continue rt and laser

2024-07-22 14:16:20 +02:00
parent b28649e6af
commit f359e32610
1 changed files with 755 additions and 44 deletions
--- a/csaxs_bec/devices/omny/rt/rt_omny_ophyd.py
+++ b/csaxs_bec/devices/omny/rt/rt_omny_ophyd.py
@@ -79,8 +79,8 @@ class RtFlomniController(Controller):
            kind=kind,
        )
        self.tracker_info = {}
+        self.ssi = {}
        self._min_scan_buffer_reached = False
-        self.rt_pid_voltage = None

    def is_axis_moving(self, axis_Id) -> bool:
        # this checks that axis is on target
@@ -115,9 +115,29 @@ class RtFlomniController(Controller):
        self.get_axis_by_name("rtz").user_setpoint.setpoint = 0
        time.sleep(0.05)

+    def feedback_get_status_and_ssi(self):
+        ret = self.socket_put_and_receive("J2")
+
+        # remove trailing \n
+        ret = ret.split("\n")[0]
+
+        status_and_ssi_values = [float(val) for val in ret.split(",")]
+        self.ssi = {
+            "feedback_error": status_and_ssi_values[0],
+            "ssi_1": status_and_ssi_values[1],
+            "ssi_2": status_and_ssi_values[2],
+            "ssi_3": status_and_ssi_values[3],
+            "ssi_4": status_and_ssi_values[4],
+            "ssi_5": status_and_ssi_values[5],
+        }
+
+
+
+
    def feedback_is_running(self) -> bool:
-        status = int(float(self.socket_put_and_receive("l2").strip()))
-        if status == 1:
+        self.feedback_get_status_and_ssi()
+        interferometer_feedback_not_running = int(self.tracker_info["feedback_error"])
+        if interferometer_feedback_not_running == 1:
            return False
        return True

@@ -285,8 +305,8 @@ class RtFlomniController(Controller):
    def laser_tracker_check_and_wait_for_signalstrength(self):
        #first check on target
        self.laser_tracker_wait_on_target(self)
-
-        signal = self.read_ssi_interferometer(3)
+        self.feedback_get_status_and_ssi()
+        signal = self.ssi["ssi_3"]
        rtx = self.get_device_manager().devices.rtx
        min_signal = rtx.user_parameter.get("min_signal")
        low_signal = rtx.user_parameter.get("low_signal")
@@ -297,75 +317,766 @@ class RtFlomniController(Controller):
            )
            wait_counter+=1
            time.sleep(1)
-            signal = self.read_ssi_interferometer(3)
-
+            self.feedback_get_status_and_ssi()
+            signal = self.ssi["ssi_3"]

        if signal < low_signal:
            print(
                f"\x1b[91mThe signal of the tracker {signal} is below the low limit of {low_signal}. Auto readjustment...\x1b[0m"
                )
+            #todo
            self.interferometer_align_tracking()


-
-
-########## old code. above is checked for omny
-
-
-
-
-
-
-
-
-
-
-
    def laser_tracker_show_all(self):
-        self.laser_update_tracker_info()
+        self.feedback_get_status_and_ssi()
        t = PrettyTable()
-        t.title = f"Laser Tracker Info"
+        t.title = f"Laser SSI Info"
        t.field_names = ["Name", "Value"]
-        for key, val in self.tracker_info.items():
+        for key, val in self.ssi.items():
            t.add_row([key, val])
        print(t)



    def laser_tracker_galil_enable(self):
-        ftrackz_con = self.get_device_manager().devices.ftrackz.obj.controller
-        ftrackz_con.socket_put_confirmed("tracken=1")
-        ftrackz_con.socket_put_confirmed("trackyct=0")
-        ftrackz_con.socket_put_confirmed("trackzct=0")
-        ftrackz_con.socket_put_confirmed("XQ#Tracker")
+        otracky_con = self.get_device_manager().devices.otracky.obj.controller
+        otracky_con.socket_put_confirmed("tracken=1")
+        otracky_con.socket_put_confirmed("trackyct=0")
+        otracky_con.socket_put_confirmed("trackzct=0")



+    def laser_tracker_galil_disable(self):
+        otracky_con = self.get_device_manager().devices.otracky.obj.controller
+        otracky_con.socket_put_confirmed("tracken=0")


-    def slew_rate_limiters_on_target(self) -> bool:
-        ret = int(float(self.socket_put_and_receive("y").strip()))
-        if ret == 3:
-            return True
-        return False
-
-    def pid_y(self) -> float:
-        ret = float(self.socket_put_and_receive("G").strip())
-        return ret
-
-    def read_ssi_interferometer(self, axis_number):
-        val = float(self.socket_put_and_receive(f"j{axis_number}").strip())
-        return val
-
-
+    def laser_tracker_galil_status(self):
+        otracky_con = self.get_device_manager().devices.otracky.obj.controller
+        if bool(float(otracky_con.socket_put_and_receive("MGtracken").strip())) == 0:
+            print("Tracking in the Galil Controller is disabled.")
