/usr/lib/python2.7/dist-packages/sardana/pool/poolcontroller.py is in python-sardana 1.2.0-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 794 795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 | #!/usr/bin/env python
##############################################################################
##
## This file is part of Sardana
##
## http://www.tango-controls.org/static/sardana/latest/doc/html/index.html
##
## Copyright 2011 CELLS / ALBA Synchrotron, Bellaterra, Spain
##
## Sardana is free software: you can redistribute it and/or modify
## it under the terms of the GNU Lesser General Public License as published by
## the Free Software Foundation, either version 3 of the License, or
## (at your option) any later version.
##
## Sardana is distributed in the hope that it will be useful,
## but WITHOUT ANY WARRANTY; without even the implied warranty of
## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
## GNU Lesser General Public License for more details.
##
## You should have received a copy of the GNU Lesser General Public License
## along with Sardana. If not, see <http://www.gnu.org/licenses/>.
##
##############################################################################
"""This module is part of the Python Pool library. It defines the base classes
for"""
__all__ = ["PoolController", "PoolPseudoMotorController",
"PoolPseudoCounterController"]
__docformat__ = 'restructuredtext'
import sys
import weakref
import StringIO
import traceback
import functools
from taurus.core.util import CaselessDict
from sardana import State, ElementType, TYPE_TIMERABLE_ELEMENTS
from sardana.sardanaevent import EventType
from sardana.sardanavalue import SardanaValue
from .poolextension import translate_ctrl_value
from .poolbaseelement import PoolBaseElement
class PoolBaseController(PoolBaseElement):
"""Base class for all controllers"""
def __init__(self, **kwargs):
self._ctrl = None
self._ctrl_error = None
self._element_ids = {}
self._pending_element_ids = {}
self._element_axis = {}
self._pending_element_axis = {}
self._element_names = CaselessDict()
self._pending_element_names = CaselessDict()
self._operator = None
kwargs['elem_type'] = ElementType.Controller
super(PoolBaseController, self).__init__(**kwargs)
def get_ctrl_types(self):
raise NotImplementedError
def get_ctrl_type_names(self):
return map(ElementType.whatis, self.get_ctrl_types())
def is_online(self):
return True
def get_ctrl_error(self):
return self._ctrl_error
def get_ctrl_error_str(self):
""""""
err = self._ctrl_error
if err is None:
return ""
sio = StringIO.StringIO()
traceback.print_exception(err[0], err[1], err[2], None, sio)
s = sio.getvalue()
sio.close()
if s[-1:] == "\n":
s = s[:-1]
return s
def add_element(self, elem, propagate=1):
name, axis, eid = elem.get_name(), elem.get_axis(), elem.get_id()
if self.is_online():
try:
self._ctrl.AddDevice(axis)
except:
self.error("Unable to add %s(%s)", name, axis, exc_info=1)
self._pending_element_ids[eid] = elem
self._pending_element_axis[axis] = elem
self._pending_element_names[name] = elem
self._element_ids[eid] = elem
self._element_axis[axis] = elem
self._element_names[name] = elem
else:
#TODO: raise exception
self._pending_element_ids[eid] = elem
self._pending_element_axis[axis] = elem
self._pending_element_names[name] = elem
if propagate:
elements = self.get_elements()
elements = [ elements[_id].name for _id in sorted(elements) ]
self.fire_event(EventType("elementlist", priority=propagate),
elements)
def remove_element(self, elem, propagate=1):
name, axis, eid = elem.get_name(), elem.get_axis(), elem.get_id()
f = self._element_ids.has_key(eid)
if not f:
f = self._pending_element_ids.has_key(eid)
if not f:
raise Exception("element '%s' is not in controller")
del self._pending_element_ids[eid]
del self._pending_element_axis[axis]
del self._pending_element_names[name]
else:
del self._element_ids[eid]
del self._element_axis[axis]
del self._element_names[name]
try:
self._ctrl.DeleteDevice(axis)
except:
self.error("Unable to delete %s(%s)", name, axis, exc_info=1)
if propagate:
elements = self.get_elements()
elements = [ elements[_id].name for _id in sorted(elements) ]
self.fire_event(EventType("elementlist", priority=propagate),
elements)
def remove_axis(self, axis, propagate=1):
f = self._element_axis.has_key(axis)
if not f:
f = self._pending_element_axis.has_key(axis)
if not f:
raise Exception("element '%s' is not in controller")
elem = self._pending_element_axis[axis]
else:
elem = self._element_axis[axis]
self.remove_element(elem, propagate=propagate)
def get_elements(self):
return self._element_ids
def get_element_ids(self):
return self._element_ids
def get_element_axis(self):
return self._element_axis
def get_element(self, **kwargs):
k = kwargs.get('axis')
if k is None:
k = kwargs.get('name')
if k is None:
k = kwargs.get('id')
if k is None:
raise Exception("Must give either name, id or axis")
d, pd = self._element_ids, self._pending_element_ids
else:
d, pd = self._element_names, self._pending_element_names
else:
d, pd = self._element_axis, self._pending_element_axis
elem = d.get(k)
if elem is None:
elem = pd.get(k)
return elem
def read_axis_states(self, axes=None):
"""Reads the state for the given axes. If axes is None, reads the
state of all active axes.
