feat: first draft for jungfraujoch ophyd

moved gitlab ci to awi-utils

See merge request bec/csaxs_bec!16

.git_hooks/post-commit

@@ -0,0 +1,3 @@
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+semantic-release changelog -D version_variable=$SCRIPT_DIR/../../semantic_release/__init__.py:__version__
+semantic-release version -D version_variable=$SCRIPT_DIR/../../semantic_release/__init__.py:__version__

.git_hooks/pre-commit

@@ -1,2 +1,3 @@
-black --line-length=100 $(git diff --cached --name-only --diff-filter=ACM)
-git add $(git diff --cached --name-only --diff-filter=ACM)
+black --line-length=100 $(git diff --cached --name-only --diff-filter=ACM -- '*.py')
+isort --line-length=100 --profile=black --multi-line=3 --trailing-comma $(git diff --cached --name-only --diff-filter=ACM -- '*.py')
+git add $(git diff --cached --name-only --diff-filter=ACM -- '*.py')

.gitignore

@@ -8,6 +8,9 @@
 **/.pytest_cache
 **/*.egg*
 
+# recovery_config files
+recovery_config_*
+
 # file writer data
 **.h5
 

.gitlab-ci.yml

@@ -0,0 +1,8 @@
+include:
+  - project: bec/awi_utils
+    file: /templates/plugin-repo-template.yml
+    inputs:
+      name: "csaxs"
+      target: "csaxs_bec"
+      branch: $CHILD_PIPELINE_BRANCH
+

README.md

@@ -6,15 +6,12 @@ You might want to run cSAXS copy scripts before in case you want to have the for
 
 ## Overview
 
-1. Clone cSAXS BEC repository into e-account (e.g. into ~/Data10/software/.)
-2. Install BEC
-3. Start Epics iocs 
-4. Start BEC, BEC server and load/modify the device config with relevant hardware
-5. BEC commands
-6. Start BEC widgets (GUI for motor control, eiger live plot)
-7. Troubleshooting and common problems
+- Clone cSAXS BEC repository into e-account (e.g. into ~/Data10/software/.)
+- Start Epics iocs 
+- Start BEC, BEC server and load/modify the device config with relevant hardware
+- BEC commands
 
-## 1. Clone cSAXS BEC repository
+## Clone cSAXS BEC repository
 
 Clone the current cSAXS BEC repository from GIT into the new e-account.
 Create directory
@@ -24,19 +21,9 @@ cd ~/Data10/software
 ```
 Clone repository
 ```bash
-git clone https://gitlab.psi.ch/bec/csaxs-bec.git
+git clone https://gitlab.psi.ch/bec/csaxs_bec.git
 ```
-
-## 2. Install BEC
-
-There is a bash sript in the followin directory. 
-Go to the directory and run the script on pc15543 logged in as the e-account (BEC server):
-```bash
-ssh pc15543
-cd ~/Data10/software/csaxs-bec/bin/
-./setup_bec.sh
-```
-## 3. Start epics iocs
+## Start epics iocs
 
 You can start up the iocs while the *./setup_bec.sh* script is running. Be aware though that the scripts requires you to interact with it.
 
@@ -94,7 +81,7 @@ iocsh -7.0.6 startup.script
 ```
 Be aware -7.0.6 is referring to the current epics version and might change in future (SLS 2.0)
 
-## 4. Start BEC, BEC server and load device config
+## Start BEC, BEC server and load device config
 
 Step 1 needs to have finished for continuing with these steps. 
 What remains now is to start the bec server. Connect to pc15543 and open a new terminal to run:
@@ -127,7 +114,7 @@ bec.config.save_current_session('~/Data10/software/current_config.yaml')
 ```
 The second command is helpful if you adjust limits of motors, which will then be stored in the config and loaded if a reload of the configuration is needed.
 
-## 5. BEC commands
+## BEC commands
 
 A number of commands that are useful:
 
@@ -147,41 +134,3 @@ scans.line_scan(dev.samx, -1, 1, dev.samy, -1, 1, steps=20, exp_time=0.5, readou
 scans.sgalil_grid(start_y = , end_y = , interval_y = , start_x=, end_x=, interval_x =, exp_time=0.5, readout_time=3e-3, relative=True)
 ```
 
-## 6. Start BEC widgets (GUI for motor control, eiger live plot)
-
-To start the BEC widgets, the first step is to make the bec_widgets_venv using the start startup script. 
-Follow the commands below:
-``` bash
-cd ~/Data10/software/csaxs-bec/bin
-./setup_bec_widgets.sh
-```
-Afterwards, activate the environment on either cons-01 comp-1/2
-``` bash
-cd ~/Data10/software/
-source activate bec_widgets_venv/bin/activate
-```
-Each Plot needs their own shell with activate environment
-
-1. Eiger Plot
-``` bash
-cd ~/Data10/software/bec-widgets/bec_widgets/examples/eiger_plot
-python eiger_plot.py
-```
-2. Motor Controller
-``` bash
-cd ~/Data10/software/bec-widgets/bec_widgets/examples/motor_movement
-python motor_example.py --config csaxs_config.yaml
-```
-
-## 7. Troubleshooting and common problems
-
-Sometimes the data backend for the Eiger gets stuck or misses frames, this will result in an error
-``` python
-raise EigerTimeoutError(
-ophyd_devices.epics.devices.eiger9m_csaxs.EigerTimeoutError: Reached timeout with detector state 1, std_daq state FINISHED and received frames of 100 for the file writer)
-```
-This happens more likely after CTRL C of a scan. To recover from this more reliably, perform the an acquisition in burst mode with 100 frames, little exposure until no error message is raised after. This can be up to 3 times from former experience.
-``` bash
-scans.acquire(exp_time=0.02, frames_per_trigger=100, readout_time= 3e-3)
-```
-Afterwards, you should be good to continue with 2D gridscans.

bec_plugins/__init__.py

@@ -1 +0,0 @@
-from .bec_client import *

bec_plugins/bec_client/__init__.py

@@ -1 +0,0 @@
-from .plugins import *

bec_plugins/bec_client/hli/spec_hli.py

@@ -1,245 +0,0 @@
-from bec_lib.devicemanager import Device
-from bec_lib.scan_report import ScanReport
-
-# pylint:disable=undefined-variable
-# pylint: disable=too-many-arguments
-
-
-def dscan(
-    motor1: Device, m1_from: float, m1_to: float, steps: int, exp_time: float, **kwargs
-) -> ScanReport:
-    """Relative line scan with one device.
-
-    Args:
-        motor1 (Device): Device that should be scanned.
-        m1_from (float): Start position relative to the current position.
-        m1_to (float): End position relative to the current position.
-        steps (int): Number of steps.
-        exp_time (float): Exposure time.
-
-    Returns:
-        ScanReport: Status object.
-
-    Examples:
-        >>> dscan(dev.motor1, -5, 5, 10, 0.1)
-    """
-    return scans.line_scan(
-        motor1, m1_from, m1_to, steps=steps, exp_time=exp_time, relative=True, **kwargs
-    )
-
-
-def d2scan(
-    motor1: Device,
-    m1_from: float,
-    m1_to: float,
-    motor2: Device,
-    m2_from: float,
-    m2_to: float,
-    steps: int,
-    exp_time: float,
-    **kwargs
-) -> ScanReport:
-    """Relative line scan with two devices.
-
-    Args:
-        motor1 (Device): First device that should be scanned.
-        m1_from (float): Start position of the first device relative to its current position.
-        m1_to (float): End position of the first device relative to its current position.
-        motor2 (Device): Second device that should be scanned.
-        m2_from (float): Start position of the second device relative to its current position.
-        m2_to (float): End position of the second device relative to its current position.
-        steps (int): Number of steps.
-        exp_time (float): Exposure time
-
-    Returns:
-        ScanReport: Status object.
-
-    Examples:
-        >>> d2scan(dev.motor1, -5, 5, dev.motor2, -8, 8, 10, 0.1)
-    """
-    return scans.line_scan(
-        motor1,
-        m1_from,
-        m1_to,
-        motor2,
-        m2_from,
-        m2_to,
-        steps=steps,
-        exp_time=exp_time,
-        relative=True,
-        **kwargs
-    )
-
-
-def ascan(motor1, m1_from, m1_to, steps, exp_time, **kwargs):
-    """Absolute line scan with one device.
-
-    Args:
-        motor1 (Device): Device that should be scanned.
-        m1_from (float): Start position.
-        m1_to (float): End position.
-        steps (int): Number of steps.
-        exp_time (float): Exposure time.
-
-    Returns:
-        ScanReport: Status object.
-
-    Examples:
-        >>> ascan(dev.motor1, -5, 5, 10, 0.1)
-    """
-    return scans.line_scan(
-        motor1, m1_from, m1_to, steps=steps, exp_time=exp_time, relative=False, **kwargs
-    )
-
-
-def a2scan(motor1, m1_from, m1_to, motor2, m2_from, m2_to, steps, exp_time, **kwargs):
-    """Absolute line scan with two devices.
-
-    Args:
-        motor1 (Device): First device that should be scanned.
-        m1_from (float): Start position of the first device.
-        m1_to (float): End position of the first device.
-        motor2 (Device): Second device that should be scanned.
-        m2_from (float): Start position of the second device.
-        m2_to (float): End position of the second device.
-        steps (int): Number of steps.
-        exp_time (float): Exposure time
-
-    Returns:
-        ScanReport: Status object.
-
-    Examples:
-        >>> a2scan(dev.motor1, -5, 5, dev.motor2, -8, 8, 10, 0.1)
-    """
-    return scans.line_scan(
-        motor1,
-        m1_from,
-        m1_to,
-        motor2,
-        m2_from,
-        m2_to,
-        steps=steps,
-        exp_time=exp_time,
-        relative=False,
-        **kwargs
-    )
-
-
-def dmesh(motor1, m1_from, m1_to, m1_steps, motor2, m2_from, m2_to, m2_steps, exp_time, **kwargs):
-    """Relative mesh scan (grid scan) with two devices.
-
-    Args:
-        motor1 (Device): First device that should be scanned.
-        m1_from (float): Start position of the first device relative to its current position.
-        m1_to (float): End position of the first device relative to its current position.
-        m1_steps (int): Number of steps for motor1.
-        motor2 (Device): Second device that should be scanned.
-        m2_from (float): Start position of the second device relative to its current position.
-        m2_to (float): End position of the second device relative to its current position.
-        m2_steps (int): Number of steps for motor2.
-        exp_time (float): Exposure time
-
-    Returns:
-        ScanReport: Status object.
-
-    Examples:
-        >>> dmesh(dev.motor1, -5, 5, 10, dev.motor2, -8, 8, 10, 0.1)
-    """
-    return scans.grid_scan(
-        motor1,
-        m1_from,
-        m1_to,
-        m1_steps,
-        motor2,
-        m2_from,
-        m2_to,
-        m2_steps,
-        exp_time=exp_time,
-        relative=True,
-    )
-
-
-def amesh(motor1, m1_from, m1_to, m1_steps, motor2, m2_from, m2_to, m2_steps, exp_time, **kwargs):
-    """Absolute mesh scan (grid scan) with two devices.
-
-    Args:
-        motor1 (Device): First device that should be scanned.
-        m1_from (float): Start position of the first device.
-        m1_to (float): End position of the first device.
-        m1_steps (int): Number of steps for motor1.
-        motor2 (Device): Second device that should be scanned.
-        m2_from (float): Start position of the second device.
-        m2_to (float): End position of the second device.
-        m2_steps (int): Number of steps for motor2.
-        exp_time (float): Exposure time
-
-    Returns:
-        ScanReport: Status object.
-
-    Examples:
-        >>> amesh(dev.motor1, -5, 5, 10, dev.motor2, -8, 8, 10, 0.1)
-    """
-    return scans.grid_scan(
-        motor1,
-        m1_from,
-        m1_to,
-        m1_steps,
-        motor2,
-        m2_from,
-        m2_to,
-        m2_steps,
-        exp_time=exp_time,
-        relative=False,
-    )
-
-
-def umv(*args) -> ScanReport:
-    """Updated absolute move (i.e. blocking) for one or more devices.
-
-    Returns:
-        ScanReport: Status object.
-
-    Examples:
-        >>> umv(dev.samx, 1)
-        >>> umv(dev.samx, 1, dev.samy, 2)
-    """
-    return scans.umv(*args, relative=False)
-
-
-def umvr(*args) -> ScanReport:
-    """Updated relative move (i.e. blocking) for one or more devices.
-
-    Returns:
-        ScanReport: Status object.
-
-    Examples:
-        >>> umvr(dev.samx, 1)
-        >>> umvr(dev.samx, 1, dev.samy, 2)
-    """
-    return scans.umv(*args, relative=True)
-
-
-def mv(*args) -> ScanReport:
-    """Absolute move for one or more devices.
-
-    Returns:
-        ScanReport: Status object.
-
-    Examples:
-        >>> mv(dev.samx, 1)
-        >>> mv(dev.samx, 1, dev.samy, 2)
-    """
-    return scans.mv(*args, relative=False)
-
-
-def mvr(*args) -> ScanReport:
-    """Relative move for one or more devices.
-
-    Returns:
-        ScanReport: Status object.
-
-    Examples:
-        >>> mvr(dev.samx, 1)
-        >>> mvr(dev.samx, 1, dev.samy, 2)
-    """
-    return scans.mv(*args, relative=True)

bec_plugins/bec_client/plugins/LamNI/__init__.py

@@ -1,2 +0,0 @@
-from .load_additional_correction import lamni_read_additional_correction
-from .x_ray_eye_align import LamNI, XrayEyeAlign, MagLamNI, DataDrivenLamNI

