alba-synchrotron / pyicepap

Python IcePAP Extension for Win32, Linux, BSD, Jython This is the python library to access IcePAP systems for generic purpose. It provides Socket objects to interact with the IcePAP System.

icepap

Python module to configure, control and monitor IcePAP based systems.

Installation

From within your favourite python environment:

pip install icepap

Additionally, if you want to use icepapctl (the icepap CLI), you need some extra dependencies which can be installed with:

pip install icepap[cli]

Note: The CLI requires a python >= 3.6 environment.

icepap is also available on conda-forge. You can install it using conda:

conda install -c conda-forge icepap

Usage

The icepap python library in action:

The icepapctl command line tool in action:

Documentation

The project documentation can be found here or you can build it by executing:

python setup.py build_sphinx

This documentation has been created by sphinx.

Tests

You can run tests simply with:

python setup.py test

Contribute

You can find how to contribute to this project on CONTRIBUTING.md file.

pyicepap's Issues

dependencies

Hello there,
doing some tests for icepapcms, I noticed that pyIcePAP needs at least numpy installed (perhaps other dependencies exists but are already installed).

Is there a list of these dependencies somewhere?
Thank you.

Asynchronous command

Implement the asynchronous communication, it allows to send commands without delays.

The default configuration will be synchronous, but will be possible to change it in runtime.

Check scripts outputs

The icepap script does not show the log info output.

Name with space works wrong

See ALBA-Synchrotron/IcepapCMS#53

Implement the list API

Allow to iterate on the Ethernet controller:

import pyIcePAP
ipap = pyIcePAP.EthIcePAPController('icepap12')
for m in ipap:
     print m.power

icepapctl does not work with axes not in oper mode

Fails to connect on Windows

The connect function isn't working on Windows, because the check here is too strict: https://github.com/ALBA-Synchrotron/pyIcePAP/blob/master/icepap/tcp.py#L37

This also needs to allow the WSAEWOULDBLOCK error, which is normal when connecting a socket with this config on windows.

I got it working and I will make a PR as soon as I have a little free time.

Icepapctl does not move with negative values

TCP object does not implement readlines method

The new TCP object does not implement the readlines method used on multile commands like cfginfo

Function srch() fails

I get the following output using Python 2.7:
/home/jarink/github/pyIcePAP/pyIcePAP/axis.py:1648: PendingDeprecationWarning: object.format with a non-empty format string is deprecated
Traceback (most recent call last):
File "/home/jarink/github/fork_inki2/IcepapCMS/icepapCMS/ui_icepapcms/dialoghomesrch.py", line 63, in _btn_go_stop_clicked
self._start_motor()
File "/home/jarink/github/fork_inki2/IcepapCMS/icepapCMS/ui_icepapcms/dialoghomesrch.py", line 76, in _start_motor
self.axis.srch(opt, edge, direction)
File "/home/jarink/github/pyIcePAP/pyIcePAP/axis.py", line 1648, in srch
cmd = 'SRCH {0} {1} {2:+}'.format(signal, edge_type, direction)
ValueError: Sign not allowed in string format specifier

@rhomspuron Please take a look at the first and the last line in the above output.

icepapctl <subcommand> --help does not work

Expected behaviour:

$ icepapctl status --help
Usage: icepapctl status [OPTIONS]

  Prints a summary of each axis status (position velotiy, acc. time, etc) in
  form of table

Options:
  --axes AXES                     comma separated list of axes. Also supports
                                  'all' and 'alive'  [default: all]

  --table-style [default|none|dotted|mysql|parated|compact|markdown|rst|box|box_doubled|box_rounded|grid]
                                  table style  [default: box_rounded]
  --help                          Show this message and exit.

What I get:

$ icepapctl status --help
Usage: icepapctl [OPTIONS] COMMAND [ARGS]...
Try 'icepapctl --help' for help.

Error: Missing option '-u' / '--url'.

