pico motor

picomotor_ver2/picomotor_ver2/pcaspico.py

+#
+#! coding:utf-8
+import os
+import pcaspy
+import logging
+import time
+import config
+from datetime import datetime
+from datetime import timedelta
+#import pyttsx
+
+pvdb = config.pvdb
+##################################################
+#'''
+
+ON = 1.0
+#'''
+##################################################
+#os.environ['EPICS_CAS_INTF_ADDR_LIST'] = '10.68.10.255'
+#os.environ['EPICS_CAS_INTF_ADDR_LIST'] = 'localhost'
+#os.environ['EPICS_CAS_SERVER_PORT'] = '58901'
+# https://pcaspy.readthedocs.org/en/latest/tutorial.html
+
+import logging
+import logging.config
+
+from __init__ import get_module_logger
+logger = get_module_logger(__name__)
+
+class PcasDriver(pcaspy.Driver):
+    def __init__(self, driver, prefix):
+        super(PcasDriver, self).__init__()
+        self.driver = driver
+        self.prefix = prefix
+        
+    def read(self, channel):
+        value = self.getParam(channel)    
+        return value    
+    
+    def write(self, channel, value):
+        """
+        This function is called every "CAPUT (EPICS-CHANNEL) (VALUE)" command.
+        epics_channel : the channlel excluded PREFIX from EPICS-CHANNEL
+        value : VALUE
+        """
+        self.setParam(channel, value) # need ! why????
+        driverAddr = 1
+        if "REV" in channel and value == ON:
+            MOTORNUMBER, OPTION = channel.split("_")
+            step = self.getParam(MOTORNUMBER+"_STEP")
+            #self.updatePVs()            
+            self.driver.move_step(driverAddr,int(MOTORNUMBER),-1*step)
+        if "FWD" in channel and value == ON:
+            MOTORNUMBER, OPTION = channel.split("_")
+            step = self.getParam(MOTORNUMBER+"_STEP")
+            self.updatePVs()
+            self.driver.move_step(driverAddr,int(MOTORNUMBER),step)
+        if "COMMAND" in channel:
+            command = value
+            #print command
+            self.driver.send(command)            
+        if "STATUS" in channel and value == ON:
+            #self.setParam("ERRORMESSAGE", 'Please Wait!')
+            #self.updatePVs()
+            #time.sleep(1)
+            MOTORNUMBER = str(1)
+            self.driver.ask_position(driverAddr,MOTORNUMBER)
+            posi = self.driver.check_reply_message()
+            self.setParam(MOTORNUMBER+"_POSITION", posi)
+            MOTORNUMBER = str(2)
+            self.driver.ask_position(driverAddr,MOTORNUMBER)
+            posi = self.driver.check_reply_message()
+            self.setParam(MOTORNUMBER+"_POSITION", posi)            
+            MOTORNUMBER = str(3)
+            self.driver.ask_position(driverAddr,MOTORNUMBER)
+            posi = self.driver.check_reply_message()
+            self.setParam(MOTORNUMBER+"_POSITION", posi)            
+            MOTORNUMBER = str(4)
+            self.driver.ask_position(driverAddr,MOTORNUMBER)
+            posi = self.driver.check_reply_message()
+            self.setParam(MOTORNUMBER+"_POSITION", posi)            
+            #
+            self.driver.ask_driver_error()
+            error = self.driver.check_reply_message()
+            self.setParam("ERROR", error)
+            errormessage = self.driver.check_error_message()
+            self.setParam("ERRORMESSAGE", errormessage)
+            #self.setParam("ERRORMESSAGE", 'hoge')
+            
+        self.updatePVs()
+        return True
+    
+class PcasServer(pcaspy.SimpleServer):
+    def __init__(self, prefix, driver):
+        super(PcasServer, self).__init__()
+        logger.info("Initialize PCAServer")
+        self.server = pcaspy.SimpleServer()
+        self.server.createPV(prefix, pvdb)
+        self.driver = driver
+        driver_ = PcasDriver(driver,prefix)
+        
+    def run(self):
+        logger.info("Start server.")        
+        i = 0
+        start = datetime.now()
+        dt = timedelta(seconds=3600)
+        while True:
+            self.server.process(0.1)
+            now = datetime.now()
+            diff = now- start
+            #print diff,dt,diff>dt
+            if diff>dt: # 12sec
+                self.driver.close()
+                print "=================================="
+                print '60 minutes passed. Bye!'
+                print "I'll be back.."
+                print """
+                　　　　　　　　　　　 /j^i
+                　　　　　　　　　　 ./　 ;!
+                　　　　　　　　　　/　 /_＿,,..
+                　　　　　　　　　/　　`(_t＿,__〕
+                　　　　　　　　 /　　　 '(_t＿,__〕
+                　　　　　　　　/　　　　｛_i＿,__〕
+                　　　　　　 ／　　　 ノ　 {_i＿_〉
+                　　　　　／　　　　　　＿,..-'"
+                　　　／　　　　　　／
+                ～～～～～～～～～～～～～～～～
+                """
+                print "=================================="
+                #engine = pyttsx.init()
+                #engine.setProperty('rate', 100)
+                #engine.say('Bye')
+                #engine.runAndWait()
+                exit()
+            else:
+                i=i+1
+
+if __name__ == '__main__':
+    import pcaspico
+    import newfocus8742
+    import sys
+    import time
+    #import subprocess
+    #pl = subprocess.Popen('ps -ef | grep python',shell=True,stdout=subprocess.PIPE).communicate()[0]
+    #print pl
+    #exit()
+    prefix   = 'K1:PICO-BS_IM_'
+    driverIP = '10.68.150.16'
+    mydriver   = newfocus8742.driver(driverIP)
+    picoserver = pcaspico.PcasServer(prefix, mydriver)
+    try:
+        picoserver.run()
+    except KeyboardInterrupt as e:
+        mydriver.close()
+        print e
+        print 'Detect keyboard interrupt. Bye!'
+        exit()