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news and fixes staub

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This commit is contained in:
sander_m
2024-06-17 15:49:22 +02:00
parent 24a89f7aa2
commit 98a31cfec2
22 changed files with 531 additions and 209 deletions
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eco/acquisition/bs_data.py
+1
View File
@@ -172,6 +172,7 @@ class BStools:
f"Path {data_dir.absolute().as_posix()} does not exist, will try to create it..."
)
data_dir.mkdir(parents=True)
print(f"Tried to create {data_dir.absolute().as_posix()}")
data_dir.chmod(0o775)
print(f"Tried to change permissions to 775")
eco/acquisition/daq_client.py
+26 -11
View File
@@ -1,3 +1,4 @@
import shutil
import time
import requests
from pathlib import Path
@@ -63,15 +64,18 @@ class Daq(Assembly):
self._detectors_event_code = detectors_event_code
self.name = name
self._default_file_path = None
if not rate_multiplicator=='auto':
print('warning: rate multiplicator automatically determined from event_master!')
if not rate_multiplicator == "auto":
print(
"warning: rate multiplicator automatically determined from event_master!"
)
@property
def rate_multiplicator(self):
freq = self._event_master.__dict__[f'code{self._detectors_event_code:03d}'].frequency.get_current_value()
return int(100/freq)
freq = self._event_master.__dict__[
f"code{self._detectors_event_code:03d}"
].frequency.get_current_value()
return int(100 / freq)
@property
def pgroup(self):
if isinstance(self._pgroup, Adjustable):
@@ -121,8 +125,8 @@ class Daq(Assembly):
def start(self, label=None, **kwargs):
starttime_local = time.time()
while self.pulse_id._pv.get_timevars()['timestamp'] < starttime_local:
time.sleep(.02)
while self.pulse_id._pv.get_timevars()["timestamp"] < starttime_local:
time.sleep(0.02)
start_id = self.pulse_id.get_current_value(use_monitor=False)
acq_pars = {
"label": label,
@@ -266,7 +270,9 @@ class Daq(Assembly):
f"{self.broker_address}/power_on_detector", json=par
).json()
def take_pedestal(self, JF_list=None, pgroup=None):
def take_pedestal(
self, JF_list=None, pedestalmode=False, pgroup=None, verbose=False
):
if pgroup is None:
pgroup = self.pgroup
if not JF_list:
@@ -275,16 +281,25 @@ class Daq(Assembly):
"pgroup": pgroup,
"rate_multiplicator": 1,
"detectors": {tJF: {} for tJF in JF_list},
"pedestalmode": pedestalmode,
}
if verbose:
print(self.broker_address)
print(parameters)
return requests.post(
f"{self.broker_address}/take_pedestal", json=parameters
).json()
def append_aux(self, *file_names, run_number=None, pgroup=None):
def append_aux(self, *file_names, run_number=None, pgroup=None, check_group=True):
if pgroup is None:
pgroup = self.pgroup
if run_number is None:
run_number = self.get_last_run_number()
if check_group:
for file_name in file_names:
if not Path(file_name).group() == pgroup:
shutil.chown(file_name, group=pgroup)
return requests.post(
self.broker_address_aux + "/copy_user_files",
eco/acquisition/epics_data.py
+13 -6
View File
@@ -11,6 +11,7 @@ from .utilities import Acquisition
import time
from ..elements.adjustable import AdjustableFS
class EpicsDaq:
def __init__(
self,
@@ -19,19 +20,25 @@ class EpicsDaq:
channel_list=None,
):
self.name = name
self.default_file_path = AdjustableFS(f'/sf/bernina/config/eco/reference_values/{name}_default_file_path.json', default_value="~/data/", name="default_file_path")
self.default_file_path = AdjustableFS(
f"/sf/bernina/config/eco/reference_values/{name}_default_file_path.json",
default_value="~/data/",
name="default_file_path",
)
self._elog = elog
self.channels = {}
self.pulse_id = PV("SLAAR11-LTIM01-EVR0:RX-PULSEID")
self.channel_list = channel_list
self.update_channels()
@property
def _default_file_path(self):
return self.default_file_path()
@_default_file_path.setter
def _default_file_path(self, val):
self.default_file_path(val)
def update_channels(self):
channels = self.channel_list.get_current_value()
for channel in channels:
@@ -63,8 +70,8 @@ class EpicsDaq:
else:
shape = (N_pulses,)
dtype = type(channelval)
data[k]=np.ndarray(shape, dtype=dtype)
counters[k]=0
data[k] = np.ndarray(shape, dtype=dtype)
counters[k] = 0
def cb_getdata(ch=None, k="", *args, **kwargs):
data[k][counters[k]] = kwargs["value"]
@@ -175,7 +182,7 @@ class Epicstools:
if counters[m] == N_pulses:
ch.clear_callbacks()
for (m, channel) in enumerate(channels):
for m, channel in enumerate(channels):
channel.add_callback(callback=cb_getdata, ch=channel, m=m)
while True:
sleep(0.005)
@@ -183,7 +190,7 @@ class Epicstools:
break
f = h5py.File(name=fina, mode="w")
for (n, channel) in enumerate(channel_list):
for n, channel in enumerate(channel_list):
dat = f.create_group(name=channel)
dat.create_dataset(name="data", data=data[n])
dat.create_dataset(
eco/bernina/bernina.py
+147 -94
View File
@@ -25,7 +25,7 @@ from ..aliases import NamespaceCollection
import pyttsx3
from ..utilities.path_alias import PathAlias
import sys, os
import sys, os, shutil
import numpy as np
from IPython import get_ipython
@@ -50,9 +50,13 @@ namespace.append_obj(AdjustableObject, _config_bernina_dict, name="config_bernin
namespace.append_obj(
"RunData",
config_bernina.pgroup,
name='runs',
load_kwargs = {'checknstore_parsing_result': '/sf/bernina/data/{pgroup}/res', 'load_dap_data':True, 'lazyEscArrays':True},
module_name='eco.acquisition.scan_data',
name="runs",
load_kwargs={
"checknstore_parsing_result": "/sf/bernina/data/{pgroup}/res",
"load_dap_data": True,