Problems with icepap communication

Hi,
I found several issues with the icepap communication.
I will put them all here.

handle asynchronous exception (ex: Keyboard Interrupt)

during a call for the icepap it is not possible to do ctrl+c and have a recover.
example:

m3 = ice[3]
try:
    m3.move(target)
    while m3.ge_tstate().is_moving():
        time.sleep(0.1)
except KeyboardInterrupt:
    m3.stop()

If the ctrl+c happens during the call to get_state() the icepap tries to start reconnection thread but when the m3.stop() line is executed, the connection is not ready so the call to stop() fails.

masked errors

Some OSError and even a BaseException is being masked to RuntimeError.
This makes it harder to handle errors since I cannot easily understand on my application what real error happened.
IMHO the library should just handle the error and re-raise or simply don't do anything

separate application protocol and connection

Not an error, just a suggestion:
The low level SocketCon class is handling both TCP connection and half of the icepap protocol. The other half seems to be managed by the IcePAPCommunication.
It would be create if the concerns are separated. This way you could eventually use another connection class (like serial line for example... not that anyone wants that :-)

ctl status issue when board not installed

WSD2023. cms 3.7.0, osc 0.10.3, ctl 3.9.0 and library 3.9.0

mv Move specified axes in pairs <axis, position> to the...
mvr Move specified axes in pairs <axis, position> relative to...
rackinfo Prints a summary of each rack information in form of table
reboot Reboots the icepap
reset Resets the given rack.
send Send raw command to the icepap
sendall Send raw command to selected axes with option --axes
state Prints a summary of each axis state in form of table
status Prints a summary of each axis status (position velotiy, acc.
version Prints a summary of icepap version
wa Prints a summary of each axis detailed position in form of table

state
Axis Name Pos. Ready Vel. Acc. T.

---

1                      0.0      NO                    
2           rls   -35996.0      NO   1000.0       1.0 
3         resol        0.0      NO    200.0       1.0 
4      maralc00    52001.0      NO    400.0       0.3 
5      maralc01        0.0      NO    400.0       0.3 
6      maralc02    52001.0      NO    400.0       0.3 
7   axelsmotor2        0.0      NO    400.0       0.3 
8    axelsmotor     2390.0      NO    400.0       0.3 

status
Unexpected error: RuntimeError('Error sending command, IcePAP answered 1:?MODE ERROR Board is not alive\n')
status
Unexpected error: RuntimeError('Error sending command, IcePAP answered 1:?MODE ERROR Board is not alive\n')
:reset
Done
status
Unexpected error: RuntimeError('Error sending command, IcePAP answered 1:?MODE ERROR Board is not alive\n')

How/Where to publish pyIcePAP library documentation?

We need to decide which is the most convenient option to publish the documentation for the new pyIcePAP library.

We would like to use gh-pages, but different approaches are available. Taurus-org has already integrated the automatic generation of the taurus's documentation following a custom approach in which a secondary repository (taurus-doc) is used for pushing the html files (gh-pages branch).

The inconvenient here for pyIcePAP project is that the access to the html documentation will always be through this secondary repository (i.e. https://ALBA-Synchrotron.github.io/pyIcePAP-doc) instead of using the original repository code name (i.e. https://ALBA-Synchrotron.github.io/pyIcePAP) or using a secondary domain name as taurus does (taurus-scada.org).

We still have the options proposed by default by gh-pages: docs folder or gh-pages branch in the same repository.

Which do you think is the most convenient approach?

Probles on firmware updating

We found some problems on the update from 1.22 to 3.15 version to do the autofix. The firmware update change the register parameters but the autofix script can not fix them:

2020-07-27 11:04:49,705 - icepap.backups.IcePAPBackup - WARNING - Skip axis 3 pos_inpos: bkp(0L) icepap(0)
2020-07-27 11:04:49,706 - icepap.backups.IcePAPBackup - ERROR - Cannot fix axis 3 enc_motor: bkp(118050L) icepap(0). Error unexpected EOF while parsing (<string>, line 1))
2020-07-27 11:04:49,707 - icepap.backups.IcePAPBackup - WARNING - Skip axis 3 pos_absenc: bkp(-8192L) icepap(0)
2020-07-27 11:04:49,708 - icepap.backups.IcePAPBackup - WARNING - Skip axis 3 pos_tgtenc: bkp(-74521L) icepap(0)
2020-07-27 11:04:49,709 - icepap.backups.IcePAPBackup - ERROR - Cannot fix axis 3 enc: bkp(118050L) icepap(0). Error unexpected EOF while parsing (<string>, line 1))
2020-07-27 11:04:49,710 - icepap.backups.IcePAPBackup - ERROR - Cannot fix axis 3 enc_encin: bkp(-745214L) icepap(0). Error unexpected EOF while parsing (<string>, line 1))
2020-07-27 11:04:49,710 - icepap.backups.IcePAPBackup - ERROR - Cannot fix axis 3 enc_absenc: bkp(-8192L) icepap(0). Error unexpected EOF while parsing (<string>, line 1))
2020-07-27 11:04:49,711 - icepap.backups.IcePAPBackup - ERROR - Cannot fix axis 3 enc_inpos: bkp(0L) icepap(0). Error unexpected EOF while parsing (<string>, line 1))
2020-07-27 11:04:49,712 - icepap.backups.IcePAPBackup - WARNING - Skip axis 3 pos: bkp(118050L) icepap(0)
2020-07-27 11:04:49,713 - icepap.backups.IcePAPBackup - WARNING - Skip axis 4 pos_encin: bkp(0L) icepap(0)

Config conflict gives NoneType exception

Use case:
We have a configuration conflict situation (DB - driver board) for some driver in a system.

