continue init script of omny, various mods in galil

csaxs_bec/bec_ipython_client/plugins/omny/omny.py

@@ -129,8 +129,16 @@ class OMNYInitStagesMixin:
             dev.oeyex.limits = [-47, 10]
             dev.oeyez.limits = [-85, 10]
 
+        user_input = input("find reference mark of oeyey?")
+        if user_input == "y":
+            dev.oeyez.drive_axis_to_limit("forward")
+            dev.oeyey.controller.socket_put_confirmed(""indspeed[7]=2000"")
+            dev.oeyey.find_reference()
+            dev.oeyey.limits = [-61, 1]
 
-
+        #ensure closed shuttle and shuttle aligner down
+        if not dev.oshuttleopen.get_motor_limit_switch()[0]:
+            dev.oshuttleopen.drive_axis_to_limit("reverse")
 
 
 

csaxs_bec/devices/omny/galil/fgalil_ophyd.py

@@ -141,7 +141,7 @@ class FlomniGalilAxesReferenced(GalilAxesReferenced):
 
 
 class FlomniGalilMotor(Device, PositionerBase):
-    USER_ACCESS = ["controller"]
+    USER_ACCESS = ["controller", "drive_axis_to_limit"]
     readback = Cpt(FlomniGalilReadbackSignal, signal_name="readback", kind="hinted")
     user_setpoint = Cpt(FlomniGalilSetpointSignal, signal_name="setpoint")
     motor_resolution = Cpt(FlomniGalilMotorResolution, signal_name="resolution", kind="config")
@@ -337,6 +337,18 @@ class FlomniGalilMotor(Device, PositionerBase):
     def unstage(self) -> list[object]:
         return super().unstage()
 
+    def drive_axis_to_limit(self, direction: str) -> None:
+        """
+        Drive an axis to the limit in a specified direction.
+
+        Args:
+            direction (str): Direction in which the axis should be driven to the limit. Either 'forward' or 'reverse'.        
+        """
+        self.controller.drive_axis_to_limit(self.axis_Id_numeric, direction)
+        #now force position read to cache
+        val = self.readback.read()
+        self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
+
     def stop(self, *, success=False):
         self.controller.stop_all_axes()
         return super().stop(success=success)

csaxs_bec/devices/omny/galil/galil_ophyd.py

@@ -171,8 +171,6 @@ class GalilController(Controller):
 
         if not limit:
             raise GalilError(f"Failed to drive axis {axis_Id}/{axis_Id_numeric} to limit.")
-        else:
-            print(f"Axis {}")
 
     def find_reference(self, axis_Id_numeric: int) -> None:
         """

csaxs_bec/devices/omny/galil/lgalil_ophyd.py

@@ -19,7 +19,6 @@ from csaxs_bec.devices.omny.galil.galil_ophyd import (
     GalilSetpointSignal,
     GalilSignalRO,
     retry_once,
-
 )
 
 logger = bec_logger.logger
@@ -101,7 +100,7 @@ class LamniGalilReadbackSignal(GalilSignalRO):
         return val
 
 class LamniGalilMotor(Device, PositionerBase):
-    USER_ACCESS = ["controller"]
+    USER_ACCESS = ["controller", "drive_axis_to_limit", "find_reference"]
     readback = Cpt(LamniGalilReadbackSignal, signal_name="readback", kind="hinted")
     user_setpoint = Cpt(GalilSetpointSignal, signal_name="setpoint")
     motor_resolution = Cpt(GalilMotorResolution, signal_name="resolution", kind="config")
@@ -288,6 +287,27 @@ class LamniGalilMotor(Device, PositionerBase):
         """The engineering units (EGU) for positions"""
         return "mm"
 
+    def find_reference(self):
+        """
+        Find the reference of the axis.
+        """
+        self.controller.find_reference(self.axis_Id_numeric)
+        #now force position read to cache
+        val = self.readback.read()
+        self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
+
+    def drive_axis_to_limit(self, direction: str) -> None:
+        """
+        Drive an axis to the limit in a specified direction.
+
+        Args:
+            direction (str): Direction in which the axis should be driven to the limit. Either 'forward' or 'reverse'.        
+        """
+        self.controller.drive_axis_to_limit(self.axis_Id_numeric, direction)
+        #now force position read to cache
+        val = self.readback.read()
+        self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
+
     def stop(self, *, success=False):
         self.controller.stop_all_axes()
         return super().stop(success=success)

csaxs_bec/devices/omny/galil/ogalil_ophyd.py

@@ -160,6 +160,7 @@ class OMNYGalilController(GalilController):
 
         self._ogalil_folerr_not_ignore()
 
+
     def _ogalil_folerr_not_ignore(self):
         self.socket_put_confirmed("IgNoFol=0")
 
@@ -196,7 +197,7 @@ class OMNYGalilController(GalilController):
 
 
 class OMNYGalilMotor(Device, PositionerBase):
-    USER_ACCESS = ["controller", "find_reference", "drive_axis_to_limit", "_ogalil_folerr_reset_and_ignore", "_ogalil_set_axis_to_pos_wo_reference_search"]
+    USER_ACCESS = ["controller", "find_reference", "drive_axis_to_limit", "_ogalil_folerr_reset_and_ignore", "ogalil_set_axis_to_pos_wo_reference_search", "get_motor_limit_switch"]
     readback = Cpt(OMNYGalilReadbackSignal, signal_name="readback", kind="hinted")
     user_setpoint = Cpt(GalilSetpointSignal, signal_name="setpoint")
     motor_resolution = Cpt(GalilMotorResolution, signal_name="resolution", kind="config")
@@ -390,12 +391,18 @@ class OMNYGalilMotor(Device, PositionerBase):
     def _ogalil_set_axis_to_pos_wo_reference_search(self, pos_mm):
         motor_resolution = self.motor_resolution.get()
         self.controller._ogalil_set_axis_to_pos_wo_reference_search(self.axis_Id_numeric, self.axis_Id, pos_mm, motor_resolution, self.sign)
+        #now force position read to cache
+        val = self.readback.read()
+        self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
 
     def find_reference(self):
         """
         Find the reference of the axis.
         """
         self.controller.find_reference(self.axis_Id_numeric)
+        #now force position read to cache
+        val = self.readback.read()
+        self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
 
     def drive_axis_to_limit(self, direction: str) -> None:
         """
@@ -405,6 +412,15 @@ class OMNYGalilMotor(Device, PositionerBase):
             direction (str): Direction in which the axis should be driven to the limit. Either 'forward' or 'reverse'.        
         """
         self.controller.drive_axis_to_limit(self.axis_Id_numeric, direction)
+        #now force position read to cache
+        val = self.readback.read()
+        self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
+
+    def get_motor_limit_switch(self) -> list:
+        """
+        Get status of the motor limit switches
+        """
+        self.controller.get_motor_limit_switch(self.axis_Id)
 
     def stop(self, *, success=False):
         self.controller.stop_all_axes()