+            print("Use laser_tracker_galil_enable to enable.\n")
+            return(0)
+        else:
+            print("Tracking in the Galil Controller is enabled.")
+            trackyct=bool(float(otracky_con.socket_put_and_receive("MGtrackyct").strip()))
+            trackzct=bool(float(otracky_con.socket_put_and_receive("MGtrackzct").strip()))
+            print(f"Galil Trackcounters y={trackyct}, z={trackzct}")

    def show_signal_strength_interferometer(self):
+        self.feedback_get_status_and_ssi()
        t = PrettyTable()
        t.title = f"Interferometer signal strength"
        t.field_names = ["Axis", "Value"]
        for i in range(4):
            t.add_row([i, self.read_ssi_interferometer(i)])
        print(t)
+########## old code. above is checked for omny
+
+
+def _omny_interferometer_openloop_steps(channel, steps, amplitude) '{
+_smar_rt_move_openloop_steps(0,channel,steps,amplitude)
+printf("Channel %d, steps %d, Amplitude %d ",channel,steps,amplitude)
+sleep(0.01)
+while(_smar_rt_is_stepping_open_loop(0,channel)) {
+  sleep(0.002)
+}
+}'
+
+
+def _omny_interferometer_optimize(channel) '{
+
+global _omny_interferometer_opt_signalchannel
+global _omny_interferometer_opt_mirrorname
+global _omny_interferometer_opt_averaging_time
+global _omny_interferometer_opt_steps1_pos
+global _omny_interferometer_opt_steps1_neg
+global _omny_interferometer_opt_steps2_pos
+global _omny_interferometer_opt_steps2_neg
+global _omny_interferometer_opt_signal_stop
+global _omny_interferometer_opt_signal_min_begin
+global _omny_interferometer_opt_step_divider
+global _omny_interferometer_opt_amplitude1_pos
+global _omny_interferometer_opt_amplitude1_neg
+global _omny_interferometer_opt_amplitude2_pos
+global _omny_interferometer_opt_amplitude2_neg
+
+if (channel != 3 && channel != 4) {
+  printf("invalid channel number %d.\n", channel)
+  exit
+}
+
+local previous_signal
+local current_sample
+local direction
+local cycle_counter
+local cycle_max
+local reversal_counter
+local reversal_max
+local steps_pos
+local steps_neg
+local _omny_interferometer_opt_amplitude_pos
+local _omny_interferometer_opt_amplitude_neg
+
+
+if (channel == 3) {
+  steps_pos = _omny_interferometer_opt_steps1_pos
+  steps_neg = _omny_interferometer_opt_steps1_neg
+  _omny_interferometer_opt_amplitude_pos = _omny_interferometer_opt_amplitude1_pos
+  _omny_interferometer_opt_amplitude_neg = _omny_interferometer_opt_amplitude1_neg
+}
+
+if (channel == 4) {
+  steps_pos = _omny_interferometer_opt_steps2_pos
+  steps_neg = _omny_interferometer_opt_steps2_neg
+  _omny_interferometer_opt_amplitude_pos = _omny_interferometer_opt_amplitude2_pos
+  _omny_interferometer_opt_amplitude_neg = _omny_interferometer_opt_amplitude2_neg
+}
+    
+
+previous_signal=_omny_interferometer_get_signalsample()
+
+if (previous_signal<_omny_interferometer_opt_signal_min_begin) {
+  printf("Minimum signal of axis \"%s\" to start alignment not present. Aborting.\n", _omny_interferometer_opt_mirrorname)
+  exit
+}
+
+if (previous_signal>_omny_interferometer_opt_signal_stop) {
+  printf("Interferometer signal of axis \"%s\" is good, no alignment needed anymore.\n", _omny_interferometer_opt_mirrorname)
+}
+else {
+
+direction = 1
+cycle_counter=0
+cycle_max=20
+reversal_counter=0
+reversal_max=4
+
+while(_omny_interferometer_ssi[_omny_interferometer_opt_signalchannel]<_omny_interferometer_opt_signal_stop && cycle_counter<cycle_max && reversal_counter<reversal_max) {
+  if (previous_signal<_omny_interferometer_opt_signal_min_begin) {
+    printf("Minimum signal of axis \"%s\" to continue alignment not present. Aborting.\n", _omny_interferometer_opt_mirrorname)
+    exit
+  }
+
+  if(direction>0) {
