/usr/lib/python2.7/dist-packages/sardana/pool/poolcontrollers/DummyMotorController.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.
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##
## 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/>.
##
##############################################################################
import time
from math import pow, sqrt
from sardana import State, SardanaValue
from sardana.pool.controller import MotorController
from sardana.pool.controller import DefaultValue, Description, FGet, FSet, Type
class BaseMotion(object):
def __init__(self):
self.min_vel = -1
self.max_vel = -1
self.accel_time = -1
self.decel_time = -1
self.accel = -1
self.decel = -1
self.init_pos = -1
self.final_pos = -1
self.curr_pos = -1
class Motion(BaseMotion):
def __init__(self):
BaseMotion.__init__(self)
self.dsplmnt_reach_max_vel = -1
self.dsplmnt_reach_min_vel = -1
self.dsplmnt = -1
self.curr_instant = -1
self.start_instant = -1
self.positive_dsplmnt = True
self.small_motion = False
# position where maximum velocity will be reached
self.curr_max_vel_pos = -1
# necessary displacement to reach maximum velocity
self.curr_dsplmnt_reach_max_vel = -1
# necessary displacement to reach minimum velocity
self.curr_dsplmnt_reach_min_vel = -1
# maximum velocity possible
self.curr_max_vel = -1
# time at maximum velocity
self.curr_at_max_vel_dsplmnt = -1
# time to reach maximum velocity
self.curr_max_vel_time = -1
# time to reach minimum velocity
self.curr_min_vel_time = -1
# time at maximum velocity
self.curr_at_max_vel_time = -1
# instant when maximum velocity should be reached
self.curr_max_vel_instant = -1
# instant when should start decelerating
self.curr_min_vel_instant = -1
# time the motion will take
self.duration = -1
# instant the motion will end
self.final_instant = -1
# steps per unit
self.step_per_unit = 1
self.inMotion = False
self.lower_ls = float('-inf')
self.upper_ls = float('+inf')
self.power = True
self.enabled = True
self.__recalculate_acc_constants()
def setMinVelocity(self,vi):
""" Sets the minimum velocity in ms^-1. A.k.a. base rate"""
vi = float(vi)
if vi < 0:
raise "Minimum velocity must be >= 0"
self.min_vel = vi
if self.max_vel < self.min_vel:
self.max_vel = self.min_vel
# force recalculation of accelerations
if self.accel_time >= 0:
self.setAccelerationTime(self.accel_time)
if self.decel_time >= 0:
self.setDecelerationTime(self.decel_time)
def getMinVelocity(self):
return self.min_vel
def setMaxVelocity(self,vf):
""" Sets the maximum velocity in ms^-1."""
vf = float(vf)
if vf <= 0:
raise "Maximum velocity must be > 0"
self.max_vel = vf
if self.min_vel > self.max_vel:
self.min_vel = self.max_vel
# force recalculation of accelerations
if self.accel_time >= 0:
self.setAccelerationTime(self.accel_time)
if self.decel_time >= 0:
self.setDecelerationTime(self.decel_time)
def getMaxVelocity(self):
return self.max_vel
def setAccelerationTime(self,at):
"""Sets the time to go from minimum velocity to maximum velocity in seconds"""
at = float(at)
if at <= 0:
raise "Acceleration time must be > 0"
self.accel_time = at
self.accel = (self.max_vel - self.min_vel) / at
self.__recalculate_acc_constants()
def getAccelerationTime(self):
return self.accel_time
