The ADC Class

The DOS side controller for the ADC.

This application is the interface between DOS and the two ADC controllers, via the ADC controller’s python module (HMdrive.py). This program can also use the simluator ADC_sim.py. To use the simulator, the “controller_type” option in the defaults should be set to “SIMULATOR”.

The following commands are implemented:

  • configure - to configure the application and controller
  • get - to read status and configuration information
  • set - to update select variables at run time

These commands manipulate the mechanisms of the ADC

  • home - to send one or both lenses to their home position
  • move - to send one of both lenses to specified position(s)
  • stop - to stop the motion of the lenses
  • send_adc_command - to send a command directly to the ADC controller

The shared variables published by this application are:

  • STATUS - the status of the application
  • CONTROLLERS - the current state of of the controllers

The current state of the controllers is shared as a dictionary.:

{"c1": {"status":
        "angle":
        "rem_time":}
 "c2": {"status":
        "angle":
        "rem_time":}
}
Version History
1/27/2017 v0.1 LB Intitial version matching API V0.1 of the controller
2/1/2017 v0.2 LB Updates to clean up interface, still matching API V0.1 of the controller
5/2/2017 v0.3 LB Updates to match new ADClib, comments updated
exception ADC.ADCException(value)
class ADC.ADC(device_mode=False, noSVE=None, **extra_args)
commands = ['configure', 'get', 'set', 'stop', 'home', 'move', 'send_adc_command']

PML accessible commands

defaults = {'constants_version': 'DEFAULT', 'controller_1_address': '192.168.1.1', 'controller_1_port': 1, 'controller_2_address': '192.168.1.2', 'controller_2_port': 2, 'controller_type': 'SIMULATOR', 'poll_delay': 5.0}

Default configuration parameters

init()

Initialize ADC application. Set up variables, import controller module, discovery.

Returns:SUCCESS
Return type:str
configure(constants='DEFAULT')

Restore the system to its base state. Resets connections to the controllers.

Returns:SUCCESS/FAILED
Return type:str
get(key)
Getter function for the application and the underlying controllers. The availible information is:

  • status - The status of the application.

  • connected - Whether or not the application is connected to an instance.

  • poll_delay - The delay between telemetry updates.

  • nrevol - A dictionary of the two controllers, keys ‘c1’ and ‘c2’, where the values are the number of absolute rotations made.

  • Any parameter in self.config

  • controller_status - A dictionary of two controllers:

    {"status1":
 "angle1":
 "nrev1":
 "rem_time1":
 "error1":
 "status2":
 "angle2":
 "nrev2":
 "rem_time2":
 "error2":}
}
Keyword Arguments:
 key – status, connected, controller_status, poll_delay, any parameter in self.config
Raises:RuntimeError – Invalid parameter
Returns:The value requested
home(controllers=None, blocking=True)

Tell one or both controllers to send their lense to the home position. Example 1 - to tell the second controller to return to home:

>>> adc.home([2])

Example 2 - to send both controllers to home with a non-blocking call:

>>> adc.home([1,2], blocking=False)
Keyword Arguments:
 
  • controllers – The number of the controller to home.
  • blocking – Whether or not to block until finished. Default is True.
Raises:

RuntimeError – ADC in wrong state, invalid parameters.
Returns:

The current status of the controllers. See status description at the top of the page.
Return type:

dict
move(angles=[None, None], direction='shortest', blocking=True)

CHANGED API - REMOVED CONTROLLERS and ONLY USE angles field Tell one or both controllers to send their lense to the specified position. Example 1 - to send the first controller to 50 degrees:

>>> adc.move([50.0, None])

Example 2 - to send the first controller to 10 degrees and the second to 80, both conunterclockwise:

>>> adc.move([10.0, 80.0], direction='cclock')

Example 3 - to send the second controller to 11 degrees without blocking:

>>> adc.move([None, 11.0], blocking=False)
Keyword Arguments:
 
  • angles – List of angles (as floats) to move the lenses to. Must match order for the controller list.
  • direction – What direction to move the ADC in. Options are shortest/clock/cclock.
  • blocking – Whether or not to block until finished. Default is True.
Raises:

RuntimeError – ADC in wrong state, invalid parameters.
Returns:

The current status of the controllers. See top of page for detail.
Return type:

dict
stop(*args, **kwargs)

Tell both controllers to stop all motion.

