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Ticket8253_make_IOC_work_if_crate_is_power_cycled #175

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merged 1 commit into from
May 13, 2024
Merged

Ticket8253_make_IOC_work_if_crate_is_power_cycled #175

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6 changes: 3 additions & 3 deletions lewis_emulators/mclennan/device.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@

states = OrderedDict([("Stopped", StoppedState()),
("Moving", MovingState()),
("Homing", HomingState()),
("Homing", HomingState()),
("Jogging", JoggingState())])


Expand All @@ -20,6 +20,7 @@ def _initialize_data(self):
self.is_moving = False
self.is_homing = False
self.is_pm304 = False
self.has_sent_BA = False
self.is_idle = True
self.jog_velocity = 0
self.position = 0
Expand All @@ -46,7 +47,7 @@ def _initialize_data(self):
self.abort_mode = {}
self.datum_mode = {}
self.home_pos = {}
for i in range(1,10):
for i in range(1, 10):
self.velocity[i] = 0
self.creep_speed[i] = 700
self.accl[i] = 1000
Expand Down Expand Up @@ -88,7 +89,6 @@ def stop(self):
self.is_idle = True
self.current_op = "Idle"


def _get_state_handlers(self):
return states

Expand Down
45 changes: 29 additions & 16 deletions lewis_emulators/mclennan/interfaces/stream_interface.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,35 +23,44 @@ class MclennanStreamInterface(StreamInterface):
CmdBuilder("jog").int().escape("CV").int().eos().build(),
CmdBuilder("query_speeds").int().escape("QS").eos().build(),
CmdBuilder("set_mode").int().escape("CM").int().eos().build(),
CmdBuilder("set_encoder_ratio").int().escape("ER").int().escape("/").int().eos().build(),
CmdBuilder("set_encoder_ratio").int().escape(
"ER").int().escape("/").int().eos().build(),
CmdBuilder("set_window").int().escape("WI").int().eos().build(),
CmdBuilder("set_timeout").int().escape("TO").int().eos().build(),
CmdBuilder("set_tracking_window").int().escape("TR").int().eos().build(),
CmdBuilder("enable_soft_limits").int().escape("SL").int().eos().build(),
CmdBuilder("set_tracking_window").int().escape(
"TR").int().eos().build(),
CmdBuilder("enable_soft_limits").int().escape(
"SL").int().eos().build(),
CmdBuilder("set_backoff").int().escape("BO").int().eos().build(),
CmdBuilder("set_creep_steps").int().escape("CR").int().eos().build(),
CmdBuilder("set_settle_time").int().escape("SE").int().eos().build(),
CmdBuilder("set_abort_mode").int().escape("AM").arg("[0-1]{8}").eos().build(),
CmdBuilder("set_datum_mode").int().escape("DM").arg("[0-1]{8}").eos().build(),
CmdBuilder("set_abort_mode").int().escape(
"AM").arg("[0-1]{8}").eos().build(),
CmdBuilder("set_datum_mode").int().escape(
"DM").arg("[0-1]{8}").eos().build(),
CmdBuilder("set_home_pos").int().escape("SH").int().eos().build(),
CmdBuilder("move_relative").int().escape("MR").int().eos().build(),
CmdBuilder("move_absolute").int().escape("MA").int().eos().build(),
CmdBuilder("set_velocity").int().escape("SV").int().eos().build(),
CmdBuilder("home").int().escape("HD").int().eos().build(),
CmdBuilder("set_ba").int().escape("BA").eos().build(),
CmdBuilder("clear_datum").int().escape("CD").eos().build(),
CmdBuilder("define_command_position").int().escape("CP").int().eos().build(),
CmdBuilder("define_actual_position").int().escape("AP").int().eos().build(),
CmdBuilder("define_command_position").int().escape(
"CP").int().eos().build(),
CmdBuilder("define_actual_position").int().escape(
"AP").int().eos().build(),
CmdBuilder("query_mode").int().escape("QM").eos().build(),
CmdBuilder("query_current_op").int().escape("CO").eos().build(),
CmdBuilder("query_all").int().escape("QA").eos().build(),
CmdBuilder("query_position").int().escape("QP").eos().build(),
CmdBuilder("query_current_op").int().escape("CO").eos().build(),
CmdBuilder("query_all").int().escape("QA").eos().build(),
CmdBuilder("query_position").int().escape("QP").eos().build(),
}

in_terminator = "\r"
out_terminator = "\r\n"

def handle_error(self, request, error):
err_string = "command was: {}, error was: {}: {}\n".format(request, error.__class__.__name__, error)
err_string = "command was: {}, error was: {}: {}\n".format(
request, error.__class__.__name__, error)
print(err_string)
self.log.error(err_string)
return err_string
Expand Down Expand Up @@ -110,7 +119,7 @@ def reset(self, controller):
def jog(self, controller, velocity):
self.device.jog(velocity)
return "OK"

@if_connected
def set_mode(self, controller, mode):
self.device.mode[controller] = mode
Expand Down Expand Up @@ -191,6 +200,11 @@ def home(self, controller, dir):
self.device.home()
return "OK"

@if_connected
def set_ba(self, controller):
self.device.has_sent_BA = True
return "OK"

@if_connected
def clear_datum(self, controller):
return "OK"
Expand All @@ -204,7 +218,7 @@ def define_command_position(self, controller, value):
def define_actual_position(self, controller, value):
self.device.position = value
return "OK"

@if_connected
def query_mode(self, controller):
return f"{controller:02}:CM = {self.device.mode[controller]} AM = {self.device.abort_mode[controller]} DM = {self.device.datum_mode[controller]} JM = 11000000"
Expand All @@ -214,7 +228,7 @@ def query_current_op(self, controller):
return f"{controller:02}:{self.device.current_op}"

# all replies should contain the original command string first and \r, the emulator does not do this in general but it
# only matters for multiline replies which this is the only such command
# only matters for multiline replies which this is the only such command
@if_connected
def query_all(self, controller):
lines = [
Expand Down Expand Up @@ -243,8 +257,7 @@ def query_all(self, controller):
"Read port: %00000000 Last write: %00000000"
]
return f'{controller:02}QA\r' + '\r\n'.join(lines)

@if_connected
def query_position(self, controller):
return f"{controller:02}:CP = {self.device.target_position} AP = {self.device.position} IP = 1050 TP = 0 OD = -2050"