+    _omny_interferometer_openloop_steps(channel, steps_pos,_omny_interferometer_opt_amplitude_pos)
+    printf("Aligning axis \"%s\". target: %d, current %d, step %d.\r", _omny_interferometer_opt_mirrorname, _omny_interferometer_opt_signal_stop, previous_signal, steps_pos)
+  }
+  else {
+    _omny_interferometer_openloop_steps(channel, -steps_neg,_omny_interferometer_opt_amplitude_neg)
+    printf("Aligning axis \"%s\". target: %d, current %d, step %d.\r", _omny_interferometer_opt_mirrorname, _omny_interferometer_opt_signal_stop, previous_signal, -steps_neg)
+  }
+  current_sample = _omny_interferometer_get_signalsample()
+  if (previous_signal>current_sample) {
+#    if (direction<0||cycle_counter>1) {
+    if (direction<0) {
+      steps_pos=int(steps_pos/2)
+      steps_neg=int(steps_neg/2)
+      if(steps_pos<1)
+        steps_pos=1
+      if(steps_neg<1)
+        steps_neg=1
+    } 	
+    direction=direction*(-1)
+    reversal_counter++
+  }
+  previous_signal=current_sample
+  cycle_counter++
+}
+printf("Finished aligning axis \"%s\". target: %d, current %d.\n", _omny_interferometer_opt_mirrorname, _omny_interferometer_opt_signal_stop, previous_signal)
+
+}
+}'
+
+constant _omny_interferometer_switch_server_and_port_name "mpc1887:3335"
+
+#debug options
+constant _omny_interferometer_switch_debug_put_and_receive  0x0001
+constant _omny_interferometer_switch_debug_verbose          0x8000
+
+# ----------------------------------------------------------------------
+def _omny_interferometer_switch_put(command_str) '{
+
+  # send a command to the omnyscan server, exit upon failure, return upon success
+  if (sock_put(_omny_interferometer_switch_server_and_port_name,sprintf("%s\r",command_str)) < 1) {
+    printf("_omny_interferometer_switch_put(\"%s\"): could not send the command to %s\n",\
+           command_str,_omny_interferometer_switch_server_and_port_name)
+    exit
+  }
+}'
+
+
+# -------------omicreturnvalue---------------------------------------------------------
+def _omny_interferometer_switch_put_and_receive(command_str) '{
+  local ret_str
+
+  # send a command to the omnyscan server, exit upon failure
+  _omny_interferometer_switch_put(command_str)
+
+  # read a reply from the omnyscan server, exit upon failure
+  ret_str = ""
+  ret_str = sock_get(_omny_interferometer_switch_server_and_port_name)
+  if (ret_str == "") {
+    printf("_omny_interferometer_switch_put_and_receive(\"%s\"): did not receive a return string upon sending the command to %s\n",\
+           command_str,_omny_interferometer_switch_server_and_port_name)
+    exit
+  }
+
+  # return the string upon success
+  return(ret_str)
+}'
+
+
+# ----------------------------------------------------------------------
+def _omny_interferometer_switch_open_socket() '{
+  # open a socket connection to the laser interferometer server
+  if (!sock_par(_omny_interferometer_switch_server_and_port_name,"connect")) {
+    printf("$0 : error upon opening a socket connection to %s\n",_omny_interferometer_switch_server_and_port_name)
+    exit
+  }
+  printf("A socket connection to %s has been established.\n",_omny_interferometer_switch_server_and_port_name)
+}'
+
+
+
+# ----------------------------------------------------------------------
+def _omny_interferometer_switch_flush_socket() '{
+  # flush pending input from the socket connection to the server
+  sock_par(_omny_interferometer_switch_server_and_port_name,"flush")
+}'
+
+
+
+# ----------------------------------------------------------------------
+def _omny_interferometer_switch_close_socket() '{
+  sock_par(_omny_interferometer_switch_server_and_port_name,"close")
+  printf("The socket connection to %s has been closed.\n",_omny_interferometer_switch_server_and_port_name)
+}'
+
+
+