bec_plugins/bec_client/plugins/LamNI/bl_show_all.mac

@@ -1,269 +0,0 @@
-def bl_show_all '{
-  local gap
-
-  printf("beamline status at %s:\n",date())
-
-  if (!_bl_hall_temperature_ok()) {
-    bl_hall_temperature
-    printf("\n")
-  }
-
-  if (_bl_sls_status_unusual()) {
-    bl_sls_status
-  } else {
-    bl_ring_current
-  }
-  bl_chk_beam _show
-  printf("\n")
-
-  printf("U19 ID gap                         : ",gap)
-  gap = _id_get_gap_mm()
-  if (gap >= 8) {
-    text_bf
-  }
-  printf("%.3f mm\n",gap)
-  text_non_bf
-
-  if (!_id_loss_rate_ok()) {
-    id_loss_rate
-  }
-
-  bl_shutter_status
-
-  if (_bl_cvd_filter_open()) {
-    text_bf
-    printf("CVD diamond filter                 : open / out\n")
-    text_non_bf
-  }
-
-  if (!_bl_xbox_valve_es1_open()) {
-    bl_xbox_valve_es1 _show
-  }
-
-  if (_bl_ln2_non_standard()) {
-    text_bf
-    printf("\nNon standard liquid nitrogen cooling-warning parameters occur. Please report this to your local contact.\n")
-    text_non_bf
-    printf("The macro bl_ln2_warn can be used to control this e-mail warning feature.\n")
-    bl_ln2_warn "show"
-    printf("\n")
-  }
-
-  printf("\n")
-  bl_flight_tube_pressure
-  printf("\n")
-
-  bl_attended _show
-
-  _bl_check_alarm_records(1,1)
-
-  printf("\n")
-  bl_op_msg
-}'
-
-
-def _bl_hall_temperature_ok() '{
-  local temp_ok
-  local stat
-
-  temp_ok = 1
-
-  # EH T02 average temperature
-  stat = epics_get("ILUUL-02AV:TEMP")
-  if ((stat < 23.0) || (stat > 26.0)) {
-    temp_ok = 0
-  }
-
-  # EH T02 temperature at T0204 axis 16
-  stat = epics_get("ILUUL-0200-EB104:TEMP")
-  if ((stat < 23.0) || (stat > 26.0)) {
-    temp_ok = 0
-  }
-
-  # EH T02 temperature at T0205 axis 18
-  stat = epics_get("ILUUL-0200-EB105:TEMP")
-  if ((stat < 23.0) || (stat > 26.0)) {
-    temp_ok = 0
-  }
-
-  return (temp_ok)
-}'
-
-
-# ----------------------------------------------------------------------
-def bl_hall_temperature '{
-  local stat
-
-  stat = epics_get("ILUUL-02AV:TEMP")
-  printf("hall T02 average temperature       : ")
-  if ((stat < 23.0) || (stat > 25.0)) {
-    text_bf
-  }
-  printf("%.2f deg.C\n",stat)
-  text_non_bf
-
-  stat = epics_get("ILUUL-0200-EB104:TEMP")
-  printf("hall temperature at T0204 axis 16  : ")
-  if ((stat < 23) || (stat > 25)) {
-    text_bf
-  }
-  printf("%.2f deg.C\n",stat)
-  text_non_bf
-
-  stat = epics_get("ILUUL-0200-EB105:TEMP")
-  printf("hall temperature at T0205 axis 18  : ")
-  if ((stat < 23) || (stat > 25)) {
-    text_bf
-  }
-  printf("%.2f deg.C\n",stat)
-  text_non_bf
-
-#   stat = epics_get("ILUUL-0300-EB102:TEMP")
-#   printf("EH T03 temperature at T0302 axis 21: ")
-#   if ((stat < 23) || (stat > 25)) {
-#     text_bf
-#   }
-#   printf("%.2f deg.C\n",stat)
-#   text_non_bf
-
-}'
-
-def _bl_sls_status_unusual() '{
-  local unusual
-  local stat
-
-  unusual = 0
-
-  stat = epics_get("X12SA-SR-VAC:SETPOINT")
-  if (stat != "OK") {
-    unusual = 1
-  }
-
-  stat = epics_get("ACOAU-ACCU:OP-MODE.VAL")
-  if ((stat != "Light Available") && (stat != "Light-Available")) {
-    unusual = 1
-  }
-
-  stat = epics_get("ALIRF-GUN:INJ-MODE")
-  if (stat != "TOP-UP") {
-    unusual = 1
-  }
-
-  # current threshold
-  stat = epics_get("ALIRF-GUN:CUR-LOWLIM")
-  if (stat < 350) {
-    unusual = 1
-  }
-
-  # current deadband
-  stat = epics_get("ALIRF-GUN:CUR-DBAND")
-  if (stat > 2) {
-    unusual = 1
-  }
-
-  # orbit feedback mode
-  stat = epics_get("ARIDI-BPM:OFB-MODE")
-  if (stat != "fast") {
-    unusual = 1
-  }
-
-  # fast orbit feedback
-  stat = epics_get("ARIDI-BPM:FOFBSTATUS-G")
-  if (stat != "running") {
-    unusual = 1
-  }
-
-  return(unusual)
-}'
-
-def bl_sls_status '{
-  local stat
-
-  stat = epics_get("ACOAU-ACCU:OP-MODE.VAL")
-  printf("SLS status                         : ")
-  if ((stat != "Light Available") && (stat != "Light-Available")) {
-    text_bf
-  }
-  printf("%s\n",stat)
-  text_non_bf
-
-  stat = epics_get("ALIRF-GUN:INJ-MODE")
-  printf("SLS injection mode                 : ")
-  if (stat != "TOP-UP") {
-    text_bf
-  }
-  printf("%s\n",stat)
-  text_non_bf
-
-  stat = epics_get("ALIRF-GUN:CUR-LOWLIM")
-  printf("SLS current threshold              : ")
-  if (stat < 350) {
-    text_bf
-  }
-  printf("%7.3f\n",stat)
-  text_non_bf
-
-  stat = epics_get("ALIRF-GUN:CUR-DBAND")
-  printf("SLS current deadband               : ")
-  if (stat > 2) {
-    text_bf
-  }
-  printf("%7.3f\n",stat)
-  text_non_bf
-
-  stat = epics_get("ACORF-FILL:PAT-SELECT")
-  printf("SLS filling pattern                : ")
-  printf("%s\n",stat)
-
-  bl_ring_current
-
-  stat = epics_get("ARIDI-PCT:TAU-HOUR")
-  printf("SLS filling life time              : ")
-  printf("%.2f h\n",stat)
-
-  stat = epics_get("ARIDI-BPM:OFB-MODE")
-  printf("orbit feedback mode                : ")
-  if (stat != "fast") {
-    text_bf
-  }
-  printf("%s\n",stat)
-  text_non_bf
-
-  stat = epics_get("ARIDI-BPM:FOFBSTATUS-G")
-  printf("fast orbit feedback                : ")
-  if (stat != "running") {
-    text_bf
-  }
-  printf("%s\n",stat)
-  text_non_bf
-
-}'
-
-def _bl_get_ring_current() '{
-  return epics_get("ARIDI-PCT:CURRENT")
-}'
-
-
-# ----------------------------------------------------------------------
-def _bl_no_ring_current() '{
-  # set an arbitrary current limit of 100mA as no-beam limit
-  if (_bl_get_ring_current() < 100) {
-    return 1
-  } else {
-    return 0
-  }
-}'
-
-
-# ----------------------------------------------------------------------
-def bl_ring_current '{
-  local curr
-
-  curr = _bl_get_ring_current()
-
-  if (curr < 300) {
-    text_bf
-  }
-  printf("SLS ring current                   : %.3f mA\n",curr)
-  text_non_bf
-}'

bec_plugins/bec_client/plugins/LamNI/lamni_optics_mixin.py

@@ -1,161 +0,0 @@
-import builtins
-import time
-
-from rich import box
-from rich.console import Console
-from rich.table import Table
-
-from bec_client.plugins.cSAXS import epics_get, epics_put, fshclose
-
-# import builtins to avoid linter errors
-dev = builtins.__dict__.get("dev")
-umv = builtins.__dict__.get("umv")
-bec = builtins.__dict__.get("bec")
-
-
-class LamNIOpticsMixin:
-    @staticmethod
-    def _get_user_param_safe(device, var):
-        param = dev[device].user_parameter
-        if not param or param.get(var) is None:
-            raise ValueError(f"Device {device} has no user parameter definition for {var}.")
-        return param.get(var)
-
-    def leye_out(self):
-        self.loptics_in()
-        fshclose()
-        leyey_out = self._get_user_param_safe("leyey", "out")
-        umv(dev.leyey, leyey_out)
-
-        epics_put("XOMNYI-XEYE-ACQ:0", 2)
-        # move rotation stage to zero to avoid problems with wires
-        umv(dev.lsamrot, 0)
-        umv(dev.dttrz, 5854, dev.fttrz, 2395)
-
-    def leye_in(self):
-        bec.queue.next_dataset_number += 1
-        # move rotation stage to zero to avoid problems with wires
-        umv(dev.lsamrot, 0)
-        umv(dev.dttrz, 6419.677, dev.fttrz, 2959.979)
-        while True:
-            moved_out = (input("Did the flight tube move out? (Y/n)") or "y").lower()
-            if moved_out == "y":
-                break
-            if moved_out == "n":
-                return
-        leyex_in = self._get_user_param_safe("leyex", "in")
-        leyey_in = self._get_user_param_safe("leyey", "in")
-        umv(dev.leyex, leyex_in, dev.leyey, leyey_in)
-        self.align.update_frame()
-
-    def _lfzp_in(self):
-        loptx_in = self._get_user_param_safe("loptx", "in")
-        lopty_in = self._get_user_param_safe("lopty", "in")
-        umv(
-            dev.loptx, loptx_in, dev.lopty, lopty_in
-        )  # for 7.2567 keV and 150 mu, 60 nm fzp, loptz 83.6000 for propagation 1.4 mm
-
-    def lfzp_in(self):
-        """
-        move in the lamni zone plate.
-        This will disable rt feedback, move the FZP and re-enabled the feedback.
-        """
-        if "rtx" in dev and dev.rtx.enabled:
-            dev.rtx.controller.feedback_disable()
-
-        self._lfzp_in()
-
-        if "rtx" in dev and dev.rtx.enabled:
-            dev.rtx.controller.feedback_enable_with_reset()
-
-    def loptics_in(self):
-        """
-        Move in the lamni optics, including the FZP and the OSA.
-        """
-        self.lfzp_in()
-        self.losa_in()
-
-    def loptics_out(self):
-        """Move out the lamni optics"""
-        if "rtx" in dev and dev.rtx.enabled:
-            dev.rtx.controller.feedback_disable()
-
-        # self.lcs_out()
-        self.losa_out()
-        loptx_out = self._get_user_param_safe("loptx", "out")
-        lopty_out = self._get_user_param_safe("lopty", "out")
-        umv(dev.loptx, loptx_out, dev.lopty, lopty_out)
-
-        if "rtx" in dev and dev.rtx.enabled:
-            time.sleep(1)
-            dev.rtx.controller.feedback_enable_with_reset()
-
-    def lcs_in(self):
-        # umv lcsx -1.852 lcsy -0.095
-        pass
-
-    def lcs_out(self):
-        umv(dev.lcsy, 3)
-
-    def losa_in(self):
-        # 6.2 keV, 170 um FZP
-        # umv(dev.losax, -1.4450000, dev.losay, -0.1800)
-        # umv(dev.losaz, -1)
-        # 6.7, 170
-        # umv(dev.losax, -1.4850, dev.losay, -0.1930)
-        # umv(dev.losaz, 1.0000)
-        # 7.2, 150
-        losax_in = self._get_user_param_safe("losax", "in")
-        losay_in = self._get_user_param_safe("losay", "in")
-        losaz_in = self._get_user_param_safe("losaz", "in")
-        umv(dev.losax, losax_in, dev.losay, losay_in)
-        umv(dev.losaz, losaz_in)
-        # 11 kev
-        # umv(dev.losax, -1.161000, dev.losay, -0.196)
-        # umv(dev.losaz, 1.0000)
-
-    def losa_out(self):
-        losay_out = self._get_user_param_safe("losay", "out")
-        losaz_out = self._get_user_param_safe("losaz", "out")
-        umv(dev.losaz, losaz_out)
-        umv(dev.losay, losay_out)
-
-    def lfzp_info(self):
-        loptz_val = dev.loptz.read()["loptz"]["value"]
-        distance = -loptz_val + 85.6 + 52
-        print(f"The sample is in a distance of {distance:.1f} mm from the FZP.")
-
-        diameters = [80e-6, 100e-6, 120e-6, 150e-6, 170e-6, 200e-6, 220e-6, 250e-6]
-
-        mokev_val = dev.mokev.read()["mokev"]["value"]
-        console = Console()
-        table = Table(
-            title=f"At the current energy of {mokev_val:.4f} keV we have following options:",
-            box=box.SQUARE,
-        )
-        table.add_column("Diameter", justify="center")
-        table.add_column("Focal distance", justify="center")
-        table.add_column("Current beam size", justify="center")
-
-        wavelength = 1.2398e-9 / mokev_val
-
-        for diameter in diameters:
-            outermost_zonewidth = 60e-9
-            focal_distance = diameter * outermost_zonewidth / wavelength
-            beam_size = (
-                -diameter / (focal_distance * 1000) * (focal_distance * 1000 - distance) * 1e6
-            )
-            table.add_row(
-                f"{diameter*1e6:.2f} microns",
-                f"{focal_distance:.2f} mm",
-                f"{beam_size:.2f} microns",
-            )
-
-        console.print(table)
-
-        print("OSA Information:")
-        # print(f"Current losaz %.1f\n", A[losaz])
-        # print("The OSA will collide with the sample plane at %.1f\n\n", 89.3-A[loptz])
-        print(
-            "The numbers presented here are for a sample in the plane of the lamni sample holder.\n"
-        )

bec_plugins/bec_client/plugins/__init__.py

@@ -1,3 +0,0 @@
-from .cSAXS import *
-
-# from .LamNI import *

bec_plugins/bec_client/plugins/cSAXS/__init__.py

@@ -1 +0,0 @@
-from .cSAXS_beamline import fshopen, fshclose, fshstatus, epics_get, epics_put