:param axes: the list of axis to get the state. Default is None meaning
all active axis in this controller
:type axes: seq<int> or None
:return: a map containing the controller state information for each axis
:rtype: dict<PoolElement, state info>
"""
raise NotImplementedError
def read_axis_values(self, axes=None):
"""Reads the value for the given axes. If axes is None, reads the
value of all active axes.
:param axes: the list of axis to get the value. Default is None meaning
all active axis in this controller
:type axes: seq<int> or None
:return: a map containing the controller value information for each axis
:rtype: dict<PoolElement, value>
"""
raise NotImplementedError
def check_ctrl(fn):
@functools.wraps(fn)
def wrapper(pool_ctrl, *args, **kwargs):
if not pool_ctrl.is_online():
raise Exception("Cannot execute '%s' because '%s' is offline" % \
(fn.__name__, pool_ctrl.name))
return fn(pool_ctrl, *args, **kwargs)
return wrapper
def ctrl_access(fn):
@functools.wraps(fn)
def wrapper(pool_ctrl, *args, **kwargs):
with pool_ctrl:
return fn(pool_ctrl, *args, **kwargs)
return wrapper
class PoolController(PoolBaseController):
"""Controller class mediator for sardana controller plugins"""
def __init__(self, **kwargs):
self._lib_info = kwargs.pop('lib_info')
self._ctrl_info = kwargs.pop('class_info')
self._lib_name = kwargs.pop('library')
self._class_name = kwargs.pop('klass')
self._properties = kwargs.pop('properties')
super(PoolController, self).__init__(**kwargs)
self.re_init()
def serialize(self, *args, **kwargs):
kwargs = PoolBaseController.serialize(self, *args, **kwargs)
ctrl_info = self._ctrl_info
if ctrl_info is None:
kwargs['module'] = self._lib_name
kwargs['klass'] = self._class_name
kwargs['language'] = 'Python'
kwargs['file_name'] = None
kwargs['types'] = None
kwargs['main_type'] = None
kwargs['parent'] = self._class_name
else:
types = self.get_ctrl_type_names()
kwargs['module'] = ctrl_info.module_name
kwargs['klass'] = ctrl_info.name
kwargs['language'] = 'Python'
kwargs['file_name'] = ctrl_info.file_name
kwargs['types'] = types
kwargs['parent'] = ctrl_info.name
if len(types):
kwargs['main_type'] = types[0]
else:
kwargs['main_type'] = None
return kwargs
def _create_ctrl_args(self):
name = self.name
klass = self._ctrl_info.klass
props = dict(self._properties)
args, kwargs = [], dict(pool_controller=weakref.ref(self))
return name, klass, props, args, kwargs
def _create_controller(self):
name, klass, props, args, kwargs = self._create_ctrl_args()
api = self._ctrl_info.api_version
if api == 0:
ctrl = klass(name, props)
ctrl._args = args
ctrl._kwargs = kwargs
elif api == 1:
ctrl = klass(name, props, *args, **kwargs)
return ctrl
def _init(self):
if self._ctrl_info is None:
if self._lib_info is not None:
self._ctrl_error = self._lib_info.get_error()
return
try:
self._ctrl = self._create_controller()
except:
self._ctrl = None
self._ctrl_error = sys.exc_info()
def re_init(self):
self.set_state(State.Init, propagate=2)
status = "{0} is Initializing (temporarily unavailable)".format(self.name)
self.set_status(status, propagate=2)
manager = self.pool.ctrl_manager
old_e_ids = self._element_ids
old_p_e_ids = self._pending_element_ids
elem_axis = dict(self._element_axis)
for axis in elem_axis:
self.remove_axis(axis, propagate=0)
if self._lib_info is None:
mod_name = self.get_library_name()
else:
mod_name = self._lib_info.name
if self._ctrl_info is None:
class_name = self.get_class_name()
else:
class_name = self._ctrl_info.name
self._ctrl_error = None
self._ctrl_info = None
self._lib_info = manager.getControllerLib(mod_name)
if self._lib_info is not None:
self._ctrl_info = self._lib_info.get_controller(class_name)
self._init()
for elem in elem_axis.values():
self.add_element(elem, propagate=0)
state, status = State.Fault, ""
if self.is_online():
state = State.On
else:
