CT-57: Add RemoveReceptors command class. (b5e4b82a) · Commits · Gianluca Marotta / csp-lmc-old

csp-lmc-mid/csp_lmc_mid/MidCspSubarrayBase.py

+142 −101

Original line number	Diff line number	Diff line
		@@ -38,7 +38,7 @@ from tango import AttrWriteType, DeviceProxy
		# Additional import
		# PROTECTED REGION ID(MidCspSubarray.additional_import) ENABLED START #
		#from ska.base import SKAMaster
		from ska.base.commands import ResponseCommand, ResultCode
		from ska.base.commands import ActionCommand, ResponseCommand, ResultCode
		from ska.base.faults import CapabilityValidationError
		from ska.base.control_model import HealthState, AdminMode, ObsState
		# import CSP.LMC Common package
		@@ -50,18 +50,38 @@ from csp_lmc_common.CspSubarray import CspSubarray, CspSubarrayStateModel
		__all__ = ["MidCspSubarrayBase", "main"]

		class MidCspSubarrayStateModel(CspSubarrayStateModel):
		_subarray_transitions = {
		('EMPTY', 'add_receptors_succeeded'): (
		_mid_subarray_transitions = {
		('RESOURCING', 'add_receptors_succeeded'): (
		"IDLE",
		lambda self: self._set_dev_state(ObsState.IDLE)
		lambda self: self._set_obs_state(ObsState.IDLE)
		),
		('EMPTY', 'add_receptors_started'): (
		"RESOURCING",
		lambda self: self._set_dev_state(ObsState.RESOURCING)
		lambda self: self._set_obs_state(ObsState.RESOURCING)
		),
		('EMPTY', 'add_receptor_failed'): (
		('IDLE', 'add_receptors_started'): (
		"RESOURCING",
		lambda self: self._set_obs_state(ObsState.RESOURCING)
		),
		('EMPTY', 'add_receptors_failed'): (
		"OBSFAULT",
		lambda self: self._set_dev_state(DevState.FAULT)
		),
		('IDLE', 'add_receptors_failed'): (
		"OBSFAULT",
		lambda self: self._set_dev_state(DevState.FAULT)
		),
		('IDLE', 'remove_receptors_started'): (
		"RESOURCING",
		lambda self: self._set_obs_state(ObsState.RESOURCING)
		),
		('IDLE', 'remove_receptors_failed'): (
		"OBSFAULT",
		lambda self: self._set_dev_state(DevState.FAULT)
		),
		('RESOURCING', 'remove_receptors_succeeded'): (
		"IDLE",
		lambda self: self._set_obs_state(ObsState.IDLE)
		),
		}

		@@ -73,7 +93,7 @@ class MidCspSubarrayStateModel(CspSubarrayStateModel):
		super().__init__(
		dev_state_callback=dev_state_callback,
		)
		self.update_transitions(self._subarray_transitions)
		self.update_transitions(self._mid_subarray_transitions)

		class MidCspSubarrayBase(CspSubarray):
		"""
		@@ -123,7 +143,13 @@ class MidCspSubarrayBase(CspSubarray):
		self.logger.info("On eseguito nel MID")
		return (ResultCode.OK, "On exeguito correttamente")

		class AddReceptorsCommand(ResponseCommand):
		class AddReceptorsCommand(ActionCommand):
		def __init__(self, target, state_model, logger=None):

		super().__init__(
		target, state_model, "add_receptors", start_action=True, logger=logger
		)

		def do(self, argin):
		device = self.target
		# PROTECTED REGION ID(CspSubarray.AddReceptors) ENABLED START #
		@@ -161,18 +187,16 @@ class MidCspSubarrayBase(CspSubarray):
		log_msg = "No available receptor to add to subarray {}".format(
		device.SubID)
		self.logger.warning(log_msg)
		return
		return (ResultCode.OK, "AddREsources OK")
		receptor_membership = csp_master_proxy.receptorMembership
		except tango.DevFailed as df:
		msg = "Failure in getting receptors information:" + \
		str(df.args[0].reason)
		tango.Except.throw_exception("Command failed", msg,
		"AddReceptors", tango.ErrSeverity.ERR)
		return (ResultCode.FAILED, msg)
		except AttributeError as attr_err:
		msg = "Failure in reading {}: {}".format(
		str(attr_err.args[0]), attr_err.__doc__)
		tango.Except.throw_exception("Command failed", msg,
		"AddReceptors", tango.ErrSeverity.ERR)
		return (ResultCode.FAILED, msg)
		for receptorId in argin:
		# check if the specified receptor id is a valid number (that is, belongs to the list
		# of provided receptors)
		@@ -194,17 +218,14 @@ class MidCspSubarrayBase(CspSubarray):
		if not receptor_to_assign:
		log_msg = "No receptors to assign to the subarray"
		self.logger.info(log_msg)
		return
		return (ResultCode.OK, log_msg)

