From f38996e2af5bc1c3a1df54f214e9a3a7efb9db34 Mon Sep 17 00:00:00 2001 From: Matthew Pritchard Date: Wed, 17 Aug 2022 16:31:28 +0100 Subject: [PATCH 1/4] #9: Add minimal PMAC device for simple IOC startup --- examples/configs/pmac.yaml | 12 ++++ tickit_devices/pmac/__init__.py | 3 + tickit_devices/pmac/pmac.py | 109 ++++++++++++++++++++++++++++++++ 3 files changed, 124 insertions(+) create mode 100644 examples/configs/pmac.yaml create mode 100644 tickit_devices/pmac/__init__.py create mode 100644 tickit_devices/pmac/pmac.py diff --git a/examples/configs/pmac.yaml b/examples/configs/pmac.yaml new file mode 100644 index 00000000..f01fbf79 --- /dev/null +++ b/examples/configs/pmac.yaml @@ -0,0 +1,12 @@ +- tickit.devices.source.Source: + name: source + inputs: {} + value: 42.0 +- tickit_devices.pmac.PMAC: + name: pmac + inputs: + flux: source:value +- tickit.devices.sink.Sink: + name: sink + inputs: + flux: pmac:flux \ No newline at end of file diff --git a/tickit_devices/pmac/__init__.py b/tickit_devices/pmac/__init__.py new file mode 100644 index 00000000..c8fbd2b3 --- /dev/null +++ b/tickit_devices/pmac/__init__.py @@ -0,0 +1,3 @@ +from tickit_devices.pmac.pmac import PMAC + +__all__ = ["PMAC"] diff --git a/tickit_devices/pmac/pmac.py b/tickit_devices/pmac/pmac.py new file mode 100644 index 00000000..d0095764 --- /dev/null +++ b/tickit_devices/pmac/pmac.py @@ -0,0 +1,109 @@ +from dataclasses import dataclass + +from tickit.adapters.composed import ComposedAdapter +from tickit.adapters.interpreters.command import CommandInterpreter +from tickit.adapters.interpreters.command.regex_command import RegexCommand +from tickit.adapters.interpreters.wrappers import ( + BeheadingInterpreter, + SplittingInterpreter, +) +from tickit.adapters.servers.tcp import TcpServer +from tickit.core.components.component import Component, ComponentConfig +from tickit.core.components.device_simulation import DeviceSimulation +from tickit.core.device import Device, DeviceUpdate +from tickit.core.typedefs import SimTime +from tickit.utils.byte_format import ByteFormat +from tickit.utils.compat.typing_compat import TypedDict + + +class PMACDevice(Device): + + Inputs: TypedDict = TypedDict("Inputs", {"flux": float}) + Outputs: TypedDict = TypedDict("Outputs", {"flux": float}) + + def __init__(self) -> None: + pass + + def update(self, time: SimTime, inputs: Inputs) -> DeviceUpdate[Outputs]: + print("Updating\n") + return DeviceUpdate(self.Outputs(flux=2.0), None) + + +class PMACAdapter(ComposedAdapter): + + device: PMACDevice + + def __init__( + self, + host: str = "localhost", + port: int = 1025, + ) -> None: + """A PMAC which instantiates a TcpServer with configured host and port. + + Args: + device (Device): The device which this adapter is attached to + raise_interrupt (Callable): A callback to request that the device is + updated immediately. + host (Optional[str]): The host address of the TcpServer. Defaults to + "localhost". + port (Optional[int]): The bound port of the TcpServer. Defaults to 1025. + """ + super().__init__( + TcpServer(host, port, ByteFormat(b"%b\n")), + BeheadingInterpreter( + SplittingInterpreter(CommandInterpreter(), b" ", b""), + header_size=8, + ), + ) + + @RegexCommand(rb"\r?\n?") + async def parse_just_bytes(self): + return b"\r" + + @RegexCommand(rb"(?i:CID)\r?\n?") + async def get_cid(self): + return b"603382\r" + + @RegexCommand(rb"(?i:CPU)\r?\n?") + async def get_cpu(self): + return b"DSP56321\r" + + @RegexCommand(rb"#([1-8])[pP]\r?\n?") + async def get_axis_position(self, axis_no: int): + return str(1.0).encode() + b"1\r" + + @RegexCommand(rb"#([1-8])[fF]\r?\n?") + async def get_axis_following_error(self): + # target - current + return b"0\r" + + @RegexCommand(rb"#([1-8])\?\r?