Merge pull request #853 from lnls-sirius/fix-sofb-again

Fix fix SOFB

siriuspy/siriuspy/VERSION

@@ -1 +1 @@
-2.56.0
+2.56.1

siriuspy/siriuspy/devices/fofb.py

@@ -375,7 +375,8 @@ def linkpartners_connected(self):
             if 'FMC' not in dev.dccname:
                 continue
             ctl = _PVName(dcc).device_name
-            if not dev.linkpartners & self._ctl_part[ctl]:
+            nrpart = len(self._ctl_part[ctl])
+            if not len(dev.linkpartners & self._ctl_part[ctl]) == nrpart:
                 return False
         return True
 
@@ -830,13 +831,17 @@ class DEVICES:
 
     _properties = (
         'LoopState-Sel', 'LoopState-Sts',
-        'LoopGain-SP', 'LoopGain-RB', 'LoopGain-Mon',
-        'CorrStatus-Mon', 'CorrConfig-Cmd',
+        'LoopGainH-SP', 'LoopGainH-RB', 'LoopGainH-Mon',
+        'LoopGainV-SP', 'LoopGainV-RB', 'LoopGainV-Mon',
+        'CorrStatus-Mon', 'CorrConfig-Cmd', 'CorrSetCurrZero-Cmd',
         'CorrSetOpModeManual-Cmd', 'CorrSetAccFreezeDsbl-Cmd',
         'CorrSetAccFreezeEnbl-Cmd', 'CorrSetAccClear-Cmd',
+        'CHAccSatMax-SP', 'CHAccSatMax-RB',
+        'CVAccSatMax-SP', 'CVAccSatMax-RB',
         'FOFBCtrlStatus-Mon', 'FOFBCtrlSyncNet-Cmd', 'FOFBCtrlSyncRefOrb-Cmd',
         'FOFBCtrlConfTFrameLen-Cmd', 'FOFBCtrlConfBPMLogTrg-Cmd',
-        'KickBufferSize-SP', 'KickBufferSize-RB', 'KickCH-Mon', 'KickCV-Mon',
+        'KickBufferSize-SP', 'KickBufferSize-RB', 'KickBufferSize-Mon',
+        'KickCH-Mon', 'KickCV-Mon',
         'RefOrbX-SP', 'RefOrbX-RB', 'RefOrbY-SP', 'RefOrbY-RB',
         'RefOrbHwX-Mon', 'RefOrbHwY-Mon',
         'BPMXEnblList-SP', 'BPMXEnblList-RB',
@@ -888,18 +893,32 @@ def loop_state(self, value):
         self['LoopState-Sel'] = value
 
     @property
-    def loop_gain(self):
-        """Loop gain."""
-        return self['LoopGain-RB']
+    def loop_gain_h(self):
+        """Loop gain H."""
+        return self['LoopGainH-RB']
 
-    @loop_gain.setter
-    def loop_gain(self, value):
-        self['LoopGain-SP'] = value
+    @loop_gain_h.setter
+    def loop_gain_h(self, value):
+        self['LoopGainH-SP'] = value
 
     @property
-    def loop_gain_mon(self):
-        """Implemented loop gain."""
-        return self['LoopGain-Mon']
+    def loop_gain_h_mon(self):
+        """Implemented horizontal loop gain."""
+        return self['LoopGainH-Mon']
+
+    @property
+    def loop_gain_v(self):
+        """Loop gain V."""
+        return self['LoopGainV-RB']
+
+    @loop_gain_v.setter
+    def loop_gain_v(self, value):
+        self['LoopGainV-SP'] = value
+
+    @property
+    def loop_gain_v_mon(self):
+        """Implemented vertical loop gain."""
+        return self['LoopGainV-Mon']
 
     @property
     def corr_status(self):
@@ -931,6 +950,29 @@ def cmd_corr_accclear(self):
         self['CorrSetAccClear-Cmd'] = 1
         return True
 
