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Hexapod

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This commit is contained in:
mankowsky_r
2020-06-05 10:34:56 +02:00
parent 10d57fa106
commit 8f6dcd52e2
7 changed files with 175 additions and 87 deletions
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eco/bernina/config.py
+4 -3
View File
@@ -312,7 +312,8 @@ components = [
"z_und": 142,
"desc": "General purpose station",
"type": "eco.endstations.bernina_diffractometers:GPS",
"kwargs": {"Id": "SARES22-GPS", "configuration": config["gps_config"]},
"kwargs": {"Id": "SARES22-GPS", "configuration": config["gps_config"],"fina_hex_angle_offset":"~/eco/reference_values/hex_pi_angle_offset.json"},
"lazy":False,
},
{
"args": [],
@@ -580,7 +581,7 @@ components = [
"z_und": 141,
"desc": "Upstream diagnostics slits",
"type": "eco.xoptics.slit_USD:Upstream_diagnostic_slits",
"kwargs": {"right": "ESB1", "left": "ESB2", "up": "ESB17", "down": "ESB16"},
"kwargs": {"right": "LIC4", "left": "LIC3", "up": "LIC2", "down": "LIC1"},
"lazy": True,
},
{
@@ -589,7 +590,7 @@ components = [
"z_und": 141,
"desc": "Upstream diagnostics slits",
"type": "eco.xoptics.slit_USD:Upstream_diagnostic_slits",
"kwargs": {"right": "ESB8", "left": "ESB9", "up": "ESB18", "down": "ESB3"},
"kwargs": {"right": "LIC7", "left": "LIC8", "up": "LIC6", "down": "LIC5"},
"lazy": True,
},
{
eco/devices_general/adjustable.py
+56 -21
View File
@@ -9,6 +9,8 @@ import time
import logging
import datetime
import numpy as np
from pathlib import Path
from json import load, dump
logger = logging.getLogger(__name__)
@@ -21,16 +23,18 @@ class AdjustableError(Exception):
# wrappers for adjustables >>>>>>>>>>>
def default_representation(Obj):
def get_name(Obj):
if Obj.alias:
if hasattr(Obj,'alias') and Obj.alias:
return Obj.alias.get_full_name()
elif Obj.name:
return Obj.name
else:
elif hasattr(Obj,'Id') and Obj.Id:
return Obj.Id
else:
return ''
def get_repr(Obj):
s = datetime.datetime.now().strftime("%Y/%m/%d %H:%M:%S") + ": "
s += f"{colorama.Style.BRIGHT}{Obj._get_name()}{colorama.Style.RESET_ALL} at {colorama.Style.BRIGHT}{Obj.get_current_value():g}{colorama.Style.RESET_ALL}"
s += f"{colorama.Style.BRIGHT}{Obj._get_name()}{colorama.Style.RESET_ALL} at {colorama.Style.BRIGHT}{str(Obj.get_current_value())}{colorama.Style.RESET_ALL}"
return s
Obj._get_name = get_name
@@ -255,7 +259,30 @@ def _keywordChecker(kw_key_list_tups):
for tkw, tkey, tlist in kw_key_list_tups:
assert tkey in tlist, "Keyword %s should be one of %s" % (tkw, tlist)
@default_representation
@spec_convenience
class AdjustableFS:
def __init__(self,file_path,name=None):
self.file_path = Path(file_path)
self.name = name
def get_current_value(self):
with open(self.file_path,'r') as f:
res = load(f)
return res['value']
def _write_value(self,value):
with open(self.file_path,'w') as f:
dump({'value':value},f)
def set_target_value(self,value,hold=False):
return Changer(
target=value, parent=self, changer=self._write_value, hold=hold, stopper=None
)
@spec_convenience
class PvRecord:
def __init__(