bec_plugins/bec_client/startup/post_startup.py

@@ -1,76 +0,0 @@
-"""
-Post startup script for the BEC client. This script is executed after the
-IPython shell is started. It is used to load the beamline specific
-information and to setup the prompts.
-
-The script is executed in the global namespace of the IPython shell. This
-means that all variables defined here are available in the shell.
-
-If needed, bec command-line arguments can be parsed here. For example, to
-parse the --session argument, add the following lines to the script:
-
-    import argparse
-    parser = argparse.ArgumentParser()
-    parser.add_argument("--session", help="Session name", type=str, default="my_default_session")
-    args = parser.parse_args()
-
-    if args.session == "my_session":
-        print("Loading my_session session")
-        from bec_plugins.bec_client.plugins.my_session import *
-    else:
-        print("Loading default session")
-        from bec_plugins.bec_client.plugins.default_session import *
-"""
-
-# pylint: disable=invalid-name, unused-import, import-error, undefined-variable, unused-variable, unused-argument, no-name-in-module
-import argparse
-
-from bec_lib import bec_logger
-
-logger = bec_logger.logger
-
-logger.info("Using the cSAXS startup script.")
-
-parser = argparse.ArgumentParser()
-parser.add_argument("--session", help="Session name", type=str, default="cSAXS")
-args = parser.parse_args()
-
-if args.session == "LamNI":
-    print("Loading LamNI session")
-    from bec_plugins.bec_client.plugins.cSAXS import *
-    from bec_plugins.bec_client.plugins.LamNI import *
-
-    lamni = LamNI(bec)
-
-elif args.session == "cSAXS":
-    print("Loading cSAXS session")
-    from bec_plugins.bec_client.plugins.cSAXS import *
-
-
-# SETUP BEAMLINE INFO
-from bec_client.plugins.SLS.sls_info import OperatorInfo, SLSInfo
-
-from bec_plugins.bec_client.plugins.cSAXS.beamline_info import BeamlineInfo
-
-bec._beamline_mixin._bl_info_register(BeamlineInfo)
-bec._beamline_mixin._bl_info_register(SLSInfo)
-bec._beamline_mixin._bl_info_register(OperatorInfo)
-
-# SETUP PROMPTS
-bec._ip.prompts.username = args.session
-bec._ip.prompts.status = 1
-
-
-# REGISTER BEAMLINE CHECKS
-from bec_lib.bl_conditions import (
-    FastOrbitFeedbackCondition,
-    LightAvailableCondition,
-    ShutterCondition,
-)
-
-# _fast_orbit_feedback_condition = FastOrbitFeedbackCondition(dev.sls_fast_orbit_feedback)
-_light_available_condition = LightAvailableCondition(dev.sls_machine_status)
-_shutter_condition = ShutterCondition(dev.x12sa_es1_shutter_status)
-# bec.bl_checks.register(_fast_orbit_feedback_condition)
-bec.bl_checks.register(_light_available_condition)
-bec.bl_checks.register(_shutter_condition)

bec_plugins/bec_client/startup/pre_startup.py

@@ -1,25 +0,0 @@
-"""
-Pre-startup script for BEC client. This script is executed before the BEC client
-is started. It can be used to set up the BEC client configuration. The script is
-executed in the global namespace of the BEC client. This means that all
-variables defined here are available in the BEC client.
-
-To set up the BEC client configuration, use the ServiceConfig class. For example,
-to set the configuration file path, add the following lines to the script:
-
-    import pathlib
-    from bec_lib import ServiceConfig
-
-    current_path = pathlib.Path(__file__).parent.resolve()
-    CONFIG_PATH = f"{current_path}/<path_to_my_config_file.yaml>"
-
-    config = ServiceConfig(CONFIG_PATH)
-
-If this startup script defined a ServiceConfig object, the BEC client will use
-it to configure itself. Otherwise, the BEC client will use the default config.
-"""
-
-# example:
-# current_path = pathlib.Path(__file__).parent.resolve()
-# CONFIG_PATH = f"{current_path}/../../../bec_config.yaml"
-# config = ServiceConfig(CONFIG_PATH)

bec_plugins/scibec/lamni_config.py

@@ -1,152 +0,0 @@
-import yaml
-
-# TODO: fix imports, those classes are located in .../bec/scibec/init_scibec/configs/config.py
-# (see also lamni_config.py in bec repository)
-from .config import DemoConfig, X12SAConfig
-
-
-class LamNIConfig(DemoConfig, X12SAConfig):
-    def run(self):
-        # self.write_galil_motors()
-        # self.write_rt_motors()
-        # self.write_smaract_motors()
-        # self.write_eiger1p5m()
-        self.write_x12sa_status()
-        self.write_sls_status()
-        self.load_csaxs_config()
-        # self.write_sim_user_motors()
-        # self.write_sim_beamline_motors()
-        # self.write_sim_beamline_monitors()
-
-    def write_galil_motors(self):
-        lamni_galil_motors = [
-            ("lsamx", "A", -1, 0.5, {"center": 8.768000}),
-            ("lsamy", "B", 1, 0.5, {"center": 10.041000}),
-            ("lsamrot", "C", 1, 0.5, {}),
-            ("loptz", "D", -1, 0.5, {}),
-            ("loptx", "E", 1, 0.5, {"in": -0.8380, "out": -0.699}),
-            ("lopty", "F", 1, 0.5, {"in": 3.3540, "out": 3.53}),
-            ("leyex", "G", -1, 0.001, {"in": 14.117000}),
-            ("leyey", "H", -1, 0.001, {"in": 48.069000, "out": 0.5}),
-        ]
-        out = {}
-        for m in lamni_galil_motors:
-            out[m[0]] = dict(
-                {
-                    "status": {"enabled": True, "enabled_set": True},
-                    "deviceClass": "GalilMotor",
-                    "deviceConfig": {
-                        "axis_Id": m[1],
-                        "name": m[0],
-                        "labels": m[0],
-                        "host": "mpc2680.psi.ch",
-                        "port": 8081,
-                        "sign": m[2],
-                        "limits": [0, 0],
-                        "tolerance": m[3],
-                        "device_access": True,
-                        "device_mapping": {"rt": "rtx"},
-                    },
-                    "acquisitionConfig": {
-                        "schedule": "sync",
-                        "acquisitionGroup": "motor",
-                        "readoutPriority": "baseline",
-                    },
-                    "deviceTags": ["lamni"],
-                }
-            )
-            if m[4]:
-                out[m[0]]["userParameter"] = m[4]
-        self.write_section(out, "LamNI Galil motors")
-
-    def write_rt_motors(self):
-        lamni_rt_motors = [
-            ("rtx", "A", 1),
-            ("rty", "B", 1),
-        ]
-        out = dict()
-        for m in lamni_rt_motors:
-            out[m[0]] = dict(
-                {
-                    "status": {"enabled": True, "enabled_set": True},
-                    "deviceClass": "RtLamniMotor",
-                    "deviceConfig": {
-                        "axis_Id": m[1],
-                        "name": m[0],
-                        "labels": m[0],
-                        "host": "mpc2680.psi.ch",
-                        "port": 3333,
-                        "limits": [0, 0],
-                        "sign": m[2],
-                        "device_access": True,
-                    },
-                    "acquisitionConfig": {
-                        "schedule": "sync",
-                        "acquisitionGroup": "motor",
-                        "readoutPriority": "baseline",
-                    },
-                    "deviceTags": ["lamni"],
-                }
-            )
-        self.write_section(out, "LamNI RT")
-
-    def write_smaract_motors(self):
-        lamni_smaract_motors = [
-            ("losax", "A", -1, {"in": -0.848000}),
-            ("losay", "B", -1, {"in": 0.135000, "out": 3.8}),
-            ("losaz", "C", 1, {"in": -1, "out": -3}),
-            ("lcsx", "D", -1, {}),
-            ("lcsy", "E", -1, {}),
-        ]
-        out = dict()
-        for m in lamni_smaract_motors:
-            out[m[0]] = dict(
-                {
-                    "status": {"enabled": True, "enabled_set": True},
-                    "deviceClass": "SmaractMotor",
-                    "deviceConfig": {
-                        "axis_Id": m[1],
-                        "name": m[0],
-                        "labels": m[0],
-                        "host": "mpc2680.psi.ch",
-                        "port": 8085,
-                        "limits": [0, 0],
-                        "sign": m[2],
-                        "tolerance": 0.05,
-                    },
-                    "acquisitionConfig": {
-                        "schedule": "sync",
-                        "acquisitionGroup": "motor",
-                        "readoutPriority": "baseline",
-                    },
-                    "deviceTags": ["lamni"],
-                }
-            )
-            if m[3]:
-                out[m[0]]["userParameter"] = m[3]
-        self.write_section(out, "LamNI SmarAct motors")
-
-    def write_eiger1p5m(self):
-        out = {
-            "eiger1p5m": {
-                "description": "Eiger 1.5M in vacuum detector, in-house developed, PSI",
-                "status": {"enabled": True, "enabled_set": True},
-                "deviceClass": "Eiger1p5MDetector",
-                "deviceConfig": {"device_access": True, "name": "eiger1p5m"},
-                "acquisitionConfig": {
-                    "schedule": "sync",
-                    "acquisitionGroup": "detector",
-                    "readoutPriority": "monitored",
-                },
-                "deviceTags": ["detector"],
-            }
-        }
-        self.write_section(out, "LamNI Eiger 1.5M in vacuum")
-
-    def load_csaxs_config(self):
-        CONFIG_PATH = "./init_scibec/configs/test_config_cSAXS.yaml"
-        content = {}
-        with open(CONFIG_PATH, "r") as csaxs_config_file:
-            content = yaml.safe_load(csaxs_config_file.read())
-
-        self.write_section(content, "Default cSAXS config")

bec_plugins/utils/csaxs_post_archive.py

@@ -1,182 +0,0 @@
-import os
-import json
-import subprocess
-import requests
-
-from bec_lib.file_utils import FileWriterMixin
-#from bec_lib.bec_service import SERVICE_CONFIG
-
-
-class csaxs_archiver:
-    """Class to archive data from a beamtime.
-    To run this script from a shell, go to discovery.psi.ch and copy your token.
-    Complement the information in user_input below in the if __name__ == __main__ part of the script.
-    Afterwards, get a Keberos token (kinit) for yourself in the shell.
-    Activate the bec_venv by doing "source bec_venv/bin/activate" and then run this code via  python $filename.
-    As a last step, adjust the dictionary below in if __name__ == '__main__' with your token as well as information about the experiment
-    """
-
-    def __init__(
-        self,
-        start_scan: int,
-        stop_scan: int,
-        base_path: str,
-        log_path: str,
-        eacc: str,
-        pi: str,
-        pi_email: str,
-        token: str,
-        type: str = "raw",
-        overwrite: bool = False,
-        online: bool = True,
-    ):
-        self.start_scan = start_scan
-        self.stop_scan = stop_scan
-        self.log_path = os.path.expanduser(log_path)
-        self.eacc = eacc
-        self.pi = pi
-        self.pi_email = pi_email
-        self.token = token
-        self.type = type
-        self.overwrite = overwrite
-        self.online = online
-
-        #from bec_lib.bec_service import SERVICE_CONFIG
-        #SERVICE_CONFIG.config["service_config"]["file_writer"]
-        self._load_datacatalogue_module()
-        self._create_directory(base_path)
-        self._disable_mail_confirmation()
-
-        self.service_cfg = {'base_path' : f'{self.base_path}'}
-
-        self.file_writer = FileWriterMixin(self.service_cfg)
-
-    def _disable_mail_confirmation(self):
-        # Define the URL and payload
-        url = "https://dacat.psi.ch/api/v3/Policies/updatewhere"
-        payload = {
-            "ownerGroupList": f'p{self.eacc[1:]}',
-            "data": '{"archiveEmailNotification": false, "accessGroups": ["slscsaxs"]}'
-        }
-
-        # Define headers
-        headers = {
-            "Content-Type": "application/x-www-form-urlencoded",
-            "Accept": "application/json",
-        }
-
-        # Add the access_token to the URL
-        url += "?access_token=" + self.token
-
-        # Make a POST request
-        print(url, payload, headers)
-        response = requests.post(url, data=payload, headers=headers)
-
-        # Check the response
-        if response.status_code == 200:
-            print("Request was successful.")
-            print(response.json())
-        else:
-            print("Request failed with status code:", response.status_code)
-            print(response.text)
-
-    def _create_directory(self, base_path: str) -> None:
-        if self.online:
-            self.base_path = os.path.expanduser("~/Data10")
-        else:
-            self.base_path = base_path
-
-        if not os.path.exists(self.log_path):
-            os.makedirs(self.log_path)
-
-    def _load_datacatalogue_module(self):
-        command = 'module add datacatalog/1.1.9'
-        os.popen(command)
-        # result = subprocess.run(
-        #     command,
-        #     shell=False,
-        #     stdout=subprocess.PIPE,
-        #     stderr=subprocess.PIPE,
-        #     universal_newlines=True,
-        # )
-        # if result.returncode == 0:
-        #     print(f"Command {command} was succesful")
-        # else:
-        #     print(f"Failed to run command {command} with return message {result.returncode}")
-
-    def prep_metadata(self, scannr: int) -> dict:
-        user_metadata = {}
-        user_metadata.update(
-            {
-                "principalInvestigator": self.pi_email,
-                "owner": self.pi,
-                "ownerEmail": self.pi_email,
-                "sourceFolder": self.base_path,
-                "creationLocation": "/PSI/SLS/CSAXS",
-                "type": "raw",
-                "ownerGroup": f"p{self.eacc.strip('e')}",
-                "datasetName": f"S{scannr:05d}",
-            }
-        )
-        return user_metadata
-
-    def _write_ingestion_log(self, scannr: int) -> None:
-        ...
-
-    def run_for_all_scans(self):
-        for scan in range(self.start_scan, self.stop_scan + 1):
-            print(f"Start ingestion for scan {scan}")
-            fname = os.path.join(os.path.expanduser(self.log_path), f"ingestion_log_S{scan:05d}")
-            self.datafile_name = f"{fname}.txt"
-            if os.path.isfile(self.datafile_name) and not self.overwrite == True:
-                print(
-                    f"Skipping scan {scan}, already ingested due to logs, moving on to next scan {scan+1}"
-                )
-                continue
-
-            user_metadata = self.prep_metadata(scan)
-
-            # Write metadata file in json file
-            self.metadata_file = f"{fname}.json"
-            with open(self.metadata_file, "w") as file:
-                json.dump(user_metadata, file)
-
-            # Compile datapath based on structure a cSAXS
-            datadir_path = os.path.join('data', self.file_writer.get_scan_directory(scan, 1000, 5))
-            print(f"Archiving directory {datadir_path}")
-            if not os.path.isdir(os.path.join(self.base_path, datadir_path)):
-                print(f"Did not find directory {datadir_path}, skipping scan {scan}")
-                continue
-
-            # Create datafile path for archiving
-            with open(self.datafile_name, "w") as file:
-                file.write(datadir_path)
-
-            print(f"Starting ingestion for S#{scan}")
-            command = f'datasetIngestor -allowexistingsource -ingest -autoarchive -noninteractive -token {self.token} {self.metadata_file} {self.datafile_name}'
-            rtr = os.popen(command)
-
-            #with open(os.path.join(fname,'_log.txt'), "w") as file:
-            #    print(f'Writing reponse to file')
-            #    file.write(rtr.read())
-            # result = subprocess.run(command, shell=False, stdout = subprocess.PIPE, stderr = subprocess.PIPE, universal_newlines=True)
-            # if result.returncode == 0:
-            #     print(f"Command {command} was succesful")
-            # else:
-            #     print(f"Failed to run command {command} with return message {result.returncode}")
-
-
-if __name__ == "__main__":
-    # Generate dictionary with user input.
-    user_input = {
-        "base_path": "~/Data10",
-        "eacc": "e20638",
-        "pi": "Emma Sparr",
-        "pi_email": "emma.sparr@fkem1.lu.se",
-        'log_path' : '~/Data10/documentation/ingestion_logs/',
-        'token' : 'YK8gkmQmEVxVxjiA57D6tVmpBVs7T235nWEuBT0behN9BPM2BdWARWPPgEsQVrPe',
-        'start_scan' : 1,
-        'stop_scan' : 450,
-    }
-    archiver = csaxs_archiver(**user_input)
-    archiver.run_for_all_scans()