+# ----------------------------------------------------------------------
+def _omny_interferometer_switch_connect '{
+  global _omny_interferometer_switch_enabled
+
+  # open a socket connection
+  _omny_interferometer_switch_open_socket()
+
+  _omny_interferometer_switch_put("?000")
+  sleep(1)
+  _omny_interferometer_switch_flush_socket( )
+
+}'
+
+
+# ----------------------------------------------------------------------
+def _omny_interferometer_switch_disconnect '{
+  global _omny_interferometer_switch_enabled
+
+  _omny_interferometer_switch_close_socket()
+
+}'
+
+# ----------------------------------------------------------------------
+def _omny_interferometer_switch_LED_on '{
+  global _omny_interferometer_switch_enabled
+
+  _omny_interferometer_switch_put_and_receive("\!00S01")
+
+}'
+
+# ----------------------------------------------------------------------
+def _omny_interferometer_switch_alloff '{
+  global _omny_interferometer_switch_enabled
+  #switch all off
+  _omny_interferometer_switch_put_and_receive("\!0020000")
+  #check all off
+  if ("_0000\r" != _omny_interferometer_switch_put_and_receive("?002"))
+    {
+    printf ("Not all channels switched off. Aborting.\n")
+    exit
+    }
+  #LED OFF
+  _omny_interferometer_switch_put_and_receive("\!00S00")
+}'
+
+# ----------------------------------------------------------------------
+def _omny_interferometer_switch_channel(channel) '{
+  global _omny_interferometer_switch_enabled
+  _omny_interferometer_switch_alloff
+  sleep(0.1)
+  if (channel == 1) #Relais 1 and 2
+    if("|0003\r" != _omny_interferometer_switch_put_and_receive("\!0020003"))
+      {printf("Channel switching failed. Aborting.\n"); exit }
+  if (channel == 2) #Relais 3 and 4
+    if("|000C\r" != _omny_interferometer_switch_put_and_receive("\!002000C"))
+      {printf("Channel switching failed. Aborting.\n"); exit }
+  if (channel == 3) #Relais 5 and 6
+    if("|0030\r" != _omny_interferometer_switch_put_and_receive("\!0020030"))
+      {printf("Channel switching failed. Aborting.\n"); exit }
+  if (channel == 4) #Relais 7 and 8
+    if("|00C0\r" != _omny_interferometer_switch_put_and_receive("\!00200C0"))
+      {printf("Channel switching failed. Aborting.\n"); exit }
+  if (channel == 5) #Relais 9 and 10
+    if("|0300\r" != _omny_interferometer_switch_put_and_receive("\!0020300"))
+      {printf("Channel switching failed. Aborting.\n"); exit }
+  if (channel == 6) #Relais 11 and 12
+    if("|0C00\r" != _omny_interferometer_switch_put_and_receive("\!0020C00"))
+      {printf("Channel switching failed. Aborting.\n"); exit }
+  if (channel == 7) #Relais 13 and 14
+    if("|3000\r" != _omny_interferometer_switch_put_and_receive("\!0023000"))
+      {printf("Channel switching failed. Aborting.\n"); exit }
+  if (channel == 8) #Relais 7 and 8 SPECIAL CASE use osafzp y signal to align osa y
+    if("|00C0\r" != _omny_interferometer_switch_put_and_receive("\!00200C0"))
+      {printf("Channel switching failed. Aborting.\n"); exit }
+  if (channel == 9) #Relais 15 and 16
+    if("|C000\r" != _omny_interferometer_switch_put_and_receive("\!002C000"))
+      {printf("Channel switching failed. Aborting.\n"); exit }
+}'
+
+def _omny_interferometer_get_signalsample() '{
+global _omny_interferometer_opt_signalchannel
+global _omny_interferometer_opt_averaging_time
+
+#ensure no averaging running currently
+_rt_status_feedback()
+
+#measure first sample
+_rt_start_averaging_SSI
+sleep(_omny_interferometer_opt_averaging_time)
+_rt_status_feedback()
+return(_omny_interferometer_ssi[_omny_interferometer_opt_signalchannel])
+}'
+
+def _omny_interferometer_setup_channel(mirror_channel) '{
+global _omny_interferometer_opt_signalchannel
+global _omny_interferometer_opt_mirrorname
