fix(ddg): Fix tests

csaxs_bec/bec_ipython_client/plugins/flomni/flomni.py

@@ -84,6 +84,15 @@ class FlomniInitStagesMixin:
             else:
                 return
 
+
+        sensor_voltage_target = dev.ftransy.user_parameter.get("sensor_voltage")
+        sensor_voltage = float(dev.ftransy.controller.socket_put_and_receive("MG@AN[1]").strip())
+
+        if not np.isclose(sensor_voltage, sensor_voltage_target, 0.25):
+            print(f"Sensor voltage of the gripper is {sensor_voltage}, while target from config is {sensor_voltage_target}")
+            print("Verify that the value is acceptable and update config file. Reload config and start again.")
+            return
+
         print("Starting to drive ftransy to +y limit")
         self.drive_axis_to_limit(dev.ftransy, "forward")
         dev.ftransy.limits = [-100, 0]
@@ -414,6 +423,7 @@ class FlomniSampleTransferMixin:
             raise FlomniError("Ftray is not at the 'IN' position. Aborting.")
 
     def ftransfer_flomni_stage_in(self):
+        time.sleep(1)
         sample_in_position = dev.flomni_samples.is_sample_slot_used(0)
         #bool(float(dev.flomni_samples.sample_placed.sample0.get()))
         if not sample_in_position:
@@ -428,7 +438,7 @@ class FlomniSampleTransferMixin:
         umv(dev.fsamx, fsamx_in)
         dev.fsamx.limits = [fsamx_in - 0.4, fsamx_in + 0.4]
 
-        self.flomnigui_idle()
+        #self.flomnigui_idle()
 
     def laser_tracker_show_all(self):
         dev.rtx.controller.laser_tracker_show_all()
@@ -586,6 +596,8 @@ class FlomniSampleTransferMixin:
         if sample_in_position:
             raise FlomniError(f"The planned put position [{position}] already has a sample.")
 
+        self.flomnigui_show_cameras()
+
         self.ftransfer_gripper_move(position)
 
         self.ftransfer_controller_enable_mount_mode()
@@ -611,7 +623,7 @@ class FlomniSampleTransferMixin:
         self.ftransfer_controller_disable_mount_mode()
         self.ensure_gripper_up()
 
-        sample_name = dev.flomni_samples.sample_in_gripper.get()
+        sample_name = dev.flomni_samples.sample_in_gripper_name.get()
         self.flomni_modify_storage_non_interactive(100, 0, "-")
         self.flomni_modify_storage_non_interactive(position, 1, sample_name)
 
@@ -1844,6 +1856,9 @@ class Flomni(
             )
 
     def tomo_scan_projection(self, angle: float):
+
+        dev.rtx.controller.laser_tracker_check_signalstrength()
+
         scans = builtins.__dict__.get("scans")
 
         # additional_correction = self.align.compute_additional_correction(angle)

csaxs_bec/bec_ipython_client/plugins/flomni/gui_tools.py

@@ -57,15 +57,22 @@ class flomniGuiTools:
 
     def _flomnigui_check_attribute_not_exists(self, attribute_name):
         if hasattr(self.gui, "flomni"):
-            if hasattr(self.gui.flomni, attribute_name):
-                return False
+            if attribute_name == "xeyegui":
+                if hasattr(self.gui.flomni, "xrayeye"):
+                    return False
+            if attribute_name == "progressbar":
+                if hasattr(self.gui.flomni, "RingProgressBar"):
+                    return False
+            if attribute_name == "cam_flomni_gripper" or attribute_name == "cam_flomni_overview":
+                if hasattr(self.gui.flomni, "Image") or hasattr(self.gui.flomni, "Image_0"):
+                    return False
         return True
 
