1 import time
   2 import math
   3 from guardian import GuardState
   4 from guardian import GuardStateDecorator
   5 from guardian import NodeManager
   6 import subprocess
   7 import numpy as np
   8 #import pyttsx
   9 ##################################################
  10 # initialization values
  11 
  12 # initial REQUEST state
  13 request = 'OPERATION'
  14 
  15 # NOMINAL state, which determines when node is OK
  16 nominal = 'OPERATION'
  17 
  18 ##################################################  
  19 nodes = NodeManager(['IMC_LOCK','VIS_PR3','VIS_EX','VIS_EY'])
  20 
  21 ##################################################
  22 """
  23 def #say(text):
  24     engine = pyttsx.init()
  25     engine.setProperty('rate', 100)
  26     engine.#say(text)
  27     engine.runAndWait()
  28 """    
  29 def is_there_light():
  30     return ezca['LSC-REFL_PDA1_DC_OUTPUT'] > 300
  31 
  32 def is_mich_refl_quiet():
  33     #"""return True if MICH is locked """
  34     # How shall we make this condition?
  35     if ezca['LSC-MICH_OUTMON'] != 0  and ezca['LSC-REFL_PDA1_RMSMON'] <= 400 and ezca['LSC-REFL_PDA1_DC_OUTPUT'] > 300:
  36         return True
  37     else:
  38         return False
  39     
  40     #else:
  41     #    return False
  42     #Enomoto added LSC-MICH_INMON > 300 condition on 26 Mar 2016,
  43     #to detect sudden lost of light. 
  44 
  45 def is_imc_locked():
  46     nodes.set_managed()
  47     if nodes['IMC_LOCK'] == 'IMC_LOCKED':
  48         return True
  49     else:
  50         #return True
  51         return False # IMC ga shinderu 
  52 
  53 def is_pr3_aligned():
  54     nodes.set_managed()
  55     if nodes['VIS_PR3'] == 'ALIGNED':
  56         return True
  57     else:
  58         return False
  59 """
  60 def is_ex_aligned():
  61     nodes.set_managed()
  62     if nodes['VIS_EX'] == 'ALIGNED':
  63         return True
  64     else:
  65         return False
  66 """
  67 def is_ey_aligned():
  68     nodes.set_managed()
  69     if nodes['VIS_EY'] == 'ALIGNED':
  70         return True
  71     else:
  72         return False    
  73 
  74 #def is_everything_fine():
  75     
  76     
  77 ##################################################
  78 # STATE decorators
  79 
  80 class refl_pd_check(GuardStateDecorator):
  81     """Decorator to check that IMC is locked"""
  82     def pre_exec(self):
  83         if not is_there_light():
  84             log('no light. ->FAULT')
  85             if is_imc_locked():
  86                 notify('probably misaligned...')
  87             return 'DOWN'
  88 
  89 class mich_refl_quiet_check(GuardStateDecorator):
  90     def pre_exec(self):
  91         if not is_mich_refl_quiet():
  92             log('Unlocked. -> LOCKLOSS')
  93             notify('MICH lost lock!')
  94             return 'LOCKLOSS'
  95         else:
  96             log('hoge-----')
  97 
  98 class imc_lock_check(GuardStateDecorator):
  99     """Decorator to check that IMC is locked"""
 100     def pre_exec(self):
 101         if not is_imc_locked():
 102             log('unlocked. ->FAULT')
 103             notify('IMC_is_unlocked!')
 104             return 'DOWN'
 105 
 106 class pr3_align_check(GuardStateDecorator):
 107     #Decorator to check that PR3 is align
 108     def pre_exec(self):
 109         if not is_pr3_aligned():
 110             log('aligned. ->FAULT')
 111             notify('PR3_is_misaliged!')
 112             return 'DOWN'
 113 """
 114 class ex_align_check(GuardStateDecorator):
 115     #Decorator to check that EX is align
 116     def pre_exec(self):
 117         if not is_ex_aligned():
 118             log('aligned. ->FAULT')
 119             notify('EX_is_misaliged!')
 120             return 'DOWN'
 121 """
 122 class ey_align_check(GuardStateDecorator):
 123     #Decorator to check that EY is align
 124     def pre_exec(self):
 125         if not is_ey_aligned():
 126             log('aligned. ->FAULT')
 127             notify('EY_is_misaliged!')
 128             return 'DOWN'
 129 """
 130 class operation_check(GuardStateDecorator):
 131     #Decorator to check the operation condition 
 132     def pre_exec(self):
 133         if is_everything_fine() == 1:
 134             log('caliblation peak is not correct . ->FAULT')
 135             notify('please check !')
 136             return 'DOWN'
 137 """
 138         
 139 ##################################################
 140 # STATE definitions
 141 
 142 class INIT(GuardState):
 143     index = 0
 144     def main(self):
 145         #say("I am MICH_LOCK.")   
