first commit, getting lamni running and adding some missing features in controller rt and galil

csaxs_bec/bec_ipython_client/plugins/LamNI/lamni_optics_mixin.py

@@ -6,6 +6,8 @@ from rich.console import Console
 from rich.table import Table
 
 from csaxs_bec.bec_ipython_client.plugins.cSAXS import epics_put, fshclose
+from csaxs_bec.bec_ipython_client.plugins.omny.omny_general_tools import OMNYTools
+
 
 # import builtins to avoid linter errors
 dev = builtins.__dict__.get("dev")
@@ -18,25 +20,32 @@ class LamNIInitError(Exception):
 
 
 class LaMNIInitStagesMixin:
+    def __init__(self, client):
+        super().__init__()
+        self.client = client
+        self.OMNYTools = OMNYTools(self.client)
+
     def lamni_init_stages(self):
-        user_input = input("Starting initialization of LamNI stages. OK? [y/n]")
-        if user_input == "y":
+
+        if self.OMNYTools.yesno("Start initialization of LamNI stages. OK?"):
             print("staring...")
             dev.lsamrot.enabled = True
         else:
             return
 
+
+
+
         if self.check_all_axes_of_lamni_referenced():
-            user_input = input("Continue anyways? [y/n]")
-            if user_input == "y":
+            if self.OMNYTools.yesno("All axes are referenced. Continue anyways?"):
                 print("ok then...")
             else:
                 return
 
         axis_id_lsamrot = dev.lsamrot._config["deviceConfig"].get("axis_Id")
         if dev.lsamrot.controller.get_motor_limit_switch(axis_id_lsamrot)[1] == False:
-            user_input = input("The rotation stage will be moved to one limit [y/n]")
-            if user_input == "y":
+
+            if self.OMNYTools.yesno("The rotation stage will be moved to one limit"):
                 print("starting...")
             else:
                 return
@@ -47,10 +56,7 @@ class LaMNIInitStagesMixin:
             print("The controller will be disabled in bec. To enable dev.lsamrot.enabled=True")
             return
 
-        user_input = input(
-            "Init of loptz. Can the stage move to the upstream limit without collision?? [y/n]"
-        )
-        if user_input == "y":
+        if self.OMNYTools.yesno("Init of loptz. Can the stage move to the upstream limit without collision?"):
             print("ok then...")
         else:
             return
@@ -81,8 +87,7 @@ class LaMNIInitStagesMixin:
         time.sleep(0.1)
         self.find_reference_mark(dev.lsamrot)
 
-        user_input = input("Init of leye. Can the stage move to -x limit without collision? [y/n]")
-        if user_input == "y":
+        if self.OMNYTools.yesno("Init of leye. Can the stage move to -x limit without collision?"):
             print("starting...")
         else:
             return
@@ -134,8 +139,7 @@ class LaMNIInitStagesMixin:
         return ord(axis_id.lower()) - 97
 
     def _align_setup(self):
-        user_input = input("Start moving stages to default initial positions? [y/n]")
-        if user_input == "y":
+        if self.OMNYTools.yesno("Start moving stages to default initial positions?"):
             print("Start moving stages...")
         else:
             print("Stopping.")

csaxs_bec/bec_ipython_client/plugins/LamNI/x_ray_eye_align.py

@@ -15,6 +15,7 @@ from bec_lib.pdf_writer import PDFWriter
 from typeguard import typechecked
 
 from csaxs_bec.bec_ipython_client.plugins.cSAXS import epics_get, epics_put, fshopen
+from csaxs_bec.bec_ipython_client.plugins.omny.omny_general_tools import OMNYTools
 
 from .lamni_optics_mixin import LaMNIInitStagesMixin, LamNIOpticsMixin
 
@@ -511,7 +512,7 @@ class LamNI(LamNIOpticsMixin):
         super().__init__()
         self.client = client
         self.align = XrayEyeAlign(client, self)
-        self.init = LaMNIInitStagesMixin()
+        self.init = LaMNIInitStagesMixin(client)
         self.check_shutter = True
         self.check_light_available = True
         self.check_fofb = True
@@ -524,6 +525,7 @@ class LamNI(LamNIOpticsMixin):
         self._beam_is_okay = True
         self._stop_beam_check_event = None
         self.beam_check_thread = None
+        self.OMNYTools = OMNYTools(self.client)
 
     def get_beamline_checks_enabled(self):
         print(

csaxs_bec/bec_ipython_client/plugins/flomni/flomni.py

@@ -35,32 +35,32 @@ class FlomniInitError(Exception):
 class FlomniError(Exception):
     pass
 
