continued with optics alignment and started with sample transfer

csaxs_bec/bec_ipython_client/plugins/omny/omny.py

@@ -426,6 +426,16 @@ class OMNYInitStagesMixin:
         else:
             return False
 
+class OMNYSampleTransferMixin:
+    def _otransfer_gripper_safe_xray_in_operation(self):
+#if(!_ogalil_all_axes_on_all_controllers_are_referenced())
+#{
+#  printf("Not all axes are referenced. Aborting.\n")
+#  exit
+#}
+#_otransfer_gripper_to_park_z
+#}'
+
 
 
 class FlomniSampleTransferMixin:
@@ -1291,6 +1301,17 @@ class OMNY(
         self.special_angles = []
         self.special_angle_repeats = 1
 
+    @property
+    def near_field(self):
+        val = self.client.get_global_var("near_field")
+        if val is None:
+            return False
+        return val
+
+    @near_field.setter
+    def near_field(self, val: bool):
+        self.client.set_global_var("near_field", val)
+
     @property
     def tomo_shellstep(self):
         val = self.client.get_global_var("tomo_shellstep")

csaxs_bec/bec_ipython_client/plugins/omny/omny_optics_mixin.py

@@ -81,131 +81,125 @@ class OMNYOpticsMixin:
             return False
 
     def oeye_xray_in(self):
-        self._otransfer_gripper_safe_xray_in_operation()
-if(!_oshield_is_ST_closed())
-{
-  printf("The shield of the sample stage is not closed. Aborting.\n")
-  exit
-}
+        if self._oeye_xray_is_in():
+            pass
+        else:
+            #todo
+            #            self._otransfer_gripper_safe_xray_in_operation()
+            #if(!_oshield_is_ST_closed())
+            #{
+            #  printf("The shield of the sample stage is not closed. Aborting.\n")
+            #  exit
+            #}
+            omny_oeye_xray_inx = self._get_user_param_safe("oeyex", "xray_in")
+            omny_oeye_xray_iny = self._get_user_param_safe("oeyey", "xray_in")
+            omny_oeye_xray_inz = self._get_user_param_safe("oeyez", "xray_in")
 
-_oeyey_mv _omny_oeye_xray_iny
-if (fabs(A[oeyey]-_omny_oeye_xray_iny)>0.1)
-{
- printf("The oeye did not move up. Aborting.\n")
- exit
-}
-umv oeyex _omny_oeye_xray_inx oeyez -2
-#initial position for the vis light microscope
-#do not open the shield when the microscope is at the vis mic position
-#found eoeyx -45.13, z -84.9, y 0.64 
-#for a samy position of 2.8 with delta off
-#the osa position should be in z around 7.4. in x it seems better
-#around -0.6, where potentially xrays dont pass anymore
-#
-}'
+            self._oeyey_mv(omny_oeye_xray_iny)
+            omny_oeye_currenty = dev.oeyey.get().readback
+            if np.fabs(omny_oeye_currenty-omny_oeye_xray_iny)>0.1:
+                raise OMNYError("The oeye did not move up.\n")
+            umv(dev.oeyex, omny_oeye_xray_inx, dev.oeyez, omny_oeye_xray_inz)
+            
+            #some notes for the vis microscope:
+            #initial position for the vis light microscope
+            #do not open the shield when the microscope is at the vis mic position
+            #found eoeyx -45.13, z -84.9, y 0.64 
+            #for a samy position of 2.8 with delta off
+            #the osa position should be in z around 7.4. in x it seems better
+            #around -0.6, where potentially xrays dont pass anymore
+            #
 
-def _oosa_check_y '{
-if(fabs(A[oosay]-0.9)>0.05)
-  umv oosay 0.9
-if(fabs(A[oosay]-0.9)>0.1)
-{
-  printf("oosay is not around 0.9. Aborting.")
-  exit
-}
-}'
+    def _oosa_check_y(self):
+        omny_oosa_currenty = dev.oosay.get().readback
+        if np.fabs(omny_oosa_currenty-0.9)>0.05:
+            umv(dev.oosay, 0.9)
+        omny_oosa_currenty = dev.oosay.get().readback
+        if np.fabs(omny_oosa_currenty-0.9)>0.05:
+            raise OMNYError("oosay is not around 0.9. Aborting.")
 
-def _oosa_to_move_corridor '{
-_oosa_check_y
-set_lm oosax -3 3.7 #risk collision with shield
-  umv oosax -2
-if(fabs(A[oosax]+2)>0.1)
-{
-  printf("oosax did not reach target position. Not moving in z.\n")
-  exit
-}
-}'
+    def _oosa_to_move_corridor(self):
+        self._oosa_check_y()
+        dev.oosax.limits = [-3, 3.7] #risk collision with shield
+        umv(dev.oosax, -2)
+        dev.oosax.read(cached=False)
+        omny_oosa_currentx = dev.oosax.get().readback
+        if np.fabs(omny_oosa_currentx+2)>0.1:
+            raise OMNYError("oosax did not reach target position. Not moving in z.\n")
 