self, pvsetname, pvreadbackname=None, accuracy=None, name=None, elog=None
@@ -317,22 +344,22 @@ class PvRecord:
)
# spec-inspired convenience methods
def mv(self, value):
self._currentChange = self.set_target_value(value)
# def mv(self, value):
# self._currentChange = self.set_target_value(value)
def wm(self, *args, **kwargs):
return self.get_current_value(*args, **kwargs)
# def wm(self, *args, **kwargs):
# return self.get_current_value(*args, **kwargs)
def mvr(self, value, *args, **kwargs):
# def mvr(self, value, *args, **kwargs):
if self.get_moveDone == 1:
startvalue = self.get_current_value(readback=True, *args, **kwargs)
else:
startvalue = self.get_current_value(readback=False, *args, **kwargs)
self._currentChange = self.set_target_value(value + startvalue, *args, **kwargs)
# if self.get_moveDone == 1:
# startvalue = self.get_current_value(readback=True, *args, **kwargs)
# else:
# startvalue = self.get_current_value(readback=False, *args, **kwargs)
# self._currentChange = self.set_target_value(value + startvalue, *args, **kwargs)
def wait(self):
self._currentChange.wait()
# def wait(self):
# self._currentChange.wait()
def __repr__(self):
return "%s is at: %s" % (self.Id, self.get_current_value())
@@ -399,6 +426,7 @@ class AdjustableVirtual:
adjustables,
foo_get_current_value,
foo_set_target_value_current_value,
change_simultaneously=True,
reset_current_value_to=False,
append_aliases=False,
name=None,
@@ -416,6 +444,7 @@ class AdjustableVirtual:
self._foo_set_target_value_current_value = foo_set_target_value_current_value
self._foo_get_current_value = foo_get_current_value
self._reset_current_value_to = reset_current_value_to
self._change_simultaneously = change_simultaneously
if reset_current_value_to:
for adj in self._adjustables:
if not hasattr(adj, "reset_current_value_to"):
@@ -427,12 +456,18 @@ class AdjustableVirtual:
vals = (vals,)
def changer(value):
self._active_changers = [
adj.set_target_value(val, hold=False)
for val, adj in zip(vals, self._adjustables)
]
for tc in self._active_changers:
tc.wait()
if self._change_simultaneously:
self._active_changers = [
adj.set_target_value(val, hold=False)
for val, adj in zip(vals, self._adjustables)
]
for tc in self._active_changers:
tc.wait()
else:
for val, adj in zip(vals, self._adjustables):
self._active_changers = [adj.set_target_value(val, hold=False)]
self._active_changers[0].wait()
def stopper():
for tc in self._active_changers:
eco/devices_general/motors.py
+4 -1
View File
@@ -232,7 +232,8 @@ class MotorRecord:
print(" ")
p.stepsize = step_value
p.print(value=self.get_current_value())
self.add_value_callback(p.print)
ind_callback = self.add_value_callback(p.print)
pv.put(step_value)
while k.isq() is False:
if oldstep != step_value:
p.stepsize = step_value
@@ -273,7 +274,9 @@ class MotorRecord:
break
else:
print(help)
self.clear_value_callback(index=ind_callback)
print(f"final position: {self.get_current_value()}")
print(f"final tweak step: {pv.get()}")
def tweak(self, *args, **kwargs):
return self._tweak_ioc(*args, **kwargs)
eco/endstations/bernina_diffractometers.py
+11 -46
View File
@@ -6,6 +6,8 @@ from ..devices_general.adjustable import PvRecord