-class FlomniTools:
-    def yesno(self, message: str, default="none", autoconfirm=0) -> bool:
-        if autoconfirm and default == "y":
-            self.printgreen(message + " Automatically confirming default: yes")
-            return True
-        elif autoconfirm and default == "n":
-            self.printgreen(message + " Automatically confirming default: no")
-            return False
-        if default == "y":
-            message_ending = " [Y]/n? "
-        elif default == "n":
-            message_ending = " y/[N]? "
-        else:
-            message_ending = " y/n? "
-        while True:
-            user_input = input(self.OKBLUE + message + message_ending + self.ENDC)
-            if (
-                user_input == "Y" or user_input == "y" or user_input == "yes" or user_input == "Yes"
-            ) or (default == "y" and user_input == ""):
-                return True
-            if (
-                user_input == "N" or user_input == "n" or user_input == "no" or user_input == "No"
-            ) or (default == "n" and user_input == ""):
-                return False
-            else:
-                print("Please expicitely confirm y or n.")
+# class FlomniTools:
+#     def yesno(self, message: str, default="none", autoconfirm=0) -> bool:
+#         if autoconfirm and default == "y":
+#             self.printgreen(message + " Automatically confirming default: yes")
+#             return True
+#         elif autoconfirm and default == "n":
+#             self.printgreen(message + " Automatically confirming default: no")
+#             return False
+#         if default == "y":
+#             message_ending = " [Y]/n? "
+#         elif default == "n":
+#             message_ending = " y/[N]? "
+#         else:
+#             message_ending = " y/n? "
+#         while True:
+#             user_input = input(self.OKBLUE + message + message_ending + self.ENDC)
+#             if (
+#                 user_input == "Y" or user_input == "y" or user_input == "yes" or user_input == "Yes"
+#             ) or (default == "y" and user_input == ""):
+#                 return True
+#             if (
+#                 user_input == "N" or user_input == "n" or user_input == "no" or user_input == "No"
+#             ) or (default == "n" and user_input == ""):
+#                 return False
+#             else:
+#                 print("Please expicitely confirm y or n.")
 
 
 

csaxs_bec/devices/omny/galil/lgalil_ophyd.py

@@ -25,6 +25,34 @@ logger = bec_logger.logger
 
 
 class LamniGalilController(GalilController):
+
+
+    # ============================================================
+    # Error status
+    # ============================================================
+
+    caperr_bits = {
+        0x01: "Cap1 outside expected left-stop range (early check)",
+        0x02: "Cap2 outside expected left-stop range (early check)",
+        0x04: "Cap1 too low during pressure-off check (near right boundary)",
+        0x08: "Cap2 too low during pressure-off check (near right boundary)",
+        0x10: "Cap1 exceeded allowed left-stop boundary during movement",
+        0x20: "Cap2 exceeded allowed left-stop boundary during movement (disabled in code)",
+        0x40: "Cap1 did not respond to test movement",
+        0x80: "Cap2 did not respond to test movement"
+    }
+
+    allaxrer_table = {
+        1: "Not all axes referenced after reference search",
+        2: "Pressure-loss emergency stop (pressure 14/15 active while motor C off)",
+        3: "Unexpected pressure OFF while soft-limits not yet set",
+        4: "Pressure valve mismatch (OUT13=0 but IN13=1)",
+        5: "Capacitive sensor boundary violations (caperr > 0)",
+        6: "Emergency Stop triggered (IN[5]=0)",
+        7: "Following error detected on one or more axes"
+    }
+
+
     USER_ACCESS = [
         "describe",
         "show_running_threads",
@@ -37,6 +65,8 @@ class LamniGalilController(GalilController):
         "get_motor_limit_switch",
         "is_motor_on",
         "all_axes_referenced",
+        "lamni_lights_off",
+        "lamni_lights_on"
     ]
 