def setDecelerationTime(self,dt):
"""Sets the time to go from maximum velocity to minimum velocity in seconds"""
dt = float(dt)
if dt <= 0:
raise "Deceleration time must be > 0"
self.decel_time = dt
self.decel = (self.min_vel - self.max_vel) / dt
self.__recalculate_acc_constants()
def getDecelerationTime(self):
return self.decel_time
def setAcceleration(self,a):
"""Sets the acceleration in ms^-2"""
a = float(a)
if a < 0:
raise "Acceleration must be >= 0"
self.accel = float(a)
if a > 0:
self.accel_time = (self.max_vel - self.min_vel) / a
else:
self.accel_time = float('INF')
self.__recalculate_acc_constants()
def setDeceleration(self,d):
"""Sets the deceleration in ms^-2"""
d = float(d)
if d > 0:
raise "Deceleration must be <= 0"
self.decel = d
if d < 0:
self.decel_time = (self.min_vel - self.max_vel) / d
else:
self.decel_time = float('INF')
self.__recalculate_acc_constants()
def getStepPerUnit(self):
return self.step_per_unit
def setStepPerUnit(self, spu):
self.step_per_unit = spu
def __recalculate_acc_constants(self):
"""pre-computations assuming maximum speed can be reached in a motion"""
self.dsplmnt_reach_max_vel = 0.5 * self.accel * pow(self.accel_time,2)
self.dsplmnt_reach_max_vel += self.min_vel * self.accel_time
self.dsplmnt_reach_min_vel = 0.5 * self.decel * pow(self.decel_time,2)
self.dsplmnt_reach_min_vel += self.max_vel * self.decel_time
def startMotion(self, initial_user_pos, final_user_pos, start_instant=None):
"""starts a new motion"""
if not self.power:
raise Exception("Motor is powered off")
initial_pos = initial_user_pos * self.step_per_unit
final_pos = final_user_pos * self.step_per_unit
if self.inMotion:
raise Exception("Already in motion")
if initial_pos == final_pos:
return
self.init_pos = initial_pos
self.final_pos = final_pos
self.curr_pos = initial_pos
self.dsplmnt = abs(final_pos - initial_pos)
start_instant = start_instant or time.time()
self.curr_instant = start_instant
self.start_instant = start_instant
self.positive_dsplmnt = final_pos >= initial_pos
displmnt_not_cnst = self.dsplmnt_reach_max_vel + self.dsplmnt_reach_min_vel
self.small_motion = self.dsplmnt < displmnt_not_cnst
if self.positive_dsplmnt:
self.curr_accel = self.accel
self.curr_decel = self.decel
else:
self.curr_accel = -self.accel
self.curr_decel = -self.decel
if not self.small_motion:
# necessary displacement to reach maximum velocity
self.curr_dsplmnt_reach_max_vel = self.dsplmnt_reach_max_vel
# necessary diplacement to reach minimum velocity
self.curr_dsplmnt_reach_min_vel = self.dsplmnt_reach_min_vel
if self.positive_dsplmnt:
self.curr_max_vel = self.max_vel
self.curr_min_vel = self.min_vel
# position where maximum velocity will be reached
self.curr_max_vel_pos = self.init_pos + self.curr_dsplmnt_reach_max_vel
else:
self.curr_max_vel = -self.max_vel
self.curr_min_vel = -self.min_vel
# position where maximum velocity will be reached
self.curr_max_vel_pos = self.init_pos - self.curr_dsplmnt_reach_max_vel
# displacement at maximum velocity
self.curr_at_max_vel_dsplmnt = self.dsplmnt - (self.curr_dsplmnt_reach_max_vel + self.curr_dsplmnt_reach_min_vel)
else: # Small movement
# position where maximum velocity will be reached
self.curr_max_vel_pos = self.init_pos * self.curr_accel - self.final_pos * self.curr_decel