"lazyEscArrays": True,
},
module_name="eco.acquisition.scan_data",
)
namespace.append_obj(
@@ -111,7 +115,7 @@ namespace.append_obj(
add_to_cnf=True,
lazy=True,
)
eco.defaults.ARCHIVER=archiver
eco.defaults.ARCHIVER = archiver
namespace.append_obj(
"get_strip_chart_function",
@@ -726,7 +730,7 @@ namespace.append_obj(
"TimetoolBerninaUSD",
module_name="eco.timing.timing_diag",
pvname_mirror="SARES23-LIC:MOT_11",
andor_spectrometer='SLAAR11-LSPC-ALCOR1',
andor_spectrometer="SLAAR11-LSPC-ALCOR1",
name="tt_kb",
lazy=True,
)
@@ -982,7 +986,7 @@ namespace.append_obj(
module_name="eco.endstations.bernina_robots",
name="rob",
pshell_url="http://PC14742:8080/",
robot_config = config_bernina.robot_config,
robot_config=config_bernina.robot_config,
pgroup_adj=config_bernina.pgroup,
jf_config=config_JFs,
lazy=True,
@@ -1066,15 +1070,15 @@ namespace.append_obj(
)
# namespace.append_obj(
# "Jungfrau",
# "JF03T01V02",
# name="det_i0",
# pgroup_adj=config_bernina.pgroup,
# module_name="eco.detector.jungfrau",
# config_adj=config_JFs,
# lazy=True,
# )
namespace.append_obj(
"Jungfrau",
"JF01T03V01",
name="_det_diff",
pgroup_adj=config_bernina.pgroup,
module_name="eco.detector.jungfrau",
config_adj=config_JFs,
lazy=True,
)
namespace.append_obj(
"Jungfrau",
@@ -1162,11 +1166,11 @@ namespace.append_obj(
### draft new epics daq ###
namespace.append_obj(
"EpicsDaq",
channel_list=channels_CA_epicsdaq,
name="daq_epics_local",
module_name="eco.acquisition.epics_data",
lazy=True,
"EpicsDaq",
channel_list=channels_CA_epicsdaq,
name="daq_epics_local",
module_name="eco.acquisition.epics_data",
lazy=True,
)
### old epics daq ###
# namespace.append_obj(
@@ -1185,16 +1189,16 @@ namespace.append_obj(
# )
namespace.append_obj(
"Scans",
name="scans_epics",
module_name="eco.acquisition.scan",
data_base_dir=f"{config_bernina.pgroup()}/scan_data",
scan_info_dir=f"{daq_epics_local.default_file_path()}/{config_bernina.pgroup()}/scan_info",
default_counters=[daq_epics_local],
checker=None,
scan_directories=True,
run_table=None,
lazy=True,
"Scans",
name="scans_epics",
module_name="eco.acquisition.scan",
data_base_dir=f"{config_bernina.pgroup()}/scan_data",
scan_info_dir=f"{daq_epics_local.default_file_path()}/{config_bernina.pgroup()}/scan_info",
default_counters=[daq_epics_local],
checker=None,
scan_directories=True,
run_table=None,
lazy=True,
)
#
#
@@ -1211,7 +1215,7 @@ namespace.append_obj(
pulse_id_adj="SLAAR21-LTIM01-EVR0:RX-PULSEID",
event_master=event_master,
detectors_event_code=50,
rate_multiplicator='auto',
rate_multiplicator="auto",
name="daq",
module_name="eco.acquisition.daq_client",
lazy=True,
@@ -1275,12 +1279,20 @@ def _write_namespace_status_to_scan(
scan.status["status_run_end"] = namespace_status
if (not end_scan) and not (len(scan.values_done) == 1):
return
runno = daq.get_last_run_number()
if hasattr(scan,'daq_run_number'):
runno = scan.daq_run_number
else:
runno = daq.get_last_run_number()
pgroup = daq.pgroup
tmpdir = Path(f"/sf/bernina/data/{pgroup}/res/tmp/stat_run{runno:04d}")
tmpdir.mkdir(exist_ok=True, parents=True)
try:
tmpdir.chmod(0o775)
except:
pass
statusfile = tmpdir / Path("status.json")
if not Path(statusfile).exists():
if not statusfile.exists():
with open(statusfile, "w") as f:
json.dump(scan.status, f, sort_keys=True, cls=NumpyEncoder, indent=4)
else:
@@ -1288,6 +1300,8 @@ def _write_namespace_status_to_scan(
f.seek(0)
json.dump(scan.status, f, sort_keys=True, cls=NumpyEncoder, indent=4)
f.truncate()
if not statusfile.group() == statusfile.parent.group():
shutil.chown(statusfile, group=statusfile.parent.group())
response = daq.append_aux(
statusfile.resolve().as_posix(),
pgroup=pgroup,
@@ -1302,10 +1316,17 @@ def _write_namespace_status_to_scan(
def _write_namespace_aliases_to_scan(scan, daq=daq, force=False, **kwargs):
if force or (len(scan.values_done) == 1):
namespace_aliases = namespace.alias.get_all()
runno = daq.get_last_run_number()
if hasattr(scan,'daq_run_number'):
runno = scan.daq_run_number
else:
runno = daq.get_last_run_number()
pgroup = daq.pgroup
tmpdir = Path(f"/sf/bernina/data/{pgroup}/res/tmp/aliases_run{runno:04d}")
tmpdir.mkdir(exist_ok=True, parents=True)
try:
tmpdir.chmod(0o775)
except:
pass
aliasfile = tmpdir / Path("aliases.json")
if not Path(aliasfile).exists():
with open(aliasfile, "w") as f:
@@ -1319,6 +1340,8 @@ def _write_namespace_aliases_to_scan(scan, daq=daq, force=False, **kwargs):
namespace_aliases, f, sort_keys=True, cls=NumpyEncoder, indent=4
)
f.truncate()
if not aliasfile.group() == aliasfile.parent.group():
shutil.chown(aliasfile, group=aliasfile.parent.group())
scan.remaining_tasks.append(
Thread(
@@ -1395,10 +1418,17 @@ def _copy_scan_info_to_raw(scan, daq=daq, **kwargs):
si["scan_files"] = newfiles
# save temprary file and send then to raw
runno = daq.get_last_run_number()
if hasattr(scan,'daq_run_number'):
runno = scan.daq_run_number
else:
runno = daq.get_last_run_number()
pgroup = daq.pgroup
tmpdir = Path(f"/sf/bernina/data/{pgroup}/res/tmp/info_run{runno:04d}")
tmpdir.mkdir(exist_ok=True, parents=True)
try:
tmpdir.chmod(0o775)
except:
pass
scaninfofile = tmpdir / Path("scan_info_rel.json")
if not Path(scaninfofile).exists():
with open(scaninfofile, "w") as f:
@@ -1408,7 +1438,8 @@ def _copy_scan_info_to_raw(scan, daq=daq, **kwargs):
f.seek(0)
json.dump(si, f, sort_keys=True, cls=NumpyEncoder, indent=4)
f.truncate()
if not scaninfofile.group() == scaninfofile.parent.group():
shutil.chown(scaninfofile, group=scaninfofile.parent.group())