     def show_status_other(self):
@@ -60,6 +90,47 @@ class LamniGalilController(GalilController):
             print("There is air pressure at the outer rotation radial.")
         swver = float(self.socket_put_and_receive("MGswver"))
         print(f"Lgalil LAMNI firmware version {swver:2.0f}.")
+        allaxref = int(float(self.socket_put_and_receive("MGallaxref")))
+        print(f"Error statuts:")
+        if allaxref == 1:
+            print(f"Allaxref = 1, all OK.")
+        else:
+            print(f"Allaxref = {allaxref}. Not all axes are referenced or error introduced preventing motion.")
+            allaxrer = int(float(self.socket_put_and_receive("MGallaxrer")))
+            print("\nallaxrer =", allaxrer)
+            print(self.decode_allaxrer(allaxrer))
+            caperr = int(float(self.socket_put_and_receive("MGcaperr")))
+            print("\nDecoding caperr =", caperr)
+            self.visualize_caperr(caperr)
+
+    def decode_allaxrer(self, code: int) -> str:
+        """Return human-readable meaning of allaxrer code."""
+        return self.allaxrer_table.get(code, "Unknown allaxrer code")
+
+    def visualize_caperr(self, mask: int):
+        """Pretty-print a bitmask visualization for caperr."""
+        print("\n=== CAPERR BITMASK VISUALIZER ===")
+        print(f"Raw value: {mask}   (0x{mask:02X})")
+        print("----------------------------------\n")
+
+        print("Bit | Hex  | Active | Meaning")
+        print("----------------------------------")
+
+        for bit, meaning in self.caperr_bits.items():
+            active = "YES" if mask & bit else "no"
+            print(f"{bit:3d} | 0x{bit:02X} | {active:6} | {meaning}")
+
+        print("\nActive flags:")
+        active_flags = [meaning for bit, meaning in self.caperr_bits.items() if mask & bit]
+
+        if active_flags:
+            for f in active_flags:
+                print("  ✓", f)
+        else:
+            print("  (none)")
+
+        print("\n==================================\n")
+
 
     def lamni_lights_off(self):
         self.socket_put_confirmed("SB1")
@@ -93,7 +164,7 @@ class LamniGalilReadbackSignal(GalilSignalRO):
         val = super().read()
         if self.parent.axis_Id_numeric == 2:
             try:
-                rt = self.parent.device_manager.devices[self.parent.rtx]
+                rt = self.parent.device_manager.devices[self.parent.rt]
                 if rt.enabled:
                     rt.obj.controller.set_rotation_angle(val[self.parent.name]["value"])
             except KeyError:
@@ -147,7 +218,7 @@ class LamniGalilMotor(Device, PositionerBase):
             raise BECConfigError(
                 "device_mapping has been specified but the device_manager cannot be accessed."
             )
-        self.rt = self.device_mapping.get("rt")
+        self.rt = self.device_mapping.get("rt", "rtx")
 
         super().__init__(
             prefix,

csaxs_bec/devices/omny/rt/rt_lamni_ophyd.py

@@ -11,6 +11,7 @@ from ophyd.status import wait as status_wait
 from ophyd.utils import LimitError, ReadOnlyError
 from ophyd_devices.utils.controller import Controller, threadlocked
 from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
+from prettytable import PrettyTable
 
 from csaxs_bec.devices.omny.rt.rt_ophyd import RtCommunicationError, RtError
 
@@ -51,6 +52,7 @@ class RtLamniController(Controller):
     _axes_per_controller = 3
     USER_ACCESS = [
         "socket_put_and_receive",
+        "socket_put",
         "set_rotation_angle",
         "feedback_disable",
         "feedback_enable_without_reset",
@@ -62,6 +64,11 @@ class RtLamniController(Controller):
         "_set_axis_velocity_maximum_speed",
         "_position_sampling_single_read",
         "_position_sampling_single_reset_and_start_sampling",
+        "show_signal_strength_interferometer",
+        "show_interferometer_positions",
+        "show_analog_signals",
+        "show_feedback_status",
+
     ]
 
     def __init__(
@@ -208,8 +215,9 @@ class RtLamniController(Controller):
 
