Source code for automate.actuators.builtin_actuators

# -*- coding: utf-8 -*-
# (c) 2015 Tuomas Airaksinen
#
# This file is part of Automate.
#
# Automate is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# Automate is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with Automate.  If not, see <http://www.gnu.org/licenses/>.
#
# ------------------------------------------------------------------
#
# If you like Automate, please take a look at this page:
# http://evankelista.net/automate/

"""
    Module for builtin Actuator classes
"""

from threading import Thread
import time

from traits.api import Any, CBool, Instance, CInt, CFloat

from automate.common import threaded, get_modules_all
from automate.statusobject import AbstractActuator


[docs]class BoolActuator(AbstractActuator): """ Boolean valued actuator""" _status = CBool(transient=True) default = CBool
[docs]class IntActuator(AbstractActuator): """ Integer valued actuator""" _status = CInt(transient=True) default = CInt
[docs]class FloatActuator(AbstractActuator): """Floating point valued actuator""" _status = CFloat(transient=True) default = CFloat silent = CBool(True)
[docs]class AbstractInterpolatingActuator(FloatActuator): """ Abstract base class for interpolating actuators. """ #: How often to update status (as frequency) change_frequency = CFloat #: Slave actuator, that does the actual work (set .slave attribute to True in slave actuator) slave_actuator = Instance(AbstractActuator) _changethread = Any(transient=True) view = FloatActuator.view + ["change_frequency"] def _status_changed(self): if self._changethread and self._changethread.is_alive(): return self._changethread = Thread(target=threaded(self.system, self.statuschanger), name="Changethread for " + self.name) self._changethread.start()
[docs]class ConstantSpeedActuator(AbstractInterpolatingActuator): """ Change slave status with constant speed """ #: Status change speed (change / second) speed = CFloat view = AbstractInterpolatingActuator.view + ["speed"] def statuschanger(self): if not self.slave_actuator: return while self.slave_actuator.status != self.status: delta = self.speed if self.status > self.slave_actuator.status else -self.speed newstatus = self.slave_actuator.status + delta / self.change_frequency if (delta > 0) == (newstatus > self.status) or abs(newstatus - self.status) < delta / self.change_frequency: self.slave_actuator.status = self.status else: self.slave_actuator.status = newstatus time.sleep(1. / self.change_frequency)
[docs]class ConstantTimeActuator(ConstantSpeedActuator): """ Change slave status in constant time """ #: Time that is needed for change change_time = CFloat view = ConstantSpeedActuator.view + ["change_time"] def _status_changed(self): self.speed = abs(self.slave_actuator.status - self.status) / self.change_time if self._changethread and self._changethread.is_alive(): return self._changethread = Thread(target=threaded(self.system, self.statuschanger), name="Changethread for " + self.name) self._changethread.start()
__all__ = get_modules_all(AbstractActuator, locals())