     def flomnigui_show_cameras(self):
         self.flomnigui_show_gui()
         if self._flomnigui_check_attribute_not_exists(
-            "camera_gripper"
-        ) or self._flomnigui_check_attribute_not_exists("camera_overview"):
+            "cam_flomni_gripper"
+        ) or self._flomnigui_check_attribute_not_exists("cam_flomni_overview"):
             self.flomnigui_remove_all_docks()
             camera_gripper_image = self.gui.flomni.new("Image")
             if self._flomnicam_check_device_exists(dev.cam_flomni_gripper):

csaxs_bec/bec_ipython_client/plugins/flomni/x_ray_eye_align.py

@@ -49,6 +49,8 @@ class XrayEyeAlign:
         self._xray_fov_xy = [0, 0]
 
     def update_frame(self, keep_shutter_open=False):
+        if self.flomni._flomnigui_check_attribute_not_exists("xeyegui"):
+            self.flomni.flomnigui_show_xeyealign()
 
         if not dev.cam_xeye.live_mode_enabled.get():
             dev.cam_xeye.live_mode_enabled.put(True)
@@ -245,7 +247,13 @@ class XrayEyeAlign:
         )
         print("Check the fit in the GUI...")
 
-        print("Then LOAD ALIGNMENT PARAMETERS by running flomni.read_alignment_offset()\n")
+        time.sleep(5)
+
+        print("Automatically loading new alignment parameters from xray eye alignment.\n")
+
+        self.flomni.read_alignment_offset()
+
+        print("You are ready to remove the xray eye and start ptychography scans.")
 
     def write_output(self):
         file = os.path.expanduser("~/Data10/specES1/internal/xrayeye_alignmentvalues")
@@ -266,7 +274,7 @@ class XrayEyeAlign:
                 fovx_x = (k - 1) * 45
                 fovx_list.append([fovx_x, fovx_offset * 1000])  # Append the data to the list
 
-                print(f"Writing to file new alignment: number {k}, value x {fovx_offset}")
+                print(f"Alignment number {k}, value x {fovx_offset}")
                 alignment_values_file.write(f"{fovx_x}\t{fovx_offset * 1000}\n")
 
             # Now build final numpy array:

csaxs_bec/bec_widgets/widgets/xray_eye/x_ray_eye.py

@@ -25,7 +25,6 @@ from qtpy.QtWidgets import (
     QTextEdit,
     QTabWidget,
 )
-import time
 
 logger = bec_logger.logger
 CAMERA = ("cam_xeye", "image")
@@ -146,6 +145,7 @@ class XRayEye(BECWidget, QWidget):
 
     def __init__(self, parent=None, **kwargs):
         super().__init__(parent=parent, **kwargs)
+        self._connected_motor = None
         self.get_bec_shortcuts()
 
         self._init_ui()
@@ -357,13 +357,14 @@ class XRayEye(BECWidget, QWidget):
                     self.on_tomo_angle_readback, MessageEndpoints.device_readback(motor)
                 )
                 logger.info(f"Successfully connected to {motor}")
+                self._connected_motor = motor
 
     ################################################################################
     # Properties ported from the original OmnyAlignment, can be adjusted as needed
     ################################################################################
     @SafeProperty(str)
     def user_message(self):
-        return self.message_line_edit.text()
+        return self.message_line_edit.toPlainText()
 