+global _omny_interferometer_opt_averaging_time
+global _omny_interferometer_opt_steps1_pos
+global _omny_interferometer_opt_steps1_neg
+global _omny_interferometer_opt_steps2_pos
+global _omny_interferometer_opt_steps2_neg
+global _omny_interferometer_opt_signal_stop
+global _omny_interferometer_opt_signal_min_begin
+global _omny_interferometer_opt_step_divider
+global _omny_interferometer_opt_amplitude1_pos
+global _omny_interferometer_opt_amplitude1_neg
+global _omny_interferometer_opt_amplitude2_pos
+global _omny_interferometer_opt_amplitude2_neg
+
+#default
+_omny_interferometer_opt_amplitude1_pos=2500
+_omny_interferometer_opt_amplitude1_neg=2500
+_omny_interferometer_opt_amplitude2_pos=2500
+_omny_interferometer_opt_amplitude2_neg=2500
+
+
+#####################################
+#incoupling of angle interferometer
+#####################################
+if(mirror_channel==1)
+  {
+  _omny_interferometer_opt_signalchannel = 4
+  _omny_interferometer_opt_mirrorname = "Inc Angle"
+  _omny_interferometer_opt_averaging_time = 0.1
+  _omny_interferometer_opt_steps1_pos = 1
+  _omny_interferometer_opt_steps1_neg = 1
+  _omny_interferometer_opt_steps2_pos = 10
+  _omny_interferometer_opt_steps2_neg = 10
+  _omny_interferometer_opt_signal_stop = 2400
+  _omny_interferometer_opt_signal_min_begin = 1000
+  _omny_interferometer_opt_step_divider = 1
+  _omny_interferometer_opt_amplitude1_pos=2000
+  _omny_interferometer_opt_amplitude1_neg=2000
+  _omny_interferometer_opt_amplitude2_pos=2000
+  _omny_interferometer_opt_amplitude2_neg=2000
+  }
+#####################################
+#incoupling of ST OSA Y
+#####################################
+if(mirror_channel==2)
+  {
+  _omny_interferometer_opt_signalchannel = 1
+  _omny_interferometer_opt_mirrorname = "Inc ST OSA Y"
+  _omny_interferometer_opt_averaging_time = 0.1
+  _omny_interferometer_opt_steps1_pos = 1
+  _omny_interferometer_opt_steps1_neg = 1
+  _omny_interferometer_opt_steps2_pos = 1
+  _omny_interferometer_opt_steps2_neg = 1
+  _omny_interferometer_opt_signal_stop = 5000
+  _omny_interferometer_opt_signal_min_begin = 2000
+  _omny_interferometer_opt_step_divider = 1
+  _omny_interferometer_opt_amplitude1_pos=2000
+  _omny_interferometer_opt_amplitude1_neg=2000
+  _omny_interferometer_opt_amplitude2_pos=2000
+  _omny_interferometer_opt_amplitude2_neg=2000
+  }
+#####################################
+#incoupling of OSA FZP Y
+#####################################
+if(mirror_channel==3)
+  {
+  _omny_interferometer_opt_signalchannel = 0
+  _omny_interferometer_opt_mirrorname = "Inc OSA FZP Y"
+  _omny_interferometer_opt_averaging_time = 0.25
+  _omny_interferometer_opt_steps1_pos = 1
+  _omny_interferometer_opt_steps1_neg = 2
+  _omny_interferometer_opt_steps2_pos = 1
+  _omny_interferometer_opt_steps2_neg = 3
+  _omny_interferometer_opt_signal_stop = 7200
+  _omny_interferometer_opt_signal_min_begin = 3000
+  _omny_interferometer_opt_step_divider = 1
+  _omny_interferometer_opt_amplitude1_pos=2500
+  _omny_interferometer_opt_amplitude1_neg=2500
+  _omny_interferometer_opt_amplitude2_pos=2500
+  _omny_interferometer_opt_amplitude2_neg=2500
+  }
+#####################################
+#OSA Y
+#####################################
+if(mirror_channel==4)
+  {
+  _omny_interferometer_opt_signalchannel = 1
+  _omny_interferometer_opt_mirrorname = "OSA Y"
+  _omny_interferometer_opt_averaging_time = 0.1
+  _omny_interferometer_opt_steps1_pos = 1
+  _omny_interferometer_opt_steps1_neg = 1
+  _omny_interferometer_opt_steps2_pos = 1
+  _omny_interferometer_opt_steps2_neg = 1
+  _omny_interferometer_opt_signal_stop = 5000
+  _omny_interferometer_opt_signal_min_begin = 2000
+  _omny_interferometer_opt_step_divider = 1
