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Merged
Kupaianaha merged 2 commits into from
Jun 8, 2026
Merged

Elijahab/keyword+connection fix #145

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2299144
connection and keyword registry fix. untested voltage control
drriddle Jun 8, 2026
fa27f75
fixes to the connection state and registering keywords without a need…
Jun 8, 2026
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89 changes: 44 additions & 45 deletions daemons/generic/filterwheel
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,6 @@ class Filterwheel(HispecDaemon): #pylint: disable = W0223

# Daemon state
self.state = {
'connected': False,
'error': ''
}

Expand All @@ -52,69 +51,69 @@ class Filterwheel(HispecDaemon): #pylint: disable = W0223
self.state['error'] = 'No IP address or port specified'
return
try:
self._register_keywords()
connection = self.connect(True)
if not connection.get("ok"):
raise ConnectionError(connection.get("Error"))
self.state['connected'] = True
self.logger.info("Daemon started successfully and connected to hardware")
self.initialize()
self.logger.info("Initialized %s", self.daemon_desc)
except ConnectionRefusedError as e:
self.logger.error("Failed to connect to hardware: %s", e)
self.logger.warning("Daemon will start but hardware is not available")
self.state['error'] = str(e)
self.state['connected'] = False

def initialize(self):
"""handles initialization"""
if not self.state['connected']:
if not self.dev.is_connected():
return {"ok": False, "error": "Not connected to hardware"}

try:
self.dev.initialize()
self.keyword_registry.bool("isconnected",
getter=self.dev.is_connected,
setter=self.keyword_wrapper(self.connect, key="isconnected"),
description="Check if daemon can talk to the FW controller.")
self.keyword_registry.string("error",
getter=lambda: self.state['error'],
description="Get the current error message.")
self.keyword_registry.int("positionvalue",
getter=self.keyword_wrapper(self.get_pos, key="position"),
setter=self.keyword_wrapper(self.set_pos, key="position"),
validator=self._check_soft_limits,
units=self.units,
description="Set and get current position of FilterWheel.")
self.keyword_registry.string("positionnamed",
getter=self.keyword_wrapper(self.cur_named_position, key="named_pos"),
setter=self.keyword_wrapper(self.goto_named_pos, key="named_pos"),
validator=self._check_named,
description="Set and get named position of FilterWheel.")
self.keyword_registry.int("softmin",
getter=lambda: self._soft_min,
setter=lambda v: setattr(self, "_soft_min", int(v)),
units=self.units,
description="Software lower limit for filter wheel position.")
self.keyword_registry.int("softmax",
getter=lambda: self._soft_max,
setter=lambda v: setattr(self, "_soft_max", int(v)),
units=self.units,
description="Software upper limit for filter wheel position.")
self.keyword_registry.int("hardmin",
getter=lambda: self._hard_min,
units=self.units,
description="Hardware lower limit for filter wheel position.")
self.keyword_registry.int("hardmax",
getter=lambda: self._hard_max,
units=self.units,
description="Hardware upper limit for filter wheel position.")

except Exception as e: # pylint: disable=W0718
self.logger.error("Error: %s",e)
self.state['error'] = str(e)
return {"ok":False , "error": str(e)}
return {"ok": True}

def _register_keywords(self):
"""Register keywords for the daemon."""
self.keyword_registry.bool("isconnected",
getter=self.dev.is_connected,
setter=self.keyword_wrapper(self.connect, key="isconnected"),
description="Check if daemon can talk to the FW controller.")
self.keyword_registry.string("error",
getter=lambda: self.state['error'],
description="Get the current error message.")
self.keyword_registry.int("positionvalue",
getter=self.keyword_wrapper(self.get_pos, key="position"),
setter=self.keyword_wrapper(self.set_pos, key="position"),
validator=self._check_soft_limits,
units=self.units,
description="Set and get current position of FilterWheel.")
self.keyword_registry.string("positionnamed",
getter=self.keyword_wrapper(self.cur_named_position, key="named_pos"),
setter=self.keyword_wrapper(self.goto_named_pos, key="named_pos"),
validator=self._check_named,
description="Set and get named position of FilterWheel.")
self.keyword_registry.int("softmin",
getter=lambda: self._soft_min,
setter=lambda v: setattr(self, "_soft_min", int(v)),
units=self.units,
description="Software lower limit for filter wheel position.")
self.keyword_registry.int("softmax",
getter=lambda: self._soft_max,
setter=lambda v: setattr(self, "_soft_max", int(v)),
units=self.units,
description="Software upper limit for filter wheel position.")
self.keyword_registry.int("hardmin",
getter=lambda: self._hard_min,
units=self.units,
description="Hardware lower limit for filter wheel position.")
self.keyword_registry.int("hardmax",
getter=lambda: self._hard_max,
units=self.units,
description="Hardware upper limit for filter wheel position.")