\n?") + async def get_axis_status(self): + return b"880000018401\r" + + @RegexCommand(rb"[mM]([0-9]{1,4})\r?\n?") + async def m_var(self): + return b"1\r" + + @RegexCommand(rb"[iI][0-9]{1,4}\r?\n?") + async def i_var(self): + return b"2\r" + + @RegexCommand(rb"\?\?\?\r?\n?") + async def get_status(self): + return b"000000000000\r" + + +@dataclass +class PMAC(ComponentConfig): + """PMAC accessible over TCP.""" + + host: str = "localhost" + port: int = 1025 + + def __call__(self) -> Component: # noqa: D102 + return DeviceSimulation( + name=self.name, + device=PMACDevice(), + adapters=[PMACAdapter(host=self.host, port=self.port)], + ) From 3336a9fa9f2455d914e1586e81b835a2dc1dec3d Mon Sep 17 00:00:00 2001 From: Matthew Pritchard Date: Mon, 5 Sep 2022 16:28:20 +0100 Subject: [PATCH 2/4] #9: Update PmacAdapter to use JoiningInterpreter --- tickit_devices/pmac/pmac.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/tickit_devices/pmac/pmac.py b/tickit_devices/pmac/pmac.py index d0095764..35cab1f2 100644 --- a/tickit_devices/pmac/pmac.py +++ b/tickit_devices/pmac/pmac.py @@ -5,6 +5,7 @@ from tickit.adapters.interpreters.command.regex_command import RegexCommand from tickit.adapters.interpreters.wrappers import ( BeheadingInterpreter, + JoiningInterpreter, SplittingInterpreter, ) from tickit.adapters.servers.tcp import TcpServer @@ -51,7 +52,9 @@ def __init__( super().__init__( TcpServer(host, port, ByteFormat(b"%b\n")), BeheadingInterpreter( - SplittingInterpreter(CommandInterpreter(), b" ", b""), + JoiningInterpreter( + SplittingInterpreter(CommandInterpreter(), b" "), b"" + ), header_size=8, ), ) From 06d79cb4b2b34e441e590da5ff9a6a20e1acb027 Mon Sep 17 00:00:00 2001 From: Matthew Pritchard Date: Mon, 5 Sep 2022 17:47:33 +0100 Subject: [PATCH 3/4] #12: Read and write ivars --- tickit_devices/pmac/pmac.py | 66 ++++++++++++++++++++++++++++++++++--- 1 file changed, 62 insertions(+), 4 deletions(-) diff --git a/tickit_devices/pmac/pmac.py b/tickit_devices/pmac/pmac.py index 35cab1f2..759d7106 100644 --- a/tickit_devices/pmac/pmac.py +++ b/tickit_devices/pmac/pmac.py @@ -1,4 +1,5 @@ from dataclasses import dataclass +from typing import Dict from tickit.adapters.composed import ComposedAdapter from tickit.adapters.interpreters.command import CommandInterpreter @@ -17,13 +18,38 @@ from tickit.utils.compat.typing_compat import TypedDict +class PMACAxis: + def __init__(self): + self.ivars = dict() + self.ivars[13] = 10000 + self.ivars[14] = -10000 + self.ivars[31] = 50 + self.ivars[32] = 50 + self.ivars[33] = 50 + + class PMACDevice(Device): Inputs: TypedDict = TypedDict("Inputs", {"flux": float}) Outputs: TypedDict = TypedDict("Outputs", {"flux": float}) def __init__(self) -> None: - pass + self.axes = { + 1: PMACAxis(), + 2: PMACAxis(), + 3: PMACAxis(), + 4: PMACAxis(), + 5: PMACAxis(), + 6: PMACAxis(), + 7: PMACAxis(), + 8: PMACAxis(), + } + self.system_ivars: Dict = dict() + self.system_ivars[20] = "$78400" + self.system_ivars[21] = "$0" + self.system_ivars[22] = "$0" + self.system_ivars[23] = "$0" + self.other_ivars: Dict = dict() def update(self, time: SimTime, inputs: Inputs) -> DeviceUpdate[Outputs]: print("Updating\n") @@ -88,9 +114,41 @@ async def get_axis_status(self): async def m_var(self): return b"1\r" - @RegexCommand(rb"[iI][0-9]{1,4}\r?\n?") - async def i_var(self): - return b"2\r" + @RegexCommand(rb"[iI]([0-9]{1,2})\r?\n?") + async def read_system_ivar(self, ivar: int): + value = self.device.system_ivars.get(ivar, None) + if value is None: + self.device.system_ivars[ivar] = 0 + return f"{self.device.system_ivars[ivar]}\r".encode() + + @RegexCommand(rb"[iI]([0-9]{1,2})=\$?(\d+(?:.\d+)?)\r?\n?") + async def write_system_ivar(self, ivar: int, value: float): + self.device.system_ivars[ivar] = value + return b"\r" + + @RegexCommand(rb"[iI]([0-9])([0-9]{2})\r?