Symptom:
When starting up IcePAPcms and selecting the system in the selection tree, IcePAPcms will call function getDriverConfiguration() for all drivers. This function calls pyIcePAP property IcePAPAxis.config() which throws an exception "'NoneType' object has no attribute 'getitem'".

@rhomspuron This is a problem to me since I deliberately have a conflict situation for some drivers in my test system in Lund. In every branch I need to comment out some code to be able to run IcePAPcms. I sent you an e-mail 2018-10-24, 15:20 with title "pyIcePAP axis config exeption".

axis.py bug when "?ID SN" returns None

When a driver does not return a serial number with command "?ID SN" the "id()" method of IcePAPAxis ends with an exception.

EthIcePAPController interface

The current EthIcePAPController object acts in an intelligent way which introspect the hardware to find version and present racks and axes.

• asking for the version is problematic is the hardware is under heavy stress (ex: another connection that asked to move a motor and is querying the motor state frequently to know when it stops)
• the amount of discovery slows down the object creation and consequently the applications that use them

The current behaviour is still very useful for creating a very verbose object which takes care of many things underneath. But it would be nice to have an alternative mode that solves the above problems.

We propose that EthIcePAPController API work in two modes:

• intelligent (default in 2.8.x): in the constructor we introspect the hardware to see what
  axes are present and we initialize the internal state with these axes. This is the current behaviour in 2.8.x.
• advanced (would be default in 3.x): the constructor is lazy and it is up to the user of the object to request specific axes and manage their destruction

Here is an excerpt of how the advanced mode could look like:

ice = EthIcePAPController('icepap12', auto_axes=False)
5 in ice                # False
ice.keys()              # = []
# return True
a5 = ice[5]             # a5 instance IcePAPAxis
ice.keys()              # = [5]
ice.values()            # = [IcePAPAxis(5)]
p = ice[5].pos          # p is int
p = ice[55].pos        # raise IcePAPError('unknown axis') if axis does not exist
p = ice['th'].pos        # raise IcePAPError('unknown axis') if axis does not exist
p = ice[12700].pos      # raise IcePAPError('unknown axis')
ice.add_alias('th', 5)
th = ice['th']          # th instance IcePAPAxis
th is a5                # return True
th in ice               # raise False
5 in ice                # return True
ice.get_pos(5)          # int with steps
ice.get_pos('th')       # int with steps

ice.find_axes() # list all existing axis numbers
ice.find_axes(filter=lambda axis: axis.alive) # list all alive axis numbers
ice.update_axes() # fills dict with existing axis by asking hardware which are the existing axes
ice[5] is th          # this invariant should remain true

del ice[5]        # == ice.pop(5) removes axis 5 from known axes

Update repo description to remove serial

Very minor issue, but I just noticed the repo description still says that the library provides serial comm. That was removed with version 3.0 right?

Inconsistent return types from `get_pos` and `get_fpos`

Description

The ?POS and ?FPOS system queries return the value of the requested position registers from the IcePAP. These registers contain integer values only;

• AXIS
• MEASURE
• SHFTENC (?POS only)
• TGTENC (?POS only)
• CTRLENC (?POS only)
• ENCIN (?POS only)
• INPOS (?POS only)
• ABSENC (?POS only)
• MOTOR (?POS only)
• SYNC (?POS only)

The return values from the two corresponding IcePAPController methods however differ in type;

• get_pos -> int
• get_fpos -> float

This inconsistency is confusing. One return type should be chosen for both methods.

Suggested action

Update get_fpos to return int

Problems with python3.9, array.tostring() is replaced by .tobytes()

tostring() has been deprecated since python 3.2, and was removed completely in 3.9.
The replacement is tobytes(), which works the same.
Problem is here:
https://github.com/ALBA-Synchrotron/pyIcePAP/blob/master/icepap/communication.py#L136

Migrate to python 3