+    def cmd_corr_set_current_zero(self):
+        """Command to set correctors current to zero."""
+        self['CorrSetCurrZero-Cmd'] = 1
+        return True
+
+    @property
+    def ch_accsatmax(self):
+        """CH accumulator maximum saturation limit."""
+        return self['CHAccSatMax-RB']
+
+    @ch_accsatmax.setter
+    def ch_accsatmax(self, value):
+        self['CHAccSatMax-SP'] = value
+
+    @property
+    def cv_accsatmax(self):
+        """CH accumulator maximum saturation limit."""
+        return self['CVAccSatMax-RB']
+
+    @cv_accsatmax.setter
+    def cv_accsatmax(self, value):
+        self['CVAccSatMax-SP'] = value
+
     @property
     def fofbctrl_status(self):
         """FOFB controller status."""
@@ -956,6 +998,11 @@ def cmd_fofbctrl_conf_bpmlogtrig(self):
         self['FOFBCtrlConfBPMLogTrg-Cmd'] = 1
         return True
 
+    @property
+    def kick_buffer_size_mon(self):
+        """Return actual kicks buffer size."""
+        return self['KickBufferSize-Mon']
+
     @property
     def kick_buffer_size(self):
         """Return kicks buffer size."""

siriuspy/siriuspy/devices/injsys.py

@@ -967,8 +967,9 @@ def _do_delta_posang(self, delta):
         if self.posang.need_ref_update:
             self.posang.cmd_update_reference()
         _time.sleep(InjSysPUModeHandler._DEF_SLEEP)
+        desval = self.posang.delta_angx + delta
         self.posang.delta_angx += delta
-        if not self._wait(self.posang, 'delta_angx', delta):
+        if not self._wait(self.posang, 'delta_angx', desval):
             self._update_status('ERR:Could not do delta AngX.')
             return False
         return True

siriuspy/siriuspy/devices/pwrsupply.py

@@ -368,11 +368,13 @@ def cycle_aux_param(self):
          - AuxParams[2] --> rampdown time [s]
          - AuxParams[3] --> not used
         """
-        return self['CycleAuxParam-RB']
+        value = self['CycleAuxParam-RB']
+        if value is not None:
+            return value.copy()
+        return None
 
     @cycle_aux_param.setter
     def cycle_aux_param(self, value):
-        """."""
         self['CycleAuxParam-SP'] = value
 
     @property

siriuspy/siriuspy/fofb/csdev.py

@@ -195,6 +195,10 @@ def get_hlfofb_database(self):
                 'type': 'float', 'value': self.DEF_KICK_BUFFER_SIZE, 'prec': 0,
                 'lolim': 1, 'hilim': 1000,
                 'unit': 'Size of the buffer to calculate kicks average.'},
+            'KickBufferSize-Mon': {
+                'type': 'float', 'value': self.DEF_KICK_BUFFER_SIZE, 'prec': 0,
+                'lolim': 1, 'hilim': 1000,
+                'unit': 'Actual buffer size used to calculate kicks average.'},
             'KickCH-Mon': {
                 'type': 'float', 'unit': 'urad', 'count': self.nr_ch,
                 'value': self.nr_ch*[0]},

siriuspy/siriuspy/fofb/main.py

@@ -204,6 +204,7 @@ def init_database(self):
             'FOFBCtrlConfBPMLogTrg-Cmd', self._fofbctrl_confbpmlogtrg_count)
         self.run_callbacks('KickBufferSize-SP', self._kick_buffer_size)
         self.run_callbacks('KickBufferSize-RB', self._kick_buffer_size)
+        self.run_callbacks('KickBufferSize-Mon', self._kick_buffer_size)
         self.run_callbacks(
             'KickCH-Mon', _np.zeros(self._const.nr_ch, dtype=float))
         self.run_callbacks(
@@ -461,6 +462,8 @@ def set_loopgain(self, plane, value):
     def cmd_corr_configure(self, _):
         """Configure corrector command."""
         self._update_log('Received configure corrector command...')
+        if not self._check_corr_connection():
+            return False
 
         # opmode
         self._check_set_corrs_opmode()
@@ -478,6 +481,8 @@ def cmd_corr_configure(self, _):
     def cmd_corr_opmode_manual(self, _):
         """Set all corrector opmode."""
         self._update_log('Received set corrector opmode to manual...')
+        if not self._check_corr_connection():
+            return False
 
         self._update_log('Setting all corrector opmode to manual...')
         self._corrs_dev.set_opmode(self._corrs_dev.OPMODE_STS.manual)
@@ -491,6 +496,8 @@ def cmd_corr_opmode_manual(self, _):
     def cmd_corr_accfreeze_dsbl(self, _):
         """Set all corrector accumulator freeze state to Dsbl."""
         self._update_log('Received set corrector AccFreeze to Dsbl...')
+        if not self._check_corr_connection():
+            return False
 
