Create hwp gripper agent (#487)

* Created hwp gripper agent

* Updates from comments

* Removed unused import

* Uncommented input decorators

* Protect local src imports when building docs

* Fix permissions on Dockerfile

* Added and modified files to account for the change in gripper control scheme. Agent interfaces with a beaglebone microcontroller to perform functions. File src/gripper_server.py and files located in the pru/ directory will be moved to the beaglebone home directory. During operation two beaglebone processes will be ongoing. One process in the "src" directory "python3 gripper_server.py" and one process in the "pru" directory "sudo ./run.sh". The "src" process sets up a server to receive control commands from the agent. The "pru" process continually sends the agent encoder and limit switch data packets. The compiled code is included along with the uncompiled C code.

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* Changes to make the agent work in the SAT1 setup. Still WIP

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* Added energency shutdown functionality by interfacing with the supervisor agent. Rearranged structure of agent processes to better utilize the OCS framework. Added two files in the pru directory which were accidentally missing.

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* removed files unrelated to OCS and moved them into the "simonsobs/sobonelib" repository

* Changes for socs update compatibility

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* small change

* Remove dockerfile

* Removed unused imports and variables

* Added hwp_gripper.rst file

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* removed more unused imports

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* Added docstrings

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* Moved control commands from agent.py into drivers/gripper_client.py

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* Added additional comments to explain the purpose of certain variables

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* Fix syntax error

* Fix Gripper docs page builds

* Mock supervisor agent imports for docs builds

* Add hwp gripper agent to docs index

* Changed shutdown procedure to account for changes in supervisor agent

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* Added additional limit switch functionality and renamed method `grip_mode` to `grip_is_cold`

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* Simple changes in response to PR

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* minor changes and renames

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* Changed communication from UDP to TCP and improved logging messages sent to agent

* Combined function of GripperBuilder.py and GripperCollector.py into single file gripper_collector.py

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* updated hwp_gripper.rst

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* Moved pru packet collection out of the gripper agent and added additional functions to query actuator positions and limit states

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* cleanup gripper agent

and make compatible with PRU monitor

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* Changes to get gripper agent working on sat1

* Changed name of gripper class and fixed typo in supervisor monitor

* Modified shutdown procedure and increased command timeout

* Added monitoring of the bias power supply iboot bar

* Disabled emergency grip procedure. Removed no data shutdown trigger. Added exception handling to state monitor

* fixed typo

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* misc gripper agent updates

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* Added example session data, and fixed spelling mistakes

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* Added session.data description and changed structure of iboot outlet setting

* trying to fix unit test

* still trying to fix unit test

* still trying to fix unit test

* still trying to fix unit test

* Remove other hwp_supervisor mock

* still trying to fix unit test

* still trying to fix unit test

* still trying to fix unit test

* still trying to fix unit test

---------

Co-authored-by: Charles Hill <charles.a.hill01@gmail.com>
Co-authored-by: Brian Koopman <brian.koopman@yale.edu>
Co-authored-by: Bryce Bixler <bbixler@ucsd.edu>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Kevin Crowley <ktcrowley@daq-dev.simonsobs.org>
Co-authored-by: Kevin Crowley <ktcrowley@daq-satp1.simonsobs.org>
Co-authored-by: Bryce Bixler <bbixler@daq-satp1.simonsobs.org>

docs/agents/hwp_gripper.rst

@@ -0,0 +1,79 @@
+.. highlight:: rst
+
+.. _hwp_gripper:
+
+=================
+HWP Gripper Agent
+=================
+
+Agent which controls and monitor's the HWP's set of three LEY32C-30 linear actuators.
+
+.. argparse::
+   :filename: ../socs/agents/hwp_gripper/agent.py
+   :func: make_parser
+   :prog: python3 agent.py
+
+Configuration File Examples
+---------------------------
+
+Below are configuration examples for the ocs config file and for running the
+Agent in a docker container.
+
+OCS Site Config
+`````````````````````
+
+An example site-config-file block::
+
+    {'agent-class': 'HWPGripperAgent',
+     'instance-id': 'hwp-gripper',
+     'arguments': [ '--mcu_ip', '10.10.10.115',
+                    '--control_port', 8041,
+                    '--supervisor-id', 'hwp-supervisor',
+                    '--no-data-warn-time', 60,
+                    '--no-data-shutdown-time', 300,  # 5 minutes
+                  ]
+     },
+
+Docker Compose
+`````````````````````
+
+An example docker-compose configuration::
+
+    ocs-hwp-gripper:
+        image: simonsobs/socs:latest
+        hostname: ocs-docker
+        network_mode: "host"
+        volumes:
+          - ${OCS_CONFIG_DIR}:/config:ro
+        environment:
+          - INSTANCE_ID=hwp-gripper
+
+Description
+--------------
+This agent communicates with the `gripper server in sobonelib <sobonelib_>`_, and has operations
+to move actuators, home actuators, check if they are in-position, etc.
+
+.. _sobonelib: https://github.com/simonsobs/sobonelib/tree/main/hwp_gripper/control
+
+This agent has two long-running processes, one to regularly query the gripper
+server for the gripper-state, and the other to regularly check the hwp-supervisor for the
+overall HWP state.
+
+Shutdown mode
+```````````````
+
+If there is something wrong with the HWP, due to power or network outages, or cryogenic issues,
+it is no longer safe to operate the gripper, as we may not have an accurate understanding of
+whether or not the HWP is spinning. If the hwp-supervisor issues a shutdown signal, or if
+a sufficiently long time passes where the agent is unable to connect to the supervisor,
+the agent enters a shutdown mode in which potentially dangerous operations are blocked.
+
+Shutdown-mode can be cancelled by manually restarting the agent, or by running
+the ``cancel_shutdown`` task, which will allow you to operate the grippers.
+
+
+Agent API
+---------
+
+.. autoclass:: socs.agents.hwp_gripper.agent.HWPGripperAgent
+   :members:

docs/agents/hwp_supervisor_agent.rst

@@ -29,13 +29,16 @@ Here is an example of a config block you can add to your ocs site-config file::
        {'agent-class': 'HWPSupervisor',
         'instance-id': 'hwp-supervisor',
         'arguments': [
-            '--sleep-time', 5,
-            '--hwp-lakeshore-id', 'LS240_test',
-            '--hwp-temp-field', 'Channel_06',
-            '--hwp-temp-thresh', 70,  # Kelvin
-            '--hwp-encoder-id', 'HBA0',
-            '--hwp-rotation-id', 'rotator',
-            '--hwp-ups-id', 'ups'
+            '--ybco-lakeshore-id', 'cryo-ls240-lsa2619',
+            '--ybco-temp-field', 'Channel_7',
+            '--ybco-temp-thresh', 75,
+            '--hwp-encoder-id', 'hwp-bbb-e1',
+            '--hwp-pmx-id', 'hwp-pmx',
+            '--hwp-pid-id', 'hwp-pid',
+            '--ups-id', 'power-ups-az',
+            '--ups-minutes-remaining-thresh', 45,
+            '--iboot-id', 'power-iboot-hwp-2',
+            '--iboot-outlets', [1,2]
         ]}
 
 

docs/index.rst

@@ -43,6 +43,7 @@ API Reference        Full API documentation for core parts of the SOCS library.
     agents/fts_agent
     agents/generator
     agents/hwp_encoder
+    agents/hwp_gripper
     agents/hwp_picoscope
     agents/hwp_pid
     agents/hwp_pmx