fix bug in drivers/Actuator.py for fast moving (speed_rate>1.)

docs/agents/pysmurf-controller.rst

@@ -33,6 +33,12 @@ These can be installed via pip:
     $ python -m pip install 'sodetlib @ git+https://github.com/simonsobs/sodetlib.git@master'
     $ python -m pip install 'sotodlib @ git+https://github.com/simonsobs/sotodlib.git@master'
 
+Additionally, ``socs`` should be installed with the ``pysmurf`` group:
+
+.. code-block:: bash
+
+    $ pip install -U socs[pysmurf]
+
 Configuration File Examples
 -----------------------------------
 

docs/agents/wiregrid_actuator.rst

@@ -103,7 +103,9 @@ The parameter details are here:
 
 - distance: Actuator moving distance [mm] (default: 10)
 - speedrate: Actuator speed rate [0.0, 5.0] (default: 0.2)
-  DO NOT use speedrate > 1.0 if el != 90 deg!!
+
+.. warning::
+  DO NOT use ``speedrate > 1.0`` if ``el != 90 deg``!
 
 
 Hardware Configurations

docs/user/installation.rst

@@ -30,6 +30,8 @@ The different groups, and the agents they provide dependencies for are:
      - Magpie Agent
    * - ``pfeiffer``
      - Pfeiffer TC 400 Agent
+   * - ``pysmurf``
+     - Pysmurf Controller Agent
    * - ``smurf_sim``
      - SMuRF File Emulator, SMuRF Stream Simulator
    * - ``synacc``

requirements.txt

@@ -35,6 +35,7 @@ pandas
 pfeiffer-vacuum-protocol==0.4
 
 # pysmurf controller
+pyepics
 pysmurf @ git+https://github.com/slaclab/pysmurf.git@main
 sodetlib @ git+https://github.com/simonsobs/sodetlib.git@master
 sotodlib @ git+https://github.com/simonsobs/sotodlib.git@master

setup.py

@@ -37,11 +37,12 @@
 pfeiffer_deps = ['pfeiffer-vacuum-protocol==0.4']
 
 # Pysmurf Controller Agent
-# pysmurf_deps = [
-#     'pysmurf @ git+https://github.com/slaclab/pysmurf.git@main',
-#     'sodetlib @ git+https://github.com/simonsobs/sodetlib.git@master',
-#     'sotodlib @ git+https://github.com/simonsobs/sotodlib.git@master',
-# ]
+pysmurf_deps = [
+    'pyepics',
+    # 'pysmurf @ git+https://github.com/slaclab/pysmurf.git@main',
+    # 'sodetlib @ git+https://github.com/simonsobs/sodetlib.git@master',
+    # 'sotodlib @ git+https://github.com/simonsobs/sotodlib.git@master',
+]
 
 # SMuRF File Emulator, SMuRF Stream Simulator
 smurf_sim_deps = ['so3g']
@@ -60,7 +61,7 @@
 # Note: Not including the holograph deps, which are Python 3.8 only. Also not
 # including any dependencies with only direct references.
 all_deps = acu_deps + labjack_deps + magpie_deps + pfeiffer_deps + \
-    smurf_sim_deps + synacc_deps + timing_master_deps
+    pysmurf_deps + smurf_sim_deps + synacc_deps + timing_master_deps
 all_deps = list(set(all_deps))
 
 setup(
@@ -119,7 +120,7 @@
         'labjack': labjack_deps,
         'magpie': magpie_deps,
         'pfeiffer': pfeiffer_deps,
-        # 'pysmurf': pysmurf_deps,
+        'pysmurf': pysmurf_deps,
         'smurf_sim': smurf_sim_deps,
         'synacc': synacc_deps,
         'timing_master': timing_master_deps,

socs/agents/hwp_gripper/agent.py

@@ -381,8 +381,8 @@ def shutdown(self, session, params=None):
         self.shutdown_mode = True
         return True, 'Shutdown completed'
 
-    def grip_hwp(self, session, params=None):
-        """grip_hwp()
+    def grip(self, session, params=None):
+        """grip()
 
         **Task** - Series of commands to automatically grip the HWP.
         This will return grippers to their home position, then move them each
@@ -442,7 +442,8 @@ def run_and_append(func, *args, **kwargs):
 
                 # Reset alarms. If the warm-limit is hit, the alarm will be triggered
                 # and return_dict['result'] will be True
-                return_dict = run_and_append(self.client.reset, job='grip', check_shutdown=check_shutdown)
+                return_dict = run_and_append(self.client.reset, job='grip',
+                                             check_shutdown=check_shutdown)
 
                 if return_dict['result']:
                     # If the warm-limit is hit, move the actuator outwards bit
@@ -676,9 +677,7 @@ def main(args=None):
                                   args=args)
 
     agent, runner = ocs_agent.init_site_agent(args)
-    gripper_agent = HWPGripperAgent(agent, mcu_ip=args.mcu_ip,
-                                    control_port=args.control_port,
-                                    supervisor_id=args.supervisor_id)
+    gripper_agent = HWPGripperAgent(agent, args)
     agent.register_task('init_connection', gripper_agent.init_connection,
                         startup=True)
     agent.register_process('monitor_state', gripper_agent.monitor_state,

socs/agents/hwp_pid/agent.py

@@ -295,13 +295,17 @@ def acq(self, session, params):
                 data = {'timestamp': time.time(),
                         'block_name': 'HWPPID', 'data': {}}
 