     @user_message.setter
     def user_message(self, message: str):
@@ -520,44 +521,50 @@ class XRayEye(BECWidget, QWidget):
     @SafeSlot()
     def submit(self):
         """Execute submit action by submit button."""
-        print("submit pushed")
         self.submit_button.blockSignals(True)
-        if self.roi_manager.single_active_roi is None:
-            logger.warning("No active ROI")
-            return
-        roi_coordinates = self.roi_manager.single_active_roi.get_coordinates()
-        roi_center_x = roi_coordinates["center_x"]
-        roi_center_y = roi_coordinates["center_y"]
-        # Case of rectangular ROI
-        if isinstance(self.roi_manager.single_active_roi, RectangularROI):
-            roi_width = roi_coordinates["width"]
-            roi_height = roi_coordinates["height"]
-        elif isinstance(self.roi_manager.single_active_roi, CircularROI):
-            roi_width = roi_coordinates["diameter"]
-            roi_height = roi_coordinates["radius"]
-        else:
-            logger.warning("Unsupported ROI type for submit action.")
-            return
+        try:
+            if self.roi_manager.single_active_roi is None:
+                logger.warning("No active ROI")
+                return
+            roi_coordinates = self.roi_manager.single_active_roi.get_coordinates()
+            roi_center_x = roi_coordinates["center_x"]
+            roi_center_y = roi_coordinates["center_y"]
+            # Case of rectangular ROI
+            if isinstance(self.roi_manager.single_active_roi, RectangularROI):
+                roi_width = roi_coordinates["width"]
+                roi_height = roi_coordinates["height"]
+            elif isinstance(self.roi_manager.single_active_roi, CircularROI):
+                roi_width = roi_coordinates["diameter"]
+                roi_height = roi_coordinates["radius"]
+            else:
+                logger.warning("Unsupported ROI type for submit action.")
+                return
 
-        print(
-            f"current roi: x:{roi_center_x}, y:{roi_center_y}, w:{roi_width},h:{roi_height}"
-        )  # TODO remove when will be not needed for debugging
-        # submit roi coordinates
-        step = int(self.dev.omny_xray_gui.step.read().get("omny_xray_gui_step").get("value"))
+            # submit roi coordinates
+            step = int(self.dev.omny_xray_gui.step.read().get("omny_xray_gui_step").get("value"))
 
-        xval_x = getattr(self.dev.omny_xray_gui, f"xval_x_{step}").set(roi_center_x)
-        xval_y = getattr(self.dev.omny_xray_gui, f"yval_y_{step}").set(roi_center_y)
-        width_x = getattr(self.dev.omny_xray_gui, f"width_x_{step}").set(roi_width)
-        width_y = getattr(self.dev.omny_xray_gui, f"width_y_{step}").set(roi_height)
-        self.dev.omny_xray_gui.submit.set(1)
-        print("submit done")
-        self.submit_button.blockSignals(False)
+            getattr(self.dev.omny_xray_gui, f"xval_x_{step}").set(roi_center_x)
+            getattr(self.dev.omny_xray_gui, f"yval_y_{step}").set(roi_center_y)
+            getattr(self.dev.omny_xray_gui, f"width_x_{step}").set(roi_width)
+            getattr(self.dev.omny_xray_gui, f"width_y_{step}").set(roi_height)
+            self.dev.omny_xray_gui.submit.set(1)
+        finally:
+            self.submit_button.blockSignals(False)
 
     def cleanup(self):
         """Cleanup connections on widget close -> disconnect slots and stop live mode of camera."""
+        if self._connected_motor is not None:
+            self.bec_dispatcher.disconnect_slot(
+                self.on_tomo_angle_readback, MessageEndpoints.device_readback(self._connected_motor)
+            )
+
         self.bec_dispatcher.disconnect_slot(
-            self.device_updates, MessageEndpoints.device_readback("omny_xray_gui")
+            self.getting_shutter_status, MessageEndpoints.device_readback("omnyfsh")
         )
+        self.bec_dispatcher.disconnect_slot(
+            self.getting_camera_status, MessageEndpoints.device_read_configuration(CAMERA[0])
+        )
+
         getattr(self.dev, CAMERA[0]).stop_live_mode()
         super().cleanup()
 

csaxs_bec/devices/epics/delay_generator_csaxs/ddg_1.py

@@ -104,7 +104,7 @@ DEFAULT_REFERENCES: list[tuple[LiteralChannels, CHANNELREFERENCE]] = [
     ("B", CHANNELREFERENCE.A),
     ("C", CHANNELREFERENCE.T0),  # T0
     ("D", CHANNELREFERENCE.C),
-    ("E", CHANNELREFERENCE.D),  # D One extra pulse once shutter closes for MCS
+    ("E", CHANNELREFERENCE.B),  # B One extra pulse once shutter closes for MCS
     ("F", CHANNELREFERENCE.E),  # E + 1mu s
     ("G", CHANNELREFERENCE.T0),
     ("H", CHANNELREFERENCE.G),
@@ -213,8 +213,23 @@ class DDG1(PSIDeviceBase, DelayGeneratorCSAXS):
 