def get_named_positions(self):
"""Get named positions from config (e.g., home, deployed, science)."""
return self._config.get("named_positions", {})
Expand Down Expand Up @@ -177,7 +176,7 @@ class Filterwheel(HispecDaemon): #pylint: disable = W0223

def get_pos(self):
'''gets current position'''
if not self.state['connected']:
if not self.dev.is_connected():
return {"ok": False, "error": "Not connected to hardware"}

try:
Expand All @@ -191,7 +190,7 @@ class Filterwheel(HispecDaemon): #pylint: disable = W0223

def set_pos(self, pos):
'''sets current position'''
if not self.state['connected']:
if not self.dev.is_connected():
return {"ok": False, "error": "Not connected to hardware"}

try:
Expand All @@ -207,7 +206,7 @@ class Filterwheel(HispecDaemon): #pylint: disable = W0223

def goto_named_pos(self, name):
'''moves to named position'''
if not self.state['connected']:
if not self.dev.is_connected():
return {"ok": False, "error": "Not connected to hardware"}

try:
Expand Down
125 changes: 63 additions & 62 deletions daemons/hsfei/piaa-gimbalmount
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,6 @@ class PiaaGimbalmount(HispecDaemon): #pylint: disable = W0223

# Daemon state
self.state = {
'connected': False,
'error': '',
'enabled': False,
'isloopsclosed': False
Expand All @@ -68,75 +67,77 @@ class PiaaGimbalmount(HispecDaemon): #pylint: disable = W0223
return

try:
self._register_keywords()
connection = self.connect(True)
if not connection.get("ok"):
raise ConnectionError(connection.get("error"))
self.state['connected'] = True
self.initialize()
self.keyword_registry.bool("isconnected",
getter=self.dev.is_connected,
setter=self.keyword_wrapper(self.connect, key="isconnected"),
description="Check if daemon can talk to the GimbalMount controller.")
self.keyword_registry.bool("isloopsclosed",
getter=self.dev.is_loop_closed,
setter=self.keyword_wrapper(self.set_loops, key="isloopsclosed"),
description="Check if gimbal loops are closed.")
self.keyword_registry.float("positionvaluex",
getter=self.keyword_wrapper(self.get_xpos, key="position"),
setter=self.keyword_wrapper(self.set_xpos, key="position"),
validator=self._check_soft_limits,
units=self.units,
description="Set and get current position of GimbalMount.")
self.keyword_registry.float("positionvaluey",
getter=self.keyword_wrapper(self.get_ypos, key="position"),
setter=self.keyword_wrapper(self.set_ypos, key="position"),
validator=self._check_soft_limits,
units=self.units,
description="Set and get current position of GimbalMount.")
self.keyword_registry.string("positionnamed",
getter=self.keyword_wrapper(self.cur_named_position, key="named_pos"),
setter=self.keyword_wrapper(self.goto_named_pos, key="named_pos"),
validator=self._check_named,
description="Set and get named position of GimbalMount.")
self.keyword_registry.int("softmin",
getter=lambda: self._soft_min,
setter=lambda v: setattr(self, "_soft_min", int(v)),
units=self.units,
description="Software lower limit for gimbal position.")
self.keyword_registry.int("softmax",
getter=lambda: self._soft_max,
setter=lambda v: setattr(self, "_soft_max", int(v)),
units=self.units,
description="Software upper limit for gimbal position.")
self.keyword_registry.int("hardmin",
getter=lambda: self._hard_min,
units=self.units,
description="Hardware lower limit for gimbal position.")
self.keyword_registry.int("hardmax",
getter=lambda: self._hard_max,
units=self.units,
description="Hardware upper limit for gimbal position.")
self.keyword_registry.string("status",
getter=self.keyword_wrapper(self.status,key="status"),
description="Grabs status of gimbal mount")
self.keyword_registry.trigger("cleanup",
action=self.clean_up_gimbal,
description="Clean up Gimbal, Open loops and set voltage to 0")

self.logger.info("Daemon started successfully and connected to hardware")
self.logger.info("Initialized %s", self.daemon_desc)
except ConnectionRefusedError as e:
self.logger.error("Failed to connect to hardware: %s", e)
self.logger.warning("Daemon will start but hardware is not available")
self.state['error'] = str(e)
self.state['connected'] = False

self.logger.info("Starting %s Daemon", self.daemon_desc)