 146         #nodes.set_managed()
 147         nodes.set_managed()
 148         nodes['VIS_EY']   = 'ALIGNED'
 149         nodes['IMC_LOCK'] = 'IMC_LOCKED'
 150         return True
 151 
 152 class DOWN(GuardState):
 153     index = 5
 154     goto = True
 155     def main(self):
 156         nodes.set_managed()
 157         #say("MICH is down")
 158         #if nodes['VIS_EY'].stalled:
 159         nodes['VIS_EY'] = 'ALIGNED'
 160         #if nodes['IMC_LOCK'].stalled:
 161         nodes['IMC_LOCK'] = 'IMC_LOCKED'        
 162         #if nodes['IMC_LOCK'].stalled:
 163         nodes['VIS_PR3']='ALIGNED'
 164         ezca.switch('LSC-REFL_PDA1_BANDLIM', 'FM1', 'ON')
 165         self.timer['mytimer']  = 5
 166         ezca['LSC-MICH_TRAMP'] = 4
 167         ezca['LSC-MICH_GAIN']  = 0
 168         ezca['LSC-CAL_OSC1_CLKGAIN'] = 0
 169         ezca['LSC-CAL_OSC2_CLKGAIN'] = 0
 170         ezca['LSC-ACT_OSC1_CLKGAIN'] = 0
 171         ezca['LSC-ACT_OSC2_CLKGAIN'] = 0
 172         ezca['LSC-ACT_OSC3_CLKGAIN'] = 0
 173         ezca['LSC-UGF_SERVO_ENABLE'] = "OFF"
 174 
 175     @pr3_align_check    
 176     @ey_align_check
 177     @imc_lock_check
 178     @refl_pd_check
 179     
 180     #    @ex_align_check
 181     def run(self):
 182         if self.timer['mytimer']:
 183             return True
 184         else:
 185             ezca.switch('LSC-MICH', 'OUTPUT', 'OFF')
 186             ezca.switch('LSC-MICH', 'FM1', 'OFF')
 187             ezca.switch('LSC-MICH', 'FM2', 'OFF')
 188             ezca.switch('LSC-MICH', 'FM3', 'OFF')
 189             ezca['LSC-CONTROL_ENABLE'] = "OFF"
 190             
 191 class ENGAGE_SERVO(GuardState):
 192     index = 30
 193     @pr3_align_check
 194     @ey_align_check
 195     @imc_lock_check
 196     @refl_pd_check
 197     def main(self):
 198         ezca['LSC-CONTROL_ENABLE'] = "ON"
 199         ezca.switch('LSC-MICH', 'OUTPUT', 'ON')
 200         ezca.switch('LSC-MICH', 'FM1', 'ON')
 201         #ezca.switch('LSC-MICH', 'FM3', 'ON')        
 202         time.sleep(3)
 203         ezca['LSC-MICH_TRAMP'] = 4
 204         ezca['LSC-MICH_GAIN'] = -50
 205         self.timer['mytimer2'] = 10
 206 
 207     @pr3_align_check
 208     @ey_align_check
 209     @imc_lock_check
 210     #@ex_align_check
 211     def run(self):
 212         if self.timer['mytimer2']:
 213             return True
 214     
 215 class ENGAGE_BOOST(GuardState):
 216     index = 40
 217     @ey_align_check
 218     @imc_lock_check
 219     @pr3_align_check
 220     @refl_pd_check
 221     @mich_refl_quiet_check
 222     def main(self):
 223         ezca.switch('LSC-MICH','FM2','ON')
 224         pass
 225 
 226 class MICH_LOCKED(GuardState):
 227     index = 100
 228     @pr3_align_check
 229     @ey_align_check
 230     @imc_lock_check
 231     @refl_pd_check
 232     @mich_refl_quiet_check
 233     def run(self):
 234         return True
 235 
 236 
 237 class CALIBRATION_INJECTION(GuardState):
 238     index = 200
 239     @pr3_align_check
 240     @ey_align_check
 241     @imc_lock_check
 242     @refl_pd_check
 243     @mich_refl_quiet_check
 244     def main(self):
 245         # 
 246         ezca['LSC-CAL_OSC1_FREQ'] = 80.0 
 247         ezca['LSC-CAL_OSC2_FREQ'] = 135.0
 248         ezca['LSC-CAL_OSC1_SINGAIN'] = 1.0
 249         ezca['LSC-CAL_OSC1_COSGAIN'] = 1.0
 250         ezca['LSC-CAL_OSC2_SINGAIN'] = 1.0
 251         ezca['LSC-CAL_OSC2_COSGAIN'] = 1.0 
 252         ezca['LSC-CAL_OSC1_CLKGAIN'] = 500 #10000
 253         ezca['LSC-CAL_OSC2_CLKGAIN'] = 800 #10000
 254         #
 255         for i in range(1,5):
 256             ezca.switch('LSC-CAL_DEMOD%d_I'%i, 'FM1', 'ON')
 257             ezca.switch('LSC-CAL_DEMOD%d_Q'%i, 'FM1', 'ON')
