Add minimum turnaround time for pmac

dls-controls · Dec 14, 2016 · d38ec3e · d38ec3e
1 parent 53359e4
commit d38ec3e
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Showing 3 changed files with 19 additions and 2 deletions.
diff --git a/malcolm/blocks/demo/I18PMACManager.yaml b/malcolm/blocks/demo/I18PMACManager.yaml
@@ -30,3 +30,4 @@
 - includes.pmac.trajectory_collection:
     mri: $(mriPrefix)-TRAJ
     prefix: BL18I-MO-STEP-06:GB
+    minTurnaround: 1.4
diff --git a/malcolm/includes/pmac/trajectory_collection.yaml b/malcolm/includes/pmac/trajectory_collection.yaml
@@ -6,10 +6,15 @@
     name: prefix
     description: the root PV for the pmac motor (hardware) controller
 
+- parameters.float64:
+    name: minTurnaround
+    description: Minimum turnaround time
+
 - blocks.pmac.PMACTrajectory:
     mri: $(mri)
     prefix: $(prefix)
 
 - parts.pmac.PMACTrajectoryPart:
     name: $(mri)
     mri: $(mri)
+    minTurnaround: $(minTurnaround)
diff --git a/malcolm/parts/pmac/pmactrajectorypart.py b/malcolm/parts/pmac/pmactrajectorypart.py
@@ -5,8 +5,8 @@
 
 from malcolm.controllers.runnablecontroller import RunnableController, \
     ParameterTweakInfo
-from malcolm.core import method_takes, REQUIRED, Info
-from malcolm.core.vmetas import StringArrayMeta, PointGeneratorMeta
+from malcolm.core import method_takes, REQUIRED, Info, method_also_takes
+from malcolm.core.vmetas import StringArrayMeta, PointGeneratorMeta, NumberMeta
 from malcolm.parts.builtin.childpart import ChildPart
 
 # Number of seconds that a trajectory tick is
@@ -56,6 +56,7 @@ def __init__(self, cs_axis, cs_port, acceleration_time, resolution, offset,
         self.scannable = scannable
 
 
+@method_also_takes("minTurnaround", NumberMeta("float64", "Min time for any gaps between frames"), 0.0)
 class PMACTrajectoryPart(ChildPart):
     # Axis information stored from validate
     # {scannable_name: MotorInfo}
@@ -70,6 +71,14 @@ class PMACTrajectoryPart(ChildPart):
     steps_up_to = 0
     # Stored generator for positions
     generator = None
+    # Min turnaround time
+    min_turnaround = None
+
+    def create_attributes(self):
+        for data in super(PMACTrajectoryPart, self).create_attributes():
+            yield data
+        self.min_turnaround = NumberMeta("float64", "Min time for any gaps between frames").make_attribute(self.params.minTurnaround)
+        yield "minTurnaround", self.min_turnaround, self.min_turnaround.set_value 
 
     @RunnableController.Reset
     def reset(self, task):
@@ -481,4 +490,6 @@ def need_lower_move_time(self, last_point, point):
                 lower_move_time = max(
                     lower_move_time, motor_info.acceleration_time)
 
+        lower_move_time = max(self.min_turnaround.value * 0.5, lower_move_time)
+
         return lower_move_time, turnaround_midpoint