status = "\n" + self.get_ctrl_error_str()
status = "{0} is {1}".format(self.name, State[state]) + status
self.set_status(status, propagate=2)
self.set_state(state, propagate=2)
def get_ctrl_types(self):
return self._ctrl_info.types
def is_timerable(self):
for t in self._ctrl_info.types:
if t in TYPE_TIMERABLE_ELEMENTS:
return True
return False
def is_online(self):
return self._ctrl_error is None and self._ctrl is not None
def get_ctrl(self):
return self._ctrl
ctrl = property(fget=get_ctrl, doc="actual controller object")
def get_ctrl_info(self):
return self._ctrl_info
ctrl_info = property(fget=get_ctrl_info, doc="controller information object")
def set_operator(self, operator):
"""Defines the current operator object for this controller.
For example, in acquisition, it should be a :class:`PoolMeasurementGroup`
object.
:param operator: the new operator object
:type operator: object"""
self._operator = operator
def get_operator(self):
return self._operator
operator = property(fget=get_operator, fset=set_operator, doc="current controller operator")
# START API WHICH ACCESSES CONTROLLER API ----------------------------------
@check_ctrl
def set_log_level(self, level):
self.ctrl._log.log_obj.setLevel(level)
@check_ctrl
def get_log_level(self):
return self.ctrl._log.log_obj.level
def get_library_name(self):
return self._lib_name
def get_class_name(self):
return self._class_name
@check_ctrl
def get_axis_attributes(self, axis):
return self.ctrl.GetAxisAttributes(axis)
@check_ctrl
def get_ctrl_attr(self, name):
ctrl_info = self.ctrl_info
attr_info = ctrl_info.ctrl_attributes[name]
if hasattr(self.ctrl, attr_info.fget):
return getattr(self.ctrl, attr_info.fget)()
else:
return self.ctrl.GetCtrlPar(name)
@check_ctrl
def set_ctrl_attr(self, name, value):
ctrl_info = self.ctrl_info
attr_info = ctrl_info.ctrl_attributes[name]
if hasattr(self.ctrl, attr_info.fset):
return getattr(self.ctrl, attr_info.fset)(value)
else:
return self.ctrl.SetCtrlPar(name, value)
@check_ctrl
def get_axis_attr(self, axis, name):
ctrl_info = self.ctrl_info
axis_attr_info = ctrl_info.axis_attributes[name]
if hasattr(self.ctrl, axis_attr_info.fget):
ret = getattr(self.ctrl, axis_attr_info.fget)(axis)
else:
ret = self.ctrl.GetAxisExtraPar(axis, name)
return ret
@check_ctrl
def set_axis_attr(self, axis, name, value):
ctrl_info = self.ctrl_info
axis_attr_info = ctrl_info.axis_attributes[name]
try:
return getattr(self.ctrl, axis_attr_info.fset)(axis, value)
except AttributeError:
return self.ctrl.SetAxisExtraPar(axis, name, value)
@check_ctrl
def set_ctrl_par(self, name, value):
#return self.ctrl.setCtrlPar(unit, name, value)
return self.ctrl.SetCtrlPar(name, value)
@check_ctrl
def get_ctrl_par(self, name):
#return self.ctrl.getCtrlPar(unit, name, value)
return self.ctrl.GetCtrlPar(name)
@check_ctrl
def set_axis_par(self, axis, name, value):
#return self.ctrl.SetAxisPar(unit, axis, name, value)
return self.ctrl.SetAxisPar(axis, name, value)
@check_ctrl
def get_axis_par(self, axis, name):
#return self.ctrl.GetAxisPar(unit, axis, name, value)
return self.ctrl.GetAxisPar(axis, name)
# END API WHICH ACCESSES CONTROLLER API ------------------------------------
# START API WHICH ACCESSES CRITICAL CONTROLLER API (like StateOne) ---------
def __build_exc_info(self, ctrl_states, axes, exc_info):
status = "".join(traceback.format_exception(*exc_info))
state_info = State.Fault, status
for axis in axes:
element = self.get_element(axis=axis)
ctrl_states[element] = state_info
@staticmethod
def _format_exception(exc_info):
fmt_exc = traceback.format_exception_only(*exc_info[:2])
fmt_exc = "".join(fmt_exc)
if fmt_exc.endswith("\n"):
fmt_exc = fmt_exc[:-1]
return fmt_exc
def raw_read_axis_states(self, axes=None, ctrl_states=None):
"""**Unsafe method**. Reads the state for the given axes. If axes
is None, reads the state of all active axes.