		# check if the CbfSubarray TANGO device is already running
		# and the proxy registered
		if not device._is_sc_subarray_running(device.CbfSubarray):
		log_msg = "Device {} is not running!".format(str(device.CbfSubarray))
		self.logger.error(log_msg)
		tango.Except.throw_exception("Command failed",
		log_msg,
		"AddReceptors",
		tango.ErrSeverity.ERR)
		return (ResultCode.FAILED, log_msg)
		proxy = device._sc_subarray_proxies[device.CbfSubarray]
		# remove possible receptor repetition
		tmp = set(receptor_to_assign)
		@@ -230,6 +251,93 @@ class MidCspSubarrayBase(CspSubarray):
		return (ResultCode.FAILED, "Failure in AddReceptors")

		# PROTECTED REGION END # // MidCspSubarrayBase.AddReceptors
		#def succeeded(self):
		# self.logger.info("Eccomi")
		# action = "add_receptors_succeeded"
		# self.state_model.perform_action(action)
		# self.logger.info("ObsState:{}".format(self.state_model.obs_state))


		class RemoveReceptorsCommand(ActionCommand):
		def __init__(self, target, state_model, logger=None):

		super().__init__(
		target, state_model, "remove_receptors", start_action=True, logger=logger
		)
		def do(self, argin):
		device = self.target
		# check if the CspSubarray is already connected to the CbfSubarray
		if not device._is_sc_subarray_running(device.CbfSubarray):
		log_msg = "Subarray {} not registered!".format( str(device.CbfSubarray))
		self.logger.error(log_msg)
		return (ResultCode.FAILED, log_msg)
		try:
		proxy = device._sc_subarray_proxies[device.CbfSubarray]
		# read from CbfSubarray the list of assigned receptors
		# failure in reading attribute raises an AttributeError (not tangoDevFailed!!)
		receptors = proxy.receptors
		#!!!!!!!!!!!!!!!!!
		# 2019-09-20: New images for TANGO and PyTango images has been released. PyTango
		# is now compiled with th numpy support. In this case the proxy.receptors call
		# does no more return an empty tuple but an empty numpy array.
		# Checks on receptors content need to be changed (see below)
		# NB: the receptors attribute implemented by the CbfSubarray is declared as RW.
		# In this case the read method returns an empty numpy array ([]) whose length is 0.
		#!!!!!!!!!!!!!!!!!

		# check if the list of assigned receptors is empty
		if len(receptors):
		receptors_to_remove = []
		# check if the receptors to remove belong to the subarray
		for receptor_id in argin:
		if receptor_id in receptors:
		receptors_to_remove.append(receptor_id)
		if any(receptors_to_remove):
		# TODO: add reading of CbfSubarray removeReceptorsCmdDurationExpected
		# attribute, if implemented, otherwise use the default value

		# subscribes attributes to track progress and timeout: if these
		# attributes are not implemented at CbfSubarray level, the warning
		# is only logged because is not a fatal error.
		for attr in ['removeReceptorsCmdProgress', 'timeoutExpiredFlag']:
		try:
		if device._sc_subarray_event_id[device.CbfSubarray][attr.lower()] == 0:
		evt_id = proxy.subscribe_event(attr, tango.EventType.CHANGE_EVENT,
		device._attributes_change_evt_cb, stateless=False)
		device._sc_subarray_event_id[device.CbfSubarray][attr.lower()] = evt_id
		except tango.DevFailed as tango_err:
		self.logger.info(tango_err.args[0].desc)
		# forward the command to CbfSubarray
		proxy.command_inout_asynch("RemoveReceptors", receptors_to_remove, device._cmd_ended_cb)
		if device._cmd_execution_state['removereceptors'] != CmdExecState.FAILED:
		device._cmd_execution_state['removereceptors'] = CmdExecState.RUNNING
		device._sc_subarray_cmd_starting_time[device.CbfSubarray] = time.time()
		# Note: rembember to put the comma in args=(receptors_to_remove,) otherwise
		# the list is received as a numpy array!
		device._command_thread['removereceptors'] = threading.Thread(target=device._monitor_remove_receptors,
		name="Thread-RemoveReceptors",
		args=(receptors_to_remove,))
		device._command_thread['removereceptors'].start()
		else :
		return (ResultCode.OK, f"No receptor to remove from subarray {device.get_name()}")
		device._cmd_execution_state['removereceptors'] = CmdExecState.IDLE
		return (ResultCode.STARTED, "RemoveReceptor started")
		except tango.DevFailed as tango_err:
		#tango.Except.throw_exception("Command failed",
		# tango_err.args[0].desc,
		# "RemoveReceptors",
		# tango.ErrSeverity.ERR)
		message = str(tango_err.args[0].desc)
		except AttributeError as attr_err:
		#log_msg = "RemoveReceptors:" + str(attr_err)
		#self.logger.error(log_msg)
		#tango.Except.throw_exception("Command failed",
		# str(attr_err),
		# "RemoveReceptors",
		# tango.ErrSeverity.ERR)
		message = str(attr_err)
		return (ResultCode.FAILED, message)