+  _omny_interferometer_opt_amplitude1_pos=3000
+  _omny_interferometer_opt_amplitude1_neg=3000
+  _omny_interferometer_opt_amplitude2_pos=3000
+  _omny_interferometer_opt_amplitude2_neg=3000
+  }
+#####################################
+#FZP Y
+#####################################
+if(mirror_channel==5)
+  {
+  _omny_interferometer_opt_signalchannel = 0
+  _omny_interferometer_opt_mirrorname = "FZP Y"
+  _omny_interferometer_opt_averaging_time = 0.2
+  _omny_interferometer_opt_steps1_pos = 6
+  _omny_interferometer_opt_steps1_neg = 6
+  _omny_interferometer_opt_steps2_pos = 8
+  _omny_interferometer_opt_steps2_neg = 4
+  _omny_interferometer_opt_signal_stop = 8000
+  _omny_interferometer_opt_signal_min_begin = 3000
+  _omny_interferometer_opt_step_divider = 1
+  _omny_interferometer_opt_amplitude1_pos=3000
+  _omny_interferometer_opt_amplitude1_neg=3000
+  _omny_interferometer_opt_amplitude2_pos=3000
+  _omny_interferometer_opt_amplitude2_neg=3000
+  }
+#####################################
+#OSA X
+#####################################
+if(mirror_channel==6)
+  {
+  if (!_laser_tracker_check_on_target()) {
+    sleep(5)
+  }
+  
+  if (_laser_tracker_check_on_target()) {
+  _omny_interferometer_opt_signalchannel = 3
+  _omny_interferometer_opt_mirrorname = "OSA X"
+  _omny_interferometer_opt_averaging_time = 0.2
+  _omny_interferometer_opt_steps1_pos = 2
+  _omny_interferometer_opt_steps1_neg = 1
+  _omny_interferometer_opt_steps2_pos = 1
+  _omny_interferometer_opt_steps2_neg = 1
+#  _omny_interferometer_opt_signal_stop = 9000
+  _omny_interferometer_opt_signal_stop = 8850
+  _omny_interferometer_opt_signal_min_begin = 3000
+  _omny_interferometer_opt_step_divider = 1
+  _omny_interferometer_opt_amplitude1_pos=3000
+  _omny_interferometer_opt_amplitude1_neg=3000
+  _omny_interferometer_opt_amplitude2_pos=3700
+  _omny_interferometer_opt_amplitude2_neg=2500
+  }
+  else {
+    text_bf
+    printf("Tracker is not on target! Not aligning!\n")
+    text_non_bf
+    _omny_interferometer_opt_signalchannel = -1
+    _omny_interferometer_opt_steps1_pos = 0
+    _omny_interferometer_opt_steps1_neg = 0
+    _omny_interferometer_opt_steps2_pos = 0
+    _omny_interferometer_opt_steps2_neg = 0
+  }
+  }
+#####################################
+#FZP Y
+#####################################
+if(mirror_channel==7)
+  {
+  _omny_interferometer_opt_signalchannel = 2
+  _omny_interferometer_opt_mirrorname = "FZP X"
+  _omny_interferometer_opt_averaging_time = 0.2
+  _omny_interferometer_opt_steps1_pos = 4
+  _omny_interferometer_opt_steps1_neg = 4
+  _omny_interferometer_opt_steps2_pos = 4
+  _omny_interferometer_opt_steps2_neg = 4
+  _omny_interferometer_opt_signal_stop = 8000
+  _omny_interferometer_opt_signal_min_begin = 4000
+  _omny_interferometer_opt_step_divider = 1
+  _omny_interferometer_opt_amplitude1_pos=2500
+  _omny_interferometer_opt_amplitude1_neg=2500
+  _omny_interferometer_opt_amplitude2_pos=2500
+  _omny_interferometer_opt_amplitude2_neg=2500
+  }
+#####################################
+#OSA Y
+#####################################
+if(mirror_channel==8)
+  {
+  _omny_interferometer_opt_signalchannel = 0
+  _omny_interferometer_opt_mirrorname = "OSA Y USING SIGNAL OSA FZP"
+  _omny_interferometer_opt_averaging_time = 0.2
+  _omny_interferometer_opt_steps1_pos = 1
+  _omny_interferometer_opt_steps1_neg = 1
+  _omny_interferometer_opt_steps2_pos = 1
+  _omny_interferometer_opt_steps2_neg = 1
+  _omny_interferometer_opt_signal_stop = 5000
+  _omny_interferometer_opt_signal_min_begin = 2000
+  _omny_interferometer_opt_step_divider = 1
+  _omny_interferometer_opt_amplitude1_pos=3000
+  _omny_interferometer_opt_amplitude1_neg=3000
+  _omny_interferometer_opt_amplitude2_pos=3000
+  _omny_interferometer_opt_amplitude2_neg=3000
