diff --git a/src/adbasic/.gitignore b/src/adbasic/.gitignore
index 68f19be6fa57a6c7077cc8c4b11ac155a984dd8c..01134cbd9a66ce612664259c7b58ae1c1a0a2911 100644
--- a/src/adbasic/.gitignore
+++ b/src/adbasic/.gitignore
@@ -1 +1,2 @@
*.TC1
+*.ERR
diff --git a/src/adbasic/filter_module.inc b/src/adbasic/filter_module.inc
index fd094d5224afca30731085030de94a3c0a5431ba..77f43c33c214ca5dc9b969fb3bd96d115b9cb29d 100644
--- a/src/adbasic/filter_module.inc
+++ b/src/adbasic/filter_module.inc
@@ -137,18 +137,20 @@ Function FilterModule(input_int, control, filter_index, aux) as Float
EndIf
' Snap state that waits for aux signal
- If ((control And FCR_SW_SNAP) = 1) Then
+ If ((control And FCR_SW_SNAP) > 0) Then
filter_output = 0.0
- snap_value = aux - (snap_config[filter_index] And snap_value_mask)
+ snap_value = aux - (snap_config[filter_index+1] And snap_value_mask)
- If ((snap_config[filter_index] And snap_lg) = 1) Then
+ If ((snap_config[filter_index+1] And snap_lg) > 0) Then
snap_value = -1 * snap_value
EndIf
- If (snap_value >= 0) Then
+ If (snap_value <= 0) Then
' Disable snapping
control = (control And Not(FCR_SW_SNAP))
' Enable output
control = (control Or FCR_SW_OUTPUT)
+ ' Stop ramp
+ rcr = rcr And Not(0fh)
EndIf
EndIf
diff --git a/src/adwin_control/adwin-control.TC1 b/src/adwin_control/adwin-control.TC1
index 9530053a61f0619a77d93959d751350c204bc35e..086795be380eb54da8d81db882b301778617ef73 100755
Binary files a/src/adwin_control/adwin-control.TC1 and b/src/adwin_control/adwin-control.TC1 differ
diff --git a/src/adwin_control/mockAdwin.py b/src/adwin_control/mockAdwin.py
index c4dd668b3567103b715fe70f7cac6b5fe16cb65d..696aa94784149879ba9eeb0e8ec9729fc60d2b68 100644
--- a/src/adwin_control/mockAdwin.py
+++ b/src/adwin_control/mockAdwin.py
@@ -105,14 +105,15 @@ class MockADwin():
c = self.Get_Par(10 + channel)
# read control bits
auxSw = general.readBit(c, 9)
+ snapSw = general.readBit(c, 3)
offsetSw = general.readBit(c, 2)
outputSw = general.readBit(c, 1)
inputSw = general.readBit(c, 0)
- return inputSw, offsetSw, auxSw, outputSw
+ return inputSw, offsetSw, auxSw, outputSw, snapSw
def _constructOutput(self, amount, input, aux):
channel = self.Get_Par(4)
- inputSw, offsetSw, auxSw, outputSw = self._readSwitches(channel)
+ inputSw, offsetSw, auxSw, outputSw, snapSw = self._readSwitches(channel)
output = np.full(amount, 0x8000).astype(int)
if not outputSw:
return output
@@ -123,6 +124,8 @@ class MockADwin():
output = output + offset
gain = self.GetData_Double(2, channel, 1)
output = (output - 0x8000) * gain + 0x8000
+ if snapSw:
+ output = np.full(amount, 0x8000).astype(int)
if auxSw:
output = output + (aux - 0x8000)
@@ -178,17 +181,18 @@ class MockADwin():
aux = 0x8000
for servo in range(1, 9):
control = self._par[9+servo]
- snap_enabled = general.readBit(control, 3)
+ snap_enabled = control & 8
if snap_enabled:
snap_config = self.GetData_Long(7, servo, 1)[0]
- snap_value = aux - (snap_config & 0x10000)
- if control & 16 == 1:
+ snap_value = aux - (snap_config & 0xffff)
+ if (snap_config & 0x10000) > 0:
snap_value *= -1
- if snap_value >= 0:
- control = general.clearBit(control, 3)
- control = general.setBit(control, 1)
+ if snap_value <= 0:
+ control = general.clearBit(control, 3) # disable snapSw
+ control = general.setBit(control, 1) # enable outputSw
self._par[9+servo] = control
+ self._par[2] &= ~(15) # stop the ramp
self.Set_Par
diff --git a/src/adwin_control/servoDevice.py b/src/adwin_control/servoDevice.py
index 153e9da8687eebc4298c28c3c428ffd22a1ac502..e42d58f45c9f7070d57884772fcea069a0fc4d29 100644
--- a/src/adwin_control/servoDevice.py
+++ b/src/adwin_control/servoDevice.py
@@ -44,7 +44,8 @@ class ServoDevice:
def __init__(self, deviceNumber=None,
readFromFile=None,
- process=DEFAULT_PROCESS):
+ process=DEFAULT_PROCESS,
+ reboot=False):
"""Create a new ServoDevice object."""