self.curr_max_vel_pos /= self.curr_accel - self.curr_decel
# necessary displacement to reach maximum velocity
self.curr_dsplmnt_reach_max_vel = abs(self.curr_max_vel_pos - self.init_pos)
# necessary diplacement to reach minimum velocity
self.curr_dsplmnt_reach_min_vel = abs(self.final_pos - self.curr_max_vel_pos)
# maximum velocity possible
cnst = 2 * self.curr_accel * self.curr_decel * self.dsplmnt / (self.curr_decel - self.curr_accel)
max_vel_2 = pow(self.min_vel, 2) + cnst
self.curr_max_vel = sqrt(abs(max_vel_2))
if self.positive_dsplmnt:
self.curr_min_vel = self.min_vel
else:
self.curr_max_vel = -self.curr_max_vel
self.curr_min_vel = -self.min_vel
# displacement at maximum velocity
self.curr_at_max_vel_dsplmnt = 0.0
# time to reach maximum velocity
self.curr_max_vel_time = abs((self.curr_max_vel - self.curr_min_vel) / self.curr_accel)
# time to reach minimum velocity
self.curr_min_vel_time = abs((self.curr_min_vel - self.curr_max_vel) / self.curr_decel)
# time at maximum velocity
self.curr_at_max_vel_time = abs(self.curr_at_max_vel_dsplmnt / self.curr_max_vel)
# instant when maximum velocity should be reached
self.curr_max_vel_instant = self.start_instant + self.curr_max_vel_time
# instant when should start decelerating
self.curr_min_vel_instant = self.curr_max_vel_instant + self.curr_at_max_vel_time
# time the motion will take
self.duration = self.curr_max_vel_time + self.curr_at_max_vel_time + self.curr_min_vel_time
# instant the motion will end
self.final_instant = self.start_instant + self.duration
# uncomment following line if need output concerning the movement that
# has just started
# self.info()
# ASSERTIONS
if self.positive_dsplmnt:
assert(self.curr_max_vel_pos >= self.init_pos)
assert(self.curr_max_vel_pos <= self.final_pos)
else:
assert(self.curr_max_vel_pos <= self.init_pos)
assert(self.curr_max_vel_pos >= self.final_pos)
assert(self.curr_dsplmnt_reach_max_vel >= 0.0)
assert(self.curr_dsplmnt_reach_min_vel >= 0.0)
assert(self.final_instant >= self.start_instant)
assert(self.curr_max_vel <= self.max_vel)
assert(self.start_instant <= self.curr_max_vel_instant)
assert(self.final_instant >= self.curr_min_vel_instant)
assert(self.curr_max_vel_time > 0.0)
assert(self.curr_min_vel_time > 0.0)
assert(self.duration > 0.0)
if self.small_motion:
assert(self.curr_max_vel_instant == self.curr_min_vel_instant)
assert(self.curr_at_max_vel_time == 0.0)
else:
assert(self.curr_max_vel_instant <= self.curr_min_vel_instant)
assert(self.curr_at_max_vel_time >= 0.0)
self.inMotion = True
def abortMotion(self, curr_instant=None):
curr_instant = curr_instant or time.time()
if not self.inMotion:
return self.curr_pos
self.curr_pos = self.getCurrentPosition(curr_instant)
self.inMotion = False
return self.curr_pos
def isInMotion(self,curr_instant=None):
curr_instant = curr_instant or time.time()
#we call getCurrentPosition because inside it updates the inMotion flag
self.getCurrentPosition(curr_instant)
return self.inMotion
def setCurrentPosition(self, curr_pos):
self.curr_pos = curr_pos
self.init_pos = curr_pos
def getCurrentPosition(self, curr_instant=None):
curr_instant = curr_instant or time.time()
self.curr_instant = curr_instant
pos = None
if self.inMotion:
