Controller API reference

Controller - Base API for all controller types

MotorController - Motor controller API

CounterTimerController - Counter/Timer controller API

ZeroDController - 0D controller API

PseudoMotorController - PseudoMotor controller API

PseudoCounterController - PseudoCounter controller API

TriggerGateController - Trigger/Gate controller API

IORegisterController - IORegister controller API

Data Type definition

When writing a new controller you may need to specify extra attributes (per controller or/and per axis) as well as extra properties. This chapter describes how to describe the data type for each of this additional members. Controller data type definition has the following equivalences. This means you can use any of the given possibilities to describe a field data type. The possibilities are ordered by preference (example: usage of int is preferred to “int” or “PyTango.DevLong”):

for 0D data types:
- integer: int | DataType.Integer | “int” | “integer” | “long” | long | [ “PyTango.” ] “DevLong”
- double: float | DataType.Double | “double” | “float” | [ “PyTango.” ] “DevDouble”
- string: str | DataType.String | “str” | “string” | [ “PyTango.” ] “DevString”
- boolean: bool | DataType.Boolean | “bool” | “boolean” | [ “PyTango.” ] “DevBoolean”
for 1D data types:
- integer: (int,) | (DataType.Integer,) | (“int”,) | (“integer”,) | (long,) | (“long”,) | [ “PyTango.” ] “DevVarLongArray” | ([ “PyTango.” ] “DevLong”,)
- double: (float,) | (DataType.Double,) | (“double”,) | (“float”,) | [ “PyTango.” ] “DevVarDoubleArray” | ([ “PyTango.” ] “DevDouble”,)
- string: (str,) | (DataType.String,) | (“str”,) | (“string”,) | [ “PyTango.” ] “DevVarStringArray” | ([ “PyTango.” ] “DevString”,)
- boolean: (bool,) | (DataType.Boolean,) | (“bool”,) | (“boolean”,) | [ “PyTango.” ] “DevVarBooleanArray” | ([ “PyTango.” ] “DevBoolean”,)

Deprecated since version 1.0: [ “PyTango.” ] “Dev”<concrete type string> types are considered deprecated.

Note

when string, types are case insensitive. This means “long” is the same as “LONG”

Here is an example on how to define extra attributes per axis:

EncoderSource: a scalar r/w string

ReflectionMatrix: a 2D readable float with customized getter method

from sardana import State, DataAccess
from sardana.pool.controller import MotorController, \
    Type, Description, DefaultValue, Access, FGet, FSet

class MyMotorCtrl(MotorController):

    axis_attributes = \
    {
        'EncoderSource' : { Type : str,
                            Description : 'motor encoder source', },

        'ReflectionMatrix' : { Type : ( (float,), ),
                               Access : DataAccess.ReadOnly,
                               FGet : 'getReflectionMatrix', },
    }

    def getAxisExtraPar(self, axis, name):
        name = name.lower()
        if name == 'encodersource':
            return self._encodersource[axis]

    def setAxisPar(self, axis, name, value):
        name = name.lower()
        if name == 'encodersource':
            self._encodersource[axis] = value

    def getReflectionMatrix(self, axis):
        return ( (1.0, 0.0), (0.0, 1.0) )