intoduce BlissController

bliss/config/plugins/bliss_controller.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 bliss.config.plugins.utils import find_class_and_node
+from bliss.config.static import ConfigNode, ConfigReference
+
+
+def create_objects_from_config_node(config, cfg_node):
+    klass, node = find_class_and_node(cfg_node)
+    item_name = cfg_node["name"]
+
+    if node.get("name") != item_name:
+        cfg_node = ConfigNode.indexed_nodes[item_name]
+    else:
+        cfg_node = node
+
+    o = klass(item_name, cfg_node.clone())
+
+    for key, value in cfg_node.items():
+        if isinstance(cfg_node.raw_get(key), ConfigReference):
+            if hasattr(o, key):
+                continue
+            else:
+                setattr(o, key, value)
+
+    return {item_name: o}

bliss/controllers/bliss_controller.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 bliss import global_map
+from bliss.common.protocols import CounterContainer
+from bliss.common.counter import Counter, CalcCounter
+from bliss.common.protocols import counter_namespace
+from bliss.common.utils import autocomplete_property
+from bliss.comm.util import get_comm
+
+from bliss.config.beacon_object import BeaconObject
+
+from bliss.common.logtools import log_info, log_debug, log_debug_data, log_warning
+
+
+class HardwareController:
+    def __init__(self, config):
+        self._config = config
+
+        self._last_cmd_time = perf_counter()
+        self._cmd_min_delta_time = 0
+
+        self._comm = get_comm(config)
+
+        global_map.register(self._comm, parents_list=[self, "comms"])
+
+    @property
+    def config(self):
+        return self._config
+
+    @property
+    def comm(self):
+        return self._comm
+
+    def send_cmd(self, cmd, values):
+        if self._cmd_min_delta_time:
+            delta_t = perf_counter() - 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 _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 BlissController(CounterContainer):
+
+    def __init__(self, name, config):
+
+        self._name = name
+        self._config = config
+
+        self._counter_controllers = []
+        self._hw_controller = None
+
+        self._load_config(config)
+        self._build_axes()
+        self._build_counters()
+
+    def _initialize_hardware(self):
+        """ Must return an HardwareController object """
+        raise NotImplementedError
+
+    def _load_config(self):
+        """ Read and apply the YML configuration """
+        raise NotImplementedError
+
+    def _build_counters(self):
+        """ Build the CounterControllers and associated Counters"""
+        raise NotImplementedError
+
+    def _build_axes(self):
+        """ Build the Axes (real and pseudo) """
+        raise NotImplementedError
+
+    @autocomplete_property
+    def hw_controller(self):
+        if self._hw_controller is None:
+            self._hw_controller = self._initialize_hardware()
+        return self._hw_controller
+
+    @property
+    def name(self):
+        return self._name
+
+    @property
+    def config(self):
+        return self._config
+
+    @property
+    def counters(self):
+        # cnts = [ctrl.counters for ctrl in self._counter_controllers]
+        # return counter_namespace(chain(*cnts))
+        raise NotImplementedError
+
+
+    @property
+    def axes(self):
+        # axes = [ctrl.axes for ctrl in self._axis_controllers]
+        # return dict(ChainMap(*axes))
+        raise NotImplementedError
+
+
+class TopController:
+    def __init__(self, name, config):
+        self._name = name
+        self._config = config
+
+        self._bliss_controllers = []
+
+        self._load_config(config)
+
+    def _load_config(self):
+        """ Read and apply the YML configuration """
+        raise NotImplementedError
+
+    @property
+    def name(self):
+        return self._name
+
+    @property
+    def config(self):
+        return self._config
+
+    @property
+    def counters(self):
+        cnts = [ctrl.counters for ctrl in self._bliss_controllers]
+        return counter_namespace(chain(*cnts))
+
+    @property
+    def axes(self):
+        axes = [ctrl.axes for ctrl in self._bliss_controllers]
+        return counter_namespace(chain(*axes))
+
+
+
+

tests/test_configuration/bliss_controllers.yml

+- plugin: bliss_controller
+  module: bliss_controller
+  class: BlissController
+  name: test_bliss_controller
+
+  com:
+    tcp:
+      url:bcid21
+
+  
+  counters:
+    - name: cnt1
+      tag: temperature
+      mode: mean
+      unit: mm
+      convfunc: 2*x + 3
+
+    - name: cnt2
+      tag: integration
+      unit: mm
+      convfunc: x * 1e-3
+      
+  axes:
+    - name: axis1
+      tag: zrot
+      backlash: 2
+      steps_per_unit: 10000
+      velocity: 2500.0
+      acceleration: 1000.0
+      low_limit: -180
+      high_limit: 180
+      default_cust_attr: 6.28
+
+    - name: axis2
+      tag: zgap
+