# print(f"Copying info file to run {runno} to the raw directory of {pgroup}.")
scan.remaining_tasks.append(
@@ -1432,8 +1463,12 @@ from eco.detector import Jungfrau
def _copy_selected_JF_pedestals_to_raw(
scan, daq=daq, copy_selected_JF_pedestals_to_raw=True, **kwargs
):
def copy_to_aux(daq):
runno = daq.get_last_run_number()
def copy_to_aux(daq,scan):
if hasattr(scan,'daq_run_number'):
runno = scan.daq_run_number
else:
runno = daq.get_last_run_number()
pgroup = daq.pgroup
for jf_id in daq.channels["channels_JF"]():
@@ -1463,7 +1498,7 @@ def _copy_selected_JF_pedestals_to_raw(
)
if copy_selected_JF_pedestals_to_raw:
scan.remaining_tasks.append(Thread(target=copy_to_aux, args=[daq]))
scan.remaining_tasks.append(Thread(target=copy_to_aux, args=[daq,scan]))
scan.remaining_tasks[-1].start()
@@ -1485,6 +1520,8 @@ def _increment_daq_run_number(scan, daq=daq, **kwargs):
for i in range(n):
rn = daq.get_next_run_number()
print(rn)
scan.daq_run_number = daq_run_number
except Exception as e:
print(e)
@@ -1568,10 +1605,17 @@ def end_scan_monitors(scan, daq=daq, **kwargs):
from os.path import relpath
# save temprary file and send then to raw
runno = daq.get_last_run_number()
if hasattr(scan,'daq_run_number'):
runno = scan.daq_run_number
else:
runno = daq.get_last_run_number()
pgroup = daq.pgroup
tmpdir = Path(f"/sf/bernina/data/{pgroup}/res/tmp/info_run{runno:04d}")
tmpdir.mkdir(exist_ok=True, parents=True)
try:
tmpdir.chmod(0o775)
except:
pass
scanmonitorfile = tmpdir / Path("scan_monitor.pkl")
if not Path(scanmonitorfile).exists():
with open(scanmonitorfile, "wb") as f:
@@ -1797,11 +1841,11 @@ namespace.append_obj(
# this is the large inline camera
namespace.append_obj(
"BerninaInlineMicroscope",
pvname_camera="SARES20-CAMS142-M3",
lazy=True,
name="samplecam_inline",
module_name="eco.microscopes",
"BerninaInlineMicroscope",
pvname_camera="SARES20-CAMS142-M3",
lazy=True,
name="samplecam_inline",
module_name="eco.microscopes",
)
# namespace.append_obj(
@@ -1841,22 +1885,22 @@ namespace.append_obj(
# lazy=True,
# )
#namespace.append_obj(
# namespace.append_obj(
# "MicroscopeFeturaPlus",
# "SARES20-PROF142-M1",
# lazy=True,
# name="samplecam_highres",
# module_name="eco.microscopes",
#)
# )
#namespace.append_obj(
# namespace.append_obj(
# "MicroscopeMotorRecord",
# "SARES20-CAMS142-C1",
# lazy=True,
# pvname_zoom="SARES20-MF1:MOT_7",
# name="samplecam_topview",
# module_name="eco.microscopes",
#)
# )
namespace.append_obj(
"CameraBasler",
@@ -2643,7 +2687,11 @@ try:
f"/sf/bernina/data/{config_bernina.pgroup()}/res/eco"
)
pgroup_eco_path.mkdir(mode=0o775, exist_ok=True)
pgroup_eco_path.chmod(mode=0o775)
try:
pgroup_eco_path.chmod(mode=0o775)
except:
pass
sys.path.append(pgroup_eco_path.as_posix())
else:
print(
@@ -2679,26 +2727,26 @@ namespace.append_obj(Xspect_EH55, name="xspect_bernina", lazy=True)
############## BIG JJ SLIT #####################
namespace.append_obj(
"SlitBladesGeneral",
name="slit_cleanup_air",
def_blade_up={
"args": [MotorRecord, "SARES20-MF1:MOT_10"],
"kwargs": {"is_psi_mforce": True},
},
def_blade_down={
"args": [MotorRecord, "SARES20-MF1:MOT_9"],
"kwargs": {"is_psi_mforce": True},
},
def_blade_left={
"args": [MotorRecord, "SARES20-MF1:MOT_12"],
"kwargs": {"is_psi_mforce": True},
},
def_blade_right={
"args": [MotorRecord, "SARES20-MF1:MOT_11"],
"kwargs": {"is_psi_mforce": True},
},
module_name="eco.xoptics.slits",
lazy=True,
"SlitBladesGeneral",
name="slit_cleanup_air",
def_blade_up={
"args": [MotorRecord, "SARES20-MF1:MOT_10"],
"kwargs": {"is_psi_mforce": True},
},
def_blade_down={
"args": [MotorRecord, "SARES20-MF1:MOT_9"],
"kwargs": {"is_psi_mforce": True},
},
def_blade_left={
"args": [MotorRecord, "SARES20-MF1:MOT_12"],
"kwargs": {"is_psi_mforce": True},
},
def_blade_right={
"args": [MotorRecord, "SARES20-MF1:MOT_11"],
"kwargs": {"is_psi_mforce": True},
},
module_name="eco.xoptics.slits",
lazy=True,
)
############## SMALL JJ SLIT #####################
@@ -2760,10 +2808,10 @@ class IlluminatorsLasers(Assembly):
def __init__(self, name="sample_illumination"):
super().__init__(name=name)
self._append(
MpodChannel,
pvbase="SARES21-CPCL-PS7071",
channel_number=5,
name="illumination_inline",
MpodChannel,
pvbase="SARES21-CPCL-PS7071",
channel_number=5,
name="illumination_inline",
)
self._append(
MpodChannel,
@@ -2771,18 +2819,18 @@ class IlluminatorsLasers(Assembly):
channel_number=2,
name="illumination_side",
)
#self._append(
# self._append(
# MpodChannel,
# pvbase="SARES21-CPCL-PS7071",
# channel_number=6,
# name="illumination_top",
#)
#self._append(
# )
# self._append(
# MpodChannel,
# pvbase="SARES21-CPCL-PS7071",
# channel_number=4,
# name="flattening_laser",
#)
# )
namespace.append_obj(IlluminatorsLasers, name="sample_illumination", lazy=True)
@@ -2861,9 +2909,8 @@ class Tapedrive(Assembly):
self._append(SmaractRecord, "SARES23-USR:MOT_12", name="freespace_ver")
self._append(SmaractRecord, "SARES23-USR:MOT_13", name="freespace_hor")
self._append(MotorRecord, "SARES20-MF1:MOT_13",name='x_target_totem')
