @@ class ConfigNode(MutableMapping):
             return self._parent.is_service
         return through_server
 
+    def get_top_key_node(self, key):
+        topnode = None
+        node = self
+        while True:
+            if node.get(key):
+                topnode = node
+            node = node._parent
+            if node is None or "__children__" in node.keys():
+                break
+        return topnode
+
     def get_inherited_value_and_node(self, key):
         """
         @see get_inherited

bliss/controllers/bliss_controller_mockup.py

+# -*- coding: utf-8 -*-
+#
+# This file is part of the bliss project
+#
+# Copyright (c) 2015-2020 Beamline Control Unit, ESRF
+# Distributed under the GNU LGPLv3. See LICENSE for more info.
+
+from time import perf_counter, sleep
+from itertools import chain
+from collections import ChainMap
+from gevent import event, sleep as gsleep
+
+from bliss import global_map
+from bliss.common.counter import (
+    SamplingCounter
+)  # make it available at ctrl level for plugin and tests
+from bliss.common.protocols import counter_namespace, IterableNamespace
+from bliss.common.utils import autocomplete_property
+from bliss.comm.util import get_comm
+from bliss.controllers.counter import CounterController, SamplingCounterController
+from bliss.scanning.acquisition.counter import BaseCounterAcquisitionSlave
+
+from bliss.common.logtools import log_info, log_debug, log_debug_data, log_warning
+
+from bliss.controllers.bliss_controller import BlissController, from_config_dict
+from bliss.controllers.motors.mockup import Mockup, calc_motor_mockup
+
+
+class HardwareController:
+    def __init__(self, config):
+        self._config = config
+        self._last_cmd_time = perf_counter()
+        self._cmd_min_delta_time = 0
+
+        self._init_com()
+
+    @property
+    def config(self):
+        return self._config
+
+    @property
+    def comm(self):
+        return self._comm
+
+    def send_cmd(self, cmd, *values):
+        now = perf_counter()
+        log_info(self, f"@{now:.3f} send_cmd", cmd, values)
+        if self._cmd_min_delta_time:
+            delta_t = now - self._last_cmd_time
+            if delta_t < self._cmd_min_delta_time:
+                sleep(self._cmd_min_delta_time - delta_t)
+
+        return self._send_cmd(cmd, *values)
+
+    def _send_cmd(self, cmd, *values):
+        if values:
+            return self._write_cmd(cmd, *values)
+        else:
+            return self._read_cmd(cmd)
+
+    def _init_com(self):
+        log_info(self, "_init_com", self.config)
+        self._comm = get_comm(self.config)
+        global_map.register(self._comm, parents_list=[self, "comms"])
+
+    # ========== NOT IMPLEMENTED METHODS ====================
+    def _write_cmd(self, cmd, *values):
+        # return self._comm.write(cmd, *values)
+        raise NotImplementedError
+
+    def _read_cmd(self, cmd):
+        # return self._comm.read(cmd)
+        raise NotImplementedError
+
+
+class HCMockup(HardwareController):
+    class FakeCom:
+        def __init__(self, config):
+            pass
+
+        def read(self, cmd):
+            return 69
+
+        def write(self, cmd, *values):
+            print("HCMockup write", cmd, values)
+            return True
+
+    def _init_com(self):
+        log_info(self, "_init_com", self.config)
+        self._comm = HCMockup.FakeCom(self.config)
+        global_map.register(self._comm, parents_list=[self, "comms"])
+
+    def _write_cmd(self, cmd, *values):
+        return self._comm.write(cmd, *values)
+
+    def _read_cmd(self, cmd):
+        return self._comm.read(cmd)
+
+
+class BCMockup(BlissController):
+
+    _COUNTER_TAGS = {
+        "current_temperature": ("cur_temp_ch1", "scc"),
+        "integration_time": ("int_time", "icc"),
+    }
+
+    def _get_hardware(self):
+        """ return the low level hardware controller interface """
+        return HCMockup(self.config["com"])
+
+    def _get_subitem_default_module(self, class_name, cfg, parent_key):
+        if class_name == "IntegratingCounter":
+            return "bliss.common.counter"
+
+    def _get_subitem_default_class_name(self, cfg, parent_key):
+        if parent_key == "counters":
+            tag = cfg["tag"]
+            if self._COUNTER_TAGS[tag][1] == "scc":