from epics import PV
from ..aliases import Alias, append_object_to_object
from ..endstations.hexapod import HexapodPI
from pathlib import Path
def addMotorRecordToSelf(self, name=None, Id=None):
@@ -18,7 +20,7 @@ def addMotorRecordToSelf(self, name=None, Id=None):
class GPS:
def __init__(
self, name=None, Id=None, configuration=["base"], alias_namespace=None
self, name=None, Id=None, configuration=["base"], alias_namespace=None, fina_hex_angle_offset=None
):
self.Id = Id
self.name = name
@@ -41,55 +43,18 @@ class GPS:
addMotorRecordToSelf(self, Id=Id + ":MOT_HEX_TX", name="tphi")
if "phi_hex" in self.configuration:
### motors PI hexapod ###
if fina_hex_angle_offset:
fina_hex_angle_offset = Path(fina_hex_angle_offset).expanduser()
append_object_to_object(
self,
PvRecord,
"SARES20-HEX_PI:SET-POSI-X",
pvreadbackname="SARES20-HEX_PI:POSI-X",
name="xhex",
HexapodPI,
"SARES20-HEX_PI",
name="hex",
fina_angle_offset = fina_hex_angle_offset
)
append_object_to_object(
self,
PvRecord,
"SARES20-HEX_PI:SET-POSI-Y",
pvreadbackname="SARES20-HEX_PI:POSI-Y",
name="yhex",
)
append_object_to_object(
self,
PvRecord,
"SARES20-HEX_PI:SET-POSI-Z",
pvreadbackname="SARES20-HEX_PI:POSI-Z",
name="zhex",
)
append_object_to_object(
self,
PvRecord,
"SARES20-HEX_PI:SET-POSI-U",
pvreadbackname="SARES20-HEX_PI:POSI-U",
name="uhex",
)
append_object_to_object(
self,
PvRecord,
"SARES20-HEX_PI:SET-POSI-V",
pvreadbackname="SARES20-HEX_PI:POSI-V",
name="vhex",
)
append_object_to_object(
self,
PvRecord,
"SARES20-HEX_PI:SET-POSI-W",
pvreadbackname="SARES20-HEX_PI:POSI-W",
name="whex",
)
# self.hex_x = PV("SARES20-HEX_PI:POSI-X")
# self.hex_y = PV("SARES20-HEX_PI:POSI-Y")
# self.hex_z = PV("SARES20-HEX_PI:POSI-Z")
# self.hex_u = PV("SARES20-HEX_PI:POSI-U")
# self.hex_v = PV("SARES20-HEX_PI:POSI-V")
# self.hex_w = PV("SARES20-HEX_PI:POSI-W")
if "hlxz" in self.configuration:
### motors heavy load goniometer ###
eco/endstations/hexapod.py
+95 -13
View File
@@ -1,6 +1,9 @@
from epics import PV
from ..devices_general.adjustable import PvEnum
from ..devices_general.adjustable import PvEnum,PvRecord,AdjustableFS,AdjustableVirtual
from time import sleep
from ..aliases import append_object_to_object,Alias
from scipy.spatial.transform import Rotation
import datetime
class Hexapod_PI:
def __init__(self, Id):
@@ -18,6 +21,77 @@ class Hexapod_PI:
for i in "RST"
]
class HexapodPI:
def __init__(self,pvname,name=None,fina_angle_offset=None):
self.name = name
self.alias = Alias(name)
self.pvname = pvname
append_object_to_object(self,PvRecord,self.pvname+':SET-POSI-X',pvreadbackname=self.pvname+':POSI-X',accuracy=.001,name='x_raw')
append_object_to_object(self,PvRecord,self.pvname+':SET-POSI-Y',pvreadbackname=self.pvname+':POSI-Y',accuracy=.001,name='y_raw')
append_object_to_object(self,PvRecord,self.pvname+':SET-POSI-Z',pvreadbackname=self.pvname+':POSI-Z',accuracy=.001,name='z_raw')
append_object_to_object(self,PvRecord,self.pvname+':SET-POSI-U',pvreadbackname=self.pvname+':POSI-U',accuracy=.001,name='rx_raw')