self._append(MotorRecord, "SARES20-MF1:MOT_14",name='y_target_totem')
self._append(MotorRecord, "SARES20-MF1:MOT_13", name="x_target_totem")
self._append(MotorRecord, "SARES20-MF1:MOT_14", name="y_target_totem")
self._append(AnalogOutput, "SARES20-CWAG-GPS01:DAC01", name="shutter1")
self._append(AnalogOutput, "SARES20-CWAG-GPS01:DAC02", name="shutter2")
@@ -2925,21 +2972,22 @@ class Tapedrive(Assembly):
DigitizerIoxosBoxcarChannel, "SARES20-LSCP9-FNS:CH2", name="diode_2"
)
self._append(
AdjustableFS,
"/photonics/home/gac-bernina/eco/configuration/p20231_mono_und_offset",
name="mono_und_calib",
default_value=[[6500,0],[7100,0]],
default_value=[[6500, 0], [7100, 0]],
is_setting=True,
)
def en_set(en):
ofs = np.array(self.mono_und_calib()).T
fel_ofs = ofs[1][np.argmin(abs(ofs[0]-en))]
return en , en/1000 - fel_ofs
fel_ofs = ofs[1][np.argmin(abs(ofs[0] - en))]
return en, en / 1000 - fel_ofs
def en_get(monoen, felen):
return monoen
self._append(
AdjustableVirtual,
[mono, fel.aramis_photon_energy_undulators],
@@ -2947,10 +2995,15 @@ class Tapedrive(Assembly):
en_set,
name="mono_und_energy",
)
def add_mono_und_calibration(self):
mono_energy = mono.get_current_value()
fel_offset = mono.get_current_value() /1000 - fel.aramis_photon_energy_undulators.get_current_value()
self.mono_und_calib.mvr([[mono_energy,fel_offset]])
fel_offset = (
mono.get_current_value() / 1000
- fel.aramis_photon_energy_undulators.get_current_value()
)
self.mono_und_calib.mvr([[mono_energy, fel_offset]])
# namespace.append_obj(Tapedrive, name="tapedrive", lazy=True)
@@ -3068,17 +3121,18 @@ def name2pgroups(name, beamline="bernina"):
return eq + ni
def timetool_data_monitor(warning_threshold=1000, loopsleep=5):
dir(bs_worker)
tt_kb.spectrum_signal.stream.accumulate(do_accumulate=True)
print('Monitoring timetool data ...')
print("Monitoring timetool data ...")
while True:
eid_diff= int(event_system.pulse_id.get_current_value() - tt_kb.spectrum_signal.stream.eventIds[-1][-1])
if eid_diff> warning_threshold:
eid_diff = int(
event_system.pulse_id.get_current_value()
- tt_kb.spectrum_signal.stream.eventIds[-1][-1]
)
if eid_diff > warning_threshold:
message = f"Last timetool data {eid_diff} pulses ago!"
print(message)
try:
@@ -3089,4 +3143,3 @@ def timetool_data_monitor(warning_threshold=1000, loopsleep=5):
except:
pass
time.sleep(loopsleep)
eco/detector/jungfrau.py
+22 -10
View File
@@ -1,4 +1,5 @@
import shutil
import time
from tkinter import W
from eco.base.adjustable import Adjustable
@@ -110,6 +111,7 @@ class Jungfrau(Assembly):
name="gain_file_in_run",
is_display=True,
)
self._last_dap_req_time = 0
self._append(
AdjustableGetSet,
self.get_dap_settings,
@@ -162,14 +164,19 @@ class Jungfrau(Assembly):
dest = Path(
f"/sf/bernina/data/{self.pgroup()}/res/tmp/gainmaps_{self.jf_id}.h5"
)
try:
if not dest.exists():
dest.parent.mkdir(parents=True, exist_ok=True, mode=0o775)
try:
dest.parent.chmod(0o775)
except:
pass
shutil.copyfile(f, dest)
except PermissionError:
return "No permissions to res directory!"
if intempdir:
return dest.as_posix()
else:
@@ -189,24 +196,29 @@ class Jungfrau(Assembly):
try:
if not dest.exists():
dest.parent.mkdir(parents=True, exist_ok=True, mode=0o775)
dest.parent.chmod(0o775)
try:
dest.parent.chmod(0o775)
except:
pass
shutil.copyfile(f, dest)
except PermissionError:
return "No poermissions to res directory!"
if intempdir:
return dest.as_posix()
else:
return f"aux/{dest.name}"
def get_dap_settings(self):
m = requests.get(
f"{self.broker_address_aux}/get_dap_settings",
json={"detector_name": self.jf_id},
).json()
if m["status"] == "ok":
return m["parameters"]
if 5 < (time.time()-self._last_dap_req_time):
self._last_dap_message = requests.get(
f"{self.broker_address_aux}/get_dap_settings",
json={"detector_name": self.jf_id},
).json()
self._last_dap_req_time = time.time()
if self._last_dap_message["status"] == "ok":
return self._last_dap_message["parameters"]
def set_dap_settings(self, dap_setting_dict):
# print("Setting not implmented yet!")
eco/devices_general/env_sensors.py
+1
View File
@@ -49,6 +49,7 @@ class BerninaEnvironment(Assembly):
for pvbase,channelnumbers,tnames in zip(pvbases,channels,channelnames):
for n,tname in zip(channelnumbers,tnames):
self._append(I2cChannel,pvbase,channelnumber=n,name=tname)
self._append(DetectorPvData,"IKA-GAMA:Luft_SF", unit='%', name='he_recovery_air_content')
class WagoSensor(Assembly):
eco/elements/adjustable.py
+8 -4
View File
@@ -466,6 +466,10 @@ class AdjustableFS:
if not self.file_path.exists():
if not self.file_path.parent.exists():
self.file_path.parent.mkdir(parents=True)
try:
self.file_path.parent.chmod(0o775)
except:
pass
self._write_value(default_value)
self.alias = Alias(name)
self.name = name
@@ -630,15 +634,15 @@ class AdjustableGetSet:
self,
foo_get,
foo_set,
set_returns_changer = False,
set_returns_changer=False,
precision=0,
check_interval=None,
cache_get_seconds=None,
unit = None,
unit=None,
name=None,
):
"""assumes a waiting setterin function, in case no check_interval parameter is supplied.