+  }
+if(mirror_channel<1 || mirror_channel>8)
+  {
+  _omny_interferometer_opt_signalchannel = -1
+  _omny_interferometer_opt_mirrorname = "none"
+  }
+}'
+
+def _omny_interferometer_channel_is_selected(channel) '{
+if(channel == -1) {
+  printf("Sorry, no channel is selected. Use numbers to select.\n")
+  printf("1: Incoupling angle interferometer\n")
+  return(-1)
+}
+else
+{
+  return(1)
+}
+}'
+
+def _omny_interferometer_tweak '{
+global _omny_interferometer_opt_signalchannel
+global _omny_interferometer_opt_mirrorname
+local _key1
+local _mirror_channel
+_mirror_channel=-1
+
+global _omny_interferometer_opt_steps1_pos
+global _omny_interferometer_opt_steps1_neg
+global _omny_interferometer_opt_steps2_pos
+global _omny_interferometer_opt_steps2_neg
+global _omny_interferometer_opt_amplitude1_pos
+global _omny_interferometer_opt_amplitude1_neg
+global _omny_interferometer_opt_amplitude2_pos
+global _omny_interferometer_opt_amplitude2_neg
+
+printf("This macro allows you to tweak the laser tracker.\n")
+#printf("First checking that the tracker is running.\n")
+global _rt_enabled
+if(!_rt_enabled){
+  printf("rt is not enabled. please enable rt and try again.\n")
+  exit
+  }
+
+
+
+ # loop until stopped by pressing ESC or CTRL-C
+  _key1 = 0
+  printf("Ready to tweak the interferometer. Press q to quit.\n")
+  printf("The arrows adjust directions.\n")
+  printf("Numbers select the mirror aligner.\n")
+  
+  local gotkey
+  while ((_key1 != 27) && (_key1 != asc("q")) && (_key1 != asc("Q"))) {
+    gotkey=0
+    _key1 = asc(input(-1))
+    if (_key1 == _key_esc) {
+      _key1 = _get_esc_key()
+    }
+
+    if (_key1 == _key_left) {
+      if(_omny_interferometer_channel_is_selected(_mirror_channel)==1)
+         _omny_interferometer_openloop_steps(3, _omny_interferometer_opt_steps1_pos,_omny_interferometer_opt_amplitude1_pos)
+      gotkey=1
+    }
+
+    if (_key1 == _key_right) {
+      if(_omny_interferometer_channel_is_selected(_mirror_channel)==1)
+         _omny_interferometer_openloop_steps(3, -_omny_interferometer_opt_steps1_neg,_omny_interferometer_opt_amplitude1_neg)
+      gotkey=1
+    }
+
+    if (_key1 == _key_down) {
+      if(_omny_interferometer_channel_is_selected(_mirror_channel)==1)
+        _omny_interferometer_openloop_steps(4, _omny_interferometer_opt_steps2_pos,_omny_interferometer_opt_amplitude2_pos)
+      gotkey=1
+    }
+
+    if (_key1 == _key_up) {
+      if(_omny_interferometer_channel_is_selected(_mirror_channel)==1)
+        _omny_interferometer_openloop_steps(4, -_omny_interferometer_opt_steps2_neg,_omny_interferometer_opt_amplitude2_neg)
+      gotkey=1
+    }
+    
+    if (_key1 == asc("1")) {
+      _mirror_channel=1
+      gotkey=1
+    }
+    if (_key1 == asc("2")) {
+      _mirror_channel=2
+      gotkey=1
+    }
+    if (_key1 == asc("3")) {
+      _mirror_channel=3
+      gotkey=1
+    }
+    if (_key1 == asc("4")) {
+      _mirror_channel=4
+      gotkey=1
+    }
+    if (_key1 == asc("5")) {
+      _mirror_channel=5
+      gotkey=1
+    }
+    if (_key1 == asc("6")) {
+      _mirror_channel=6
+      gotkey=1
+    }
+    if (_key1 == asc("7")) {
+      _mirror_channel=7
+      gotkey=1
+    }
+    if (_key1 == asc("8")) {
+      _mirror_channel=8
+      gotkey=1
+    }
+    if (_key1 >= asc("1") && _key1 <= asc("8")) {
+      _omny_interferometer_setup_channel(_mirror_channel)
+      _omny_interferometer_switch_channel(_mirror_channel)
+    }
+
+    if (_key1 == asc("+")) {
+      printf("Increasing voltage amplitudes by 100.\n")
+      _omny_interferometer_opt_amplitude1_pos=_omny_interferometer_opt_amplitude1_pos+100
+      _omny_interferometer_opt_amplitude1_neg=_omny_interferometer_opt_amplitude1_neg+100