bec_plugins/utils/saxs_params.py

@@ -1,88 +0,0 @@
-import csv
-import os
-from collections import defaultdict
-from collections.abc import Callable
-
-import numpy as np
-
-
-class ScanItem:
-    def __init__(self, offset_xy: Callable) -> None:
-        self.start_entry = None
-        self.end_entry = None
-        self.offset_xy = offset_xy
-
-    def to_scan_params(self) -> dict:
-        scan_params = {
-            "start_x": float(self.start_entry["X"]) + self.offset_xy()[0],
-            "start_y": float(self.start_entry["Y"]) + self.offset_xy()[1],
-            "end_x": float(self.end_entry["X"]) + self.offset_xy()[0],
-            "end_y": float(self.end_entry["Y"]) + self.offset_xy()[1],
-            "interval_x": int(
-                np.round(
-                    np.abs(float(self.start_entry["X"]) - float(self.end_entry["X"]))
-                    / (float(self.start_entry["step_x [mu]"]) * 1e-3)
-                )
-            ),
-            "interval_y": int(
-                np.round(
-                    np.abs(float(self.start_entry["Y"]) - float(self.end_entry["Y"]))
-                    / (float(self.start_entry["step_y [mu]"]) * 1e-3)
-                )
-            ),
-            "exp_time": float(self.start_entry["exp_time [s]"]),
-            "readout_time": 3e-3,
-            "md": {"sample_name": self.start_entry["sample name"]},
-        }
-        if scan_params["interval_x"] < 1 or scan_params["interval_x"] < 1:
-            raise ValueError("Bugger off...")
-        return scan_params
-
-
-class SAXSParams:
-    def __init__(self, offset: Callable):
-        self.offset_xy = offset
-        self.data = defaultdict(lambda: ScanItem(offset))
-
-    def load_from_csv(self, file_path: str) -> None:
-        """
-        Load the acquisition parameter from a csv file.
-        """
-
-        if not os.path.exists(file_path):
-            raise FileNotFoundError(
-                f"The specified CSV file could not be found. Please check that the given path is correct: {file_path}."
-            )
-
-        data_transposed = defaultdict(lambda: [])
-        with open(os.path.expanduser(file_path), "r") as file:
-            csv_reader = csv.DictReader(file)
-            for row in csv_reader:
-                for key, val in row.items():
-                    data_transposed[key].append(val)
-                if int(row["start"]):
-                    self.data[row["sample name"]].start_entry = row
-                else:
-                    self.data[row["sample name"]].end_entry = row
-        self._check_params(dict(data_transposed))
-
-    def _check_params(self, data_transposed: dict) -> dict:
-        sample_names = set(data_transposed["sample name"])
-        if len(data_transposed["start"]) != len(sample_names) * 2:
-            raise ValueError(
-                f"The given params file does not provide N*2 start/stop positions. Found {len(sample_names)} samples and {len(data_transposed['start'])} start/stop positions."
-            )
-
-
-if __name__ == "__main__":
-    from pprint import pprint
-
-    INPUT_FILE = "/sls/X12SA/data/e21206/Data10/software/test_script.csv"
-
-    def my_offset():
-        return [0, 0]
-
-    params = SAXSParams(my_offset)
-    params.load_from_csv(INPUT_FILE)
-    for key in params.data:
-        pprint(params.data[key].to_scan_params())

bec_plugins/utils/service_config.py

@@ -1,13 +0,0 @@
-import yaml
-
-CONFIG_PATH = "/sls/X12SA/data/gac-x12saop/bec/config/bec_service_config.yaml"
-
-
-def load_service_config() -> dict:
-    """Load the service configuration from the YAML file."""
-    with open(CONFIG_PATH, "r", encoding="utf-8") as stream:
-        try:
-            config = yaml.safe_load(stream)
-        except yaml.YAMLError as exc:
-            print(exc)
-    return config

bin/cbf_converter/cbf_converter.py

@@ -3,8 +3,9 @@ from __future__ import annotations
 import os
 import subprocess
 
-from bec_lib import MessageEndpoints, RedisConnector, bec_logger, messages
-from bec_lib.redis_connector import MessageObject
+from bec_lib import bec_logger, messages
+from bec_lib.endpoints import MessageEndpoints
+from bec_lib.redis_connector import MessageObject, RedisConnector
 
 logger = bec_logger.logger
 
@@ -27,7 +28,7 @@ class PilatusConverter:
             message (MessageObject): Message object
             parent (PilatusConverter): Parent object
         """
-        msg = messages.MessageReader.loads(message.value)
+        msg = message.value
         print(msg)
         if not msg:
             return

bin/open_tunnel.sh

@@ -1,5 +0,0 @@
-
-for i in `seq 1 8`
-do
-  ssh -N -R 6379:localhost:6379 x12sa-cn-$i &
-done

bin/setup_bec.sh

@@ -1,48 +0,0 @@
-
-if [ "pc15543.psi.ch" != "$(hostname)" ]; then
-    echo "Please run this script on pc15543"
-    exit 1
-fi
-
-module use unstable
-module add psi-python311/2024.02
-echo module add tmux/3.2 >> ~/.bashrc
-echo module add redis/7.0.12 >> ~/.bashrc
-
-source ~/.bashrc
-
-cd ~/Data10
-mkdir -p software/
-mkdir -p ~/bec/scripts
-cd software
-
-git clone https://gitlab.psi.ch/bec/bec.git
-git clone https://gitlab.psi.ch/bec/ophyd_devices.git
-git clone https://gitlab.psi.ch/bec/bec-widgets.git
-
-python -m venv ./bec_venv
-source ./bec_venv/bin/activate
-
-cd bec
-git checkout sastt-online-changes
-pip install -e ./bec_server[dev]
-
-cd ../csaxs-bec
-pip install -e .[dev]
-
-#redis-server --protected-mode no &
-
-read -p "Do you want to set the current BEC account to $(whoami)? (yes/no) " yn
-
-val=$(whoami)
-
-case $yn in
-	yes ) echo ok, setting account to $val;
-    redis-cli SET internal/account:val $val;;
-	no ) echo ;;
-	* ) echo invalid response;
-		exit 1;;
-esac
-
-
-$(pwd)/open_tunnel.sh

bin/setup_bec_widgets.sh

@@ -1,17 +0,0 @@
-module use unstable
-module add psi-python311/2024.02
-
-cd ~/Data10/software
-python -m venv ./bec_widgets_venv
-source ./bec_widgets_venv/bin/activate
-pip install --upgrade pip
-cd ~/Data10/software/bec/bec_lib
-pip install -e .
-
-cd ~/Data10/software/csaxs-bec
-pip install -e .
-
-cd ~/Data10/software/bec-widgets
-pip install -e .
-
-echo "For the moment widgets only run on beamline consoles comp1/2 and cons1"

bin/utils/saxs_params.py

@@ -1,3 +1,7 @@
+""" Script used for parsing scan parameters from a CSV file as created by the motormap GUI.
+This needs to be reviewed and tested during the deployment phase."""
+
+# pylint: skip-file
 import csv
 import os
 from collections import defaultdict

csaxs_bec/bec_ipython_client/plugins/LamNI/__init__.py

@@ -0,0 +1,2 @@
+from .load_additional_correction import lamni_read_additional_correction
+from .x_ray_eye_align import DataDrivenLamNI, LamNI, MagLamNI, XrayEyeAlign

