started commissioning with hardware. first movements. added smaract to config

csaxs_bec/bec_ipython_client/plugins/omny/omny.py

@@ -36,6 +36,46 @@ class OMNYError(Exception):
 
 class OMNYInitStagesMixin:
 
+    def _omny_find_reference_loop(self, direction_endswitch, device, auto_retry=0):
+        retry_counter = 0
+        limits = device.get_motor_limit_switch()
+        if not limits[0] and not limits[1]:
+            raise OMNYInitError("Expect to be in a limit switch when calling find reference loop.")
+        if limits[0] and limits[1]:
+            raise OMNYInitError("Both limit switches are triggered. This indicates an error.")
+        if limits[0]:
+            direction_endswitch_start = "reverse"
+        if limits[1]:     
+            direction_endswitch_start = "forward"
+        if direction_endswitch_start != direction_endswitch:
+            raise OMNYInitError("Expect current endswitch to match the call of the method.")
+
+        if device.axis_is_referenced():
+            raise OMNYInitError("This axis is already referenced")
+        
+        while not device.axis_is_referenced():
+            device.find_reference()
+            time.sleep(1)
+            if not device.axis_is_referenced():
+                if auto_retry == 0:
+                    user_input = input("Did not reference successfully. Try again to move to endswitch and find reference?")
+                    if user_input == "y":
+                        device.drive_axis_to_limit(direction_endswitch_start)
+                        time.sleep(1)
+                elif auto_retry > 0:
+                    if retry_counter < auto_retry:
+                        print(f"Did not reference successfully. Try again to move to endswitch and find reference. Attempt {retry_counter+1} out of max {auto_retry}")
+                        device.drive_axis_to_limit(direction_endswitch_start)
+                        time.sleep(1)
+                        retry_counter += 1
+                        temperature = device.get_motor_temperature()
+                        while temperature > 100:
+                            print(f"The temperature of the motor is {temperature}, and larger than the threshold of 100 degC. Waiting 60 s for cool down.")
+                            time.sleep(60)
+                            temperature = device.get_motor_temperature()
+
+
+
     def omny_init_stages(self):
 
         user_input = input("Starting initialization of OMNY stages. OK? [y/n]")
@@ -315,7 +355,7 @@ class OMNYInitStagesMixin:
             user_input = input("drive otransy stage to +Y limit?")
             if user_input == "y":
                 dev.otransy.drive_axis_to_limit("forward")
-                print("otrany reached limit")
+                print("otransy reached limit")
         else:
             print("otransy is in upper limit, i.e. safe condition")
 
@@ -332,6 +372,10 @@ class OMNYInitStagesMixin:
         dev.ocsx.limits = [-2, 5]
         dev.ocsy.limits = [-1, 3]
 
+        dev.oshield.controller.set_closed_loop_move_speed(0,1)
+        dev.oshield.controller.set_closed_loop_move_speed(1,1)
+        dev.oshield.controller.set_closed_loop_move_speed(2,1)
+
         user_input = input("Move CS out of the beam path?")
         if user_input == "y":
             umv(dev.ocsx, 5, dev.ocsy, 2)

csaxs_bec/device_configs/omny_config.yaml

@@ -412,4 +412,60 @@ oeyey:
   readOnly: false
   readoutPriority: baseline
   userParameter:
-    xray_in: 0
+    xray_in: 0
+
+############################################################
+#################### flOMNI Smaract motors #################
+############################################################
+
+ocsx:
+  description: Central Stop X
+  deviceClass: csaxs_bec.devices.smaract.smaract_ophyd.SmaractMotor
+  deviceConfig:
+    axis_Id: A
+    host: mpc3217.psi.ch
+    limits:
+    - -2
+    - 2
+    port: 3334
+    sign: -1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    nothing: 0
+ocsy:
+  description: Central Stop Y
+  deviceClass: csaxs_bec.devices.smaract.smaract_ophyd.SmaractMotor
+  deviceConfig:
+    axis_Id: B
+    host: mpc3217.psi.ch
+    limits:
+    - -2
+    - 2
+    port: 3334
+    sign: -1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    nothing: 0
+oshield:
+  description: Thermal Shield Sample Stage
+  deviceClass: csaxs_bec.devices.smaract.smaract_ophyd.SmaractMotor
+  deviceConfig:
+    axis_Id: C
+    host: mpc3217.psi.ch
+    limits:
+    - -14.5
+    - 15.8
+    port: 3334
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    nothing: 0

csaxs_bec/devices/omny/galil/galil_ophyd.py

@@ -160,6 +160,7 @@ class GalilController(Controller):
         self.socket_put_confirmed("XQ#FES")
         time.sleep(0.1)
         while self.is_axis_moving(None, axis_Id_numeric):
+            print("waiting...")
             time.sleep(0.01)
 
         axis_Id = self.axis_Id_numeric_to_alpha(axis_Id_numeric)
@@ -171,6 +172,8 @@ class GalilController(Controller):
 
         if not limit:
             raise GalilError(f"Failed to drive axis {axis_Id}/{axis_Id_numeric} to limit.")
+        else:
+            print("Limit reached.")
 
     def find_reference(self, axis_Id_numeric: int) -> None:
         """

csaxs_bec/devices/omny/galil/ogalil_ophyd.py

@@ -197,7 +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", "get_motor_limit_switch"]
+    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", "axis_is_referenced", "get_motor_temperature"]
     readback = Cpt(OMNYGalilReadbackSignal, signal_name="readback", kind="hinted")
     user_setpoint = Cpt(GalilSetpointSignal, signal_name="setpoint")
     motor_resolution = Cpt(GalilMotorResolution, signal_name="resolution", kind="config")
@@ -420,7 +420,19 @@ class OMNYGalilMotor(Device, PositionerBase):
         """
         Get status of the motor limit switches
         """
-        self.controller.get_motor_limit_switch(self.axis_Id)
+        return self.controller.get_motor_limit_switch(self.axis_Id)
+
+    def get_motor_temperature(self) -> float:
+        """
+        Get motor temperature
+        """
+        return self.controller.motor_temperature(self.axis_Id_numeric)
+
+    def axis_is_referenced(self) -> bool:
+        """
+        check if an axis is referenced
+        """
+        return self.controller.axis_is_referenced(self.axis_Id_numeric)
 
     def stop(self, *, success=False):
         self.controller.stop_all_axes()

csaxs_bec/devices/smaract/smaract_controller.py

@@ -80,6 +80,7 @@ class SmaractController(Controller):
         "describe",
         "axis_is_referenced",
         "all_axes_referenced",
+        "set_closed_loop_move_speed",
     ]
 
     def __init__(