if returns_changer, does not create an additional thread"""
if returns_changer, does not create an additional thread"""
self.alias = Alias(name)
self.name = name
@@ -884,4 +888,4 @@ class NumpyEncoder(json.JSONEncoder):
return float(obj)
elif isinstance(obj, np.ndarray):
return obj.tolist()
return json.JSONEncoder.default(self, obj)
return json.JSONEncoder.default(self, obj)
eco/elements/assembly.py
+4 -2
View File
@@ -160,8 +160,7 @@ class Assembly:
self.view_toplevel_only.append(self.__dict__[name])
def get_status(
self, base="self", verbose=True, print_times=False, channeltypes=None
):
self, base="self", verbose=True, print_times=False, channeltypes=None,print_name=False):
if base == "self":
base = self
settings = {}
@@ -177,6 +176,9 @@ class Assembly:
transient=True,
description="Reading settings ...",
):
if print_name:
print(ts.name)
# if (not (ts is self)) and hasattr(ts, "get_status"):
# tstat = ts.get_status(base=base)
# settings.update(tstat["settings"])
eco/elements/memory.py
+5 -2
View File
@@ -42,6 +42,10 @@ class Memory:
self.dir = Path(self.base_dir) / Path("/".join(reversed(name)))
try:
self.dir.mkdir(exist_ok=True)
try:
self.dir.chmod(0o775)
except:
pass
except:
print("Could not create memory directory")
self._memories = AdjustableFS(
@@ -245,8 +249,7 @@ class Memory:
else:
return changes
def recall_from_runtable(self):
...
def recall_from_runtable(self): ...
def get_memory_difference_str(
self,
eco/endstations/bernina_robots.py
+33 -22
View File
@@ -99,30 +99,38 @@ class StaeubliTx200(Assembly):
print("Loading bernina URDF robot model failed")
### adding JF ###
if robot_config is not None:
if robot_config.jf_id() is not None:
self._append(
Jungfrau,
robot_config.jf_id(),
pgroup_adj=pgroup_adj,
config_adj=jf_config,
name=robot_config.jf_name(),
)
if "JF01" in robot_config.jf_id():
self.config.tool("t_JF01T03")
elif "JF07" in robot_config.jf_id():
self.config.tool("t_JF07T32")
try:
if robot_config.jf_id() is not None:
self._append(
Jungfrau,
robot_config.jf_id(),
pgroup_adj=pgroup_adj,
config_adj=jf_config,
name=robot_config.jf_name(),
)
if "JF01" in robot_config.jf_id():
self.config.tool("t_JF01T03")
elif "JF07" in robot_config.jf_id():
self.config.tool("t_JF07T32")
except Exception as e:
print("Adding of JF detector failed with:")
print(e)
if robot_config is not None:
if robot_config.diffcalc():
from ..utilities.recspace import Crystals
self.configuration=["robot", robot_config.goniometer()]
self._append(
Crystals,
diffractometer_you=self,
name="diffcalc",
is_setting=False,
is_display=False,
)
try:
if robot_config.diffcalc():
from ..utilities.recspace import Crystals
self.configuration=["robot", robot_config.goniometer()]
self._append(
Crystals,
diffractometer_you=self,
name="diffcalc",
is_setting=False,
is_display=False,
)
except Exception as e:
print("Adding diffractometer for diffcalc calculation failed with:")
print(e)
def _get_info(self):
d= {k: v for k, v in self._cache.items() if k in self._info_fields}
@@ -205,6 +213,9 @@ class StaeubliTx200(Assembly):
self._set_eval_cmd(f"robot.general_motion(**{kwargs})", stopper=self.abort_record, timeout = 1200, background=False, stopper_msg="Motion aborted by user, resetting all motions.")
######## Utility functions ##########
def restart_server(self):
self.pc.eval(":restart")
def cart2sph(self, x=None, y=None, z=None, return_dict=True):
vals = {k: v for k, v in zip(["x", "y", "z"], [x,y,z]) if not v is None}
return self.get_eval_result(cmd=f"robot.cart2sph(**{vals})")
eco/endstations/bernina_sample_environments.py
+55 -1
View File
@@ -35,6 +35,50 @@ def addSmarActRecordToSelf(self, Id=None, name=None, **kwargs):
self.__dict__[name] = SmaractRecord(Id, name=name, **kwargs)
self.alias.append(self.__dict__[name].alias)
class THzVirtualStages(Assembly):
def __init__(self, name=None, mz=None, pz=None):
super().__init__(name=name)
self._mz = mz
self._pz = pz
self._append(
AdjustableFS,
"/photonics/home/gac-bernina/eco/configuration/p21145_mirr_z0",
name="offset_mirr_z",
default_value=0,
is_setting=True,
)
self._append(
AdjustableFS,
"/photonics/home/gac-bernina/eco/configuration/p21145_par_z0",
name="offset_par_z",
default_value=0,
is_setting=True,
)
def get_focus_z(mz, pz):
return pz - self.offset_par_z()
def set_focus_z(z):
mz = self.offset_mirr_z() + z
pz = self.offset_par_z() + z
return mz, pz
self._append(
AdjustableVirtual,
[mz, pz],
get_focus_z,
set_focus_z,
name="focus_virtual",
)
def set_offsets_to_current_value(self):
self.offset_mirr_z.mv(self._mz())
self.offset_par_z.mv(self._pz())
class High_field_thz_chamber(Assembly):
def __init__(self, name=None, alias_namespace=None, configuration=[], illumination_mpod = None, helium_control_valve=None):
super().__init__(name=name)
@@ -199,6 +243,13 @@ class High_field_thz_chamber(Assembly):
self.home_smaract_stages_cube = home_smaract_stages_cube
self.set_stage_config_cube = set_stage_config_cube
### Virtual stages ###
self._append(
THzVirtualStages,
name="virtual_stages",
mz=self.inc_z,
pz = self.z,
is_setting=False)
if "ocb" in configuration:
pass
@@ -483,12 +534,15 @@ class Organic_crystal_breadboard(Assembly):
"pvname": "SLAAR21-LMOT-ELL1",
},
"waveplate_ir": {
"pvname": "SLAAR21-LMOT-ELL5",
},
"eos_block": {
"pvname": "SLAAR21-LMOT-ELL2",
},
"crystal": {
"pvname": "SLAAR21-LMOT-ELL3",
},
"waveplate_thz": {
"thz_filter": {