csaxs_bec/bec_ipython_client/plugins/LamNI/lamni_optics_mixin.py

@@ -0,0 +1,321 @@
+import builtins
+import time
+
+from rich import box
+from rich.console import Console
+from rich.table import Table
+
+from csaxs_bec.bec_ipython_client.plugins.cSAXS import epics_put, fshclose
+
+# import builtins to avoid linter errors
+dev = builtins.__dict__.get("dev")
+umv = builtins.__dict__.get("umv")
+bec = builtins.__dict__.get("bec")
+
+
+class LamNIInitError(Exception):
+    pass
+
+
+class LaMNIInitStagesMixin:
+    def lamni_init_stages(self):
+        user_input = input("Starting initialization of LamNI stages. OK? [y/n]")
+        if user_input == "y":
+            print("staring...")
+            dev.lsamrot.enabled = True
+        else:
+            return
+
+        if self.check_all_axes_of_lamni_referenced():
+            user_input = input("Continue anyways? [y/n]")
+            if user_input == "y":
+                print("ok then...")
+            else:
+                return
+
+        axis_id_lsamrot = dev.lsamrot._config["deviceConfig"].get("axis_Id")
+        if dev.lsamrot.controller.get_motor_limit_switch(axis_id_lsamrot)[1] == False:
+            user_input = input("The rotation stage will be moved to one limit [y/n]")
+            if user_input == "y":
+                print("starting...")
+            else:
+                return
+
+            self.drive_axis_to_limit(dev.lsamrot, "forward")
+            dev.lsamrot.enabled = False
+            print("Now hard reboot the controller and run the initialization routine again.")
+            print("The controller will be disabled in bec. To enable dev.lsamrot.enabled=True")
+            return
+
+        user_input = input(
+            "Init of loptz. Can the stage move to the upstream limit without collision?? [y/n]"
+        )
+        if user_input == "y":
+            print("ok then...")
+        else:
+            return
+
+        print("Referencing loptz")
+        self.drive_axis_to_limit(dev.loptz, "forward")
+        self.find_reference_mark(dev.loptz)
+
+        print("Referencing loptx")
+        self.drive_axis_to_limit(dev.loptx, "reverse")
+        self.find_reference_mark(dev.loptx)
+
+        print("Referencing lopty")
+        self.drive_axis_to_limit(dev.lopty, "forward")
+        self.find_reference_mark(dev.lopty)
+
+        print("Referencing lsamx")
+        self.drive_axis_to_limit(dev.lsamx, "forward")
+        self.find_reference_mark(dev.lsamx)
+
+        print("Referencing lsamy")
+        self.drive_axis_to_limit(dev.lsamy, "reverse")
+        self.find_reference_mark(dev.lsamy)
+
+        # the dual encoder requires the reference mark to pass on both encoders
+        print("Referencing lsamrot")
+        self.drive_axis_to_limit(dev.lsamrot, "reverse")
+        time.sleep(0.1)
+        self.find_reference_mark(dev.lsamrot)
+
+        user_input = input("Init of leye. Can the stage move to -x limit without collision? [y/n]")
+        if user_input == "y":
+            print("starting...")
+        else:
+            return
+
+        print("Referencing leyex")
+        self.drive_axis_to_limit(dev.leyex, "forward")
+        print("Referencing leyey")
+        self.drive_axis_to_limit(dev.leyey, "forward")
+
+        # set_lm lsamx 6 14
+        # set_lm lsamy 6 14
+        # set_lm lsamrot -3 362
+        # set_lm loptx -1 -0.2
+        # set_lm lopty 3.0 3.6
+        # set_lm loptz 82 87
+        # set_lm leyex 0 25
+        # set_lm leyey 0.5 50
+
+        print("Init of Smaract stages")
+        dev.losax.controller.find_reference_mark(2, 0, 1000, 1)
+        time.sleep(1)
+        dev.losax.controller.find_reference_mark(0, 0, 1000, 1)
+        time.sleep(1)
+        dev.losax.controller.find_reference_mark(1, 0, 1000, 1)
+        time.sleep(1)
+        # dev.losax.controller.find_reference_mark(3, 1, 1000, 1)
+        # time.sleep(1)
+        # dev.losax.controller.find_reference_mark(4, 1, 1000, 1)
+        # time.sleep(1)
+
+        # set_lm losax -1.5 0.25
+        # set_lm losay -2.5 4.1
+        # set_lm losaz -4.1 -0.5
+        # set_lm lcsy -1.5 5
+
+        self._align_setup()
+
+    def find_reference_mark(self, device):
+        axis_id = device._config["deviceConfig"].get("axis_Id")
+        axis_id_numeric = self.axis_id_to_numeric(axis_id)
+        device.controller.find_reference(axis_id_numeric)
+
+    def drive_axis_to_limit(self, device, direction):
+        axis_id = device._config["deviceConfig"].get("axis_Id")
+        axis_id_numeric = self.axis_id_to_numeric(axis_id)
+        device.controller.drive_axis_to_limit(axis_id_numeric, direction)
+
+    def axis_id_to_numeric(self, axis_id) -> int:
+        return ord(axis_id.lower()) - 97
+
+    def _align_setup(self):
+        user_input = input("Start moving stages to default initial positions? [y/n]")
+        if user_input == "y":
+            print("Start moving stages...")
+        else:
+            print("Stopping.")
+            return
+
+        lsamx_center = dev.lsamx.user_parameter.get("center")
+        if lsamx_center is None:
+            raise LamNIInitError(
+                "Could not find a lsamx center position. Please check your device config."
+            )
+        lsamy_center = dev.lsamy.user_parameter.get("center")
+        if lsamy_center is None:
+            raise LamNIInitError(
+                "Could not find a lsamy center position. Please check your device config."
+            )
+        umv(dev.lsamx, lsamx_center, dev.lsamy, lsamy_center, dev.loptx, -0.3, dev.lopty, 0)
+        umv(dev.losax, -1)
+        umv(dev.loptz, 82.25)
+        umv(dev.lsamrot, -1)
+        umv(dev.lsamrot, 0)
+
+        time.sleep(2)
+        dev.rtx.controller.feedback_disable_and_even_reset_lamni_angle_interferometer()
+
+    def check_all_axes_of_lamni_referenced(self):
+        if (
+            dev.losax.controller.axis_is_referenced(0)
+            & dev.losax.controller.axis_is_referenced(1)
+            & dev.losax.controller.axis_is_referenced(2)
+            & dev.lsamx.controller.all_axes_referenced()
+        ):
+            print("All axes of LamNI are referenced.")
+            return True
+        else:
+            return False
+
+
+class LamNIOpticsMixin:
+    @staticmethod
+    def _get_user_param_safe(device, var):
+        param = dev[device].user_parameter
+        if not param or param.get(var) is None:
+            raise ValueError(f"Device {device} has no user parameter definition for {var}.")
+        return param.get(var)
+
+    def leye_out(self):
+        self.loptics_in()
+        fshclose()
+        leyey_out = self._get_user_param_safe("leyey", "out")
+        umv(dev.leyey, leyey_out)
+
+        epics_put("XOMNYI-XEYE-ACQ:0", 2)
+        # move rotation stage to zero to avoid problems with wires
+        umv(dev.lsamrot, 0)
+        umv(dev.dttrz, 5854, dev.fttrz, 2395)
+
+    def leye_in(self):
+        bec.queue.next_dataset_number += 1
+        # move rotation stage to zero to avoid problems with wires
+        umv(dev.lsamrot, 0)
+        umv(dev.dttrz, 6419.677, dev.fttrz, 2959.979)
+        while True:
+            moved_out = (input("Did the flight tube move out? (Y/n)") or "y").lower()
+            if moved_out == "y":
+                break
+            if moved_out == "n":
+                return
+        leyex_in = self._get_user_param_safe("leyex", "in")
+        leyey_in = self._get_user_param_safe("leyey", "in")
+        umv(dev.leyex, leyex_in, dev.leyey, leyey_in)
+        self.align.update_frame()
+
+    def _lfzp_in(self):
+        loptx_in = self._get_user_param_safe("loptx", "in")
+        lopty_in = self._get_user_param_safe("lopty", "in")
+        umv(
+            dev.loptx, loptx_in, dev.lopty, lopty_in
+        )  # for 7.2567 keV and 150 mu, 60 nm fzp, loptz 83.6000 for propagation 1.4 mm
+
+    def lfzp_in(self):
+        """
+        move in the lamni zone plate.
+        This will disable rt feedback, move the FZP and re-enabled the feedback.
+        """
+        if "rtx" in dev and dev.rtx.enabled:
+            dev.rtx.controller.feedback_disable()
+
+        self._lfzp_in()
+
+        if "rtx" in dev and dev.rtx.enabled:
+            dev.rtx.controller.feedback_enable_with_reset()
+
+    def loptics_in(self):
+        """
+        Move in the lamni optics, including the FZP and the OSA.
+        """
+        self.lfzp_in()
+        self.losa_in()
+
+    def loptics_out(self):
+        """Move out the lamni optics"""
+        if "rtx" in dev and dev.rtx.enabled:
+            dev.rtx.controller.feedback_disable()
+
+        # self.lcs_out()
+        self.losa_out()
+        loptx_out = self._get_user_param_safe("loptx", "out")
+        lopty_out = self._get_user_param_safe("lopty", "out")
+        umv(dev.loptx, loptx_out, dev.lopty, lopty_out)
+
+        if "rtx" in dev and dev.rtx.enabled:
+            time.sleep(1)
+            dev.rtx.controller.feedback_enable_with_reset()
+
+    def lcs_in(self):
+        # umv lcsx -1.852 lcsy -0.095
+        pass
+
+    def lcs_out(self):
+        umv(dev.lcsy, 3)
+
+    def losa_in(self):
+        # 6.2 keV, 170 um FZP
+        # umv(dev.losax, -1.4450000, dev.losay, -0.1800)
+        # umv(dev.losaz, -1)
+        # 6.7, 170
+        # umv(dev.losax, -1.4850, dev.losay, -0.1930)
+        # umv(dev.losaz, 1.0000)
+        # 7.2, 150
+        losax_in = self._get_user_param_safe("losax", "in")
+        losay_in = self._get_user_param_safe("losay", "in")
+        losaz_in = self._get_user_param_safe("losaz", "in")
+        umv(dev.losax, losax_in, dev.losay, losay_in)
+        umv(dev.losaz, losaz_in)
+        # 11 kev
+        # umv(dev.losax, -1.161000, dev.losay, -0.196)
+        # umv(dev.losaz, 1.0000)
+
+    def losa_out(self):
+        losay_out = self._get_user_param_safe("losay", "out")
+        losaz_out = self._get_user_param_safe("losaz", "out")
+        umv(dev.losaz, losaz_out)
+        umv(dev.losay, losay_out)
+
+    def lfzp_info(self):
+        loptz_val = dev.loptz.read()["loptz"]["value"]
+        distance = -loptz_val + 85.6 + 52
+        print(f"The sample is in a distance of {distance:.1f} mm from the FZP.")
+
+        diameters = [80e-6, 100e-6, 120e-6, 150e-6, 170e-6, 200e-6, 220e-6, 250e-6]
+
+        mokev_val = dev.mokev.read()["mokev"]["value"]
+        console = Console()
+        table = Table(
+            title=f"At the current energy of {mokev_val:.4f} keV we have following options:",
+            box=box.SQUARE,
+        )
+        table.add_column("Diameter", justify="center")
+        table.add_column("Focal distance", justify="center")
+        table.add_column("Current beam size", justify="center")
+
+        wavelength = 1.2398e-9 / mokev_val
+
+        for diameter in diameters:
+            outermost_zonewidth = 60e-9
+            focal_distance = diameter * outermost_zonewidth / wavelength
+            beam_size = (
+                -diameter / (focal_distance * 1000) * (focal_distance * 1000 - distance) * 1e6
+            )
+            table.add_row(
+                f"{diameter*1e6:.2f} microns",
+                f"{focal_distance:.2f} mm",
+                f"{beam_size:.2f} microns",
+            )
+
+        console.print(table)
+
+        print("OSA Information:")
+        # print(f"Current losaz %.1f\n", A[losaz])
+        # print("The OSA will collide with the sample plane at %.1f\n\n", 89.3-A[loptz])
+        print(
+            "The numbers presented here are for a sample in the plane of the lamni sample holder.\n"
+        )

csaxs_bec/bec_ipython_client/plugins/LamNI/load_additional_correction.py

@@ -1,7 +1,6 @@
 def lamni_read_additional_correction():
     # "additional_correction_shift"
     # [0][] x , [1][] y, [2][] angle, [3][0] number of elements
-    import numpy as np
 
     with open("correction_lamni_um_S01405_.txt", "r") as f:
         num_elements = f.readline()

csaxs_bec/bec_ipython_client/plugins/LamNI/x_ray_eye_align.py

@@ -9,13 +9,14 @@ from pathlib import Path
 
 import h5py
 import numpy as np
-from bec_client.plugins.cSAXS import epics_get, epics_put, fshclose, fshopen
 from bec_lib import bec_logger
 from bec_lib.alarm_handler import AlarmBase
 from bec_lib.pdf_writer import PDFWriter
 from typeguard import typechecked
 
-from .lamni_optics_mixin import LamNIOpticsMixin
+from csaxs_bec.bec_ipython_client.plugins.cSAXS import epics_get, epics_put, fshopen
+
+from .lamni_optics_mixin import LaMNIInitStagesMixin, LamNIOpticsMixin
 
 logger = bec_logger.logger
 bec = builtins.__dict__.get("bec")
@@ -31,7 +32,7 @@ class XrayEyeAlign:
         self.lamni = lamni
         self.device_manager = client.device_manager
         self.scans = client.scans
-        self.xeye = self.device_manager.devices.xeye
+        # self.xeye = self.device_manager.devices.xeye
         self.alignment_values = defaultdict(list)
         self._reset_init_values()
         self.corr_pos_x = []
@@ -188,7 +189,8 @@ class XrayEyeAlign:
                 val_y = epics_get(f"XOMNYI-XEYE-YVAL_Y:{k}") * self.PIXEL_CALIBRATION  # in mm
                 self.alignment_values[k] = [val_x, val_y]
                 print(
-                    f"Clicked position {k}: x {self.alignment_values[k][0]}, y {self.alignment_values[k][1]}"
+                    f"Clicked position {k}: x {self.alignment_values[k][0]}, y"
+                    f" {self.alignment_values[k][1]}"
                 )
 
                 if k == 0:  # received center value of FZP
@@ -213,7 +215,10 @@ class XrayEyeAlign:
                 elif (
                     k == 1
                 ):  # received sample center value at samroy 0 ie the final base shift values
-                    msg = f"Base shift values from movement are x {self.shift_xy[0]}, y {self.shift_xy[1]}"
+                    msg = (
+                        f"Base shift values from movement are x {self.shift_xy[0]}, y"
+                        f" {self.shift_xy[1]}"
+                    )
                     print(msg)
                     logger.info(msg)
                     self.shift_xy[0] += (
@@ -223,13 +228,12 @@ class XrayEyeAlign:
                         self.alignment_values[1][1] - self.alignment_values[0][1]
                     ) * 1000
                     print(
-                        f"Base shift values from movement and clicked position are x {self.shift_xy[0]}, y {self.shift_xy[1]}"
+                        "Base shift values from movement and clicked position are x"
+                        f" {self.shift_xy[0]}, y {self.shift_xy[1]}"
                     )
 
                     self.scans.lamni_move_to_scan_center(
-                        self.shift_xy[0] / 1000,
-                        self.shift_xy[1] / 1000,
-                        self.get_tomo_angle(),
+                        self.shift_xy[0] / 1000, self.shift_xy[1] / 1000, self.get_tomo_angle()
                     ).wait()
 
                     self.send_message("please wait ...")
@@ -238,9 +242,7 @@ class XrayEyeAlign:
                     time.sleep(1)
 
                     self.scans.lamni_move_to_scan_center(
-                        self.shift_xy[0] / 1000,
-                        self.shift_xy[1] / 1000,
-                        self.get_tomo_angle(),
+                        self.shift_xy[0] / 1000, self.shift_xy[1] / 1000, self.get_tomo_angle()
                     ).wait()
 
                     epics_put("XOMNYI-XEYE-ANGLE:0", self.get_tomo_angle())
@@ -257,16 +259,12 @@ class XrayEyeAlign:
                     self._disable_rt_feedback()
                     self.tomo_rotate((k - 1) * 45 - 45 / 2)
                     self.scans.lamni_move_to_scan_center(
-                        self.shift_xy[0] / 1000,
-                        self.shift_xy[1] / 1000,
-                        self.get_tomo_angle(),
+                        self.shift_xy[0] / 1000, self.shift_xy[1] / 1000, self.get_tomo_angle()
                     ).wait()
                     self._disable_rt_feedback()
                     self.tomo_rotate((k - 1) * 45)
                     self.scans.lamni_move_to_scan_center(
-                        self.shift_xy[0] / 1000,
-                        self.shift_xy[1] / 1000,
-                        self.get_tomo_angle(),
+                        self.shift_xy[0] / 1000, self.shift_xy[1] / 1000, self.get_tomo_angle()
                     ).wait()
 
                     epics_put("XOMNYI-XEYE-ANGLE:0", self.get_tomo_angle())
@@ -293,9 +291,7 @@ class XrayEyeAlign:
                     self.shift_xy[0] = self.shift_xy[0] + _xrayeyalignmvx
                     self.shift_xy[1] = self.shift_xy[1] + _xrayeyalignmvy
                     self.scans.lamni_move_to_scan_center(
-                        self.shift_xy[0] / 1000,
-                        self.shift_xy[1] / 1000,
-                        self.get_tomo_angle(),
+                        self.shift_xy[0] / 1000, self.shift_xy[1] / 1000, self.get_tomo_angle()
                     ).wait()
                     print(
                         f"Current center horizontal {self.shift_xy[0]} vertical {self.shift_xy[1]}"
@@ -310,12 +306,14 @@ class XrayEyeAlign:
         fovx = self._xray_fov_xy[0] * self.PIXEL_CALIBRATION * 1000 / 2
         fovy = self._xray_fov_xy[1] * self.PIXEL_CALIBRATION * 1000 / 2
         print(
-            f"The largest field of view from the xrayeyealign was \nfovx = {fovx:.0f} microns, fovy = {fovy:.0f} microns"
+            f"The largest field of view from the xrayeyealign was \nfovx = {fovx:.0f} microns, fovy"
+            f" = {fovy:.0f} microns"
         )
         print("Use matlab routine to fit the current alignment...")
 
         print(
-            f"This additional shift is applied to the base shift values\n which are x {self.shift_xy[0]}, y {self.shift_xy[1]}"
+            "This additional shift is applied to the base shift values\n which are x"
+            f" {self.shift_xy[0]}, y {self.shift_xy[1]}"
         )
 
         self._disable_rt_feedback()
@@ -323,7 +321,8 @@ class XrayEyeAlign:
         self.tomo_rotate(0)
 
         print(
-            "\n\nNEXT LOAD ALIGNMENT PARAMETERS\nby running lamni.align.read_xray_eye_correction()\n"
+            "\n\nNEXT LOAD ALIGNMENT PARAMETERS\nby running"
+            " lamni.align.read_xray_eye_correction()\n"
         )
 
         self.client.set_global_var("tomo_fov_offset", self.shift_xy)
@@ -332,12 +331,13 @@ class XrayEyeAlign:
         with open(
             os.path.expanduser("~/Data10/specES1/internal/xrayeye_alignmentvalues"), "w"
         ) as alignment_values_file:
-            alignment_values_file.write(f"angle\thorizontal\tvertical\n")
+            alignment_values_file.write("angle\thorizontal\tvertical\n")
             for k in range(2, 11):
                 fovx_offset = (self.alignment_values[0][0] - self.alignment_values[k][0]) * 1000
                 fovy_offset = (self.alignment_values[k][1] - self.alignment_values[0][1]) * 1000
                 print(
-                    f"Writing to file new alignment: number {k}, value x {fovx_offset}, y {fovy_offset}"
+                    f"Writing to file new alignment: number {k}, value x {fovx_offset}, y"
+                    f" {fovy_offset}"
                 )
                 alignment_values_file.write(f"{(k-2)*45}\t{fovx_offset}\t{fovy_offset}\n")
 