         # NOTE Burst delay should be set to 0, don't remove as this will not be checked
         # Also set the burst count to 1 to only have a single pulse for DDG1.
+        # As the IOC may be out of sync with the HW, we make sure that we set the default parameters
+        # in the IOC to the expected values. In the past, we've experienced that IOC and HW can go out
+        # of sync.
+        self.burst_delay.put(1)
+        time.sleep(0.02)  # Give HW time to process
         self.burst_delay.put(0)
+        time.sleep(0.02)
+
+        self.burst_count.put(2)
+        time.sleep(0.02)
         self.burst_count.put(1)
+        time.sleep(0.02)
+
+        self.burst_mode.put(1)
+        time.sleep(0.02)
+        self.burst_mode.put(0)
+        time.sleep(0.02)
 
     def keep_shutter_open_during_scan(self, open: True) -> None:
         """
@@ -291,17 +306,24 @@ class DDG1(PSIDeviceBase, DelayGeneratorCSAXS):
         # Burst Period DDG1
         # Set burst_period to shutter width
         # c/t0 + self._shutter_to_open_delay + exp_time * burst_count
-        shutter_width = (
-            self._shutter_to_open_delay + exp_time * frames_per_trigger
-        )  # Shutter starts closing at end of exposure
+        # SHUTTER WIDTH timing consists of the delay for the shutter to open
+        # + the exposure time * frames per trigger
+        shutter_width = self._shutter_to_open_delay + exp_time * frames_per_trigger
+        # TOTAL EXPOSURE accounts for the shutter to open AND close. In addition, we add
+        # a short additional delay of 3e-6 to allow for the extra trigger through 'ef'
+        # (delay of 1e-6, width of 1e-6)
+        total_exposure_time = 2 * self._shutter_to_open_delay + exp_time * frames_per_trigger + 3e-6
         if self.burst_period.get() != shutter_width:
-            self.burst_period.put(shutter_width)
+            # The burst_period has to be slightly longer
+            self.burst_period.put(total_exposure_time)
 
         # Trigger DDG2
         # a = t0 + 2ms, b = a + 1us
         # a has reference to t0, b has reference to a
-        # Add delay of self._shutter_to_open_delay to allow shutter to open
-        self.set_delay_pairs(channel="ab", delay=self._shutter_to_open_delay, width=1e-6)
+        # AB is delayed by the shutter opening time, and the falling edge indicates the shutter has
+        # fully closed, it has to be considered as the blocking signal for the next acquisition to start.
+        # PS: + 3e-6
+        self.set_delay_pairs(channel="ab", delay=self._shutter_to_open_delay, width=shutter_width)
 
         # Trigger shutter
         # d = c/t0 + self._shutter_to_open_delay + exp_time * burst_count + 1ms
@@ -321,7 +343,7 @@ class DDG1(PSIDeviceBase, DelayGeneratorCSAXS):
         if self.scan_info.msg.scan_type == "fly":
             self.set_delay_pairs(channel="ef", delay=0, width=0)
         else:
-            self.set_delay_pairs(channel="ef", delay=0, width=1e-6)
+            self.set_delay_pairs(channel="ef", delay=1e-6, width=1e-6)
 