\n?") + async def read_axis_var(self, axis: int, ivar: int): + value = self.device.axes[axis].ivars.get(ivar, None) + if value is None: + self.device.axes[axis].ivars[ivar] = 0 + return f"{self.device.axes[axis].ivars[ivar]}\r".encode() + + @RegexCommand(rb"[iI]([0-9])([0-9]{2})=-?(\d+(?:.\d+)?)\r?\n?") + async def write_axis_ivar(self, axis: int, ivar: int, value: float): + self.device.axes[axis].ivars[ivar] = value + return b"\r" + + @RegexCommand(rb"[iI]([0-9]{4})\r?\n?") + async def read_other_ivar(self, ivar: int): + value = self.device.other_ivars.get(ivar, None) + if value is None: + self.device.other_ivars[ivar] = 0 + return f"{self.device.other_ivars[ivar]}\r".encode() + + @RegexCommand(rb"[iI]([0-9]{4})=-?(\d+(?:\.\d+)?)\r?\n?") + async def write_other_var(self, ivar: int, value: float): + self.device.other_ivars[ivar] = value + return b"\r" @RegexCommand(rb"\?\?\?\r?\n?") async def get_status(self): From f2085fc412905fff51b476435fac7e1b5b5ee389 Mon Sep 17 00:00:00 2001 From: Matthew Pritchard Date: Mon, 5 Sep 2022 18:06:08 +0100 Subject: [PATCH 4/4] #12: Add doctrings for ivar set/getters --- tickit_devices/pmac/pmac.py | 35 +++++++++++++++++++++++++++++++++++ 1 file changed, 35 insertions(+) diff --git a/tickit_devices/pmac/pmac.py b/tickit_devices/pmac/pmac.py index 759d7106..2fd3b5ee 100644 --- a/tickit_devices/pmac/pmac.py +++ b/tickit_devices/pmac/pmac.py @@ -116,6 +116,11 @@ async def m_var(self): @RegexCommand(rb"[iI]([0-9]{1,2})\r?\n?") async def read_system_ivar(self, ivar: int): + """Regex bytestring command that returns the value of a specific system ivar. + + Args: + ivar (int): the ivar to read. + """ value = self.device.system_ivars.get(ivar, None) if value is None: self.device.system_ivars[ivar] = 0 @@ -123,11 +128,23 @@ async def read_system_ivar(self, ivar: int): @RegexCommand(rb"[iI]([0-9]{1,2})=\$?(\d+(?:.\d+)?)\r?\n?") async def write_system_ivar(self, ivar: int, value: float): + """Regex bytestring command that sets the value of a specific system ivar. + + Args: + ivar (int): the ivar to set. + value (float): the value to set the ivar to. + """ self.device.system_ivars[ivar] = value return b"\r" @RegexCommand(rb"[iI]([0-9])([0-9]{2})\r?\n?") async def read_axis_var(self, axis: int, ivar: int): + """Regex bytestring command that returns the value of a specific axis ivar. + + Args: + axis (int): the axis to read ivars from. + ivar (int): the ivar to read. + """ value = self.device.axes[axis].ivars.get(ivar, None) if value is None: self.device.axes[axis].ivars[ivar] = 0 @@ -135,11 +152,23 @@ async def read_axis_var(self, axis: int, ivar: int): @RegexCommand(rb"[iI]([0-9])([0-9]{2})=-?(\d+(?:.\d+)?)\r?\n?") async def write_axis_ivar(self, axis: int, ivar: int, value: float): + """Regex bytestring command that sets the value of a specific axis ivar. + + Args: + axis (int): the axis to set ivars on. + ivar (int): the ivar to set. + value (float): the value to set the ivar to. + """ self.device.axes[axis].ivars[ivar] = value return b"\r" @RegexCommand(rb"[iI]([0-9]{4})\r?\n?") async def read_other_ivar(self, ivar: int): + """Regex bytestring command that returns the value of a specific ivar. + + Args: + ivar (int): the ivar to read. + """ value = self.device.other_ivars.get(ivar, None) if value is None: self.device.other_ivars[ivar] = 0 @@ -147,6 +176,12 @@ async def read_other_ivar(self, ivar: int): @RegexCommand(rb"[iI]([0-9]{4})=-?(\d+(?:\.\d+)?)\r?\n?") async def write_other_var(self, ivar: int, value: float): + """Regex bytestring command that sets the value of a specific ivar. + + Args: + ivar (int): the ivar to set. + value (float): the value to set the ivar to. + """ self.device.other_ivars[ivar] = value return b"\r"