"pvname": "SLAAR21-LMOT-ELL4",
},
}
eco/fel/swissfel.py
+7
View File
@@ -235,6 +235,13 @@ class MessageBoard(Assembly):
is_setting=True,
)
self._append(Message, "SF-OP:ESB-MSG", name="bernina_message", is_setting=True)
self._append(
AdjustablePvEnum,
"SF-OP:ESC-MSG:STATUS",
name="cristallina_status",
is_setting=True,
)
self._append(Message, "SF-OP:ESC-MSG", name="cristallina_message", is_setting=True)
self._append(
AdjustablePvEnum,
"SF-OP:ESE-MSG:STATUS",
eco/loptics/bernina_laser.py
+23 -1
View File
@@ -1,7 +1,7 @@
from eco.loptics.position_monitors import CameraPositionMonitor
from ..elements.assembly import Assembly
from functools import partial
from ..devices_general.motors import SmaractStreamdevice, MotorRecord, SmaractRecord
from ..devices_general.motors import SmaractStreamdevice, MotorRecord, SmaractRecord, ThorlabsPiezoRecord
from ..elements.adjustable import AdjustableMemory, AdjustableVirtual, AdjustableFS
from ..epics.adjustable import AdjustablePv, AdjustablePvEnum
from ..epics.detector import DetectorPvData
@@ -297,6 +297,28 @@ class LaserBernina(Assembly):
self._append(
MotorRecord, self.pvname + "-M534:MOT", name="wp_att", is_setting=True
)
try:
self.motor_configuration_thorlabs = {
"waveplate_lambda_half": {
"pvname": "SLAAR21-LMOT-ELL3",
},
"waveplate_lambda_fourth": {
"pvname": "SLAAR21-LMOT-ELL4",
},
}
### thorlabs piezo motors ###
for name, config in self.motor_configuration_thorlabs.items():
self._append(
ThorlabsPiezoRecord,
pvname=config["pvname"],
name=name,
is_setting=True,
)
except Exception as e:
print(e)
######## Implementation segmented ND filter wheel in rotation stage #########
eco/timing/timing_diag.py
+77 -4
View File
@@ -1,4 +1,5 @@
from eco.detector.detectors_psi import DetectorBsStream
from eco.epics.detector import DetectorPvDataStream
from eco.devices_general.pipelines_swissfel import Pipeline
from eco.devices_general.spectrometers import SpectrometerAndor
from eco.microscopes.microscopes import FeturaPlusZoom
@@ -13,9 +14,10 @@ import datetime
from pint import UnitRegistry
from time import sleep
from ..xdiagnostics.profile_monitors import Target_xyz
from eco.xdiagnostics.intensity_monitors import CalibrationRecord
from .timetool_online_helper import TtProcessor
import numpy as np
import pylab as plt
# from time import sleep
ureg = UnitRegistry()
@@ -162,7 +164,27 @@ class TimetoolBerninaUSD(Assembly):
accuracy=10,
is_setting=True,
)
self._append(
DetectorPvDataStream,
"SLAAR21-GEN:SPECTT",
name="edge_position_px",
is_setting=False,
is_display=True,
)
self._append(
DetectorPvDataStream,
"SLAAR21-LTIM01-EVR0:CALCI",
name="edge_position_fs",
is_setting=False,
is_display=True,
)
self._append(
CalibrationRecord,
pvbase="SLAAR21-LTIM01-EVR0:CALCI",
name="calibration",
is_setting=True,
is_display=False,
)
self._append(
DetectorBsStream,
"SARES20-CAMS142-M5.roi_signal_x_profile",
@@ -202,6 +224,57 @@ class TimetoolBerninaUSD(Assembly):
print(f"Andor spectrometer initialization failed with: \n{e}")
def get_calibration_values(self, seconds=5, scan_range=1.5e-12, plot=False):
t0 = self.delay()
x = np.linspace(t0-scan_range / 2, t0+scan_range / 2, 25)
y = []
if plot:
plt.ion()
plt.close("tt_calib")
fig = plt.figure("tt_calib")
line = plt.plot(0,0)[0]
plt.show()
try:
for pos in x:
print(f"Moving to {pos*1e15} fs")
self.delay.set_target_value(pos).wait()
y.append(np.mean(self.edge_position_px.acquire(seconds=seconds).wait()))
if plot:
line.set_data(x[:len(y)],y)
fig.canvas.draw()
except Exception as e:
print(e)
print(f"Moving back to inital value of {t0}")
self.delay.set_target_value(t0)
p = np.polynomial.Polynomial.fit(y,x,2).coef
if plot:
fit = plt.plot(np.polyval(p,y),y, label=p)
plt.legend()
print(f"Fit results c0 + c1*px + c2*px^2:\n{p}")
print(f"Moving back to inital value of {t0}")
self.delay.set_target_value(t0)
return p
def set_calibration_values(self, c):
self.calibration.const_E.set_target_value(c[0])
self.calibration.const_F.set_target_value(c[1])
self.calibration.const_G.set_target_value(c[2])
def calibrate(self, seconds=5, scan_range=1.5e-12, plot=True):
t0 = self.delay()
if abs(t0) > 50e-15:
ans = ""
while not any([a in ans for a in ["y", "n"]]):
try:
ans = input(f"Timetool delay stage is at {t0*1e15} fs. Continue the calibration (y/n)?")
except:
continue
if ans == "n":
return
p = self.get_calibration_values(seconds=seconds, scan_range=scan_range, plot=plot)
self.set_calibration_values(p*1e15)
def get_online_data(self):
self.online_monitor = TtProcessor()
@@ -451,4 +524,4 @@ class TimetoolSpatial(Assembly):
# fig = plt.figure("bsen spectrometer pattern")
# fig.clf()
# ax = fig.add_subplot(111)
# ax.imshow(im)
# ax.imshow(im)
eco/utilities/elog_scilog.py
+8 -2
View File
@@ -34,8 +34,14 @@ def getDefaultElogInstance(
if pgroup:
lbs = log.get_logbooks(ownerGroup=pgroup)
if len(lbs) > 1:
raise Exception(f"Found more than one elog for user group {pgroup}")
log.select_logbook(lbs[0])
print(f"Found more than one elog for user group {pgroup}")
for lb in lbs:
creater = lb.createdBy
if creater == 'scilog-admin@psi.ch':
log.select_logbook(lb)
print(f"Choosing default logbook created by 'scilog-admin@psi.ch'")
else:
log.select_logbook(lbs[0])
return log, user
eco/utilities/rt_bak.py
+4
View File
@@ -219,6 +219,10 @@ class Run_Table:
f"Path {data_dir.absolute().as_posix()} does not exist, will try to create it..."