append_object_to_object(self,PvRecord,self.pvname+':SET-POSI-V',pvreadbackname=self.pvname+':POSI-V',accuracy=.001,name='ry_raw')
append_object_to_object(self,PvRecord,self.pvname+':SET-POSI-W',pvreadbackname=self.pvname+':POSI-W',accuracy=.001,name='rz_raw')
append_object_to_object(self,PvRecord,self.pvname+':SET-PIVOT-R',pvreadbackname=self.pvname+':PIVOT-R',accuracy=.001,name='pivot_x')
append_object_to_object(self,PvRecord,self.pvname+':SET-PIVOT-S',pvreadbackname=self.pvname+':PIVOT-S',accuracy=.001,name='pivot_y')
append_object_to_object(self,PvRecord,self.pvname+':SET-PIVOT-T',pvreadbackname=self.pvname+':PIVOT-T',accuracy=.001,name='pivot_z')
if fina_angle_offset:
self.ref_frame_angle = AdjustableFS(fina_angle_offset)
self.x = AdjustableVirtual(
[self.x_raw,self.y_raw,self.z_raw],
lambda xraw,yraw,zraw: self._calc_xyz(xraw,yraw,zraw)[0],
lambda x:self._calc_xyzraw(x,self.y.get_current_value(),self.z.get_current_value()),
reset_current_value_to=False,
append_aliases=False,
name='x',
)
self.y = AdjustableVirtual(
[self.x_raw,self.y_raw,self.z_raw],
lambda xraw,yraw,zraw: self._calc_xyz(xraw,yraw,zraw)[1],
lambda y:self._calc_xyzraw(self.x.get_current_value(),y,self.z.get_current_value()),
reset_current_value_to=False,
append_aliases=False,
name='y',
)
self.z = AdjustableVirtual(
[self.x_raw,self.y_raw,self.z_raw],
lambda xraw,yraw,zraw: self._calc_xyz(xraw,yraw,zraw)[2],
lambda z: self._calc_xyzraw(self.x.get_current_value(),self.y.get_current_value(),z),
reset_current_value_to=False,
append_aliases=False,
name='z',
)
@property
def rotation(self):
angs = self.ref_frame_angle.get_current_value()
angs = [angs['rx'],angs['ry'],angs['rz']]
return Rotation.from_euler('xyz',angs,degrees=True)
def _calc_xyz(self,xraw,yraw,zraw):
return self.rotation.apply([xraw,yraw,zraw])
def _calc_xyzraw(self,x,y,z):
print(self.rotation.inv().apply([x,y,z]))
return self.rotation.inv().apply([x,y,z])
def get_status(self):
s = f'Hexapod {self.alias.get_full_name()} status ({datetime.datetime.now().strftime("%Y/%m/%d %H:%M:%S")})\n'
if hasattr(self,'ref_frame_angle'):
for var in ['x','y','z']:
s+=(' '*4+var.ljust(16)+f'{self.__dict__[var].get_current_value():g}\n')
s+= ' '*4+'ref_frame_angle'.ljust(16)+str(self.ref_frame_angle.get_current_value())+'\n'
for var in ['x_raw','y_raw','z_raw','rx_raw','ry_raw','rz_raw','pivot_x','pivot_y','pivot_z']:
s+=(' '*4+var.ljust(16)+f'{self.__dict__[var].get_current_value():g}\n')
return s
def __str__(self):
return self.get_status()
def __repr__(self):
return self.__str__()
class HexapodSymmetrie:
def __init__(self,pv_master='SARES20-HEXSYM',name='hex_usd',offset=[0,0,0,0,0,0]):
@@ -43,7 +117,14 @@ class HexapodSymmetrie:
}
self._ctrl_pv = PV(f'{self.pvname}:STATE#PANEL:SET.VAL')
def set_coordinates(self,x,y,z,rx,ry,rz):
def set_coordinates(self,x,y,z,rx,ry,rz,relative_to_eco_offset=True):
if relative_to_eco_offset:
x = x+self.offset[0]
y = y+self.offset[1]
z = z+self.offset[2]
rx = rx+self.offset[3]
ry = ry+self.offset[4]
rz = rz+self.offset[5]
self.pvs_setpos['x'].put(x)
self.pvs_setpos['y'].put(y)
self.pvs_setpos['z'].put(z)
@@ -51,13 +132,20 @@ class HexapodSymmetrie:
self.pvs_setpos['ry'].put(ry)
