Realistic Adc Movement
Again an tutorial example base on a real need. An ADC hardware is being tested for aging, tracking speed, etc …
The ESO FCS is not integrated for this test being used in an other institute so pydevmgr_elt comes handy.
For this tutorial we considers:
A PLC Project with 1 ADC, A CcsSim and a Timer instanced
They are two REAL values on the PLC to be red directly on the PLC (temperatures), not included in an IODEV
We want to be abble to send the ADC in a realistic trajectory
Main Device
As everything appear on the same PLC we can start from a UaDevice instead of e UaManger or EltManager as it is done in other examples.
The advantage is that OPC-UA communication parameters are entered in one single place. A “Child” device will share the same OPC-UA client than its master (so address, namespace, … configuration of a child device will be ignored).
Here is the script:
from pydevmgr_elt import Adc, CcsSim, Time, NodeVar, DataLink, wait
from pydevmgr_core.nodes import AllTrue
from pydevmgr_ua import UaDevice, UaNode
from pydantic import BaseModel, Field, AnyUrl
from datetime import datetime
import time
from typing import List
# create some scripts configuration
class TrackTargetConfig(BaseModel, extra="forbid", validate_assignment=True):
""" config for one target """
start_time: datetime = datetime(2027, 1, 1) # A ISO date time format string is also valid
end_time: datetime = datetime(2027, 1, 1, 1)
ra: float = 000000.00
dec: float = 000000.00
equinox: float = 2000.0
name: str = "" # guive some target name for reference
class Main(UaDevice):
class Config(UaDevice.Config):
prefix = "MAIN" # this will most probably run on the PLC program named "MAIN"
address: AnyUrl = "opc.tcp://myplc.local:4840" # gives some default address
# Add some devices
adc : Adc.Config = Adc.Config(prefix="adc") # the 'MAIN' is not needed, it will comes from parent device
ccs : CcsSim.Config = CcsSim.Config(prefix="ccs")
time : Time.Config = Time.Config(prefix="timer")
# we can add temperatures nodes
temp1 : UaNode.Config = UaNode.Config( suffix="lrTemp1")
temp2: UaNode.Config = UaNode.Config( suffix="lrTemp2")
# maybe a list of real child device to be used, only the adc in our case but some other can come later
devices: List[str] = ['adc']
# Add some targets for scripting with a default dummy one for demo purpose
targets : List[TrackTargetConfig] = [TrackTargetConfig(
name="dummy",
start_time="2032-09-11T01:00:00.0000",
end_time="2032-09-11T01:30:00.0000",
ra = 163553.00, dec = -281258.00
)]
# a time period to fetch data while tracking
data_period: float = 1.0 # second
# Add a Data Class for the interested data to be updated
# several Data Class can be created function to what kind of script is started
class Data(UaDevice.Data):
adc_mot1_pos: NodeVar[float] = Field(0.0, node="adc.motor1.stat.pos_actual")
adc_mot2_pos: NodeVar[float] = Field(0.0, node="adc.motor2.stat.pos_actual")
temp1: NodeVar[float] = 0.0 # no need to define the node path in this case
temp2: NodeVar[float] = 0.0
time: NodeVar[datetime] = Field( datetime(1950, 1, 1), node="time.stat.utc_datetime")
alt : NodeVar[float] = Field(0.0, node="ccs.stat.alt_deg")
az : NodeVar[float] = Field(0.0, node="ccs.stat.az_deg")
# ETC ......
target_name: str = ""
def swrite(self):
# To be customized of course
return f"{self.time.isoformat()} {self.adc_mot1_pos:.3f} {self.adc_mot2_pos:.3f} {self.alt:.4f} {self.az:.4f}"
# Concatenate actions (okay this is not very usefull because only one ADC
# The AllTrue is a node alias and needed for wait function input
@property
def devices(self):
return [getattr(self, name) for name in self.config.devices]
def init(self):
return AllTrue('is_all_initialised', nodes= [d.init() for d in self.devices] )
def enable(self):
return AllTrue('is_all_enable', nodes= [d.enable() for d in self.devices] )
def disable(self):
return AllTrue('is_all_disable', nodes= [d.disable() for d in self.devices] )
def reset(self):
return AllTrue('is_all_reseted', nodes= [d.reset() for d in self.devices] )
def configure(self):
for d in self.devices:
d.configure()
self.ccs.configure()
def run_target_sequence(self):
# configure devices (adc)
self.configure()
# reset and init
wait( self.reset() )
wait( self.init() )
wait( self.enable() )
data = self.Data()
dl = DataLink(self, data)
def callback():
dl.download()
print( data.swrite()) # do something clever here, like writing in a file for instance ploting etc ...
for target in self.config.targets:
data.target_name = target.name
self.track_target(target.start_time, target.end_time,
target.ra, target.dec, target.equinox,
period=self.config.data_period,
callback=callback
)
def track_target(self, start_time, end_time, ra, dec, equinox=2000, period =1, callback=lambda :None):
self.time.set_time(start_time)
self.ccs.set_coordinates( ra, dec, equinox)
wait( self.adc.start_track() ) # changing coordinate will send ADC in preset, wait for tracking
while self.time.stat.utc_datetime.get() < end_time:
tic = time.time()
callback()
tac= time.time()
time.sleep( max( period-(tac-tic), 0.001) )
This exemple can than be ran from a configuration file as defined by Main.Config:
targets:
- name: Target1
ra: 163553.00
dec: -281258.00
start_time: 2032-09-11T01:00:00.0000
end_time: 2032-09-11T01:30:00.0000
- name: Target2
ra: 171303.0
dec: -545107.0
start_time: 2032-09-11T01:30:00.0000
end_time: 2032-09-11T02:00:00.0000
Or you can configure more deeply, e.g. if you want to check the influance of the init function for instance, temp, wavelength pressure, etc …
targets:
- name: Target1
ra: 163553.00
dec: -281258.00
start_time: 2032-09-11T01:00:00.0000
end_time: 2032-09-11T01:30:00.0000
- name: Target2
ra: 171303.0
dec: -545107.0
start_time: 2032-09-11T01:30:00.0000
end_time: 2032-09-11T02:00:00.0000
data_period: 0.5
adc:
ctrl_config:
axes: [motor1, motor2]
motor1:
type: Motor # mendatory
prefix: motor1
initialisation:
sequence: ['FIND_LHW', 'FIND_UHW', 'CALIB_ABS', 'END']
FIND_LHW:
value1: 4.0
value2: 4.0
FIND_UHW:
value1: 4.0
value2: 4.0
CALIB_ABS:
value1: 0.0
value2: 0.0
END:
value1: 0.0
value2: 0.0
motor2:
type: Motor
prefix: motor2
ctrl_config:
backlash: 0.02
# etc ....
ccs:
ctrl_config:
pressure: 720.0
temperature: 12.0
wavelength: 720.0