)
data_dir.mkdir(parents=True)
try:
data_dir.chmod(0o775)
except:
pass
print(f"Tried to create {data_dir.absolute().as_posix()}")
data_dir.chmod(0o775)
print(f"Tried to change permissions to 775")
eco/utilities/runtable.py
+84 -40
View File
@@ -6,6 +6,7 @@ from ..elements.adjustable import AdjustableFS
from ..elements.memory import Memory
from subprocess import call
from eco.utilities.config import Proxy
warnings.simplefilter(action="ignore", category=pd.errors.PerformanceWarning)
warnings.simplefilter(action="ignore", category=UserWarning)
import timeit
@@ -76,7 +77,7 @@ class Gsheet_API:
def _append_to_gspread_key_df(self, gspread_key_df):
if os.path.exists(self._keydf_fname):
self._key_df = pd.read_pickle(self._keydf_fname)
#deprecated: self._key_df = self._key_df.append(gspread_key_df)
# deprecated: self._key_df = self._key_df.append(gspread_key_df)
self._key_df = pd.concat([self._key_df, gspread_key_df])
self._key_df.to_pickle(self._keydf_fname)
else:
@@ -191,7 +192,8 @@ class Container:
def _create_lazy_container(self, n):
def cr():
return Container(df = self._df, name=self._top_level_name + n + ".")
return Container(df=self._df, name=self._top_level_name + n + ".")
return cr
def _create_first_level_container(self, names, lazy=True):
@@ -199,7 +201,9 @@ class Container:
if lazy:
self.__dict__[n] = Proxy(self._create_lazy_container(n))
else:
self.__dict__[n] = Container(self._df, name=self._top_level_name + n + ".")
self.__dict__[n] = Container(
self._df, name=self._top_level_name + n + "."
)
def to_dataframe(self, full_name=True, next_level=False):
df = self._slice_df()
@@ -244,7 +248,6 @@ class Container:
src = src.append(sr)
return src
def __dir__(self):
next_level_names = self._get_next_level_names()
to_create = np.array(
@@ -330,6 +333,7 @@ class Run_Table2:
def to_dataframe(self):
return DataFrame(self._data)
###### diagnostic and convencience functions ######
def run_table_from_other_pgroup(self, pgroup):
@@ -339,10 +343,14 @@ class Run_Table2:
usage: run_table_pxxx = run_table.run_table_from_other_pgroup('pxxx')
"""
return Run_Table2(data=f'/sf/bernina/data/{pgroup}/res/run_table/{pgroup}_runtable.pkl')
return Run_Table2(
data=f"/sf/bernina/data/{pgroup}/res/run_table/{pgroup}_runtable.pkl"
)
def check_timeouts(self, include_bad_adjustables=True, plot=True, repeats=1):
return self._data.check_timeouts(include_bad_adjustables=include_bad_adjustables, plot=plot, repeats=repeats)
return self._data.check_timeouts(
include_bad_adjustables=include_bad_adjustables, plot=plot, repeats=repeats
)
def _reduce_df(
self,
@@ -374,10 +382,11 @@ class Run_Table2:
def _create_lazy_container(self, dev):
def cr():
return Container(df=self._data, name=dev + ".")
return cr
def __dir__(self):
lazy=True
lazy = True
devs = np.unique(np.array([n.split(".")[0] for n in self._data.columns]))
for dev in devs:
if dev not in self.__dict__.keys():
@@ -404,7 +413,9 @@ class Run_Table2:
return self.__str__()
def check_timeouts(self, include_bad_adjustables=True, plot=True, repeats=1):
return self._data.check_timeouts(include_bad_adjustables=include_bad_adjustables, plot=plot, repeats=repeats)
return self._data.check_timeouts(
include_bad_adjustables=include_bad_adjustables, plot=plot, repeats=repeats
)
class Run_Table_DataFrame(DataFrame):
@@ -484,17 +495,17 @@ class Run_Table_DataFrame(DataFrame):
if os.path.exists(self.fname):
self.df = pd.read_pickle(self.fname)
def _append_run(
self,
runno,
wait=True,
*args,
**kwargs
):
def _append_run(self, runno, wait=True, *args, **kwargs):
if wait:
self._append_run(runno, *args, **kwargs)
else:
ar = threading.Thread(target=self.append_run, args=[runno,], kwargs=kwargs)
ar = threading.Thread(
target=self.append_run,
args=[
runno,
],
kwargs=kwargs,
)
ar.start()
def append_run(
@@ -520,13 +531,15 @@ class Run_Table_DataFrame(DataFrame):
multiindex = pd.MultiIndex.from_tuples(
[(dev, adj) for dev in dat.keys() for adj in dat[dev].keys()], names=names
)
values = np.array([val for adjs in dat.values() for val in adjs.values()], dtype=object)
values = np.array(
[val for adjs in dat.values() for val in adjs.values()], dtype=object
)
index = np.array(
[f"{dev}.{adj}" for dev, adjs in dat.items() for adj in adjs.keys()]
)
# run_df = DataFrame([values], columns=multiindex, index=[runno])
run_df = DataFrame([values], columns=index, index=[runno])
#deprecated: self.df = self.append(run_df)
# deprecated: self.df = self.append(run_df)
self.df = pd.concat([self.df, run_df])
self._remove_duplicates()
@@ -549,15 +562,17 @@ class Run_Table_DataFrame(DataFrame):
multiindex = pd.MultiIndex.from_tuples(
[(dev, adj) for dev in dat.keys() for adj in dat[dev].keys()], names=names
)
values = np.array([val for adjs in dat.values() for val in adjs.values()], dtype=object)
values = np.array(
[val for adjs in dat.values() for val in adjs.values()], dtype=object
)
index = np.array(
[f"{dev}.{adj}" for dev, adjs in dat.items() for adj in adjs.keys()]
)
# pos_df = DataFrame([values], columns=multiindex, index=[f"p{posno}"])
pos_df = DataFrame([values], columns=index, index=[f"p{posno}"])
#deprecated: self.df = self.append(pos_df)
self.df = pd.concat([self.df,pos_df])
# deprecated: self.df = self.append(pos_df)
self.df = pd.concat([self.df, pos_df])
self._remove_duplicates()
# self.order_df()
self.save()
@@ -572,9 +587,9 @@ class Run_Table_DataFrame(DataFrame):
dat[devname] = {}
bad_adjs = []
for adjname, adj in dev.items():
if f'{devname}.{adjname}' in d.keys():
