Simulator completed: all the regression tests pass (fbea980c) · Commits · INAF / DISCOS

Common/Servers/DewarPositioner/test/DerotatorSimulator/DerotatorSimulatorImpl.py

+92 −24

Original line number	Original line	Diff line number	Diff line
	from Receivers__POA import SRTKBandDerotator as POA		from __future__ import with_statement

			import operator
			import time
			from multiprocessing import Process, Value, Lock
			from Receivers__POA import SRTKBandDerotator
	from Acspy.Servants.CharacteristicComponent import CharacteristicComponent as cc		from Acspy.Servants.CharacteristicComponent import CharacteristicComponent as cc
	from Acspy.Servants.ContainerServices import ContainerServices as services		from Acspy.Servants.ContainerServices import ContainerServices as services
	from Acspy.Servants.ComponentLifecycle import ComponentLifecycle as lcycle		from Acspy.Servants.ComponentLifecycle import ComponentLifecycle as lcycle
			from Acspy.Common.TimeHelper import getTimeStamp
	from Acspy.Util.BaciHelper import addProperty		from Acspy.Util.BaciHelper import addProperty
	from DerotatorSimulator.devios import GenericDevIO		from DerotatorSimulator.devios import GenericDevIO

	@@ -9,21 +15,20 @@ from DerotatorSimulator.devios import GenericDevIO
	__copyright__ = "Marco Buttu <mbuttu@oa-cagliari.inaf.it>"		__copyright__ = "Marco Buttu <mbuttu@oa-cagliari.inaf.it>"


	class DerotatorSimulatorImpl(POA, cc, services, lcycle):		class DerotatorSimulatorImpl(SRTKBandDerotator, cc, services, lcycle):

	def __init__(self):		def __init__(self):
	cc.__init__(self)
	services.__init__(self)		services.__init__(self)
	self._setDefault()		self._setDefault()

	def initialize(self):		def initialize(self):
			addProperty(self, 'actPosition', devio_ref=GenericDevIO())
			addProperty(self, 'cmdPosition', devio_ref=GenericDevIO())
	addProperty(self, 'enginePosition', devio_ref=GenericDevIO())		addProperty(self, 'enginePosition', devio_ref=GenericDevIO())
	# addProperty(self, 'actPosition', devio_ref=GenericDevIO())		addProperty(self, 'positionDiff', devio_ref=GenericDevIO())
	# addProperty(self, 'cmdPosition', devio_ref=GenericDevIO())		addProperty(self, 'tracking', devio_ref=GenericDevIO())
	# addProperty(self, 'positionDiff', devio_ref=GenericDevIO())		addProperty(self, 'status', devio_ref=GenericDevIO())
	# addProperty(self, 'tracking', devio_ref=GenericDevIO())		addProperty(self, 'icd_verbose_status', devio_ref=GenericDevIO())
	# addProperty(self, 'icd_verbose_status', devio_ref=GenericDevIO())
	# addProperty(self, 'status', devio_ref=GenericDevIO())

	def cleanUp(self):		def cleanUp(self):
	pass		pass
	@@ -32,20 +37,20 @@ class DerotatorSimulatorImpl(POA, cc, services, lcycle):
	return 'DerotatorSimulator'		return 'DerotatorSimulator'

	def setup(self):		def setup(self):
	self.is_ready = True		self.status.is_ready.value = True
	self.is_tracking = True		self.status.is_tracking.value = True

	def isReady(self):		def isReady(self):
	return self.is_ready		return self.status.is_ready.value

	def isSlewing(self):		def isSlewing(self):
	return self.is_slewing		return self.status.is_slewing.value

	def isTracking(self):		def isTracking(self):
	return self.is_tracking		return self.status.is_tracking.value

	def isUpdating(self):		def isUpdating(self):
	return self.is_updating		return self.status.is_updating.value

	def powerOff(self):		def powerOff(self):
	pass		pass
	@@ -61,14 +66,17 @@ class DerotatorSimulatorImpl(POA, cc, services, lcycle):

	def setPosition(self, position):		def setPosition(self, position):
	self.cmd_position = position		self.cmd_position = position
			p = Process(target=DerotatorSimulatorImpl._set_position_process,
			args=(self.status, position, self.getSpeed()))
			p.start()
	if self.getMinLimit() < position < self.getMaxLimit():		if self.getMinLimit() < position < self.getMaxLimit():
	self.position = position		self.history.insert(position)

	def getActPosition(self):		def getActPosition(self):
	return self.position		return self.history.get()

	def getPositionFromHistory(self, t):		def getPositionFromHistory(self, t):
	return self.position # TODO		return self.history.get(t)

	def getCmdPosition(self):		def getCmdPosition(self):
	return self.cmd_position		return self.cmd_position
	@@ -83,10 +91,70 @@ class DerotatorSimulatorImpl(POA, cc, services, lcycle):
	self._setDefault()		self._setDefault()

	def _setDefault(self):		def _setDefault(self):
	self.position = self.cmd_position = 0.0		self.history = History()
			self.cmd_position = self.history.get()
	self.speed = 3		self.speed = 3
	self.is_ready = False		self.status = Status()
	self.is_tracking = False
	self.is_updating = False		@staticmethod
	self.is_slewing = False		def _set_position_process(status, position, speed):
			status.is_slewing.value = True
			time.sleep(position/speed*1.0) # Speed degrees per second
			status.is_slewing.value = False


			class History(object):
			lock = Lock()

			def __init__(self):
			self.history = []
			self.insert(0)

			def insert(self, position):
			data = (getTimeStamp().value, position)
			with History.lock:
			self.history.append(data)
			self.history.sort(key=operator.itemgetter(0))
			self.history = self.history[-215:] # Last 215 positions

			def clean(self, since=0):
			target_time = since if since else getTimeStamp().value
			with History.lock:
			idx = len(self.history)
			self.history.sort(key=operator.itemgetter(0))
			for idx, item in enumerate(self.history):
			timestamp = item[0]
			if timestamp > target_time:
			break
			self.history = self.history[:idx]

			def get(self, target_time=None):
			"""Return the position @target_time"""
			if not target_time:
			target_time = getTimeStamp().value
			size = len(self.history)
			idx = -1
			with History.lock:
			while idx >= -size:
			data = self.history[idx]
			timestamp, position = data[0], data[1:]
			if timestamp <= target_time:
			return data[-1]
			elif idx - 1 > -size:
			prev_timestamp = self.history[idx - 1]
			if prev_timestamp <= target_time:
			return self.history[idx - 1][-1] # It's better to interpolate
			else:
			idx -= 1
			continue
			else:
			return self.history[-size][-1]


			class Status(object):
			def __init__(self):
			self.is_slewing = Value('i', 0)
			self.is_ready = Value('i', 0)
			self.is_tracking = Value('i', 0)
			self.is_updating = Value('i', 0)

SRT/CDB/MACI/Components/RECEIVERS/SRTKBandDerotator/SRTKBandDerotator.xml

+1 −1

Original line number	Original line	Diff line number	Diff line
	@@ -8,7 +8,7 @@
	xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0"		xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0"
	xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"		xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"

	Name="DerotatorSimulator"		Name="SRTKBandDerotator"
	Code="DerotatorSimulator.DerotatorSimulatorImpl"		Code="DerotatorSimulator.DerotatorSimulatorImpl"
	Type="IDL:alma/Receivers/SRTKBandDerotator:1.0"		Type="IDL:alma/Receivers/SRTKBandDerotator:1.0"
	ImplLang="py"		ImplLang="py"