		def _get_cbfsubarray_assigned_receptors(self, device_proxy):
		"""
		@@ -311,11 +419,13 @@ class MidCspSubarrayBase(CspSubarray):
		# reset the command execution state
		self._sc_subarray_cmd_exec_state[device][cmd_name] = CmdExecState.IDLE
		self._cmd_execution_state[cmd_name] = CmdExecState.IDLE
		return (ResultCode.OK, "All receptor assigned!!")
		self.logger.info("AddReceptors end!")
		#self.AddReceptorsCommand.succeeded()
		self._add_receptors_cmd.succeeded()

		# PROTECTED REGION END # // MidCspSubarrayBase.private_methods

		def __monitor_remove_receptors(self, receptor_list, args_dict=None):
		def _monitor_remove_receptors(self, receptor_list, args_dict=None):
		cmd_name = 'removereceptors'
		device = self.CbfSubarray
		self._num_dev_completed_task[cmd_name] = 0
		@@ -380,13 +490,16 @@ class MidCspSubarrayBase(CspSubarray):
		self._sc_subarray_state[self.CbfSubarray]))
		self.logger.warning(self._failure_message[device])
		self._failure_raised = True
		return (ResultCode.FAILED, "RemoveReceptors ended with failure")
		if self._sc_subarray_cmd_exec_state[device][cmd_name] == CmdExecState.TIMEOUT:
		self._timeout_expired = True
		return (ResultCode.FAILED, "RemoveReceptors ended with timeout")
		self.logger.info("CspSubarray failure flag:{}".format(self._failure_raised))
		self.logger.info("CspSubarray timeout flag:{}".format(self._timeout_expired))
		# reset the command exeuction state
		self._sc_subarray_cmd_exec_state[device][cmd_name] = CmdExecState.IDLE
		self._cmd_execution_state[cmd_name] = CmdExecState.IDLE
		self._remove_receptors_cmd.succeeded()

		def validate_scan_configuration(self, argin):
		"""
		@@ -475,6 +588,7 @@ class MidCspSubarrayBase(CspSubarray):
		self.state_model = MidCspSubarrayStateModel(
		dev_state_callback=self._update_state,
		)
		self.logger.info("state_mode: {}".format(self.state_model._transitions))

		def init_command_objects(self):
		"""
		@@ -483,7 +597,10 @@ class MidCspSubarrayBase(CspSubarray):
		super().init_command_objects()
		self.logger.info("MID call to init_commands")
		args = (self, self.state_model, self.logger)
		self._add_receptors_cmd = self.AddReceptorsCommand(*args)
		self._remove_receptors_cmd = self.RemoveReceptorsCommand(*args)
		self.register_command_object("AddReceptors", self.AddReceptorsCommand(*args))
		self.register_command_object("RemoveReceptors", self.RemoveReceptorsCommand(*args))


		# PROTECTED REGION END # // MidCspSubarrayBase.private_methods
		@@ -696,18 +813,12 @@ class MidCspSubarrayBase(CspSubarray):
		(result_code, message) = handler(argin)
		return [[result_code], [message]]

		@AdminModeCheck('RemoveReceptors')
		def is_RemoveReceptors_allowed(self):

		return self._is_subarray_composition_allowed()