         # NOTE Add additional sleep to make sure that the IOC and DDG HW process the values properly
         # This value has been choosen empirically after testing with the HW. It's

csaxs_bec/devices/epics/delay_generator_csaxs/ddg_2.py

@@ -29,6 +29,7 @@ from ophyd_devices import DeviceStatus, StatusBase
 from ophyd_devices.interfaces.base_classes.psi_device_base import PSIDeviceBase
 
 from csaxs_bec.devices.epics.delay_generator_csaxs.delay_generator_csaxs import (
+    BURSTCONFIG,
     CHANNELREFERENCE,
     OUTPUTPOLARITY,
     STATUSBITS,
@@ -37,7 +38,6 @@ from csaxs_bec.devices.epics.delay_generator_csaxs.delay_generator_csaxs import
     ChannelConfig,
     DelayGeneratorCSAXS,
     LiteralChannels,
-    BURSTCONFIG,
 )
 
 logger = bec_logger.logger
@@ -138,6 +138,24 @@ class DDG2(PSIDeviceBase, DelayGeneratorCSAXS):
         # Set burst config
         self.burst_config.put(BURSTCONFIG.FIRST_CYCLE.value)
 
+        # TODO As the IOC may be out of sync with the HW, we make sure that we set the default parameters
+        # in the IOC to the expected values. In the past, we've experienced that IOC and HW can go out
+        # of sync.
+        self.burst_delay.put(1)
+        time.sleep(0.02)  # Give HW time to process
+        self.burst_delay.put(0)
+        time.sleep(0.02)
+
+        self.burst_count.put(2)
+        time.sleep(0.02)
+        self.burst_count.put(1)
+        time.sleep(0.02)
+
+        self.burst_mode.put(1)
+        time.sleep(0.02)
+        self.burst_mode.put(0)
+        time.sleep(0.02)
+
     def on_stage(self) -> DeviceStatus | StatusBase | None:
         """
 

csaxs_bec/devices/epics/mcs_card/mcs_card_csaxs.py

@@ -20,6 +20,7 @@ from typing import TYPE_CHECKING, Callable, Literal
 
 import numpy as np
 from bec_lib.logger import bec_logger
+from ophyd.utils.errors import WaitTimeoutError
 from ophyd import Component as Cpt
 from ophyd import EpicsSignalRO, Kind
 from ophyd_devices import (
@@ -513,7 +514,22 @@ class MCSCardCSAXS(PSIDeviceBase, MCSCard):
         # that the acquisition finishes on the card and that data is emitted to BEC. If the acquisition
         # was already finished (i.e. normal step scan sends 1 extra pulse per burst cycle), this will
         # not have any effect as the card will already be in DONE state and signal.
-        self.software_channel_advance.put(1)
+        if self.scan_info.msg.scan_type == "fly":
+            expected_points = int(
+                        self.scan_info.msg.num_points
+                        * self.scan_info.msg.scan_parameters.get("frames_per_trigger", 1)
+                    )
+            
+            status = CompareStatus(self.current_channel, expected_points-1, operation_success=">=")
+            try:
+                status.wait(timeout=5)
+            except WaitTimeoutError:
+                text = f"Device {self.name} received num points {self.current_channel.get()} / {expected_points}. Device timed out after 5s."
+                logger.error(text)
+                raise TimeoutError(text)
+
+            # Manually set the last advance
+            self.software_channel_advance.put(1)
 
         # Prepare and register status callback for the async monitoring loop
         status_async_data = StatusBase(obj=self)

csaxs_bec/devices/omny/rt/rt_flomni_ophyd.py

@@ -92,7 +92,8 @@ class RtFlomniController(Controller):
             parent._min_scan_buffer_reached = False
             start_time = time.time()
             for pos_index, pos in enumerate(positions):
-                parent.socket_put_and_receive(f"s{pos[0]:.05f},{pos[1]:.05f},{pos[2]:.05f}")
+                cmd = f"s{pos[0]:.05f},{pos[1]:.05f},{pos[2]:.05f}"
+                parent.socket_put_and_receive(cmd)
                 if pos_index > 100:
                     parent._min_scan_buffer_reached = True
             parent._min_scan_buffer_reached = True
@@ -174,8 +175,12 @@ class RtFlomniController(Controller):
         self.set_device_read_write("foptx", False)
         self.set_device_read_write("fopty", False)
 