+                return "SamplingCounter"
+            elif self._COUNTER_TAGS[tag][1] == "icc":
+                return "IntegratingCounter"
+
+    def _get_config_subitem(self, name, cfg, parent_key, item_class):
+        if parent_key == "counters":
+            name = cfg["name"]
+            tag = cfg["tag"]
+            mode = cfg.get("mode")
+            unit = cfg.get("unit")
+            convfunc = cfg.get("convfunc")
+
+            if self._COUNTER_TAGS[tag][1] == "scc":
+                cnt = self._counter_controllers["scc"].create_counter(
+                    item_class, name, unit=unit, mode=mode
+                )
+                cnt.tag = tag
+
+            elif self._COUNTER_TAGS[tag][1] == "icc":
+                cnt = self._counter_controllers["icc"].create_counter(
+                    item_class, name, unit=unit
+                )
+                cnt.tag = tag
+
+            else:
+                raise ValueError(f"cannot identify counter tag {tag}")
+
+            return cnt
+
+        elif parent_key == "operators":
+            return item_class(cfg)
+
+        elif parent_key == "axes":
+            if item_class is None:  # mean it is a referenced axis (i.e external axis)
+                axis = name  # the axis instance
+                name = axis.name  # the axis name
+                tag = cfg[
+                    "tag"
+                ]  # ask for a tag which only concerns this ctrl (local tag)
+                self._tag2axis[tag] = name  # store the axis tag
+                return axis
+            else:
+                raise ValueError(
+                    f"{self} only accept referenced axes"
+                )  # reject none-referenced axis
+
+    def _load_config(self):
+        self._calc_mot = None
+
+        if self.config.get("energy"):
+            self.energy = self.config.get("energy")
+
+        # create different counter controllers
+        self._counter_controllers = {}
+        self._counter_controllers["scc"] = BCSCC("scc", self)
+        self._counter_controllers["icc"] = BCICC("icc", self)
+        self._counter_controllers["scc"].max_sampling_frequency = self.config.get(
+            "max_sampling_frequency", 1
+        )
+
+        # create the counter subitems now in order to have all of them immediately available after ctrl init
+        for cfg, pkey in self._subitems_config.values():
+            if pkey == "counters":
+                self._get_subitem(cfg["name"])  # force item creation now
+
+        # prepare a storage for the tags associated to the axes referenced in the config
+        if self.config.get("axes") is not None:
+            self._tag2axis = {}
+
+    @autocomplete_property
+    def counters(self):
+        cnts = [ctrl.counters for ctrl in self._counter_controllers.values()]
+        return counter_namespace(chain(*cnts))
+
+    @autocomplete_property
+    def axes(self):
+        return IterableNamespace(
+            **{name: self._subitems[name] for name in self._tag2axis.values()}
+        )
+
+    def get_axis(self, name):
+        return self._get_subitem(name)
+
+    def available_axis_names(self):
+        return [k for k, v in self._subitems_config.items() if v[1] == "axes"]
+
+    @property
+    def calc_mot(self):
+        if self._calc_mot is None:
+            self._calc_mot = self.config.get("calc_controller")
+        return self._calc_mot
+
+
+class BCSCC(SamplingCounterController):
+    def __init__(self, name, bctrl):
+        super().__init__(name)
+        self.bctrl = bctrl
+
+    def read_all(self, *counters):
+        values = []
+        for cnt in counters:
+            tag_info = self.bctrl._COUNTER_TAGS.get(cnt.tag)
+            if tag_info:
+                values.append(self.bctrl.hardware.send_cmd(tag_info[0]))
+            else:
+                # returned number of data must be equal to the length of '*counters'
+                # so raiseError if one of the received counter is not handled
+                raise ValueError(f"Unknown counter {cnt} with tag {cnt.tag} !")
+        return values
+
+
+class BCICC(CounterController):
+    def __init__(self, name, bctrl):
+        super().__init__(name)
+        self.bctrl = bctrl
+        self.count_time = None
+
+    def get_acquisition_object(self, acq_params, ctrl_params, parent_acq_params):
+        return BCIAS(