:param axes: the list of axis to get the state. Default is None meaning
all active axis in this controller
:type axes: seq<int> or None
:return:
a tuple of two elements: a map containing the controller state
information for each axis and a boolean telling if an error occured
:rtype: dict<PoolElement, state info>, bool"""
if axes is None:
axes = self._element_axis.keys()
if ctrl_states is None:
ctrl_states = {}
ctrl = self.ctrl
try:
ctrl.PreStateAll()
for axis in axes:
ctrl.PreStateOne(axis)
ctrl.StateAll()
except:
exc_info = sys.exc_info()
status = self._format_exception(exc_info)
state_info = (State.Fault, status), exc_info
for axis in axes:
element = self.get_element(axis=axis)
ctrl_states[element] = state_info
return ctrl_states, True
error = False
for axis in axes:
element = self.get_element(axis=axis)
try:
state_info = ctrl.StateOne(axis)
if state_info is None:
raise Exception("%s.StateOne(%s(%d)) returns 'None'"
% (self.name, element.name, axis))
state_info = state_info, None
except:
exc_info = sys.exc_info()
status = self._format_exception(exc_info)
state_info = (State.Fault, status), exc_info
error = True
ctrl_states[element] = state_info
return ctrl_states, error
@check_ctrl
def read_axis_states(self, axes=None):
"""Reads the state for the given axes. If axes is None, reads the
state of all active axes.
:param axes: the list of axis to get the state. Default is None
meaning all active axis in this controller
:type axes: seq<int> or None
:return: a map containing the controller state information for each axis
:rtype: dict<PoolElement, state info>"""
return self.raw_read_axis_states(axes=axes)
def _read_axis_value(self, element):
try:
axis = element.get_axis()
ctrl_value = self.ctrl.ReadOne(axis)
if ctrl_value is None:
msg = '%s.ReadOne(%s[%d]) return error: Expected value, ' \
'got None instead' % (self.name, element.name, axis)
raise ValueError(msg)
value = translate_ctrl_value(ctrl_value)
except:
value = SardanaValue(exc_info=sys.exc_info())
return value
def raw_read_axis_values(self, axes=None, ctrl_values=None):
"""**Unsafe method**. Reads the value for the given axes. If axes
is None, reads the value of all active axes.
:param axes: the list of axis to get the value. Default is None
meaning all active axis in this controller
:type axes: seq<int> or None
:return: a map containing the controller value information for each axis
:rtype: dict<PoolElement, SardanaValue>"""
if axes is None:
axes = self._element_axis.keys()
if ctrl_values is None:
ctrl_values = {}
ctrl = self.ctrl
try:
ctrl.PreReadAll()
for axis in axes:
ctrl.PreReadOne(axis)
ctrl.ReadAll()
except:
exc_info = sys.exc_info()
for axis in axes:
element = self.get_element(axis=axis)
ctrl_values[element] = None, exc_info
return ctrl_values
for axis in axes:
element = self.get_element(axis=axis)
ctrl_values[element] = self._read_axis_value(element)
return ctrl_values
@check_ctrl
def read_axis_values(self, axes=None):
"""Reads the value for the given axes. If axes is None, reads the
value of all active axes.
:param axes: the list of axis to get the value. Default is None meaning
all active axis in this controller
:type axes: seq<int> or None
:return: a map containing the controller value information for each axis
:rtype: dict<PoolElement, SardanaValue>"""
return self.raw_read_axis_values(axes=axes)
def raw_stop_all(self):
try:
return self._raw_stop_all()
except:
pass
def raw_stop_one(self, axis):
try:
self._raw_stop_one(axis)
except:
pass
def _raw_stop_all(self):
try:
return self.ctrl.StopAll()
except:
self.warning("StopAll() raises exception")
self.debug("Details:", exc_info=1)
raise
def _raw_stop_one(self, axis):
try:
self.ctrl.StopOne(axis)
except:
self.warning("StopOne(%d) raises exception", axis)
self.debug("Details:", exc_info=1)
raise
@check_ctrl
def stop_all(self):
self.raw_stop_all()
stop = stop_all
@check_ctrl
def stop_one(self, axis):
return self.raw_stop_one(axis)
@check_ctrl
def stop_axes(self, axes=None):
"""Stops the given axes. If axes is None, stops all active axes.