-    def move_samx_to_scan_region(self, fovx: float, cenx: float):
+    def move_samx_to_scan_region(self, cenx: float, move_in_this_routine: bool = False):
+        # attention. a movement will clear all positions in the rt trajectory generator!
+        if move_in_this_routine == True:
+            self.device_manager.devices.rtx.obj.move(cenx, wait=True)
         time.sleep(0.05)
+        # at cenx we expect the PID to be close to zero for a good fsamx position
         if self.rt_pid_voltage is None:
             rtx = self.device_manager.devices.rtx
             self.rt_pid_voltage = rtx.user_parameter.get("rt_pid_voltage")
@@ -184,31 +189,41 @@ class RtFlomniController(Controller):
                     "rt_pid_voltage not set in rtx user parameters. Please run feedback_enable_with_reset first."
                 )
             logger.info(f"Using PID voltage from rtx user parameter: {self.rt_pid_voltage}")
-        expected_voltage = self.rt_pid_voltage + fovx / 2 * 7 / 100
-        logger.info(f"Expected PID voltage: {expected_voltage}")
+        expected_voltage = self.rt_pid_voltage
+        # logger.info(f"Expected PID voltage: {expected_voltage}")
         logger.info(f"Current PID voltage: {self.get_pid_x()}")
-
         wait_on_exit = False
-        while True:
-            if np.abs(self.get_pid_x() - expected_voltage) < 1:
-                break
-            wait_on_exit = True
-            self.socket_put("v0")
+        # we allow 2V range from center, this corresponds to 30 microns
+        if np.abs(self.get_pid_x() - expected_voltage) < 2:
+            logger.info("No correction of fsamx needed")
+        else:
             fsamx = self.device_manager.devices.fsamx
-            fsamx.read_only = False
             fsamx.obj.controller.socket_put_confirmed("axspeed[4]=0.1*stppermm[4]")
-            fsamx.obj.pid_x_correction -= (self.get_pid_x() - expected_voltage) * 0.007
-            logger.info(f"Correcting fsamx by {fsamx.obj.pid_x_correction}")
-            fsamx_in = fsamx.user_parameter.get("in")
-            fsamx.obj.move(fsamx_in + cenx / 1000 + fsamx.obj.pid_x_correction, wait=True)
-            fsamx.read_only = True
-            time.sleep(0.1)
-            self.laser_tracker_on()
-            time.sleep(0.01)
+            while True:
+                # when we correct, then to 1 V, within 15 microns
+                if np.abs(self.get_pid_x() - expected_voltage) < 1:
+                    logger.info("No further correction needed")
+                    break
+                wait_on_exit = True
+                # disable FZP piezo feedback
+                self.socket_put("v0")
+                fsamx.read_only = False
+                logger.info(f"Current PID voltage: {self.get_pid_x()}")
+                # here we accumulate the correction
+                fsamx.obj.pid_x_correction -= (self.get_pid_x() - expected_voltage) * 0.006
+                fsamx_in = fsamx.user_parameter.get("in")
+                logger.info(
+                    f"Moving fsamx to {cenx / 1000 * 0.7 + fsamx.obj.pid_x_correction}, PID portion of that {fsamx.obj.pid_x_correction}"
+                )
+                fsamx.obj.move(fsamx_in + cenx / 1000 * 0.7 + fsamx.obj.pid_x_correction, wait=True)
+                fsamx.read_only = True
+                time.sleep(0.1)
+                self.laser_tracker_on()
+                time.sleep(0.01)
 
         if wait_on_exit:
             time.sleep(1)
-
+        # enable fast FZP feedback again
         self.socket_put("v1")
 
     @threadlocked
@@ -499,7 +514,7 @@ class RtFlomniController(Controller):
         # while scan is running
         while mode > 0:
 