		@command(
		dtype_in='DevVarUShortArray',
		doc_in="The list with the receptor IDs to remove",
		dtype_out='DevVarLongStringArray',
		)
		@DebugIt()
		@ObsStateCheck('removeresources')
		@SubarrayRejectCmd(['AddReceptors', 'Configure'])
		def RemoveReceptors(self, argin):
		# PROTECTED REGION ID(MidCspSubarrayBase.RemoveReceptors) ENABLED START #
		"""
		@@ -722,79 +833,9 @@ class MidCspSubarrayBase(CspSubarray):
		when an exception is caught during command execution.
		"""
		# PROTECTED REGION ID(CspSubarray.RemoveReceptors) ENABLED START #

		# check if the CspSubarray is already connected to the CbfSubarray
		if not self._is_sc_subarray_running(self.CbfSubarray):
		log_msg = "Subarray {} not registered!".format( str(self.CbfSubarray))
		self.logger.error(log_msg)
		tango.Except.throw_exception("Command failed",
		log_msg,
		"RemoveReceptors",
		tango.ErrSeverity.ERR)
		try:
		proxy = self._sc_subarray_proxies[self.CbfSubarray]
		# read from CbfSubarray the list of assigned receptors
		# failure in reading attribute raises an AttributeError (not tangoDevFailed!!)
		receptors = proxy.receptors
		#!!!!!!!!!!!!!!!!!
		# 2019-09-20: New images for TANGO and PyTango images has been released. PyTango
		# is now compiled with th numpy support. In this case the proxy.receptors call
		# does no more return an empty tuple but an empty numpy array.
		# Checks on receptors content need to be changed (see below)
		# NB: the receptors attribute implemented by the CbfSubarray is declared as RW.
		# In this case the read method returns an empty numpy array ([]) whose length is 0.
		#!!!!!!!!!!!!!!!!!

		# check if the list of assigned receptors is empty
		if len(receptors):
		receptors_to_remove = []
		# check if the receptors to remove belong to the subarray
		for receptor_id in argin:
		if receptor_id in receptors:
		receptors_to_remove.append(receptor_id)
		if any(receptors_to_remove):
		# TODO: add reading of CbfSubarray removeReceptorsCmdDurationExpected
		# attribute, if implemented, otherwise use the default value

		# subscribes attributes to track progress and timeout: if these
		# attributes are not implemented at CbfSubarray level, the warning
		# is only logged because is not a fatal error.
		for attr in ['removeReceptorsCmdProgress', 'timeoutExpiredFlag']:
		try:
		if self._sc_subarray_event_id[self.CbfSubarray][attr.lower()] == 0:
		evt_id = proxy.subscribe_event(attr, tango.EventType.CHANGE_EVENT,
		self._attributes_change_evt_cb, stateless=False)
		self._sc_subarray_event_id[self.CbfSubarray][attr.lower()] = evt_id
		except tango.DevFailed as tango_err:
		self.logger.info(tango_err.args[0].desc)
		# forward the command to CbfSubarray
		proxy.command_inout_asynch("RemoveReceptors", receptors_to_remove, self._cmd_ended_cb)
		if self._cmd_execution_state['removereceptors'] != CmdExecState.FAILED:
		self._cmd_execution_state['removereceptors'] = CmdExecState.RUNNING
		self._sc_subarray_cmd_starting_time[self.CbfSubarray] = time.time()
		# Note: rembember to put the comma in args=(receptors_to_remove,) otherwise
		# the list is received as a numpy array!
		self._command_thread['removereceptors'] = threading.Thread(target=self.__monitor_remove_receptors,
		name="Thread-RemoveReceptors",
		args=(receptors_to_remove,))
		self._command_thread['removereceptors'].start()
		return
		self.logger.info(
		"No receptor to remove from subarray {}".format(self.get_name()))
		self._cmd_execution_state['removereceptors'] = CmdExecState.IDLE
		return
		except tango.DevFailed as tango_err:
		tango.Except.throw_exception("Command failed",
		tango_err.args[0].desc,
		"RemoveReceptors",
		tango.ErrSeverity.ERR)
		except AttributeError as attr_err:
		log_msg = "RemoveReceptors:" + str(attr_err)
		self.logger.error(log_msg)
		tango.Except.throw_exception("Command failed",
		str(attr_err),
		"RemoveReceptors",
		tango.ErrSeverity.ERR)
		handler = self.get_command_object("RemoveReceptors")
		(result_code, message) = handler(argin)
		return [[result_code], [message]]

		# PROTECTED REGION END # // MidCspSubarrayBase.RemoveReceptors
		@AdminModeCheck('RemoveAllReceptors')