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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/>.
##
##############################################################################
"""This file contains the code for an hypothetical Springfield motor controller
used in documentation"""
import springfieldlib
from sardana import State
from sardana.pool.controller import MotorController
class SpringfieldBaseMotorController(MotorController):
"""The most basic controller intended from demonstration purposes only.
This is the absolute minimum you have to implement to set a proper motor
controller able to get a motor position, get a motor state and move a
motor.
This example is so basic that it is not even directly described in the
documentation"""
MaxDevice = 128
def __init__(self, inst, props, *args, **kwargs):
"""Constructor"""
super(SpringfieldBaseMotorController, self).__init__(inst, props, *args, **kwargs)
self.springfield = springfieldlib.SpringfieldMotorHW()
def ReadOne(self, axis):
"""Get the specified motor position"""
return self.springfield.getPosition(axis)
def StateOne(self, axis):
"""Get the specified motor state"""
springfield = self.springfield
state = springfield.getState(axis)
if state == 1:
return State.On, "Motor is stopped"
elif state == 2:
return State.Moving, "Motor is moving"
elif state == 3:
return State.Fault, "Motor has an error"
def StartOne(self, axis, position):
"""Move the specified motor to the specified position"""
self.springfield.move(axis, position)
def StopOne(self, axis):
"""Stop the specified motor"""
self.springfield.stop(axis)
from sardana import DataAccess
from sardana.pool.controller import Type, Description, DefaultValue, Access, FGet, FSet
class SpringfieldMotorController(MotorController):
axis_attributes = {
"CloseLoop" : {
Type : bool,
Description : "(de)activates the motor close loop algorithm",
DefaultValue : False,
},
}
def getCloseLoop(self, axis):
return self.springfield.isCloseLoopActive(axis)
def setCloseLoop(self, axis, value):
self.springfield.setCloseLoop(axis, value)
def __init__(self, inst, props, *args, **kwargs):
super(SpringfieldMotorController, self).__init__(inst, props, *args, **kwargs)
# initialize hardware communication
self.springfield = springfieldlib.SpringfieldMotorHW()
# do some initialization
self._motors = {}
def AddDevice(self, axis):
self._motors[axis] = True
def DeleteDevice(self, axis):
del self._motors[axis]
StateMap = {
1 : State.On,
2 : State.Moving,
3 : State.Fault,
}
def StateOne(self, axis):
springfield = self.springfield
state = self.StateMap[ springfield.getState(axis) ]
status = springfield.getStatus(axis)
limit_switches = MotorController.NoLimitSwitch
hw_limit_switches = springfield.getLimits(axis)
if hw_limit_switches[0]:
limit_switches |= MotorController.HomeLimitSwitch
if hw_limit_switches[1]:
limit_switches |= MotorController.UpperLimitSwitch
if hw_limit_switches[2]:
limit_switches |= MotorController.LowerLimitSwitch
return state, status, limit_switches
def ReadOne(self, axis):
position = self.springfield.getPosition(axis)
return position
def StartOne(self, axis, position):
self.springfield.move(axis, position)
def StopOne(self, axis):
self.springfield.stop(axis)
def AbortOne(self, axis):
self.springfield.abort(axis)
def DefinePosition(self, axis, position):
self.springfield.setCurrentPosition(axis, position)
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