@@ -422,7 +422,8 @@ class XrayEyeAlign:
             additional_correction_shift_x = self.corr_pos_x[-1]
             additional_correction_shift_y = self.corr_pos_y[-1]
         print(
-            f"Additional correction shifts: {additional_correction_shift_x} {additional_correction_shift_y}"
+            "Additional correction shifts:"
+            f" {additional_correction_shift_x} {additional_correction_shift_y}"
         )
         return (additional_correction_shift_x, additional_correction_shift_y)
 
@@ -476,7 +477,8 @@ class XrayEyeAlign:
             additional_correction_shift_x = self.corr_pos_x_2[-1]
             additional_correction_shift_y = self.corr_pos_y_2[-1]
         print(
-            f"Additional correction shifts 2: {additional_correction_shift_x} {additional_correction_shift_y}"
+            "Additional correction shifts 2:"
+            f" {additional_correction_shift_x} {additional_correction_shift_y}"
         )
         return (additional_correction_shift_x, additional_correction_shift_y)
 
@@ -509,7 +511,7 @@ class LamNI(LamNIOpticsMixin):
         super().__init__()
         self.client = client
         self.align = XrayEyeAlign(client, self)
-
+        self.init = LaMNIInitStagesMixin()
         self.check_shutter = True
         self.check_light_available = True
         self.check_fofb = True
@@ -525,7 +527,8 @@ class LamNI(LamNIOpticsMixin):
 
     def get_beamline_checks_enabled(self):
         print(
-            f"Shutter: {self.check_shutter}\nFOFB: {self.check_fofb}\nLight available: {self.check_light_available}"
+            f"Shutter: {self.check_shutter}\nFOFB: {self.check_fofb}\nLight available:"
+            f" {self.check_light_available}"
         )
 
     @property
@@ -583,6 +586,27 @@ class LamNI(LamNIOpticsMixin):
     def tomo_circfov(self, val: float):
         self.client.set_global_var("tomo_circfov", val)
 
+    @property
+    def tomo_type(self):
+        val = self.client.get_global_var("tomo_type")
+        if val is None:
+            return 1
+        return val
+
+    @tomo_type.setter
+    def tomo_type(self, val: float):
+        if val == 1:
+            # equally spaced tomography with 8 sub tomograms
+            self.client.set_global_var("tomo_type", val)
+        # elif val == 2:
+        #    # golden ratio tomography (sorted bunches)
+        #    self.client.set_global_var("tomo_type", val)
+        # elif val == 3:
+        #    # equally spaced tomography with starting angles shifted by golden ratio
+        #    self.client.set_global_var("tomo_type", val)
+        else:
+            raise ValueError("Unknown tomo_type.")
+
     @property
     def tomo_countingtime(self):
         val = self.client.get_global_var("tomo_countingtime")
@@ -766,13 +790,18 @@ class LamNI(LamNIOpticsMixin):
                 # pylint: disable=undefined-variable
                 self._current_scan_list.append(bec.queue.next_scan_number)
                 logger.info(
-                    f"scans.lamni_fermat_scan(fov_size=[{self.lamni_piezo_range_x},{self.lamni_piezo_range_y}], step={self.tomo_shellstep}, stitch_x={0}, stitch_y={0}, stitch_overlap={1},"
-                    f"center_x={self.align.tomo_fovx_offset}, center_y={self.align.tomo_fovy_offset}, "
-                    f"shift_x={self.manual_shift_x+correction_xeye_mu[0]-additional_correction[0]-additional_correction_2[0]}, "
-                    f"shift_y={self.manual_shift_y+correction_xeye_mu[1]-additional_correction[1]-additional_correction_2[1]}, "
-                    f"fov_circular={self.tomo_circfov}, angle={angle}, scan_type='fly')"
+                    f"scans.lamni_fermat_scan(fov_size=[{self.lamni_piezo_range_x},{self.lamni_piezo_range_y}],"
+                    f" step={self.tomo_shellstep}, stitch_x={0}, stitch_y={0},"
+                    f" stitch_overlap={1},center_x={self.align.tomo_fovx_offset},"
+                    f" center_y={self.align.tomo_fovy_offset},"
+                    f" shift_x={self.manual_shift_x+correction_xeye_mu[0]-additional_correction[0]-additional_correction_2[0]},"
+                    f" shift_y={self.manual_shift_y+correction_xeye_mu[1]-additional_correction[1]-additional_correction_2[1]},"
+                    f" fov_circular={self.tomo_circfov}, angle={angle}, scan_type='fly')"
+                )
+                log_message = (
+                    f"{str(datetime.datetime.now())}: LamNI scan projection at angle {angle}, scan"
+                    f" number {bec.queue.next_scan_number}.\n"
                 )
-                log_message = f"{str(datetime.datetime.now())}: LamNI scan projection at angle {angle}, scan number {bec.queue.next_scan_number}.\n"
                 self.write_to_spec_log(log_message)
                 # self.write_to_scilog(log_message, ["BEC_scans", self.sample_name])
                 corridor_size = self.corridor_size if self.corridor_size > 0 else None
@@ -814,10 +843,7 @@ class LamNI(LamNIOpticsMixin):
                     msgs.append("Check beam failed: Shutter is closed.")
             if self.check_light_available:
                 machine_status = dev.sls_machine_status.read(cached=True)
-                if machine_status["value"] not in [
-                    "Light Available",
-                    "Light-Available",
-                ]:
+                if machine_status["value"] not in ["Light Available", "Light-Available"]:
                     self._beam_is_okay = False
                     msgs.append("Check beam failed: Light not available.")
             if self.check_fofb:
@@ -858,7 +884,8 @@ class LamNI(LamNIOpticsMixin):
         try:
             msg = bec.logbook.LogbookMessage()
             msg.add_text(
-                f"<p><mark class='pen-red'><strong>Beamline checks failed at {str(datetime.datetime.now())}: {''.join(self._check_msgs)}</strong></mark></p>"
+                "<p><mark class='pen-red'><strong>Beamline checks failed at"
+                f" {str(datetime.datetime.now())}: {''.join(self._check_msgs)}</strong></mark></p>"
             ).add_tag(["BEC", "beam_check"])
             self.client.logbook.send_logbook_message(msg)
         except Exception:
@@ -875,25 +902,20 @@ class LamNI(LamNIOpticsMixin):
         try:
             msg = bec.logbook.LogbookMessage()
             msg.add_text(
-                f"<p><mark class='pen-red'><strong>Operation resumed at {str(datetime.datetime.now())}.</strong></mark></p>"
+                "<p><mark class='pen-red'><strong>Operation resumed at"
+                f" {str(datetime.datetime.now())}.</strong></mark></p>"
             ).add_tag(["BEC", "beam_check"])
             self.client.logbook.send_logbook_message(msg)
         except Exception:
             logger.warning("Failed to send update to SciLog.")
 
     def add_sample_database(
-        self,
-        samplename,
-        date,
-        eaccount,
-        scan_number,
-        setup,
-        sample_additional_info,
-        user,
+        self, samplename, date, eaccount, scan_number, setup, sample_additional_info, user
     ):
         """Add a sample to the omny sample database. This also retrieves the tomo id."""
         subprocess.run(
-            f"wget --user=omny --password=samples -q -O /tmp/currsamplesnr.txt 'https://omny.web.psi.ch/samples/newmeasurement.php?sample={samplename}&date={date}&eaccount={eaccount}&scannr={scan_number}&setup={setup}&additional={sample_additional_info}&user={user}'",
+            "wget --user=omny --password=samples -q -O /tmp/currsamplesnr.txt"
+            f" 'https://omny.web.psi.ch/samples/newmeasurement.php?sample={samplename}&date={date}&eaccount={eaccount}&scannr={scan_number}&setup={setup}&additional={sample_additional_info}&user={user}'",
             shell=True,
         )
         with open("/tmp/currsamplesnr.txt") as tomo_number_file:
@@ -947,25 +969,63 @@ class LamNI(LamNIOpticsMixin):
         # _tomo_shift_angles (potential global variable)
         _tomo_shift_angles = 0
         angle_end = start_angle + 360
-        for angle in np.linspace(
+        angles = np.linspace(
             start_angle + _tomo_shift_angles,
             angle_end,
             num=int(360 / self.tomo_angle_stepsize) + 1,
             endpoint=True,
-        ):
-            successful = False
-            error_caught = False
-            if 0 <= angle < 360.05:
-                print(f"Starting LamNI scan for angle {angle}")
-                while not successful:
-                    self._start_beam_check()
-                    if not self.special_angles:
-                        self._current_special_angles = []
-                    if self._current_special_angles:
-                        next_special_angle = self._current_special_angles[0]
-                        if np.isclose(angle, next_special_angle, atol=0.5):
-                            self._current_special_angles.pop(0)
-                            num_repeats = self.special_angle_repeats
+        )
+
+        # reverse even sub-tomograms
+        if not (subtomo_number % 2):
+            angles = np.flip(angles)
+        for angle in angles:
+            self.progress["subtomo"] = subtomo_number
+            self.progress["subtomo_projection"] = angles.index(angle)
+            self.progress["subtomo_total_projections"] = 180 / self.tomo_angle_stepsize
+            self.progress["projection"] = (subtomo_number - 1) * self.progress[
+                "subtomo_total_projections"
+            ] + self.progress["subtomo_projection"]
+            self.progress["total_projections"] = 180 / self.tomo_angle_stepsize * 8
+            self.progress["angle"] = angle
+            self._tomo_scan_at_angle(angle, subtomo_number)
+
+    def _print_progress(self):
+        print("\x1b[95mProgress report:")
+        print(f"Tomo type: ....................... {self.progress['tomo_type']}")
+        print(f"Projection: ...................... {self.progress['projection']}")
+        print(f"Total projections expected ....... {self.progress['total_projections']}")
+        print(f"Angle: ........................... {self.progress['angle']}")
+        print(f"Current subtomo: ................. {self.progress['subtomo']}")
+        print(f"Current projection within subtomo: {self.progress['subtomo_projection']}\x1b[0m")
+
+    def _tomo_scan_at_angle(self, angle, subtomo_number):
+        successful = False
+        error_caught = False
+        if 0 <= angle < 360.05:
+            print(f"Starting LamNI scan for angle {angle} in subtomo {subtomo_number}")
+            self._print_progress()
+            while not successful:
+                self._start_beam_check()
+                if not self.special_angles:
+                    self._current_special_angles = []
+                if self._current_special_angles:
+                    next_special_angle = self._current_special_angles[0]
+                    if np.isclose(angle, next_special_angle, atol=0.5):
+                        self._current_special_angles.pop(0)
+                        num_repeats = self.special_angle_repeats
+                else:
+                    num_repeats = 1
+                try:
+                    start_scan_number = bec.queue.next_scan_number
+                    for i in range(num_repeats):
+                        self._at_each_angle(angle)
+                    error_caught = False
+                except AlarmBase as exc:
+                    if exc.alarm_type == "TimeoutError":
+                        bec.queue.request_queue_reset()
+                        time.sleep(2)
+                        error_caught = True
                     else:
                         num_repeats = 1
                     try:
@@ -1005,7 +1065,7 @@ class LamNI(LamNIOpticsMixin):
         scans = builtins.__dict__.get("scans")
         self._current_special_angles = self.special_angles.copy()
 
-        if subtomo_start == 1 and start_angle is None:
+        if self.tomo_type == 1 and subtomo_start == 1 and start_angle is None:
             # pylint: disable=undefined-variable
             self.tomo_id = self.add_sample_database(
                 self.sample_name,
@@ -1028,14 +1088,16 @@ class LamNI(LamNIOpticsMixin):
         print(f"Counting time           <ctime>  =  {self.tomo_countingtime} s")
         print(f"Stepsize microns         <step>  =  {self.tomo_shellstep}")
         print(
-            f"Piezo range (max 80)  <microns>  =  {self.lamni_piezo_range_x}, {self.lamni_piezo_range_y}"
+            f"Piezo range (max 80)  <microns>  =  {self.lamni_piezo_range_x},"
+            f" {self.lamni_piezo_range_y}"
         )
         print(f"Stitching number x,y             =  {self.lamni_stitch_x}, {self.lamni_stitch_y}")
         print(f"Stitching overlap                =  {self.tomo_stitch_overlap}")
         print(f"Circuilar FOV diam    <microns>  =  {self.tomo_circfov}")
         print(f"Reconstruction queue name        =  {self.ptycho_reconstruct_foldername}")
         print(
-            "For information, fov offset is rotating and finding the ROI, manual shift moves rotation center"
+            "For information, fov offset is rotating and finding the ROI, manual shift moves"
+            " rotation center"
         )
         print(f"   _tomo_fovx_offset       <mm>  =  {self.align.tomo_fovx_offset}")
         print(f"   _tomo_fovy_offset       <mm>  =  {self.align.tomo_fovy_offset}")
@@ -1091,7 +1153,7 @@ class LamNI(LamNIOpticsMixin):
         with open(ptycho_queue_file, "w") as queue_file:
             scans = " ".join([str(scan) for scan in self._current_scan_list])
             queue_file.write(f"p.scan_number {scans}\n")
-            queue_file.write(f"p.check_nextscan_started 1\n")
+            queue_file.write("p.check_nextscan_started 1\n")
 