-            #TODO here?: scan abortion if no progress in scan *raise error
+            # TODO here?: scan abortion if no progress in scan *raise error
 
             # logger.info(f"Current scan position {current_position_in_scan} out of {number_of_positions_planned}")
             mode, number_of_positions_planned, current_position_in_scan = self.get_scan_status()

csaxs_bec/scans/flomni_fermat_scan.py

@@ -24,9 +24,11 @@ import time
 
 import numpy as np
 from bec_lib import bec_logger, messages
+from bec_lib.alarm_handler import Alarms
 from bec_lib.endpoints import MessageEndpoints
 from bec_server.scan_server.errors import ScanAbortion
 from bec_server.scan_server.scans import SyncFlyScanBase
+
 from csaxs_bec.devices.epics.delay_generator_csaxs.delay_generator_csaxs import TRIGGERSOURCE
 
 logger = bec_logger.logger
@@ -52,7 +54,7 @@ class FlomniFermatScan(SyncFlyScanBase):
         angle: float = None,
         corridor_size: float = 3,
         parameter: dict = None,
-        frames_per_trigger:int=1,
+        frames_per_trigger: int = 1,
         **kwargs,
     ):
         """
@@ -76,7 +78,9 @@ class FlomniFermatScan(SyncFlyScanBase):
             >>> scans.flomni_fermat_scan(fovx=20, fovy=25, cenx=0.02, ceny=0, zshift=0, angle=0, step=0.5, exp_time=0.01, frames_per_trigger=1)
         """
 
-        super().__init__(parameter=parameter, exp_time=exp_time, frames_per_trigger=frames_per_trigger, **kwargs)
+        super().__init__(
+            parameter=parameter, exp_time=exp_time, frames_per_trigger=frames_per_trigger, **kwargs
+        )
         self.show_live_table = False
         self.axis = []
         self.fovx = fovx
@@ -153,13 +157,16 @@ class FlomniFermatScan(SyncFlyScanBase):
         yield from self.stubs.send_rpc_and_wait("rty", "set", self.positions[0][1])
 
     def _prepare_setup_part2(self):
-        # Prepare DDG1 to use 
-        yield from self.stubs.send_rpc_and_wait("ddg1", "set_trigger", TRIGGERSOURCE.EXT_RISING_EDGE.value)
-        
+        # Prepare DDG1 to use
+        yield from self.stubs.send_rpc_and_wait(
+            "ddg1", "set_trigger", TRIGGERSOURCE.EXT_RISING_EDGE.value
+        )
+
         if self.flomni_rotation_status:
             self.flomni_rotation_status.wait()
 
-        rtx_status = yield from self.stubs.set(device="rtx", value=self.positions[0][0], wait=False)
+        # rtx_status = yield from self.stubs.set(device="rtx", value=self.positions[0][0], wait=False)
+        rtx_status = yield from self.stubs.set(device="rtx", value=self.cenx, wait=False)
         rtz_status = yield from self.stubs.set(device="rtz", value=self.positions[0][2], wait=False)
 
         yield from self.stubs.send_rpc_and_wait("rtx", "controller.laser_tracker_on")
@@ -167,22 +174,24 @@ class FlomniFermatScan(SyncFlyScanBase):
         rtx_status.wait()
         rtz_status.wait()
 