# if motion should be ended...
if self.curr_instant >= self.final_instant:
self.inMotion = False
pos = self.final_pos
else:
pos = self.init_pos
if curr_instant > self.curr_min_vel_instant:
if self.positive_dsplmnt:
pos += self.curr_dsplmnt_reach_max_vel
pos += self.curr_at_max_vel_dsplmnt
else:
pos -= self.curr_dsplmnt_reach_max_vel
pos -= self.curr_at_max_vel_dsplmnt
dt = curr_instant - self.curr_min_vel_instant
pos += self.curr_max_vel * dt + 0.5 * self.curr_decel * pow(dt,2)
elif curr_instant > self.curr_max_vel_instant:
if self.positive_dsplmnt:
pos += self.curr_dsplmnt_reach_max_vel
else:
pos -= self.curr_dsplmnt_reach_max_vel
dt = curr_instant - self.curr_max_vel_instant
pos += self.curr_max_vel * dt
else:
dt = curr_instant - self.start_instant
pos += self.curr_min_vel * dt + 0.5 * self.curr_accel * pow(dt,2)
else:
pos = self.curr_pos
if pos <= self.lower_ls:
pos = self.lower_ls
self.inMotion = False
elif pos >= self.upper_ls:
pos = self.upper_ls
self.inMotion = False
self.curr_pos = pos
return pos
def setCurrentUserPosition(self, user_pos):
self.setCurrentPosition(user_pos*self.step_per_unit)
def getCurrentUserPosition(self, curr_instant=None):
return self.getCurrentPosition(curr_instant=curr_instant) / self.step_per_unit
def hitLowerLimit(self):
user_pos = self.curr_pos / self.step_per_unit
return user_pos <= self.lower_ls
def hitUpperLimit(self):
user_pos = self.curr_pos / self.step_per_unit
return user_pos >= self.upper_ls
def getLowerLimitSwitch(self):
return self.lower_ls
def setLowerLimitSwitch(self, user_lower_ls):
self.lower_ls = user_lower_ls
def getUpperLimitSwitch(self):
return self.upper_ls
def setUpperLimitSwitch(self, user_upper_ls):
self.upper_ls = user_upper_ls
def turnOn(self):
self.power = True
def turnOff(self):
self.power = False
def isTurnedOn(self):
return self.power
def hasPower(self):
return self.power
def setPower(self, power):
self.power = power
def info(self):
print "Small movement =",self.small_motion
print "length =",self.dsplmnt
print "position where maximum velocity will be reached =",self.curr_max_vel_pos
print "necessary displacement to reach maximum velocity =",self.curr_dsplmnt_reach_max_vel
print "necessary displacement to stop from maximum velocity =",self.curr_dsplmnt_reach_min_vel
print "maximum velocity possible =",self.curr_max_vel
print "time at top velocity =",self.curr_at_max_vel_time
print "displacement at top velocity =",self.curr_at_max_vel_dsplmnt
print "time to reach maximum velocity =",self.curr_max_vel_time
print "time to reach minimum velocity =",self.curr_min_vel_time
print "time the motion will take =",self.duration
print "instant when maximum velocity should be reached =",self.curr_max_vel_instant
print "instant when should start decelerating =",self.curr_min_vel_instant
print "instant the motion will end",self.final_instant
print ""
print "For long movements (where top vel is possible), necessary displacement to reach maximum velocity =",self.dsplmnt_reach_max_vel
print "For long movements (where top vel is possible), necessary displacement to stop from maximum velocity =",self.dsplmnt_reach_min_vel
class BasicDummyMotorController(MotorController):
"""This class represents a basic, dummy Sardana motor controller."""
gender = "Simulation"
model = "Basic"
organization = "Sardana team"
MaxDevice = 1024
def __init__(self, inst, props, *args, **kwargs):
MotorController.__init__(self, inst, props, *args, **kwargs)
self.m = self.MaxDevice*[None,]
def GetAxisAttributes(self, axis):
axis_attrs = MotorController.GetAxisAttributes(self, axis)
new_axis_attrs = {}
for attr in ('Position', 'Limit_switches'):
new_axis_attrs[attr] = axis_attrs[attr]
return new_axis_attrs
def AddDevice(self,axis):
MotorController.AddDevice(self, axis)
idx = axis - 1