     def write_pdf_report(self):
         """create and write the pdf report with the current LamNI settings"""
@@ -1116,17 +1178,25 @@ class LamNI(LamNIOpticsMixin):
             f"{'Dataset ID:':<{padding}}{dataset_id:>{padding}}\n",
             f"{'Sample Info:':<{padding}}{'Sample Info':>{padding}}\n",
             f"{'e-account:':<{padding}}{str(self.client.username):>{padding}}\n",
-            f"{'Number of projections:':<{padding}}{int(360 / self.tomo_angle_stepsize * 8):>{padding}}\n",
+            (
+                f"{'Number of projections:':<{padding}}{int(360 / self.tomo_angle_stepsize * 8):>{padding}}\n"
+            ),
             f"{'First scan number:':<{padding}}{self.client.queue.next_scan_number:>{padding}}\n",
-            f"{'Last scan number approx.:':<{padding}}{self.client.queue.next_scan_number + int(360 / self.tomo_angle_stepsize * 8) + 10:>{padding}}\n",
-            f"{'Current photon energy:':<{padding}}{dev.mokev.read(cached=True)['value']:>{padding}.4f}\n",
+            (
+                f"{'Last scan number approx.:':<{padding}}{self.client.queue.next_scan_number + int(360 / self.tomo_angle_stepsize * 8) + 10:>{padding}}\n"
+            ),
+            (
+                f"{'Current photon energy:':<{padding}}{dev.mokev.read(cached=True)['value']:>{padding}.4f}\n"
+            ),
             f"{'Exposure time:':<{padding}}{self.tomo_countingtime:>{padding}.2f}\n",
             f"{'Fermat spiral step size:':<{padding}}{self.tomo_shellstep:>{padding}.2f}\n",
             f"{'Piezo range (FOV sample plane):':<{padding}}{piezo_range:>{padding}}\n",
             f"{'Restriction to circular FOV:':<{padding}}{self.tomo_circfov:>{padding}.2f}\n",
             f"{'Stitching:':<{padding}}{stitching:>{padding}}\n",
             f"{'Number of individual sub-tomograms:':<{padding}}{8:>{padding}}\n",
-            f"{'Angular step within sub-tomogram:':<{padding}}{self.tomo_angle_stepsize:>{padding}.2f}\n",
+            (
+                f"{'Angular step within sub-tomogram:':<{padding}}{self.tomo_angle_stepsize:>{padding}.2f}\n"
+            ),
         ]
         content = "".join(content)
         user_target = os.path.expanduser(f"~/Data10/documentation/tomo_scan_ID_{self.tomo_id}.pdf")
@@ -1134,20 +1204,13 @@ class LamNI(LamNIOpticsMixin):
             file.write(header)
             file.write(content)
         subprocess.run(
-            "xterm /work/sls/spec/local/XOMNY/bin/upload/upload_last_pon.sh &",
-            shell=True,
+            "xterm /work/sls/spec/local/XOMNY/bin/upload/upload_last_pon.sh &", shell=True
         )
         # status = subprocess.run(f"cp /tmp/spec-e20131-specES1.pdf {user_target}", shell=True)
         msg = bec.logbook.LogbookMessage()
         logo_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "LamNI_logo.png")
         msg.add_file(logo_path).add_text("".join(content).replace("\n", "</p><p>")).add_tag(
-            [
-                "BEC",
-                "tomo_parameters",
-                f"dataset_id_{dataset_id}",
-                "LamNI",
-                self.sample_name,
-            ]
+            ["BEC", "tomo_parameters", f"dataset_id_{dataset_id}", "LamNI", self.sample_name]
         )
         self.client.logbook.send_logbook_message(msg)
 
@@ -1232,16 +1295,12 @@ class DataDrivenLamNI(LamNI):
 
     def sub_tomo_scan(self):
         raise NotImplementedError(
-            "Cannot run sub_tomo_scan with data-driven LamNI. Please use lamni.tomo_scan(subtomo_start=<START_NUM>) instead."
+            "Cannot run sub_tomo_scan with data-driven LamNI. Please use"
+            " lamni.tomo_scan(subtomo_start=<START_NUM>) instead."
         )
 
     def _at_each_angle(
-        self,
-        angle=None,
-        stepsize=None,
-        loptz_pos=None,
-        manual_shift_x=0,
-        manual_shift_y=0,
+        self, angle=None, stepsize=None, loptz_pos=None, manual_shift_x=0, manual_shift_y=0
     ):
         # Do something...
         # self.tomo_parameters

csaxs_bec/bec_ipython_client/plugins/cSAXS/__init__.py

@@ -0,0 +1,2 @@
+from .cSAXS_beamline import epics_get, epics_put, fshclose, fshopen, fshstatus
+from .csaxs_bl_checks import cSAXSBeamlineChecks

csaxs_bec/bec_ipython_client/plugins/cSAXS/beamline_info.py

@@ -1,10 +1,9 @@
 import builtins
 
+from bec_ipython_client.beamline_mixin import BeamlineShowInfo
 from rich import box
 from rich.table import Table
 
-from bec_client.beamline_mixin import BeamlineShowInfo
-
 
 class BeamlineInfo(BeamlineShowInfo):
     def show(self):

csaxs_bec/bec_ipython_client/plugins/cSAXS/csaxs_bl_checks.py

@@ -0,0 +1,122 @@
+import builtins
+import datetime
+import threading
+import time
+
+from bec_lib import bec_logger
+
+logger = bec_logger.logger
+
+if builtins.__dict__.get("bec"):
+    bec = builtins.__dict__.get("bec")
+
+
+class cSAXSBeamlineChecks:
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        self.check_shutter = True
+        self.check_light_available = True
+        self.check_fofb = True
+        self._check_msgs = []
+        self._beam_is_okay = True
+        self._stop_beam_check_event = None
+        self.beam_check_thread = None
+
+    def get_beamline_checks_enabled(self):
+        print(
+            f"Shutter: {self.check_shutter}\nFOFB: {self.check_fofb}\nLight available:"
+            f" {self.check_light_available}"
+        )
+
+    @property
+    def beamline_checks_enabled(self):
+        return {
+            "shutter": self.check_shutter,
+            "fofb": self.check_fofb,
+            "light available": self.check_light_available,
+        }
+
+    @beamline_checks_enabled.setter
+    def beamline_checks_enabled(self, val: bool):
+        self.check_shutter = val
+        self.check_light_available = val
+        self.check_fofb = val
+        self.get_beamline_checks_enabled()
+
+    def _run_beamline_checks(self):
+        msgs = []
+        dev = builtins.__dict__.get("dev")
+        try:
+            if self.check_shutter:
+                shutter_val = dev.x12sa_es1_shutter_status.read(cached=True)
+                if shutter_val["value"].lower() != "open":
+                    self._beam_is_okay = False
+                    msgs.append("Check beam failed: Shutter is closed.")
+            if self.check_light_available:
+                machine_status = dev.sls_machine_status.read(cached=True)
+                if machine_status["value"] not in ["Light Available", "Light-Available"]:
+                    self._beam_is_okay = False
+                    msgs.append("Check beam failed: Light not available.")
+            if self.check_fofb:
+                fast_orbit_feedback = dev.sls_fast_orbit_feedback.read(cached=True)
+                if fast_orbit_feedback["value"] != "running":
+                    self._beam_is_okay = False
+                    msgs.append("Check beam failed: Fast orbit feedback is not running.")
+        except Exception:
+            logger.warning("Failed to check beam.")
+        return msgs
+
+    def _check_beam(self):
+        while not self._stop_beam_check_event.is_set():
+            self._check_msgs = self._run_beamline_checks()
+
+            if not self._beam_is_okay:
+                self._stop_beam_check_event.set()
+            time.sleep(1)
+
+    def _start_beam_check(self):
+        self._beam_is_okay = True
+        self._stop_beam_check_event = threading.Event()
+
+        self.beam_check_thread = threading.Thread(target=self._check_beam, daemon=True)
+        self.beam_check_thread.start()
+
+    def _was_beam_okay(self):
+        self._stop_beam_check_event.set()
+        self.beam_check_thread.join()
+        return self._beam_is_okay
+
+    def _print_beamline_checks(self):
+        for msg in self._check_msgs:
+            logger.warning(msg)
+
+    def _wait_for_beamline_checks(self):
+        self._print_beamline_checks()
+        try:
+            msg = bec.logbook.LogbookMessage()
+            msg.add_text(
+                "<p><mark class='pen-red'><strong>Beamline checks failed at"
+                f" {str(datetime.datetime.now())}: {''.join(self._check_msgs)}</strong></mark></p>"
+            ).add_tag(["BEC", "beam_check"])
+            bec.logbook.send_logbook_message(msg)
+        except Exception:
+            logger.warning("Failed to send update to SciLog.")
+
+        while True:
+            self._beam_is_okay = True
+            self._check_msgs = self._run_beamline_checks()
+            if self._beam_is_okay:
+                break
+            self._print_beamline_checks()
+            time.sleep(1)
+
+        try:
+            msg = bec.logbook.LogbookMessage()
+            msg.add_text(
+                "<p><mark class='pen-red'><strong>Operation resumed at"
+                f" {str(datetime.datetime.now())}.</strong></mark></p>"
+            ).add_tag(["BEC", "beam_check"])
+            bec.logbook.send_logbook_message(msg)
+        except Exception:
+            logger.warning("Failed to send update to SciLog.")

csaxs_bec/bec_ipython_client/plugins/flomni/__init__.py

@@ -0,0 +1 @@
+from .flomni import Flomni

csaxs_bec/bec_ipython_client/plugins/flomni/flomni_optics_mixin.py

@@ -0,0 +1,177 @@
+import time
+
+from rich import box
+from rich.console import Console
+from rich.table import Table
+
+from csaxs_bec.bec_ipython_client.plugins.cSAXS import epics_put, fshclose
+
+
+class FlomniOpticsMixin:
+    @staticmethod
+    def _get_user_param_safe(device, var):
+        param = dev[device].user_parameter
+        if not param or param.get(var) is None:
+            raise ValueError(f"Device {device} has no user parameter definition for {var}.")
+        return param.get(var)
+
+    def feye_out(self):
+        fshclose()
+        self.foptics_in()
+        feyex_out = self._get_user_param_safe("feyex", "out")
+        umv(dev.feyex, feyex_out)
+
+        epics_put("XOMNYI-XEYE-ACQ:0", 2)
+        # move rotation stage to zero to avoid problems with wires
+        umv(dev.fsamroy, 0)
+        # umv(dev.fttrx1, 9.2)
+
+    def feye_in(self):
+        bec.queue.next_dataset_number += 1
+        # umv(dev.fttrx1, -17)
+
+        feyex_in = self._get_user_param_safe("feyex", "in")
+        feyey_in = self._get_user_param_safe("feyey", "in")
+        umv(dev.feyex, feyex_in, dev.feyey, feyey_in)
+        self.align.update_frame()
+
+    def _ffzp_in(self):
+        foptx_in = self._get_user_param_safe("foptx", "in")
+        fopty_in = self._get_user_param_safe("fopty", "in")
+        umv(dev.foptx, foptx_in)
+        umv(
+            dev.fopty, fopty_in
+        )  # for 7.2567 keV and 150 mu, 60 nm fzp, loptz 83.6000 for propagation 1.4 mm
+
+    def ffzp_in(self):
+        """
+        move in the flomni zone plate.
+        This will disable rt feedback, move the FZP and re-enabled the feedback.
+        """
+        if "rtx" in dev and dev.rtx.enabled:
+            dev.rtx.controller.feedback_disable()
+
+        self._ffzp_in()
+
+        if "rtx" in dev and dev.rtx.enabled:
+            dev.rtx.controller.feedback_enable_with_reset()
+
+    def foptics_in(self):
+        """
+        Move in the flomni optics, including the FZP and the OSA.
+        """
+        self.ffzp_in()
+        self.fosa_in()
+
+    def foptics_out(self):
+        """Move out the flomni optics"""
+        if "rtx" in dev and dev.rtx.enabled:
+            dev.rtx.controller.feedback_disable()
+
+        self.fosa_out()
+        fopty_out = self._get_user_param_safe("fopty", "out")
+        umv(dev.fopty, fopty_out)
+
+        if "rtx" in dev and dev.rtx.enabled:
+            time.sleep(1)
+            dev.rtx.controller.feedback_enable_with_reset()
+
+    def fosa_in(self):
+        # 6.2 keV, 170 um FZP
+        # umv(dev.losax, -1.4450000, dev.losay, -0.1800)
+        # umv(dev.losaz, -1)
+        # 6.7, 170
+        # umv(dev.losax, -1.4850, dev.losay, -0.1930)
+        # umv(dev.losaz, 1.0000)
+        # 7.2, 150
+        fosax_in = self._get_user_param_safe("fosax", "in")
+        fosay_in = self._get_user_param_safe("fosay", "in")
+        fosaz_in = self._get_user_param_safe("fosaz", "in")
+        dev.fosax.limits = [fosax_in - 0.1, fosax_in + 0.1]
+        dev.fosay.limits = [fosay_in - 0.1, fosay_in + 0.1]
+        dev.fosaz.limits = [fosaz_in - 0.1, fosaz_in + 0.1]
+        umv(dev.fosax, fosax_in, dev.fosay, fosay_in)
+        umv(dev.fosaz, fosaz_in)
+
+        # 11 kev
+        # umv(dev.losax, -1.161000, dev.losay, -0.196)
+        # umv(dev.losaz, 1.0000)
+
+    def fosa_out(self):
+        self.ensure_fheater_up()
+        curtain_is_triggered = dev.foptz.controller.fosaz_light_curtain_is_triggered()
+        if not curtain_is_triggered:
+            fosaz_out = self._get_user_param_safe("fosaz", "out")
+            dev.fosaz.limits = [fosaz_out - 0.1, fosaz_out + 0.1]
+            umv(dev.fosaz, fosaz_out)
+        fosax_out = self._get_user_param_safe("fosax", "out")
+        dev.fosax.limits = [fosax_out - 0.1, fosax_out + 0.1]
+        umv(dev.fosax, fosax_out)
+
+    def ffzp_info(self, mokev_val=-1):
+
+        if mokev_val == -1:
+            try:
+                mokev_val = dev.mokev.readback.get()
+            except:
+                print(
+                    "Device mokev does not exist. You can specify the energy in keV as an argument instead."
+                )
+                return
+        foptz_val = dev.foptz.readback.get()
+        distance = -foptz_val + 43.15 + 36.7
+        print(f"\nThe sample is in a distance of \033[1m{distance:.1f} mm\033[0m from the FZP.\n")
+        print(f"At the current energy of {mokev_val:.4f} keV we have following options:\n")
+
+        diameters = [80e-6, 100e-6, 120e-6, 150e-6, 170e-6, 200e-6, 220e-6, 250e-6]
+
+        console = Console()
+        table = Table(title="Outermost zone width \033[1m60 nm\033[0m", box=box.SQUARE)
+        table.add_column("Diameter", justify="center")
+        table.add_column("Focal distance", justify="center")
+        table.add_column("Current beam size", justify="center")
+
+        wavelength = 1.2398e-9 / mokev_val
+
+        for diameter in diameters:
+            outermost_zonewidth = 60e-9
+            focal_distance = diameter * outermost_zonewidth / wavelength * 1000
+            beam_size = -diameter / (focal_distance * 1000) * (focal_distance - distance) * 1e9
+            table.add_row(
+                f"{diameter*1e6:.2f} microns",
+                f"{focal_distance:.2f} mm",
+                f"{beam_size:.2f} microns",
+            )
+
+        console.print(table)
+
+        diameters = [150e-6, 250e-6]
+
+        console = Console()
+        table = Table(title="Outermost zone width \033[1m30 nm\033[0m", box=box.SQUARE)
+        table.add_column("Diameter", justify="center")
+        table.add_column("Focal distance", justify="center")
+        table.add_column("Current beam size", justify="center")
+
+        wavelength = 1.2398e-9 / mokev_val
+
+        for diameter in diameters:
+            outermost_zonewidth = 30e-9
+            focal_distance = diameter * outermost_zonewidth / wavelength * 1000
+            beam_size = -diameter / (focal_distance * 1000) * (focal_distance - distance) * 1e9
+            table.add_row(
+                f"{diameter*1e6:.2f} microns",
+                f"{focal_distance:.2f} mm",
+                f"{beam_size:.2f} microns",
+            )
+
+        console.print(table)
+
+        fosaz_val = dev.fosaz.readback.get()
+
+        print("\nOSA Information:")
+        print(f"  Current fosaz {fosaz_val:.1f}")
+        print(
+            f"  The OSA will collide with a normal OMNY pin at fosaz \033[1m{(33-fosaz_val):.1f}\033[0m"
+        )
+        print(f"  Remaining space: \033[1m{-fosaz_val+(33-foptz_val):.1f}\033[0m")