:param axes: the list of axis to stop. Default is None
meaning all active axis in this controller
:type axes: seq<int> or None
"""
if axes is None:
return self.raw_stop_all()
for axis in axes:
self.raw_stop_one(axis)
@check_ctrl
def stop_elements(self, elements=None):
"""Stops the given elements. If axes is None, stops all active axes.
:param elements: the list of elements to stop. Default is None
meaning all active axis in this controller
:type axes: seq<PoolElement> or None
"""
if elements is None:
return self.raw_stop_all()
for element in elements:
self.raw_stop_one(element.axis)
def raw_abort_all(self):
try:
return self._raw_abort_all()
except:
pass
def raw_abort_one(self, axis):
try:
self._raw_abort_one(axis)
except:
pass
def _raw_abort_all(self):
try:
return self.ctrl.AbortAll()
except:
self.warning("AbortAll() raises exception")
self.debug("Details:", exc_info=1)
raise
def _raw_abort_one(self, axis):
try:
self.ctrl.AbortOne(axis)
except:
self.warning("AbortOne(%d) raises exception", axis)
self.debug("Details:", exc_info=1)
raise
@check_ctrl
def abort_all(self):
self.raw_abort_all()
@check_ctrl
def abort_one(self, axis):
return self.raw_abort_one(axis)
@check_ctrl
def abort_axes(self, axes=None):
"""Aborts the given axes. If axes is None, aborts all active axes.
:param axes: the list of axis to abort. Default is None
meaning all active axis in this controller
:type axes: seq<int> or None
"""
if axes is None:
return self.raw_abort_all()
for axis in axes:
self.raw_abort_one(axis)
@check_ctrl
def abort_elements(self, elements=None):
"""Aborts the given elements. If axes is None, aborts all active axes.
:param elements: the list of elements to abort. Default is None
meaning all active axis in this controller
:type axes: seq<PoolElement> or None
"""
if elements is None:
return self.raw_abort_all()
for element in elements:
self.raw_abort_one(element.axis)
abort = abort_all
@check_ctrl
def emergency_break(self, elements=None):
"""Stops the given elements. If axes is None, stops all active axes.
If stop raises exception, an abort is attempted.
:param elements: the list of elements to stop. Default is None
meaning all active axis in this controller
:type axes: seq<PoolElement> or None
"""
if elements is None:
try:
return self._raw_stop_all()
except:
return self.raw_abort_all()
for element in elements:
try:
self._raw_stop_one(element.axis)
except:
self.raw_abort_one(element.axis)
@check_ctrl
def send_to_controller(self, stream):
return self.ctrl.SendToCtrl(stream)
# END API WHICH ACCESSES CRITICAL CONTROLLER API (like StateOne) -----------
# START SPECIFIC TO MOTOR CONTROLLER ---------------------------------------
def raw_move(self, axis_pos):
ctrl = self.ctrl
ctrl.PreStartAll()
for axis, dial_position in axis_pos.items():
ret = ctrl.PreStartOne(axis, dial_position)
if not ret:
raise Exception("%s.PreStartOne(%d, %f) returns False" \
% (self.name, axis, dial_position))
for axis, dial_position in axis_pos.items():
ctrl.StartOne(axis, dial_position)
ctrl.StartAll()
@check_ctrl
def move(self, axis_pos):
return self.raw_move(axis_pos)
def has_backlash(self):
return "Backlash" in self._ctrl.ctrl_features
def wants_rounding(self):
return "Rounding" in self._ctrl.ctrl_features
@check_ctrl
def define_position(self, axis, position):
return self.ctrl.DefinePosition(axis, position)
# END SPECIFIC TO MOTOR CONTROLLER -----------------------------------------
# START SPECIFIC TO IOR CONTROLLER -----------------------------------------
def write_one(self, axis, value):
self.ctrl.WriteOne(axis, value)
# END SPECIFIC TO IOR CONTROLLER -------------------------------------------
class PoolPseudoMotorController(PoolController):