self.pvs_setpos['rz'].put(rz)
def get_coordinates(self):
def get_coordinates(self,relative_to_eco_offset=True):
x = self.pvs_getpos['x'].get()
y = self.pvs_getpos['y'].get()
z = self.pvs_getpos['z'].get()
rx = self.pvs_getpos['rx'].get()
ry = self.pvs_getpos['ry'].get()
rz = self.pvs_getpos['rz'].get()
if relative_to_eco_offset:
x = x-self.offset[0]
y = y-self.offset[1]
z = z-self.offset[2]
rx = rx-self.offset[3]
ry = ry-self.offset[4]
rz = rz-self.offset[5]
return x,y,z,rx,ry,rz
def set_control_on(self):
@@ -79,18 +167,11 @@ class HexapodSymmetrie:
def move_to_coordinates(self,x,y,z,rx,ry,rz,precision=[.001,.001,.001,.001,.001,.001],coordinate_type='absolute',relative_to_eco_offset=True):
self.coordinate_switch.set_target_value(coordinate_type).wait()
if relative_to_eco_offset:
x = x+self.offset[0]
y = y+self.offset[1]
z = z+self.offset[2]
rx = rx+self.offset[3]
ry = ry+self.offset[4]
rz = rz+self.offset[5]
self.set_coordinates(x,y,z,rx,ry,rz)
self.set_coordinates(x,y,z,rx,ry,rz,relative_to_eco_offset=relative_to_eco_offset)
sleep(.1)
self.start_move(target=(x,y,z,rx,ry,rz),precision=precision,coordinate_type=coordinate_type)
def start_move(self,target=None,precision=[.001,.001,.001,.001,.001,.001],coordinate_type='absolute'):
def start_move(self,target=None,precision=[.001,.001,.001,.001,.001,.001],coordinate_type='absolute',relative_to_eco_offset=True):
print('Starting to move... stop with Ctrl-C')
self.set_control_on()
sleep(0.2)
@@ -98,7 +179,7 @@ class HexapodSymmetrie:
while 1:
try:
if target:
coo = self.get_coordinates()
coo = self.get_coordinates(relative_to_eco_offset=relative_to_eco_offset)
if all([abs(ctarg-cnow)<cprec for ctarg,cnow,cprec in zip(target,coo,precision)]):
self.stop_move()
print('Target position reached')
@@ -108,6 +189,7 @@ class HexapodSymmetrie:
self.stop_move()
print('Motion stopped')
break
sleep(.1)
self.set_control_off()
sleep(0.05)
eco/xoptics/kb_bernina.py
+4 -2
View File
@@ -17,8 +17,8 @@ class KBMirrorBernina:
def calc_positions(self,the_kbver,the_kbhor):
"""angles in rad"""
y_kbhor = np.tan(2*the_kbver) * np.abs(self.d_kbver-self.d_kbhor)
rx_kbhor = - 2 * the_kbver
y_kbhor = np.tan(2*the_kbver) * np.abs(self.d_kbver-self.d_kbhor)
rx_kbhor = -2 * the_kbver
y_hex = np.tan(2*the_kbver) * np.abs(self.d_kbver-self.d_hex)
x_hex = np.tan(2*the_kbhor) * np.abs(self.d_kbhor-self.d_hex)
rx_hex = rx_kbhor
@@ -59,6 +59,8 @@ class KBMirrorBernina:
rx = pos['rx_hex']*180/np.pi
ry = pos['ry_hex']*180/np.pi
z=rz=0.
ax,ay,az,arx,ary,arz = self.usd_table.get_coordinates()
print(f"present upstream large hexapod position is (x/mm,y/mm,z/mm,rx/°,ry/°,rz/°) = ({ax:g},{ay:g},{az:g},{arx:g},{ary:g},{arz:g})")
print(f"moving to (x/mm,y/mm,z/mm,rx/°,ry/°,rz/°) = ({x:g},{y:g},{z:g},{rx:g},{ry:g},{rz:g})")
if not input("start moving upstream large hexapod? (y/n)")=="y":
print("did nothing")
eco/xoptics/slit_USD.py
+1 -1
View File
@@ -66,7 +66,7 @@ class Upstream_diagnostic_slits:
append_object_to_object(
self,
AdjustableVirtual,
[self.right, self.left],
[self.left, self.right],
getgap,
setwidth,
reset_current_value_to=False,