if len(self.m) < axis:
raise Exception("Invalid axis %d" % axis)
if self.m[idx] is None:
m = Motion()
m.setMinVelocity(2)
m.setMaxVelocity(100)
m.setAccelerationTime(2)
m.setDecelerationTime(2)
m.setCurrentPosition(0)
self.m[idx] = m
def DeleteDevice(self, axis):
MotorController.DeleteDevice(self, axis)
idx = axis - 1
if len(self.m) < axis or not self.m[idx]:
self._log.error("Invalid axis %d" % axis)
#self.m[idx] = None
def StateOne(self, axis):
#self._log.debug("StateOne(%d)", axis)
#raise Exception("Cannot StateOne %d" % axis)
idx = axis - 1
m = self.m[idx]
state = State.On
status = "Motor HW is ON"
if m.isInMotion():
state = State.Moving
status = "Motor HW is MOVING"
m.getCurrentUserPosition()
switchstate = 0
if m.hitLowerLimit():
switchstate |= MotorController.LowerLimitSwitch
state = State.Alarm
status = "Motor HW is in ALARM. Hit hardware lower limit switch"
if m.hitUpperLimit():
switchstate |= MotorController.UpperLimitSwitch
state = State.Alarm
status = "Motor HW is in ALARM. Hit hardware upper limit switch"
if state != State.Alarm and not m.hasPower():
state = State.Off
status = "Motor is powered off"
#self._log.info("StateOne(%s) = %s", axis, (state, status, switchstate))
return state, status, switchstate
def ReadOne(self, axis):
#self._log.debug("ReadOne(%d)", axis)
#raise Exception("Cannot ReadOne")
idx = axis - 1
m = self.m[idx]
ts = time.time() #simulate as if we got it from hardware
return SardanaValue(m.getCurrentUserPosition(), timestamp=ts)
#return m.getCurrentUserPosition()
def PreStartAll(self):
#raise Exception("Cannot move on PreStartAll")
self.motions = {}
def PreStartOne(self, axis, pos):
#raise Exception("Cannot move on PreStartOne")
idx = axis - 1
m = self.m[idx]
return m.hasPower()
def StartOne(self, axis, pos):
#raise Exception("Cannot move on StartOne")
idx = axis - 1
self.motions[self.m[idx]] = pos
def StartAll(self):
#raise Exception("Cannot move on StartAll")
t = time.time()
for motion, pos in self.motions.items():
motion.startMotion(motion.getCurrentUserPosition(t), pos, t)
def AbortOne(self, axis):
self._log.info("AbortOne(%d)", axis)
idx = axis - 1
self.m[idx].abortMotion()
def SendToCtrl(self, stream):
return stream
class FastDummyMotorController(MotorController):
gender = "Simulation"
model = "Basic"
organization = "Sardana team"
MaxDevice = 1024
def __init__(self, inst, props, *args, **kwargs):
MotorController.__init__(self, inst, props, *args, **kwargs)
self.m = self.MaxDevice*[None,]
def GetAxisAttributes(self, axis):
axis_attrs = MotorController.GetAxisAttributes(self, axis)
new_axis_attrs = {}
for attr in ('Position', 'Limit_switches'):
new_axis_attrs[attr] = axis_attrs[attr]
return new_axis_attrs
def AddDevice(self,axis):
MotorController.AddDevice(self, axis)
idx = axis - 1
if len(self.m) < axis:
raise Exception("Invalid axis %d" % axis)
if self.m[idx] is None:
self.m[idx] = BaseMotion()
def DeleteDevice(self, axis):
MotorController.DeleteDevice(self, axis)
idx = axis - 1
if len(self.m) < axis or not self.m[idx]:
self._log.error("Invalid axis %d" % axis)
#self.m[idx] = None
def StateOne(self, axis):
#self._log.debug("StateOne(%d)", axis)
state = State.On
status = "Motor HW is ON"
switchstate = 0
return state, status, switchstate
def ReadOne(self, axis):
self._log.debug("ReadOne(%d)", axis)
idx = axis - 1
m = self.m[idx]
return m.curr_pos
def PreStartAll(self):
self.motions = {}
def PreStartOne(self, axis, pos):
return True
def StartOne(self, axis, pos):
idx = axis - 1
self.motions[self.m[idx]] = pos
def StartAll(self):
for motion, pos in self.motions.items():
motion.curr_pos = pos
def AbortOne(self, axis):
pass
class DiscreteDummyMotorController(BasicDummyMotorController):
"""This class represents a discrete, dummy Sardana motor controller."""