raiseExceptions = 1
if deviceNumber == 0:
@@ -59,7 +60,7 @@ class ServoDevice:
self._monitors = [None] * self.NUMBER_OF_MONITORS
try:
- self._bootAdwin(process)
+ self._bootAdwin(process, reboot=reboot)
except ADwinError as e:
if e.errorNumber == 2001:
log.warning('No device connected! Starting with mock device!')
diff --git a/src/tests/test_servo.py b/src/tests/test_servo.py
index 9d00e7ff5ebec6704035e76c12f88553ff980f8e..76254fe22db7410ad3badf030a475f2b213471c9 100644
--- a/src/tests/test_servo.py
+++ b/src/tests/test_servo.py
@@ -10,6 +10,7 @@ from math import pow
from pandas import DataFrame
import os
import logging as log
+import adwin_control
from adwin_control.errors import *
from tempfile import TemporaryDirectory
from nqlab.analysis import ServoDesign
@@ -19,12 +20,8 @@ log.basicConfig(format='%(levelname)s: %(module)s.%(funcName)s: %(message)s', le
class TestConfiguration(unittest.TestCase):
def test_run_develop_version(self):
- import adwin_control
if 'site-packages' in adwin_control.__path__[0]:
- self.assertTrue(False)
- log.critical('Not running the development code!!!')
- import sys
- sys.exit()
+ raise Exception('Not running the development code!!!')
def test_user_config(self):
RUNNING_IN_DOCKER = os.environ.get('RUNNING_IN_DOCKER', False)
@@ -95,9 +92,13 @@ class TestVoltConvertion(unittest.TestCase):
class TestServo(unittest.TestCase):
def setUp(self):
- self.sd = ServoDevice(settings.DEVICES_LIST[0])
- self.sd.reboot()
+ self.sd = ServoDevice(settings.DEVICES_LIST[0], reboot=True)
+ # self.sd.reboot()
self.s = self.sd.servo(2)
+ import adwin_control
+ log.warning('adwin_control path: {}'.format(adwin_control.__path__[0]))
+ if 'site-packages' in adwin_control.__path__[0]:
+ raise Exception('Not running the development code!!!')
def test_checkNumberAndChannel(self):
self.assertEqual(self.s._channel, 2)
@@ -458,6 +459,7 @@ class TestServo(unittest.TestCase):
p.join()
def test_check_input_offset(self):
+ self.s = self.sd.servo(8)
self.s.fifoStepsize = 1
self.s._waitForBufferFilling()
data = self.s._readoutNewData(self.s._fifo['maxlen'])
@@ -519,15 +521,45 @@ class TestServo(unittest.TestCase):
self.s.loadSettings('servo.json')
self.assertEqual(servoDesign_str, self.s.servoDesign.__str__())
+ def test_snapping_disables_output(self):
+ def out():
+ return self.s._readoutNewData(10000)['output'].iloc[-1]
+
+ self.s.enableFifo()
+ self.s.offset = 9
+ self.s.offsetSw = True
+ self.s.inputSw = True
+ self.s.outputSw = True
+ sleep(.01)
+ self.assertGreater(out(), 2)
+ self.s.snapValue(5, True)
+ self.s.snapSw = True
+ sleep(.01)
+ self.assertEqual(out(), 0)
+
def test_enable_snapping(self):
self.assertEqual(self.s._adw.Get_Par(12), 0)
- self.s.snapValue(5, True)
+ self.s.snapValue(-5, False)
self.s.snapSw = True
self.assertEqual(self.s._adw.Get_Par(12), 8)
# Check if it snaps
self.s.snapValue(5, False)
sleep(1e-3)
self.assertEqual(self.s._adw.Get_Par(12), 2)
+ # Snap when signal is higher
+ self.s.snapValue(-5, True)
+ self.s.snapSw = True
+ sleep(1e-3)
+ self.assertEqual(self.s._adw.Get_Par(12), 2)
+
+ def test_stop_ramp_when_snapping(self):
+ self.s.enableRamp(50, 10, False)
+ self.s.snapValue(5, False)
+ self.s.snapSw = True
+ # Check if it snaps
+ sleep(1e-3)
+ # Ramp stopped?
+ self.assertFalse(self.s.rampEnabled)
def test_apply_old_settings(self):
self.s.outputSw = True