dat[devname][adjname] = d[f'{devname}.{adjname}']
print(f'{devname}.{adjname}')
if f"{devname}.{adjname}" in d.keys():
dat[devname][adjname] = d[f"{devname}.{adjname}"]
print(f"{devname}.{adjname}")
continue
try:
dat[devname][adjname] = adj.get_current_value()
@@ -592,7 +607,12 @@ class Run_Table_DataFrame(DataFrame):
else:
dat = {
devname: {
adjname: d[f'{devname}.{adjname}'] if f'{devname}.{adjname}' in d.keys() else adj.get_current_value() for adjname, adj in dev.items()
adjname: (
d[f"{devname}.{adjname}"]
if f"{devname}.{adjname}" in d.keys()
else adj.get_current_value()
)
for adjname, adj in dev.items()
}
for devname, dev in self.good_adjustables.items()
}
@@ -649,8 +669,8 @@ class Run_Table_DataFrame(DataFrame):
if parent_name == device.name:
self.adjustables[parent_name][key] = value
else:
#print("GET ADJ", parent_name, name, key)
# print("GET ADJ", parent_name, name, key)
self.adjustables[parent_name][".".join([name, key])] = value
if parent_name == device.name:
@@ -662,14 +682,15 @@ class Run_Table_DataFrame(DataFrame):
):
if parent_name is None:
parent_name = own_name
self._get_all_adjustables_fewerparents(parent_class, adj_prefix, parent_name, verbose=verbose)
self._get_all_adjustables_fewerparents(
parent_class, adj_prefix, parent_name, verbose=verbose
)
if parent_name is not parent_class.name:
if adj_prefix is not None:
adj_prefix = ".".join([adj_prefix, parent_class.name])
else:
adj_prefix = parent_class.name
sub_classes = []
sub_classnames = []
for key in parent_class.__dict__.keys():
@@ -688,10 +709,14 @@ class Run_Table_DataFrame(DataFrame):
for s in self._parse_exclude_class_types
]
),
]
):
if adj_prefix is None or ~np.any([key == s for s in ".".join([parent_name,adj_prefix]).split(".")]):
if adj_prefix is None or ~np.any(
[
key == s
for s in ".".join([parent_name, adj_prefix]).split(".")
]
):
if s_class.name == None:
s_class.name = key
sub_classes.append(s_class)
@@ -850,49 +875,68 @@ class Run_Table_DataFrame(DataFrame):
devs = [item[0] for item in list(self.columns)]
self.df = self[self._orderlist(list(self.columns), key_order, orderlist=devs)]
#### diagnostic and convenience functions ####
def check_timeouts(self, include_bad_adjustables=True, repeats=1, plot=True, verbose=True):
def check_timeouts(
self, include_bad_adjustables=True, repeats=1, plot=True, verbose=True
):
if len(self.adjustables) == 0:
self._parse_parent_fewerparents(verbose=verbose)
ts = []
devs=[]
devs = []
def get_dev_adjs(dev):
for k, adj in dev.items():
val = adj.get_current_value()
for k, dev in self.good_adjustables.items():
def func(dev=dev):
return get_dev_adjs(dev)
t = timeit.timeit(func, number=repeats)
ts.append(float(t))
devs.append(k)
print(k, t)
idx = np.argsort(ts)
self.times = [np.array(devs)[idx], np.array(ts)[idx]]
print('recorded adjustable results stored in run_table._data.times')
print("recorded adjustable results stored in run_table._data.times")
if include_bad_adjustables:
for k, dev in self.bad_adjustables.items():
def func(dev=dev):
return get_dev_adjs(dev)
t = timeit.timeit(func, number=repeats)
ts.append(float(t))
devs.append(k)
print(k, t)
idx = np.argsort(ts)
print('rejected timed out adjustable results stored in run_table._data.times_rejected')
print(
"rejected timed out adjustable results stored in run_table._data.times_rejected"
)
self.times_rejected = [np.array(devs)[idx], np.array(ts)[idx]]
if plot:
import pylab as plt
fig, ax = plt.subplots(1)
if include_bad_adjustables:
plt.barh(self.times_rejected[0], self.times_rejected[1], color='red', label='rejected adjustables')
plt.barh(self.times[0], self.times[1], label='recorded adjustables', color='seagreen')
plt.xlabel('time (s)')
plt.barh(
self.times_rejected[0],
self.times_rejected[1],
color="red",
label="rejected adjustables",
)
plt.barh(
self.times[0],
self.times[1],
label="recorded adjustables",
color="seagreen",
)
plt.xlabel("time (s)")
plt.legend()
def name2obj(obj_parent, name, delimiter="."):
if type(name) is str:
name = name.split(delimiter)
eco/xoptics/att_usd.py
+13 -10
View File
@@ -235,13 +235,14 @@ class Att_usd(Assembly):
sleep(0.5)
mot.calibrate_sensor(1)
def home_smaract_stages(self, stages=None):
if stages == None:
stages = self.motor_configuration.keys()
def home_smaract_stages(self, motor_configuration=None):
if motor_configuration == None:
motor_configuration= self.motor_configuration
stages = motor_configuration.keys()
print("#### Positions before homing ####")
print(self.__repr__())
for name in stages:
config = self.motor_configuration[name]
config = motor_configuration[name]
mot = self.__dict__[name]
print(
"#### Homing {} in {} direction ####".format(
@@ -250,25 +251,27 @@ class Att_usd(Assembly):
)
sleep(1)
if config["home_direction"] == "back":
mot.home_backward(1)
while mot.status_channel().value == 7:
mot.home_reverse(1)
sleep(.5)
while not mot.flags.motion_complete():
sleep(1)
if mot.is_homed() == 0:
if not mot.flags.is_homed():
print(
"Homing failed, try homing {} in forward direction".format(name)
)
mot.home_forward(1)
elif config["home_direction"] == "forward":
mot.home_forward(1)
while mot.status_channel().value == 7:
sleep(.5)
while not mot.flags.motion_complete():
sleep(1)
if mot.is_homed() == 0:
if not mot.flags.is_homed():
print(
"Homing failed, try homing {} in backward direction".format(
name
)
)
mot.home_backward(1)
mot.home_reverse(1)
def get_adjustable_positions_str(self):
ostr = "*****att_usd target position******\n"
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