def __init__(self, inst, props, *args, **kwargs):
BasicDummyMotorController.__init__(self, inst, props, *args, **kwargs)
def GetAxisAttributes(self, axis):
axis_attrs = MotorController.GetAxisAttributes(self, axis)
new_axis_attrs = dict(Position=axis_attrs['Position'])
new_axis_attrs['Position'][Type] = int
return new_axis_attrs
def AddDevice(self, axis):
BasicDummyMotorController.AddDevice(self, axis)
idx = axis - 1
m = self.m[idx]
m.setMinVelocity(0)
m.setMaxVelocity(1)
m.setAccelerationTime(0.01)
m.setDecelerationTime(0.01)
m.setCurrentPosition(0)
def ReadOne(self, axis):
pos = BasicDummyMotorController.ReadOne(self, axis)
return int(pos)
class DummyMotorController(BasicDummyMotorController):
"""This class represents a dummy Sardana motor controller."""
ctrl_features = []
model = "Best"
ctrl_attributes = {
'LowerLimitSwitch' : { Type : float,
Description : 'lower limit switch position',
FGet : 'getLowerLimitSwitch',
FSet : 'setLowerLimitSwitch',
DefaultValue: -9999.9999, },
'UpperLimitSwitch' : { Type : float,
Description : 'upper limit switch position',
DefaultValue: 8888.8888 }
}
axis_attributes = {
'LowerLimitSwitch' : { Type : float,
Description : 'lower limit switch position',
FGet : 'getLLS',
FSet : 'setLLS',
DefaultValue: -9999.9999 },
'UpperLimitSwitch' : { Type : float,
Description : 'upper limit switch position',
FGet : 'getULS',
FSet : 'setULS',
DefaultValue: 8888.8888 },
'Power' : { Type : bool,
Description : 'motor power',
FGet : 'getPower',
FSet : 'setPower',
DefaultValue: True },
}
ctrl_properties = {
'Prop1' : { Type : str,
Description : 'demo property 1',
DefaultValue : 'test property 1'},
'Prop2' : { Type : int,
Description : 'demo property 1',
DefaultValue : 531},
}
def __init__(self, inst, props, *args, **kwargs):
BasicDummyMotorController.__init__(self, inst, props, *args, **kwargs)
self._lowerLS = float("-inf")
self._upperLS = float("+inf")
def GetAxisAttributes(self, axis):
return MotorController.GetAxisAttributes(self, axis)
def SetAxisPar(self, axis, name, value):
idx = axis - 1
m = self.m[idx]
name = name.lower()
if name == "acceleration":
m.setAccelerationTime(value)
elif name == "deceleration":
m.setDecelerationTime(value)
elif name == "base_rate":
m.setMinVelocity(value)
elif name == "velocity":
m.setMaxVelocity(value)
elif name == "step_per_unit":
m.setStepPerUnit(value)
def GetAxisPar(self, axis, name):
idx = axis - 1
m = self.m[idx]
name = name.lower()
if name == "acceleration":
v = m.getAccelerationTime()
elif name == "deceleration":
v = m.getDecelerationTime()
elif name == "base_rate":
v = m.getMinVelocity()
elif name == "velocity":
v = m.getMaxVelocity()
elif name == "step_per_unit":
v = m.getStepPerUnit()
return v
def DefinePosition(self, axis, position):
idx = axis - 1
m = self.m[idx]
m.offset = position - m.getCurrentUserPosition()
m.setCurrentUserPosition(position)
def getLowerLimitSwitch(self):
return self._lowerLS
def setLowerLimitSwitch(self, value):
self._lowerLS = value
def getUpperLimitSwitch(self):
return self._upperLS
def setUpperLimitSwitch(self, value):
self._upperLS = value
def getLLS(self, axis):
return self.m[axis - 1].getLowerLimitSwitch()
def setLLS(self, axis, ls):
self.m[axis - 1].setLowerLimitSwitch(ls)
def getULS(self, axis):
return self.m[axis - 1].getUpperLimitSwitch()
def setULS(self, axis, ls):
self.m[axis - 1].setUpperLimitSwitch(ls)
def getPower(self, axis):
return self.m[axis - 1].hasPower()
def setPower(self, axis, power):
self.m[axis - 1].setPower(power)
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