-                current_freq = self.pid.get_freq()
-                target_freq = self.pid.get_target()
-                direction = self.pid.get_direction()
-
-                data['data']['current_freq'] = current_freq
-                data['data']['target_freq'] = target_freq
-                data['data']['direction'] = direction
+                try:
+                    current_freq = self.pid.get_freq()
+                    target_freq = self.pid.get_target()
+                    direction = self.pid.get_direction()
+
+                    data['data']['current_freq'] = current_freq
+                    data['data']['target_freq'] = target_freq
+                    data['data']['direction'] = direction
+                except BaseException:
+                    time.sleep(1)
+                    continue
 
                 self.agent.publish_to_feed('hwppid', data)
 

socs/agents/hwp_pid/drivers/pid_controller.py

@@ -22,15 +22,17 @@ class PID:
 
     def __init__(self, ip, port, verb=False):
         self.verb = verb
+        self.ip = ip
+        self.port = port
         self.hex_freq = '00000'
         self.direction = None
         self.target = 0
         # Need to setup connection before setting direction
-        self.conn = self._establish_connection(ip, int(port))
+        self.conn = self._establish_connection(self.ip, int(self.port))
         self.set_direction('0')
 
     @staticmethod
-    def _establish_connection(ip, port, timeout=5):
+    def _establish_connection(ip, port, timeout=2):
         """Connect to PID controller.
 
         Args:
@@ -45,18 +47,17 @@ def _establish_connection(ip, port, timeout=5):
 
         """
         conn = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        conn.settimeout(timeout)
         # unit tests might fail on first connection attempt
         attempts = 3
         for attempt in range(attempts):
             try:
                 conn.connect((ip, port))
                 break
-            except ConnectionRefusedError:
+            except (ConnectionRefusedError, OSError):
                 print(f"Failed to connect to device at {ip}:{port}")
-                print(f"Connection attempts remaining: {attempts-attempt-1}")
-            time.sleep(1)
-        conn.settimeout(timeout)
-
+        else:
+            raise RuntimeError('Could not connect to PID controller')
         return conn
 
     @staticmethod
@@ -259,20 +260,21 @@ def send_message(self, msg):
             str: Respnose from the controller.
 
         """
-        self.conn.sendall((msg + '\r\n').encode())
-        time.sleep(0.5)  # Don't send messages too quickly
         for attempt in range(2):
             try:
+                self.conn.sendall((msg + '\r\n').encode())
+                time.sleep(0.5)  # Don't send messages too quickly
                 data = self.conn.recv(4096).decode().strip()
-                break
-            except socket.timeout:
+                return data
+            except (socket.timeout, OSError):
                 print("Caught timeout waiting for response from PID controller. "
                       + "Trying again...")
                 time.sleep(1)
                 if attempt == 1:
-                    raise RuntimeError(
-                        'Response from PID controller timed out.')
-        return data
+                    print("Resetting connection")
+                    self.conn.close()
+                    self.conn = self._establish_connection(self.ip, int(self.port))
+                    return self.send_message(msg)
 
     def return_messages(self, msg):
         """Decode list of responses from PID controller and return useful

socs/agents/hwp_pmx/agent.py

@@ -281,26 +281,31 @@ def acq(self, session, params):
                     'block_name': 'hwppmx',
                     'data': {}
                 }
-                msg, curr = self.dev.meas_current()
-                data['data']['current'] = curr
 
-                msg, volt = self.dev.meas_voltage()
-                data['data']['voltage'] = volt
+                try:
+                    msg, curr = self.dev.meas_current()
+                    data['data']['current'] = curr
 
-                msg, code = self.dev.check_error()
-                data['data']['err_code'] = code
-                data['data']['err_msg'] = msg
+                    msg, volt = self.dev.meas_voltage()
+                    data['data']['voltage'] = volt
 
-                prot_code = self.dev.check_prot()
-                if prot_code != 0:
-                    self.prot = prot_code
+                    msg, code = self.dev.check_error()
+                    data['data']['err_code'] = code
+                    data['data']['err_msg'] = msg
 
-                prot_msg = self.dev.get_prot_msg(self.prot)
-                data['data']['prot_code'] = self.prot
-                data['data']['prot_msg'] = prot_msg
+                    prot_code = self.dev.check_prot()
+                    if prot_code != 0:
+                        self.prot = prot_code
 
-                msg, src = self.dev.check_source()
-                data['data']['source'] = src
+                    prot_msg = self.dev.get_prot_msg(self.prot)
+                    data['data']['prot_code'] = self.prot
+                    data['data']['prot_msg'] = prot_msg
+
+                    msg, src = self.dev.check_source()
+                    data['data']['source'] = src
+                except BaseException:
+                    time.sleep(sleep_time)
+                    continue
 
                 self.agent.publish_to_feed('hwppmx', data)
                 session.data = {'curr': curr,