         self._update_log('Setting AccFreeze to Dsbl...')
         self._corrs_dev.set_fofbacc_freeze(self._const.DsblEnbl.Dsbl)
@@ -504,6 +511,8 @@ def cmd_corr_accfreeze_dsbl(self, _):
     def cmd_corr_accfreeze_enbl(self, _):
         """Set all corrector accumulator freeze state to Enbl."""
         self._update_log('Received set corrector AccFreeze to Enbl...')
+        if not self._check_corr_connection():
+            return False
 
         self._update_log('Setting AccFreeze to Enbl...')
         self._corrs_dev.set_fofbacc_freeze(self._const.DsblEnbl.Enbl)
@@ -517,6 +526,8 @@ def cmd_corr_accfreeze_enbl(self, _):
     def cmd_corr_accclear(self, _):
         """Clear all corrector accumulator."""
         self._update_log('Received clear all corrector accumulator...')
+        if not self._check_corr_connection():
+            return False
 
         self._update_log('Sending clear accumulator command...')
         self._corrs_dev.cmd_fofbacc_clear()
@@ -530,6 +541,8 @@ def cmd_corr_accclear(self, _):
     def cmd_corr_currzero(self, _):
         """Set all corrector current to zero."""
         self._update_log('Received set corrector current to zero...')
+        if not self._check_corr_connection():
+            return False
 
         self._update_log('Sending all corrector current to zero...')
         self._corrs_dev.set_current(0)
@@ -542,6 +555,8 @@ def cmd_corr_currzero(self, _):
 
     def set_corr_accsatmax(self, device, value):
         """Set device FOFB accumulator saturation limits."""
+        if not self._check_corr_connection():
+            return False
         if not 0 <= value <= 0.95:
             return False
 
@@ -559,6 +574,8 @@ def set_corr_accsatmax(self, device, value):
 
     def set_timeframelen(self, value):
         """Set FOFB controllers TimeFrameLen."""
+        if not self._check_fofbctrl_connection():
+            return False
         if not 3000 <= value <= 7500:
             return False
 
@@ -574,6 +591,8 @@ def set_timeframelen(self, value):
     def cmd_fofbctrl_syncnet(self, _):
         """Sync FOFB net command."""
         self._update_log('Received sync FOFB net command...')
+        if not self._check_fofbctrl_connection():
+            return False
         self._update_log('Checking...')
         if not self._llfofb_dev.net_synced:
             self._update_log('Syncing FOFB net...')
@@ -592,6 +611,8 @@ def cmd_fofbctrl_syncnet(self, _):
     def cmd_fofbctrl_syncreforb(self, _):
         """Sync FOFB RefOrb command."""
         self._update_log('Received sync FOFB RefOrb command...')
+        if not self._check_fofbctrl_connection():
+            return False
         self._update_log('Checking...')
         reforb = _np.hstack([self._reforbhw_x, self._reforbhw_y])
         if not self._llfofb_dev.check_reforb(reforb):
@@ -609,6 +630,8 @@ def cmd_fofbctrl_syncreforb(self, _):
     def cmd_fofbctrl_conftframelen(self, _):
         """Configure FOFB controllers TimeFrameLen command."""
         self._update_log('Received configure FOFB controllers')
+        if not self._check_fofbctrl_connection():
+            return False
         self._update_log('TimeFrameLen command... Checking...')
         timeframe = self._time_frame_len
         if not _np.all(self._llfofb_dev.time_frame_len == timeframe):
@@ -628,6 +651,8 @@ def cmd_fofbctrl_conftframelen(self, _):
     def cmd_fofbctrl_confbpmlogtrg(self, _):
         """Configure BPM logical triggers command."""
         self._update_log('Received configure BPM Logical')
+        if not self._check_fofbctrl_connection():
+            return False
         self._update_log('triggers command... Checking...')
         if not self._llfofb_dev.bpm_trigs_configured:
             self._update_log('Configuring BPM logical triggers...')
@@ -667,23 +692,28 @@ def _update_kick_buffer(self, pvname, value, ps_index, **kwargs):
         if val is None:
             return
         self._kick_buffer[ps_index].append(val)
-        del self._kick_buffer[ps_index][:-self._kick_buffer_size]
+        buff_size = self._kick_buffer_size if self._loop_state else 1
+        del self._kick_buffer[ps_index][:-buff_size]
 