     @threadlocked
     def start_scan(self):
-        interferometer_feedback_not_running = int((self.socket_put_and_receive("J2")).split(",")[0])
-        if interferometer_feedback_not_running == 1:
+        # interferometer_feedback_not_running = int((self.socket_put_and_receive("J2")).split(",")[0])
+        # if interferometer_feedback_not_running == 1:
+        if not self.feedback_is_running():    
             logger.error(
                 "Cannot start scan because feedback loop is not running or there is an interferometer error."
             )
@@ -270,6 +278,44 @@ class RtLamniController(Controller):
             "average_lamni_angle": {"value": self.average_lamni_angle / (int(return_table[0]) + 1)},
         }
         return signals
+    
+    def feedback_is_running(self) -> bool:
+        status = int(float((self.socket_put_and_receive("J2")).split(",")[0]))
+        return status == 0  # 0 means running, 1 means error/disabled
+
+    def show_feedback_status(self):
+        if self.feedback_is_running():
+            print("Loop is running, no error on interferometer.")
+        else:
+            print("Loop is not running, either it is turned off or an interferometer error occurred.")
+
+
+    def show_analog_signals(self) -> dict:
+        self.socket_put("As")  # start sampling
+        time.sleep(0.01)
+        return_table = (self.socket_put_and_receive("Ar")).split(",")
+        
+        number_of_samples = int(float(return_table[0]))
+        signals = {
+            "number_of_samples":    number_of_samples,
+            "piezo_0":              float(return_table[1]),
+            "piezo_1":              float(return_table[2]),
+            "cap_0":                float(return_table[3]),
+            "cap_1":                float(return_table[4]),
+            "cap_2":                float(return_table[5]),
+            "cap_3":                float(return_table[6]),
+            "cap_4":                float(return_table[7]),
+        }
+
+        t = PrettyTable()
+        t.title = f"LamNI Analog Signals ({number_of_samples} samples)"
+        t.field_names = ["Signal", "Value"]
+        for key, val in signals.items():
+            if key != "number_of_samples":
+                t.add_row([key, f"{val:.4f}"])
+        print(t)
+
+        return signals
 
     def read_positions_from_sampler(self):
         # this was for reading after the scan completed
@@ -347,6 +393,48 @@ class RtLamniController(Controller):
         )
         return bool(return_table[0])
 
+    def show_signal_strength_interferometer(self):
+        # trigger SSI averaging before reading
+        self.socket_put("J3")
+        time.sleep(0.05)
+        return_table = (self.socket_put_and_receive("J2")).split(",")
+        ssi_0 = float(return_table[1])
+        ssi_1 = float(return_table[2])
+
+        return_table_angle = (self.socket_put_and_receive("J7")).split(",")
+        angle_running = bool(int(float(return_table_angle[0])))
+        angle_position = float(return_table_angle[1])
+        angle_signal = float(return_table_angle[2])
+
+        t = PrettyTable()
+        t.title = "Interferometer signal strength"
+        t.field_names = ["Axis", "Description", "Value", "Running"]
+        t.add_row([0, "ST FZP horizontal",   ssi_0,        "-"])
+        t.add_row([1, "ST FZP vertical",     ssi_1,        "-"])
+        t.add_row([2, "Angle interferometer", angle_signal, angle_running])
+        print(t)
+
+        if angle_running:
+            print(f"Angle interferometer position: {angle_position:.4f} um")
+        else:
+            print("Warning: angle interferometer is not running.")
+
+    def show_interferometer_positions(self) -> dict:
+        return_table = (self.socket_put_and_receive("J4")).split(",")
+        loop_status = bool(int(float(return_table[0])))
+        pos_y = float(return_table[1])
+        pos_x = float(return_table[2])
+
+        t = PrettyTable()
+        t.title = "LamNI Interferometer Positions"
+        t.field_names = ["Axis", "Description", "Position (um)"]
+        t.add_row([0, "X", f"{pos_x:.4f}"])
+        t.add_row([1, "Y", f"{pos_y:.4f}"])
+        print(t)
+        print(f"Feedback loop running: {loop_status}")
+
+        return {"x": pos_x, "y": pos_y, "loop_running": loop_status}    
+
     def feedback_enable_with_reset(self):
         if not self.feedback_status_angle_lamni():
             self.feedback_disable_and_even_reset_lamni_angle_interferometer()