 258             ezca['LSC-CAL_DEMOD%d_I_GAIN'%i] = 1.0
 259             ezca['LSC-CAL_DEMOD%d_Q_GAIN'%i] = 1.0
 260             ezca.switch('LSC-CAL_DEMOD%d_I'%i, 'INPUT', 'ON')
 261             ezca.switch('LSC-CAL_DEMOD%d_I'%i, 'OUTPUT', 'ON')
 262             ezca.switch('LSC-CAL_DEMOD%d_Q'%i, 'INPUT', 'ON')
 263             ezca.switch('LSC-CAL_DEMOD%d_Q'%i, 'OUTPUT', 'ON')
 264         time.sleep(5)
 265         pass
 266 
 267     
 268 class ACTUATORCAL_INJECTION(GuardState):
 269     index = 250
 270     @pr3_align_check
 271     @ey_align_check
 272     @imc_lock_check
 273     @refl_pd_check
 274     @mich_refl_quiet_check
 275     def main(self):
 276         # 
 277         ezca['LSC-ACT_OSC1_FREQ'] = 111.0 
 278         ezca['LSC-ACT_OSC2_FREQ'] = 113.0
 279         ezca['LSC-ACT_OSC3_FREQ'] = 115.0
 280         ezca['LSC-ACT_OSC1_SINGAIN'] = 1.0
 281         ezca['LSC-ACT_OSC1_COSGAIN'] = 1.0
 282         ezca['LSC-ACT_OSC2_SINGAIN'] = 1.0
 283         ezca['LSC-ACT_OSC2_COSGAIN'] = 1.0
 284         ezca['LSC-ACT_OSC3_SINGAIN'] = 1.0
 285         ezca['LSC-ACT_OSC3_COSGAIN'] = 1.0
 286         ezca['LSC-ACT_OSC1_CLKGAIN'] = 600 
 287         ezca['LSC-ACT_OSC2_CLKGAIN'] = 600
 288         ezca['LSC-ACT_OSC3_CLKGAIN'] = 600 
 289         #
 290         for i in range(1,4):
 291             ezca.switch('LSC-ACT_DEMOD%d_I'%i, 'FM1', 'ON')
 292             ezca.switch('LSC-ACT_DEMOD%d_Q'%i, 'FM1', 'ON')
 293             ezca['LSC-ACT_DEMOD%d_I_GAIN'%i] = 1.0
 294             ezca['LSC-ACT_DEMOD%d_Q_GAIN'%i] = 1.0
 295             ezca.switch('LSC-ACT_DEMOD%d_I'%i, 'INPUT', 'ON')
 296             ezca.switch('LSC-ACT_DEMOD%d_I'%i, 'OUTPUT', 'ON')
 297             ezca.switch('LSC-ACT_DEMOD%d_Q'%i, 'INPUT', 'ON')
 298             ezca.switch('LSC-ACT_DEMOD%d_Q'%i, 'OUTPUT', 'ON')
 299            
 300         time.sleep(5)
 301         pass
 302 
 303         
 304 class ENGAGE_UGF_SERVO(GuardState):
 305     index = 500
 306     @mich_refl_quiet_check
 307     @imc_lock_check
 308     @pr3_align_check
 309     @ey_align_check
 310     @refl_pd_check
 311 
 312     def main(self):
 313         
 314         ezca['LSC-OLTCALIB_MTRX_1_1'] = 0.8
 315         ezca['LSC-OLTCALIB_MTRX_1_2'] = 0
 316         ezca.switch('LSC-UGF_SERVO','INPUT','ON')
 317         ezca.switch('LSC-UGF_SERVO','OUTPUT','ON')
 318         ezca['LSC-UGF_SERVO_GAIN'] = 1.0
 319         ezca['LSC-UGF_SERVO_ENABLE'] = "ON" # may need mytimer? I don't think so.
 320         pass
 321 
 322 
 323     
 324 class TAKE_SNAPSHOT(GuardState):
 325     def main(self):
 326         # take snapshot
 327         reqfile = '/opt/rtcds/kamioka/k1/target/k1lsc/k1lscepics/autoBurt.req'
 328         snapfile = '/opt/rtcds/userapps/release/lsc/k1/burtfiles/k1lsc_operation_condition.snap'
 329         #subprocess.call(['burtrb', '-f', reqfile, '-o', snapfile])
 330         return True
 331     
 332 class OPERATION(GuardState):
 333     index = 1000
 334     @mich_refl_quiet_check
 335     @imc_lock_check
 336 #    @pr3_align_check
 337 #    @ey_align_check
 338         
 339     def run(self):
 340             return True
 341 
 342 class LOCKLOSS(GuardState):
 343     """Record lockloss event"""
 344     request = False
 345     def main(self):
 346         return True
 347             
 348 edges = [
 349     ('INIT', 'DOWN'),
 350     ('DOWN', 'ENGAGE_SERVO'),
 351     ('ENGAGE_SERVO','ENGAGE_BOOST'),
 352     ('ENGAGE_BOOST','MICH_LOCKED'),
 353     ('MICH_LOCKED','CALIBRATION_INJECTION'),
 354     ('CALIBRATION_INJECTION','ACTUATORCAL_INJECTION'),
 355     ('ACTUATORCAL_INJECTION','ENGAGE_UGF_SERVO'),
 356     ('ENGAGE_UGF_SERVO','OPERATION'),
 357     ('LOCKLOSS', 'DOWN'),
 358 ]