     def _update_kicks(self):
         kickch, kickcv = [], []
+        lenb = 0
 
         for i in range(self._const.nr_ch):
             buff = self._kick_buffer[i]
+            lenb = max(len(buff), lenb)
             val = _np.mean(buff) if buff else 0.0
             kickch.append(val)
 
         for i in range(self._const.nr_ch, self._const.nr_chcv):
             buff = self._kick_buffer[i]
+            lenb = max(len(buff), lenb)
             val = _np.mean(buff) if buff else 0.0
             kickcv.append(val)
 
         self.run_callbacks('KickCH-Mon', kickch)
         self.run_callbacks('KickCV-Mon', kickcv)
+        self.run_callbacks('KickBufferSize-Mon', lenb)
 
     # --- reference orbit ---
 
@@ -843,8 +873,7 @@ def set_invrespmat_normmode(self, value):
     def _calc_matrices(self):
         self._update_log('Calculating Inverse Matrix...')
 
-        if not self._corrs_dev.connected:
-            self._update_log('ERR:Correctors not connected... aborted.')
+        if not self._check_corr_connection():
             return False
 
         selbpm = self.bpm_enbllist
@@ -1125,6 +1154,19 @@ def _callback_havebeam(self, value, **kws):
 
     # --- auxiliary corrector and fofbcontroller methods ---
 
+    def _check_corr_connection(self):
+        if self._corrs_dev.connected:
+            return True
+        self._update_log('ERR:Correctors not connected... aborted.')
+        return False
+
+    def _check_fofbctrl_connection(self):
+        if self._llfofb_dev.connected:
+            return True
+        self._update_log('ERR:FOFB Controllers not connected...')
+        self._update_log('ERR:aborted.')
+        return False
+
     def _check_set_corrs_opmode(self):
         """Check and configure opmode.
 
@@ -1222,6 +1264,8 @@ def _set_corrs_coeffs(self, log=True):
         """Set corrector coefficients and gains."""
         if log:
             self._update_log('Setting corrector gains and coefficients...')
+        if not self._check_corr_connection():
+            return False
         self._corrs_dev.set_invrespmat_row(self._pscoeffs)
         self._corrs_dev.set_fofbacc_gain(self._psgains)
         if log:

siriuspy/siriuspy/sofb/main.py

@@ -501,6 +501,8 @@ def _update_status(self):
             self._correctors.status | self._matrix.status | self._orbit.status)
         self.run_callbacks('Status-Mon', self._status)
 
+        if self.acc != 'SI':
+            return
         # Update PVs related to interaction with FOFB:
         fofb_state = self.fofb.connected and self.fofb.loop_state
         download = self._download_fofb_kicks and fofb_state
@@ -1048,7 +1050,11 @@ def _interact_with_fofb_in_apply_kicks(
         if self._download_fofb_kicks and fofb.loop_state:
             kicks_fofb = _np.r_[fofb.kickch, fofb.kickcv, 0]
             dorb = _np.dot(fofb.respmat, kicks_fofb)
-            dkicks2 = -self.matrix.calc_kicks(dorb)
+            # NOTE: calc_kicks return the kicks to correct dorb, which means
+            # that a minus sign is already applied by this method. To negate
+            # this correction, we need an extra minus sign here:
+            dkicks2 = self.matrix.calc_kicks(dorb)
+            dkicks2 *= -1
 
             kicks, dkicks2 = self._process_kicks(
                 self._ref_corr_kicks+dkicks, dkicks2, apply_gain=False)

siriuspy/siriuspy/sofb/orbit.py

@@ -701,8 +701,9 @@ def _synchronize_bpms(self):
             bpm.monit_sync_enbl = _csbpm.EnbldDsbld.disabled
             bpm.monit1_sync_enbl = _csbpm.EnbldDsbld.disabled
 
-        if self.sofb.fofb.connected:
-            self.sofb.fofb.cmd_sync_net()
+        if self.acc == 'SI' and self.sofb.fofb.connected:
+            _time.sleep(0.2)
+            self.sofb.fofb.cmd_fofbctrl_syncnet()
 
     def set_trig_acq_control(self, value):
         """."""