Raises:RuntimeError – ADC in wrong state
Returns:The current status of the controllers. See top of page for details.
Return type:dict
set(*args, **kwargs)

Standard set function.

Keyword Arguments:
 
  • **kwargs – A key/value pair to set. Only poll_delay is availible.
  • **kwargs – outlets and their new values, such as poll_delay=2.0.
Raises:

RuntimeError – Invalid entry.
Returns str:

SUCCESS
send_adc_command(controller, function, function_args=(), function_kwargs={})

Send a command directly to the ADC control application.

Keyword Arguments:
 
  • controller (int) – The number of the controller to send the command to.
  • function (str) – Whether or not to block until finished. Default is True.
  • function_args (tuple,optional) – Arguments for the called ADC function
  • function_kwargs (dict,optional) – Keyword argments to send to the called function
Raises:

RuntimeError – Invalid parameters, error on controller side
Returns:

The return value of the function being called on the controller
Return type:

dict
about_to_connect_to_instance(*args, **kwargs)

To be overridden by the user so that any actions can be taken when the device application is about to connect to an instance

did_connect_to_instance(*args, **kwargs)

To be overridden by the user so that any actions can be taken when the device application connects to an instance

about_to_disconnect_from_instance(*args, **kwargs)

To be overridden by the user so that any actions can be taken when the device application is about to disconnect from an instance

did_disconnect_from_instance(*args, **kwargs)

To be overridden by the user so that any actions can be taken when the device application disconnects from an instance

class ADC.ADC(device_mode=False, noSVE=None, **extra_args)
commands = ['configure', 'get', 'set', 'stop', 'home', 'move', 'send_adc_command']

PML accessible commands

defaults = {'constants_version': 'DEFAULT', 'controller_1_address': '192.168.1.1', 'controller_1_port': 1, 'controller_2_address': '192.168.1.2', 'controller_2_port': 2, 'controller_type': 'SIMULATOR', 'poll_delay': 5.0}

Default configuration parameters

init()

Initialize ADC application. Set up variables, import controller module, discovery.

Returns:SUCCESS
Return type:str
configure(constants='DEFAULT')

Restore the system to its base state. Resets connections to the controllers.

Returns:SUCCESS/FAILED
Return type:str
get(key)
Getter function for the application and the underlying controllers. The availible information is:

  • status - The status of the application.

  • connected - Whether or not the application is connected to an instance.

  • poll_delay - The delay between telemetry updates.

  • nrevol - A dictionary of the two controllers, keys ‘c1’ and ‘c2’, where the values are the number of absolute rotations made.

  • Any parameter in self.config

  • controller_status - A dictionary of two controllers:

    {"status1":
 "angle1":
 "nrev1":
 "rem_time1":
 "error1":
 "status2":
 "angle2":
 "nrev2":
 "rem_time2":
 "error2":}
}
Keyword Arguments:
 key – status, connected, controller_status, poll_delay, any parameter in self.config
Raises:RuntimeError – Invalid parameter
Returns:The value requested
home(controllers=None, blocking=True)

Tell one or both controllers to send their lense to the home position. Example 1 - to tell the second controller to return to home:

>>> adc.home([2])

Example 2 - to send both controllers to home with a non-blocking call:

>>> adc.home([1,2], blocking=False)
Keyword Arguments:
 
  • controllers – The number of the controller to home.
  • blocking – Whether or not to block until finished. Default is True.
Raises:

RuntimeError – ADC in wrong state, invalid parameters.
Returns:

The current status of the controllers. See status description at the top of the page.
Return type:

dict
move(angles=[None, None], direction='shortest', blocking=True)

CHANGED API - REMOVED CONTROLLERS and ONLY USE angles field Tell one or both controllers to send their lense to the specified position. Example 1 - to send the first controller to 50 degrees:

>>> adc.move([50.0, None])

