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Add speedrate parameter for insert() / eject() functions in wiregrid_actuator #574

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merged 4 commits into from
Nov 27, 2023
Merged

Add speedrate parameter for insert() / eject() functions in wiregrid_actuator #574

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93ccdf7
update wiregrid_actuator.rst
sadachi5 Nov 16, 2023
89f4aa4
add speedrate parameter in insert/eject() in wiregrid_actuator
sadachi5 Nov 16, 2023
43c6a07
add high_speed (bool) parameters to insert/eject
d1ssk Nov 27, 2023
b0673e4
Add method signature overrides and format docstrings
BrianJKoopman Nov 27, 2023
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5 changes: 4 additions & 1 deletion docs/agents/wiregrid_actuator.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -98,7 +98,10 @@ In the test mode, you can choose the moving distance [mm] and speed rate.
The parameter details are here:

- distance: Actuator moving distance [mm] (default: 10)
- speedrate: Actuator speed rate [0.0, 1.0] (default: 0.2)
- speedrate: Actuator speed rate [0.0, 5.0] (default: 0.2)

.. warning::
DO NOT use ``speedrate > 1.0`` if ``el != 90 deg``!


Hardware Configurations
Expand Down
76 changes: 61 additions & 15 deletions socs/agents/wiregrid_actuator/agent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -276,13 +276,29 @@ def _eject(self, main_distance=920, main_speedrate=1.0):
##################
# Return: status(True or False), message

@ocs_agent.param('speedrate', default=1.0, type=float,
check=lambda x: 0.0 < x <= 5.0)
@ocs_agent.param('high_speed', default=False, type=bool)
def insert(self, session, params=None):
"""insert()
"""insert(speedrate=1.0, high_speed=False)

**Task** - Insert the wire-grid into the forebaffle interface above the
SAT.

Parameters:
speedrate (float): Actuator speed rate [0.0, 5.0] (default: 1.0)
DO NOT use ``speedrate > 1.0`` if ``el != 90 deg``!
high_speed (bool): If False, speedrate is limited to 1.0. Defaults
to False.
"""
# Get parameters
speedrate = params.get('speedrate')
high_speed = params.get('high_speed')
if not high_speed:
speedrate = min(speedrate, 1.0)
self.log.info('insert(): set speed rate = {}'
.format(speedrate))

with self.lock.acquire_timeout(timeout=3, job='insert') as acquired:
if not acquired:
self.log.warn(
Expand All @@ -293,22 +309,38 @@ def insert(self, session, params=None):
# Wait for a second before moving
time.sleep(1)
# Moving commands
ret, msg = self._insert(920, 1.0)
ret, msg = self._insert(920, speedrate)
if not ret:
msg = 'insert(): '\
'ERROR!: Failed insert() in _insert(850,1.0) | {}'\
.format(msg)
'ERROR!: Failed insert() in _insert(920,{}) | {}'\
.format(speedrate, msg)
self.log.error(msg)
return False, msg
return True, 'insert(): Successfully finish!'

@ocs_agent.param('speedrate', default=1.0, type=float,
check=lambda x: 0.0 < x <= 5.0)
@ocs_agent.param('high_speed', default=False, type=bool)
def eject(self, session, params=None):
"""eject()
"""eject(speedrate=1.0, high_speed=False)

**Task** - Eject the wire-grid from the forebaffle interface above the
SAT.

Parameters:
speedrate (float): Actuator speed rate [0.0, 5.0] (default: 1.0)
DO NOT use ``speedrate > 1.0`` if ``el != 90 deg``!
high_speed (bool): If False, speedrate is limited to 1.0. Defaults
to False.
"""
# Get parameters
speedrate = params.get('speedrate')
high_speed = params.get('high_speed')
if not high_speed:
speedrate = min(speedrate, 1.0)
self.log.info('eject(): set speed rate = {}'
.format(speedrate))

with self.lock.acquire_timeout(timeout=3, job='eject') as acquired:
if not acquired:
self.log.warn(
Expand All @@ -319,10 +351,10 @@ def eject(self, session, params=None):
# Wait for a second before moving
time.sleep(1)
# Moving commands
ret, msg = self._eject(920, 1.0)
ret, msg = self._eject(920, speedrate)
if not ret:
msg = 'eject(): ERROR!: Failed in _eject(850,1.0) | {}'\
.format(msg)
msg = 'eject(): ERROR!: Failed in _eject(920,{}) | {}'\
.format(speedrate, msg)
self.log.error(msg)
return False, msg
return True, 'eject(): Successfully finish!'
Expand Down Expand Up @@ -451,20 +483,27 @@ def eject_homing(self, session, params=None):

@ocs_agent.param('distance', default=10., type=float)
@ocs_agent.param('speedrate', default=0.2, type=float,
check=lambda x: 0.0 < x <= 1.0)
check=lambda x: 0.0 < x <= 5.0)
@ocs_agent.param('high_speed', default=False, type=bool)
def insert_test(self, session, params):
"""insert_test(distance=10, speedrate=0.1)
"""insert_test(distance=10, speedrate=0.2, high_speed=False)

**Task** - Insert slowly the wire-grid into the forebaffle interface
above the SAT with a small distance.

Parameters:
distance (float): Actuator moving distance [mm] (default: 10)
speedrate (float): Actuator speed rate [0.0, 1.0] (default: 0.2)
speedrate (float): Actuator speed rate [0.0, 5.0] (default: 0.2)
DO NOT use ``speedrate > 1.0`` if ``el != 90 deg``!
high_speed (bool): If False, speedrate is limited to 1.0. Defaults
to False.
"""
# Get parameters
distance = params.get('distance')
speedrate = params.get('speedrate')
high_speed = params.get('high_speed')
if not high_speed:
speedrate = min(speedrate, 1.0)
self.log.info('insert_test(): set distance = {} mm'
.format(distance))
self.log.info('insert_test(): set speed rate = {}'
Expand Down Expand Up @@ -502,20 +541,27 @@ def insert_test(self, session, params):

@ocs_agent.param('distance', default=10., type=float)
@ocs_agent.param('speedrate', default=0.2, type=float,
check=lambda x: 0.0 < x <= 1.0)
check=lambda x: 0.0 < x <= 5.0)
@ocs_agent.param('high_speed', default=False, type=bool)
def eject_test(self, session, params):
"""eject_test(distance=10, speedrate=0.1)
"""eject_test(distance=10, speedrate=0.2, high_speed=False)

**Task** - Eject slowly the wire-grid from the forebaffle interface
above the SAT with a small distance.

Parameters:
distance: Actuator moving distance [mm] (default: 10)
speedrate: Actuator speed rate [0.0, 1.0] (default: 0.2)
distance (float): Actuator moving distance [mm] (default: 10)
speedrate (float): Actuator speed rate [0.0, 5.0] (default: 0.2)
DO NOT use ``speedrate > 1.0`` if ``el != 90 deg``!
high_speed (bool): If False, speedrate is limited to 1.0. Defaults
to False.
"""
# Get parameters
distance = params.get('distance', 10)
speedrate = params.get('speedrate', 0.2)
high_speed = params.get('high_speed')
if not high_speed:
speedrate = min(speedrate, 1.0)
self.log.info('eject_test(): set distance = {} mm'
.format(distance))
self.log.info('eject_test(): set speed rate = {}'
Expand Down