-def oosa_in '{
-_omnycam_samplestage
-_oosa_check_y
-if(A[oshield]<15)
- _oshield_ST_close
-global near_field
-if(near_field==0){
-  if (A[oosaz]<6.4)
-    _oosa_to_move_corridor
-  set_lm oosaz 6.4 6.6
-  umv oosaz 6.5
-  umv oosax 3.0270-0.005 
-  umv oosay 0.4122
+    def oosa_in(self):
+        #todo _omnycam_samplestage
+        self._oosa_check_y()
+        dev.oshield.read(cached=False)
+        omny_oshield_current = dev.oshield.get().readback
+        if omny_oshield_current<15:
+        #todo _oshield_ST_close
+            print("todo")
+        if self.near_field==False:
+            dev.oosaz.read(cached=False)
+            omny_oosa_currentz = dev.oosaz.get().readback
+            if omny_oosa_currentz<6.4:
+                self._oosa_to_move_corridor()
+            dev.oosaz.limits = [6.4, 6.6]
+            umv(dev.oosaz, 6.5)
+            umv(dev.oosax, 3.022)
+            umv(oosay, 0.4122)
+            #### For the 30 nm FZP 220 um we use this part
+            #  umv oosaz 6.5
+            #  umv oosax 3.2453 
+            #  umv oosay 0.386015
 
-  #### For the 30 nm FZP 220 um we use this part
-#  umv oosaz 6.5
-#  umv oosax 3.2453 
-#  umv oosay 0.386015
+        if self.near_field==True:
+            dev.oosaz.read(cached=False)
+            omny_oosa_currentz = dev.oosaz.get().readback
+            if omny_oosa_currentz>0:
+                self._oosa_to_move_corridor()
+            dev.oosaz.limits = [-0.4, -0.6]
+            umv(dev.oosaz, -0.4452) 
+            umv(dev.oosax, 3.2124-0.008)
+            omny_osamy_current = dev.osamy.get().readback
+            if omny_osamy_current<3.25:
+                umv(dev.oosay, 0.5330-0.002) 
+            else:
+                raise OMNYError("Failed to move oosa in. osamy position is too large.")
+        #todo 
+        # _omny_interferometer_align_tracking
+        # rt_feedback_enable
 
+    def oosa_out(self):
+        #todo: _omnycam_samplestage
+        self._oosa_check_y()
+        dev.oshield.read(cached=False)
+        omny_oshield_current = dev.oshield.get().readback
+        if omny_oshield_current<15:
+            #todo: self._oshield_ST_close()
+            print("todo")
+        omny_oosaz_current = dev.oosaz.get().readback
+        if self.near_field==False:
+            if omny_oosaz_current<6.4:
+                self._oosa_to_move_corridor()
+            dev.oosaz.limits = [6.4, 6.6]
+            umv(dev.oosaz, 6.5)
+            umv(dev.oosax, -2)
+        if self.near_field==True:
+            if omny_oosaz_current>0:
+                self._oosa_to_move_corridor()
+            dev.oosaz.limits = [-0.4, -0.6]
+            umv(dev.oosaz, -0.45)
+            umv(dev.oosax, -2)
+        #todo _omny_interferometer_align_tracking
 
-
-
-}
-if(near_field==1){
-  if (A[oosaz]>0)
-    _oosa_to_move_corridor
-  set_lm oosaz -0.4 -0.6
-  umv oosaz -0.4452 
-  umv oosax 3.2124-0.008
-  if (A[osamy]<3.25)
-    {
-    umv oosay 0.5330-0.002 
-    }
-  else
-    {
-    printf("\n\nFailed to move in oosa. osamy is too large.\n\n\n")
-    exit
-    }
-}
-_omny_interferometer_align_tracking
-rt_feedback_enable
-
-}'
-
-def oosa_out '{
-_omnycam_samplestage
-_oosa_check_y
-if(A[oshield]<15)
- _oshield_ST_close
-global near_field
-if(near_field==0){
-  if (A[oosaz]<6.4)
-   _oosa_to_move_corridor
-  set_lm oosaz 6.4 6.6
-  umv oosaz 6.5
-  umv oosax -2
-}
-if(near_field==1){
-  if (A[oosaz]>0)
-   _oosa_to_move_corridor
-  set_lm oosaz -0.4 -0.6
-  umv oosaz -0.45
-  umv oosax -2
-}
-_omny_interferometer_align_tracking
-}'
-
-def oosa_move_out_of_shield '{
-_omnycam_samplestage
-_oosa_check_y
-#if (A[oosaz]>0.1)
-
-_oosa_to_move_corridor
-if (fabs(A[osamx])>0.2)
- umv osamx 0
-if (A[oosaz] > 0.1)
-{
-  set_lm oosaz -0.1 0.1
-  umv oosaz 0
-}
-}'
+    def oosa_move_out_of_shield(self):
+        #todo: _omnycam_samplestage
+        self._oosa_check_y()
+        self._oosa_to_move_corridor()
+        omny_osamx_current = dev.osamx.get().readback
+        if np.fabs(omny_osamx_current)>0.2:
+            umv(dev.osamx, 0)
+        omny_oosaz_current = dev.oosaz.get().readback
+        if omny_oosaz_current > 0.1:
+            dev.oosaz.limits = [-0.1, 0.1]
+            umv(dev.oosaz, 0)
 
 
 

csaxs_bec/device_configs/omny_config.yaml

@@ -392,7 +392,7 @@ oeyez:
   readOnly: false
   readoutPriority: baseline
   userParameter:
-    in: 0
+    xray_in: -2
 oeyey:
   description: Xray eye Y
   deviceClass: csaxs_bec.devices.omny.galil.ogalil_ophyd.OMNYGalilMotor