+      _omny_interferometer_opt_amplitude2_pos=_omny_interferometer_opt_amplitude2_pos+100
+      _omny_interferometer_opt_amplitude2_neg=_omny_interferometer_opt_amplitude2_neg+100
+    }
+    if (_key1 == asc("-")) {
+      printf("Decreasing voltage amplitudes by 100.\n")
+      _omny_interferometer_opt_amplitude1_pos=_omny_interferometer_opt_amplitude1_pos-100
+      _omny_interferometer_opt_amplitude1_neg=_omny_interferometer_opt_amplitude1_neg-100
+      _omny_interferometer_opt_amplitude2_pos=_omny_interferometer_opt_amplitude2_pos-100
+      _omny_interferometer_opt_amplitude2_neg=_omny_interferometer_opt_amplitude2_neg-100
+    }
+
+    if (_key1 == asc("a")) {
+    if(_omny_interferometer_channel_is_selected(_mirror_channel)==1) {
+      _omny_interferometer_optimize(3)
+      _omny_interferometer_optimize(4)
+      _omny_interferometer_optimize(3)
+      _omny_interferometer_optimize(4)
+      }
+    }
+    
+    
+    if(_omny_interferometer_opt_amplitude1_pos<1)
+      _omny_interferometer_opt_amplitude1_pos=100
+    if(_omny_interferometer_opt_amplitude1_neg<1)
+      _omny_interferometer_opt_amplitude1_neg=100
+    if(_omny_interferometer_opt_amplitude2_pos<1)
+      _omny_interferometer_opt_amplitude2_pos=100
+    if(_omny_interferometer_opt_amplitude2_neg<1)
+      _omny_interferometer_opt_amplitude2_neg=100
+    
+    if(_omny_interferometer_opt_amplitude1_pos>4090)
+      _omny_interferometer_opt_amplitude1_pos=4090
+    if(_omny_interferometer_opt_amplitude1_neg>4090)
+      _omny_interferometer_opt_amplitude1_neg=4090
+    if(_omny_interferometer_opt_amplitude2_pos>4090)
+      _omny_interferometer_opt_amplitude2_pos=4090
+    if(_omny_interferometer_opt_amplitude2_neg>4090)
+      _omny_interferometer_opt_amplitude2_neg=4090    
+    
+
+    sleep(0.01)
+    if (gotkey==1)
+      if(_omny_interferometer_channel_is_selected(_mirror_channel)==1)
+         printf("Channel %d - %s - Autostop %d - Signal %d\n",_mirror_channel,_omny_interferometer_opt_mirrorname,_omny_interferometer_opt_signal_stop,_omny_interferometer_get_signalsample())
+  }
+_omny_interferometer_switch_alloff
+rt_show_signalstrength_interferometer
+}'
+
+def _omny_interferometer_align_incoupling_angle '{
+  local _mirror_channel
+  _mirror_channel=1
+ 
+  _omny_interferometer_setup_channel(_mirror_channel)
+
+  if (_omny_interferometer_get_signalsample()>_omny_interferometer_opt_signal_stop) {
+    printf("Interferometer signal of axis \"%s\" is good, no alignment needed.\n", _omny_interferometer_opt_mirrorname)
+  }
+  else {
+    _omny_interferometer_switch_channel(_mirror_channel)
+    _omny_interferometer_optimize(3)
+    _omny_interferometer_optimize(4)
+    _omny_interferometer_optimize(3)
+    _omny_interferometer_optimize(4)
+    _omny_interferometer_switch_alloff
+    rt_show_signalstrength_interferometer
+  }
+}'
+
+def _omny_interferometer_align_tracking '{
+  local _mirror_channel
+  _mirror_channel=6
+ 
+  _omny_interferometer_setup_channel(_mirror_channel)
+
+  if (_omny_interferometer_get_signalsample()>_omny_interferometer_opt_signal_stop) {
+    printf("Interferometer signal of axis \"%s\" is good, no alignment needed.\n", _omny_interferometer_opt_mirrorname)
+  }
+  else {
+    _omny_interferometer_switch_channel(_mirror_channel)
+    _omny_interferometer_optimize(4)
+    _omny_interferometer_optimize(4)
+    _omny_interferometer_optimize(3)
+    _omny_interferometer_optimize(4)
+    _omny_interferometer_optimize(3)
+    _omny_interferometer_switch_alloff
+    rt_show_signalstrength_interferometer
+  }
+}'
+
+
+
+
+
+
+
+
+
+
+
+
+########## below code from flomni
+
+

    def _get_signals_from_table(self, return_table) -> dict:
        self.average_stdeviations_x_st_fzp += float(return_table[4])