def _register_keywords(self):
"""Registers keywords for the daemon."""
self.keyword_registry.bool("is_connected",
getter=self.dev.is_connected(),
setter=self.keyword_wrapper(self.connect, key="is_connected"),
description="Check if daemon can talk to the GimbalMount controller.")
self.keyword_registry.bool("isloopsclosed",
getter=self.dev.is_loop_closed,
setter=self.keyword_wrapper(self.set_loops, key="isloopsclosed"),
description="Check if gimbal loops are closed.")
self.keyword_registry.float("positionvaluex",
getter=self.keyword_wrapper(self.get_xpos, key="position"),
setter=self.keyword_wrapper(self.set_xpos, key="position"),
validator=self._check_soft_limits,
units=self.units,
description="Set and get current position of GimbalMount.")
self.keyword_registry.float("positionvaluey",
getter=self.keyword_wrapper(self.get_ypos, key="position"),
setter=self.keyword_wrapper(self.set_ypos, key="position"),
validator=self._check_soft_limits,
units=self.units,
description="Set and get current position of GimbalMount.")
self.keyword_registry.string("positionnamed",
getter=self.keyword_wrapper(self.cur_named_position, key="named_pos"),
setter=self.keyword_wrapper(self.goto_named_pos, key="named_pos"),
validator=self._check_named,
description="Set and get named position of GimbalMount.")
self.keyword_registry.int("softmin",
getter=lambda: self._soft_min,
setter=lambda v: setattr(self, "_soft_min", int(v)),
units=self.units,
description="Software lower limit for gimbal position.")
self.keyword_registry.int("softmax",
getter=lambda: self._soft_max,
setter=lambda v: setattr(self, "_soft_max", int(v)),
units=self.units,
description="Software upper limit for gimbal position.")
self.keyword_registry.int("hardmin",
getter=lambda: self._hard_min,
units=self.units,
description="Hardware lower limit for gimbal position.")
self.keyword_registry.int("hardmax",
getter=lambda: self._hard_max,
units=self.units,
description="Hardware upper limit for gimbal position.")
self.keyword_registry.string("status",
getter=self.keyword_wrapper(self.status,key="status"),
description="Grabs status of gimbal mount")
self.keyword_registry.trigger("cleanup",
action=self.clean_up_gimbal,
description="Clean up Gimbal, Open loops and set voltage to 0")

def initialize(self):
"""handles initialization"""
# for PPC102_Coms, this involves setting the enable
if not self.state['connected']:
if not self.dev.is_connected():
return {"ok": False, "error": "Not connected to hardware"}

try:
Expand Down Expand Up @@ -171,7 +172,7 @@ class PiaaGimbalmount(HispecDaemon): #pylint: disable = W0223
except Exception as e: # pylint: disable=W0718
self.logger.error("Failed to Connect or Disconnect with Hardware: %s",e)
return {"ok": False, "error": str(e)}
return {"ok": True, "isconnected": result}
return {"ok": True, "is_connected": result}

def clean_up_gimbal(self):
'''Cleans up gimbal settings'''
Expand All @@ -188,7 +189,7 @@ class PiaaGimbalmount(HispecDaemon): #pylint: disable = W0223

def status(self):
"""handles status"""
if not self.state['connected']:
if not self.dev.is_connected():
return {"ok": False, "error": "Not connected to hardware"}

try:
Expand Down Expand Up @@ -216,7 +217,7 @@ class PiaaGimbalmount(HispecDaemon): #pylint: disable = W0223

def is_loops_closed(self):
'''checks if loops are closed'''
if not self.state['connected']:
if not self.dev.is_connected():
return {"ok": False, "error": "Not connected to hardware"}

try:
Expand Down Expand Up @@ -269,7 +270,7 @@ class PiaaGimbalmount(HispecDaemon): #pylint: disable = W0223

def get_pos(self, axis : int):
'''gets current position'''
if not self.state['connected']:
if not self.dev.is_connected():
return {"ok": False, "error": "Not connected to hardware"}
if not self.state['enabled']:
return {"ok": False, "error": "Device not enabled"}
Expand Down Expand Up @@ -298,7 +299,7 @@ class PiaaGimbalmount(HispecDaemon): #pylint: disable = W0223

def set_volts(self, axis: int, volts: float):
'''sets output voltage for open loop control'''
if not self.state['connected']:
if not self.dev.is_connected():
return {"ok": False, "error": "Not connected to hardware"}
if not self.state['enabled']:
return {"ok": False, "error": "Device not enabled"}
Expand All @@ -324,7 +325,7 @@ class PiaaGimbalmount(HispecDaemon): #pylint: disable = W0223

def set_pos(self, axis, pos):
'''sets current position'''
if not self.state['connected']:
if not self.dev.is_connected():
return {"ok": False, "error": "Not connected to hardware"}
if not self.state['enabled']:
return {"ok": False, "error": "Device not enabled"}
Expand All @@ -347,7 +348,7 @@ class PiaaGimbalmount(HispecDaemon): #pylint: disable = W0223

def goto_named_pos(self, name):
'''moves to named position'''
if not self.state['connected']:
if not self.dev.is_connected():
return {"ok": False, "error": "Not connected to hardware"}

try:
Expand All @@ -365,7 +366,7 @@ class PiaaGimbalmount(HispecDaemon): #pylint: disable = W0223

def cur_named_position(self):
"""Get the name of the current position, if it matches a named position."""
if not self.state['connected']:
if not self.dev.is_connected():
return {"ok": False, "error": "Not connected to hardware"}

try:
Expand Down Expand Up @@ -446,4 +447,4 @@ def main():


if __name__ == '__main__':
main()
main()
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