+        # status = yield from self.stubs.send_rpc("rtx", "move", self.cenx)
+        # status.wait()
         yield from self._transfer_positions_to_flomni()
-        yield from self.stubs.send_rpc_and_wait(
-            "rtx", "controller.move_samx_to_scan_region", self.fovx, self.cenx
-        )
         tracker_signal_status = yield from self.stubs.send_rpc_and_wait(
             "rtx", "controller.laser_tracker_check_signalstrength"
         )
-        #self.device_manager.connector.send_client_info(tracker_signal_status)
+        yield from self.stubs.send_rpc_and_wait(
+            "rtx", "controller.move_samx_to_scan_region", self.cenx
+        )
+        # self.device_manager.connector.send_client_info(tracker_signal_status)
         if tracker_signal_status == "low":
-            self.device_manager.connector.raise_alarm(
-                severity=0,
-                alarm_type="LaserTrackerSignalStrength",
-                source={"device": "rtx", "reason": "low signal strength", "method": "_prepare_setup_part2"},
-                metadata={},
-                msg="Signal strength of the laser tracker is low, sufficient to continue. Realignment recommended!",
+            error_info = messages.ErrorInfo(
+                error_message="Signal strength of the laser tracker is low, but sufficient to continue. Realignment recommended!",
+                compact_error_message="Low signal strength of the laser tracker. Realignment recommended!",
+                exception_type="LaserTrackerSignalStrengthLow",
+                device="rtx",
             )
+            self.device_manager.connector.raise_alarm(severity=Alarms.WARNING, info=error_info)
         elif tracker_signal_status == "toolow":
             raise ScanAbortion(
                 "Signal strength of the laser tracker is too low for scanning. Realignment required!"
@@ -307,13 +316,19 @@ class FlomniFermatScan(SyncFlyScanBase):
         # in flomni, we need to move to the start position of the next scan, which is the end position of the current scan
         # this method is called in finalize and overwrites the default move_to_start()
         if isinstance(self.positions, np.ndarray) and len(self.positions[-1]) == 3:
-            yield from self.stubs.set(device=["rtx", "rty", "rtz"], value=self.positions[-1])
+            # yield from self.stubs.set(device=["rtx", "rty", "rtz"], value=self.positions[-1])
+            # in x we move to cenx, then we avoid jumps in centering routine
+            value = self.positions[-1]
+            value[0] = self.cenx
+            yield from self.stubs.set(device=["rtx", "rty", "rtz"], value=value)
             return
 
         logger.warning("No positions found to return to start")
 
     def cleanup(self):
-        yield from self.stubs.send_rpc_and_wait("ddg1", "set_trigger", TRIGGERSOURCE.SINGLE_SHOT.value)
+        yield from self.stubs.send_rpc_and_wait(
+            "ddg1", "set_trigger", TRIGGERSOURCE.SINGLE_SHOT.value
+        )
         yield from super().cleanup()
 
     def run(self):

tests/tests_devices/test_delay_generator_csaxs.py

@@ -287,19 +287,20 @@ def test_ddg1_stage(mock_ddg1: DDG1):
     mock_ddg1.stage()
 
     shutter_width = mock_ddg1._shutter_to_open_delay + exp_time * frames_per_trigger
+    total_exposure = 2 * mock_ddg1._shutter_to_open_delay + exp_time * frames_per_trigger + 3e-6
 
     assert np.isclose(mock_ddg1.burst_mode.get(), 1)  # burst mode is enabled
     assert np.isclose(mock_ddg1.burst_delay.get(), 0)
-    assert np.isclose(mock_ddg1.burst_period.get(), shutter_width)
+    assert np.isclose(mock_ddg1.burst_period.get(), total_exposure)
 
     # Trigger DDG2 through EXT/EN
     assert np.isclose(mock_ddg1.ab.delay.get(), 2e-3)
-    assert np.isclose(mock_ddg1.ab.width.get(), 1e-6)
+    assert np.isclose(mock_ddg1.ab.width.get(), shutter_width)
     # Shutter channel cd
     assert np.isclose(mock_ddg1.cd.delay.get(), 0)
     assert np.isclose(mock_ddg1.cd.width.get(), shutter_width)
     # MCS channel ef or gate
-    assert np.isclose(mock_ddg1.ef.delay.get(), 0)
+    assert np.isclose(mock_ddg1.ef.delay.get(), 1e-6)
     assert np.isclose(mock_ddg1.ef.width.get(), 1e-6)
 
     assert mock_ddg1.staged == ophyd.Staged.yes