Example 2 - to send the first controller to 10 degrees and the second to 80, both conunterclockwise:

>>> adc.move([10.0, 80.0], direction='cclock')

Example 3 - to send the second controller to 11 degrees without blocking:

>>> adc.move([None, 11.0], blocking=False)
Keyword Arguments:
 
  • angles – List of angles (as floats) to move the lenses to. Must match order for the controller list.
  • direction – What direction to move the ADC in. Options are shortest/clock/cclock.
  • blocking – Whether or not to block until finished. Default is True.
Raises:

RuntimeError – ADC in wrong state, invalid parameters.
Returns:

The current status of the controllers. See top of page for detail.
Return type:

dict
stop(*args, **kwargs)

Tell both controllers to stop all motion.

Raises:RuntimeError – ADC in wrong state
Returns:The current status of the controllers. See top of page for details.
Return type:dict
set(*args, **kwargs)

Standard set function.

Keyword Arguments:
 
  • **kwargs – A key/value pair to set. Only poll_delay is availible.
  • **kwargs – outlets and their new values, such as poll_delay=2.0.
Raises:

RuntimeError – Invalid entry.
Returns str:

SUCCESS
send_adc_command(controller, function, function_args=(), function_kwargs={})

Send a command directly to the ADC control application.

Keyword Arguments:
 
  • controller (int) – The number of the controller to send the command to.
  • function (str) – Whether or not to block until finished. Default is True.
  • function_args (tuple,optional) – Arguments for the called ADC function
  • function_kwargs (dict,optional) – Keyword argments to send to the called function
Raises:

RuntimeError – Invalid parameters, error on controller side
Returns:

The return value of the function being called on the controller
Return type:

dict
about_to_connect_to_instance(*args, **kwargs)

To be overridden by the user so that any actions can be taken when the device application is about to connect to an instance

did_connect_to_instance(*args, **kwargs)

To be overridden by the user so that any actions can be taken when the device application connects to an instance

about_to_disconnect_from_instance(*args, **kwargs)

To be overridden by the user so that any actions can be taken when the device application is about to disconnect from an instance

did_disconnect_from_instance(*args, **kwargs)

To be overridden by the user so that any actions can be taken when the device application disconnects from an instance

class ADC_sim.HMdrive(host, port, comType='tcp')

The ADC simulator Simulates the controller for an ADC. For details and the API definition see DESI docDB # <not yet assigned>

connect()

Connects to the ADC motor controller

Returns dict:controller_status dictionary
disconnect()

Disconnects the ADC motor

Returns dict:Dictionary with either OK or an error
move(degrees, direction='shortest')

Controls the motor, takes an angle and moves the lense to that position.

Keyword Arguments:
 
  • angle (float) – The angle to turn the ADC to
  • direction (str,default='shortest') – The direction to turn the ADC in, shortest/clock/cclock
Returns dict:

A dict with either status=OK rem_time=## or an error
home()

Controls the motor, takes an angle and moves the lense to that position.

Returns dict:Dictionary with either OK or an error
stop()

Halt motion of the motor if it is moving

Returns dict:Dictionary with either OK or an error
status()

Get the full AEC motor information

Returns dict:A full status dictionary
drv_move(position, relative=True)

Move to specified encoder position. Moves relative to current position unless otherwise specified

drv_home()

Move to home

drv_stop()

Stop motion

drv_get_enable()

Get whether or not the amplifier is enabled

drv_enable()

Enable the amplifier

drv_disable()

Disable the amplifier

drv_clear_faults()

Clear faults

drv_get_position()

Get the current position in encoder counts

drv_get_error()

Get the motor error code

drv_get_register(regnum)

Get a register value

drv_get_bit(regnum, bitnum)

Get a bit value

drv_set_register(regnum, value)

Set a register value

drv_set_bit(regnum, bitnum, value)

Set a bit value

drv_get_allregs()

Get all the registers (Currently just returns True)

set(*args, **kwargs)
Manually sets a status value
Calling pattern:
<status field> = value where status field has to be a key of the status dictionary delay = <time> to set a delay before the status is updated