def __init__(self, **kwargs):
self._motor_ids = kwargs.pop('role_ids')
super(PoolPseudoMotorController, self).__init__(**kwargs)
def serialize(self, *args, **kwargs):
kwargs = PoolController.serialize(self, *args, **kwargs)
kwargs['type'] = 'Controller'
return kwargs
def _create_ctrl_args(self):
pars = PoolController._create_ctrl_args(self)
kwargs = pars[4]
kwargs['motor_ids'] = tuple(self._motor_ids)
return pars
def _read_axis_value(self, element):
try:
axis = element.get_axis()
ctrl_value = self.ctrl.ReadOne(axis)
if ctrl_value is None:
msg = '%s.ReadOne(%s[%d]) return error: Expected value, ' \
'got None instead' % (self.name, element.name, axis)
raise ValueError(msg)
value = translate_ctrl_value(ctrl_value)
except:
value = SardanaValue(exc_info=sys.exc_info())
return value
@check_ctrl
def calc_all_pseudo(self, physical_pos, curr_pseudo_pos):
ctrl = self.ctrl
try:
ctrl_value = ctrl.CalcAllPseudo(physical_pos, curr_pseudo_pos)
if ctrl_value is None:
msg = '%s.CalcAllPseudo() return error: Expected value, ' \
'got None instead' % (self.name, )
raise ValueError(msg)
value = translate_ctrl_value(ctrl_value)
except:
value = SardanaValue(exc_info=sys.exc_info())
return value
@check_ctrl
def calc_all_physical(self, pseudo_pos, curr_physical_pos):
ctrl = self.ctrl
try:
ctrl_value = ctrl.CalcAllPhysical(pseudo_pos, curr_physical_pos)
if ctrl_value is None:
msg = '%s.CalcAllPhysical() return error: Expected value, ' \
'got None instead' % (self.name, )
raise ValueError(msg)
value = translate_ctrl_value(ctrl_value)
except:
value = SardanaValue(exc_info=sys.exc_info())
return value
@check_ctrl
def calc_pseudo(self, axis, physical_pos, curr_pseudo_pos):
ctrl = self.ctrl
try:
ctrl_value = ctrl.CalcPseudo(axis, physical_pos, curr_pseudo_pos)
if ctrl_value is None:
msg = '%s.CalcPseudo() return error: Expected value, ' \
'got None instead' % (self.name, )
raise ValueError(msg)
value = translate_ctrl_value(ctrl_value)
except:
value = SardanaValue(exc_info=sys.exc_info())
return value
@check_ctrl
def calc_physical(self, axis, pseudo_pos, curr_physical_pos):
ctrl = self.ctrl
try:
ctrl_value = ctrl.CalcPhysical(axis, pseudo_pos, curr_physical_pos)
if ctrl_value is None:
msg = '%s.CalcPhysical() return error: Expected value, ' \
'got None instead' % (self.name, )
raise ValueError(msg)
value = translate_ctrl_value(ctrl_value)
except:
value = SardanaValue(exc_info=sys.exc_info())
return value
class PoolPseudoCounterController(PoolController):
def __init__(self, **kwargs):
self._counter_ids = kwargs.pop('role_ids')
super(PoolPseudoCounterController, self).__init__(**kwargs)
def serialize(self, *args, **kwargs):
kwargs = PoolController.serialize(self, *args, **kwargs)
kwargs['type'] = 'Controller'
return kwargs
def _create_ctrl_args(self):
pars = PoolController._create_ctrl_args(self)
kwargs = pars[4]
kwargs['counter_ids'] = tuple(self._counter_ids)
return pars
@check_ctrl
def calc(self, axis, values):
ctrl = self.ctrl
try:
ctrl_value = ctrl.Calc(axis, values)
if ctrl_value is None:
msg = '%s.Calc() return error: Expected value, ' \
'got None instead' % (self.name, )
raise ValueError(msg)
value = translate_ctrl_value(ctrl_value)
except:
value = SardanaValue(exc_info=sys.exc_info())
return value
def calc_all(self, values):
ctrl = self.ctrl
try:
ctrl_value = ctrl.CalcAll(values)
if ctrl_value is None:
msg = '%s.CalcAll() return error: Expected value, ' \
'got None instead' % (self.name, )
raise ValueError(msg)
value = translate_ctrl_value(ctrl_value)
except:
value = SardanaValue(exc_info=sys.exc_info())
return value
|