add new daemon for iseries controlers (#28)

* add new daemon for iseries controlers

* add

* [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

* changelog

* type ignore

* Update .github/workflows/run-entry-points.yml

Co-authored-by: Kyle Sunden <git@ksunden.space>

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Kyle Sunden <git@ksunden.space>

Author: 3 people

.github/workflows/run-entry-points.yml

@@ -27,3 +27,5 @@ jobs:
       run: |
         yaqd-omega-platinum --version
         yaqd-omega-platinum --help
+        yaqd-omega-iseries-modbus --version
+        yaqd-omega-iseries-modbus --help

CHANGELOG.md

@@ -5,6 +5,9 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/).
 
 ## [Unreleased]
 
+### Added
+- new daemon for iseries controllers supporting modbus
+
 ## [2023.1.0]
 
 ### Changed

README.md

@@ -11,6 +11,7 @@ yaq daemons for Omega Engineering hardware
 
 This package contains the following daemon(s):
 
+- https://yaq.fyi/daemons/omega-iseries-modbus
 - https://yaq.fyi/daemons/omega-platinum
 
 Maintainers:

pyproject.toml

@@ -10,6 +10,7 @@ home-page = "https://yaq.fyi"
 description-file = "README.md"
 requires-python = ">=3.7"
 requires = ["yaqd-core>=2020.06.3",
+            "minimalmodbus",
             "pymodbus>=3.1"]
 classifiers = [
     "Development Status :: 2 - Pre-Alpha",
@@ -33,7 +34,7 @@ dev = ["black", "pre-commit"]
 
 [tool.flit.scripts]
 yaqd-omega-platinum = "yaqd_omega._omega_platinum:OmegaPlatinum.main"
-
+yaqd-omega-iseries-modbus = "yaqd_omega._omega_iseries_modbus:OmegaIseriesModbus.main"
 
 [tool.black]
 line-length = 99

yaqd_omega/_omega_iseries_modbus.py

@@ -0,0 +1,63 @@
+__all__ = ["OmegaPlatinum"]
+
+import asyncio
+from typing import Dict, Any, List
+import struct
+
+import minimalmodbus  # type: ignore
+from yaqd_core import UsesSerial, UsesUart, IsDaemon, HasPosition
+
+
+parity_options = {"even": "E", "odd": "O", "none": "N"}
+
+stop_bit_options = {"one": 1, "one_and_half": 1.5, "two": 2}
+
+PV_REGISTER = 39
+
+SV_REGISTER = 1
+
+
+# https://bl831.als.lbl.gov/~gmeigs/PDF/omega_CNi16_communications.pdf
+class OmegaIseriesModbus(UsesUart, UsesSerial, HasPosition, IsDaemon):
+    _kind = "omega-iseries-modbus"
+
+    def __init__(self, name, config, config_filepath):
+        print(config)
+        super().__init__(name, config, config_filepath)
+        self.client = minimalmodbus.Instrument(
+            port=self._config["serial_port"],
+            slaveaddress=self._config["modbus_address"],
+            debug=False,
+        )
+        self.client.serial.baudrate = self._config["baud_rate"]
+        self.client.serial.parity = parity_options[self._config["parity"]]
+        self.client.serial.bytesize = self._config["byte_size"]
+        self.client.serial.stopbits = stop_bit_options[self._config["stop_bits"]]
+        self.client.handle_local_echo = self._config["modbus_handle_echo"]
+
+    def direct_serial_write(self, bytes):
+        client.serial.write(bytes)
+
+    def _set_position(self, position: float) -> None:
+        out = int(position * 10)
+        try:
+            self.client.write_register(registeraddress=SV_REGISTER, value=out, functioncode=0x06)
+        except minimalmodbus.NoResponseError:
+            self._set_position(position=position)
+
+    async def update_state(self):
+        while True:
+            await asyncio.sleep(0.25)
+            try:
+                pv = self.client.read_register(PV_REGISTER) / 10.0
+                sv = self.client.read_register(SV_REGISTER) / 10.0
+                self._state["position"] = pv
+                self._state["destination"] = sv
+            except minimalmodbus.LocalEchoError:
+                continue
+            except minimalmodbus.InvalidResponseError:
+                continue
+            except minimalmodbus.NoResponseError:
+                continue
+            except minimalmodbus.SlaveReportedException:
+                continue