csaxs_bec/bec_ipython_client/plugins/flomni/x_ray_eye_align.py

@@ -0,0 +1,244 @@
+from __future__ import annotations
+
+import builtins
+import os
+import time
+from typing import TYPE_CHECKING
+
+from bec_lib import bec_logger
+
+from csaxs_bec.bec_ipython_client.plugins.cSAXS import epics_get, epics_put, fshopen
+
+logger = bec_logger.logger
+# import builtins to avoid linter errors
+bec = builtins.__dict__.get("bec")
+dev = builtins.__dict__.get("dev")
+umv = builtins.__dict__.get("umv")
+umvr = builtins.__dict__.get("umvr")
+
+if TYPE_CHECKING:
+    from bec_ipython_client.plugins.flomni import Flomni
+
+
+class XrayEyeAlign:
+    # pixel calibration, multiply to get mm
+    PIXEL_CALIBRATION = 0.1 / 113  # .2 with binning
+
+    def __init__(self, client, flomni: Flomni) -> None:
+        self.client = client
+        self.flomni = flomni
+        self.device_manager = client.device_manager
+        self.scans = client.scans
+        self.alignment_values = {}
+        self.flomni.reset_correction()
+        self.flomni.reset_tomo_alignment_fit()
+
+    def _reset_init_values(self):
+        self.shift_xy = [0, 0]
+        self._xray_fov_xy = [0, 0]
+
+    def save_frame(self):
+        epics_put("XOMNYI-XEYE-SAVFRAME:0", 1)
+
+    def update_frame(self):
+        epics_put("XOMNYI-XEYE-ACQDONE:0", 0)
+        # start live
+        epics_put("XOMNYI-XEYE-ACQ:0", 1)
+        # wait for start live
+        while epics_get("XOMNYI-XEYE-ACQDONE:0") == 0:
+            time.sleep(0.5)
+            print("waiting for live view to start...")
+        fshopen()
+
+        epics_put("XOMNYI-XEYE-ACQDONE:0", 0)
+
+        while epics_get("XOMNYI-XEYE-ACQDONE:0") == 0:
+            print("waiting for new frame...")
+            time.sleep(0.5)
+
+        time.sleep(0.5)
+        # stop live view
+        epics_put("XOMNYI-XEYE-ACQ:0", 0)
+        time.sleep(1)
+        # fshclose
+        print("got new frame")
+
+    def tomo_rotate(self, val: float):
+        # pylint: disable=undefined-variable
+        umv(self.device_manager.devices.fsamroy, val)
+
+    def get_tomo_angle(self):
+        return self.device_manager.devices.fsamroy.readback.get()
+
+    def update_fov(self, k: int):
+        self._xray_fov_xy[0] = max(epics_get(f"XOMNYI-XEYE-XWIDTH_X:{k}"), self._xray_fov_xy[0])
+        self._xray_fov_xy[1] = max(0, self._xray_fov_xy[0])
+
+    @property
+    def movement_buttons_enabled(self):
+        return [epics_get("XOMNYI-XEYE-ENAMVX:0"), epics_get("XOMNYI-XEYE-ENAMVY:0")]
+
+    @movement_buttons_enabled.setter
+    def movement_buttons_enabled(self, enabled: bool):
+        enabled = int(enabled)
+        epics_put("XOMNYI-XEYE-ENAMVX:0", enabled)
+        epics_put("XOMNYI-XEYE-ENAMVY:0", enabled)
+
+    def send_message(self, msg: str):
+        epics_put("XOMNYI-XEYE-MESSAGE:0.DESC", msg)
+
+    def align(self):
+        # reset shift xy and fov params
+        self._reset_init_values()
+
+        self.flomni.lights_off()
+
+        self.tomo_rotate(0)
+        epics_put("XOMNYI-XEYE-ANGLE:0", 0)
+
+        self.flomni.feye_in()
+
+        self.flomni.laser_tracker_on()
+
+        self.flomni.rt_feedback_enable_with_reset()
+
+        # disable movement buttons
+        self.movement_buttons_enabled = False
+
+        sample_name = self.flomni.sample_get_name(0)
+        epics_put("XOMNYI-XEYE-SAMPLENAME:0.DESC", sample_name)
+
+        # this makes sure we are in a defined state
+        self.flomni.rt_feedback_disable()
+
+        epics_put("XOMNYI-XEYE-PIXELSIZE:0", self.PIXEL_CALIBRATION)
+
+        self.flomni.fosa_out()
+
+        fsamx_in = self.flomni._get_user_param_safe("fsamx", "in")
+        umv(dev.fsamx, fsamx_in - 0.25)
+
+        self.flomni.ffzp_in()
+        self.update_frame()
+
+        # enable submit buttons
+        self.movement_buttons_enabled = False
+        epics_put("XOMNYI-XEYE-SUBMIT:0", 0)
+        epics_put("XOMNYI-XEYE-STEP:0", 0)
+        self.send_message("Submit center value of FZP.")
+
+        k = 0
+        while True:
+            if epics_get("XOMNYI-XEYE-SUBMIT:0") == 1:
+                val_x = epics_get(f"XOMNYI-XEYE-XVAL_X:{k}") / 2 * self.PIXEL_CALIBRATION  # in mm
+                self.alignment_values[k] = val_x
+                print(f"Clicked position {k}: x {self.alignment_values[k]}")
+                rtx_position = dev.rtx.readback.get() / 1000
+                print(f"Current rtx position {rtx_position}")
+                self.alignment_values[k] -= rtx_position
+                print(f"Corrected position {k}: x {self.alignment_values[k]}")
+
+                if k == 0:  # received center value of FZP
+                    self.send_message("please wait ...")
+                    self.movement_buttons_enabled = False
+                    epics_put("XOMNYI-XEYE-SUBMIT:0", -1)  # disable submit button
+
+                    self.flomni.rt_feedback_disable()
+                    fsamx_in = self.flomni._get_user_param_safe("fsamx", "in")
+                    umv(dev.fsamx, fsamx_in)
+
+                    self.flomni.foptics_out()
+
+                    self.flomni.rt_feedback_disable()
+                    umv(dev.fsamx, fsamx_in - 0.25)
+
+                    self.update_frame()
+                    epics_put("XOMNYI-XEYE-RECBG:0", 1)
+                    while epics_get("XOMNYI-XEYE-RECBG:0") == 1:
+                        time.sleep(0.5)
+                        print("waiting for background frame...")
+
+                    umv(dev.fsamx, fsamx_in)
+                    time.sleep(0.5)
+                    self.flomni.rt_feedback_enable_with_reset()
+
+                    self.update_frame()
+                    self.send_message("Adjust sample height and submit center")
+                    epics_put("XOMNYI-XEYE-SUBMIT:0", 0)
+                    self.movement_buttons_enabled = True
+
+                elif 1 <= k < 5:  # received sample center value at samroy 0 ... 315
+                    self.send_message("please wait ...")
+                    epics_put("XOMNYI-XEYE-SUBMIT:0", -1)
+                    self.movement_buttons_enabled = False
+
+                    umv(dev.rtx, 0)
+                    self.tomo_rotate(k * 45)
+                    epics_put("XOMNYI-XEYE-ANGLE:0", self.get_tomo_angle())
+                    self.update_frame()
+                    self.send_message("Submit sample center")
+                    epics_put("XOMNYI-XEYE-SUBMIT:0", 0)
+                    epics_put("XOMNYI-XEYE-ENAMVX:0", 1)
+                    self.update_fov(k)
+
+                elif k == 5:  # received sample center value at samroy 270 and done
+                    self.send_message("done...")
+                    epics_put("XOMNYI-XEYE-SUBMIT:0", -1)  # disable submit button
+                    self.movement_buttons_enabled = False
+                    self.update_fov(k)
+                    break
+
+                k += 1
+                epics_put("XOMNYI-XEYE-STEP:0", k)
+
+            _xrayeyalignmvx = epics_get("XOMNYI-XEYE-MVX:0")
+            if _xrayeyalignmvx != 0:
+                umvr(dev.rtx, _xrayeyalignmvx)
+                print(f"Current rtx position {dev.rtx.readback.get() / 1000}")
+                epics_put("XOMNYI-XEYE-MVX:0", 0)
+                if k > 0:
+                    epics_put(f"XOMNYI-XEYE-STAGEPOSX:{k}", dev.rtx.readback.get() / 1000)
+                time.sleep(3)
+                self.update_frame()
+
+            if k < 2:
+                # allow movements, store movements to calculate center
+                _xrayeyalignmvy = epics_get("XOMNYI-XEYE-MVY:0")
+                if _xrayeyalignmvy != 0:
+                    self.flomni.rt_feedback_disable()
+                    umvr(dev.fsamy, _xrayeyalignmvy / 1000)
+                    time.sleep(2)
+                    epics_put("XOMNYI-XEYE-MVY:0", 0)
+                    self.flomni.rt_feedback_enable_with_reset()
+                    self.update_frame()
+            time.sleep(0.2)
+
+        self.write_output()
+        fovx = self._xray_fov_xy[0] * self.PIXEL_CALIBRATION * 1000 / 2
+        fovy = self._xray_fov_xy[1] * self.PIXEL_CALIBRATION * 1000 / 2
+
+        self.tomo_rotate(0)
+
+        umv(dev.rtx, 0)
+
+        # free camera
+        epics_put("XOMNYI-XEYE-ACQ:0", 2)
+
+        print(
+            f"The largest field of view from the xrayeyealign was \nfovx = {fovx:.0f} microns, fovy"
+            f" = {fovy:.0f} microns"
+        )
+        print("Use the matlab routine to FIT the current alignment...")
+
+        print("Then LOAD ALIGNMENT PARAMETERS by running flomni.read_alignment_offset()\n")
+
+    def write_output(self):
+        file = os.path.expanduser("~/Data10/specES1/internal/xrayeye_alignmentvalues")
+        if not os.path.exists(file):
+            os.makedirs(os.path.dirname(file), exist_ok=True)
+        with open(file, "w") as alignment_values_file:
+            alignment_values_file.write("angle\thorizontal\n")
+            for k in range(1, 6):
+                fovx_offset = self.alignment_values[0] - self.alignment_values[k]
+                print(f"Writing to file new alignment: number {k}, value x {fovx_offset}")
+                alignment_values_file.write(f"{(k-1)*45}\t{fovx_offset*1000}\n")

csaxs_bec/bec_ipython_client/startup/post_startup.py

@@ -0,0 +1,86 @@
+"""
+Post startup script for the BEC client. This script is executed after the
+IPython shell is started. It is used to load the beamline specific
+information and to setup the prompts.
+
+The script is executed in the global namespace of the IPython shell. This
+means that all variables defined here are available in the shell.
+
+If needed, bec command-line arguments can be parsed here. For example, to
+parse the --session argument, add the following lines to the script:
+
+    import argparse
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--session", help="Session name", type=str, default="my_default_session")
+    args = parser.parse_args()
+
+    if args.session == "my_session":
+        print("Loading my_session session")
+        from bec_plugins.bec_ipython_client.plugins.my_session import *
+    else:
+        print("Loading default session")
+        from bec_plugins.bec_ipython_client.plugins.default_session import *
+"""
+
+# pylint: disable=invalid-name, unused-import, import-error, undefined-variable, unused-variable, unused-argument, no-name-in-module
+
+from bec_lib import bec_logger
+
+logger = bec_logger.logger
+
+logger.info("Using the cSAXS startup script.")
+
+# pylint: disable=import-error
+_args = _main_dict["args"]
+
+_session_name = "cSAXS"
+if _args.session.lower() == "lamni":
+    from csaxs_bec.bec_ipython_client.plugins.cSAXS import *
+    from csaxs_bec.bec_ipython_client.plugins.LamNI import *
+
+    _session_name = "LamNI"
+    lamni = LamNI(bec)
+    logger.success("LamNI session loaded.")
+
+elif _args.session.lower() == "csaxs":
+    print("Loading cSAXS session")
+    from csaxs_bec.bec_ipython_client.plugins.cSAXS import *
+
+    logger.success("cSAXS session loaded.")
+
+
+# SETUP BEAMLINE INFO
+from bec_ipython_client.plugins.SLS.sls_info import OperatorInfo, SLSInfo
+
+from csaxs_bec.bec_ipython_client.plugins.cSAXS.beamline_info import BeamlineInfo
+
+bec._beamline_mixin._bl_info_register(BeamlineInfo)
+bec._beamline_mixin._bl_info_register(SLSInfo)
+bec._beamline_mixin._bl_info_register(OperatorInfo)
+
+# SETUP PROMPTS
+bec._ip.prompts.username = _session_name
+bec._ip.prompts.status = 1
+
+
+# REGISTER BEAMLINE CHECKS
+from bec_lib.bl_conditions import (
+    FastOrbitFeedbackCondition,
+    LightAvailableCondition,
+    ShutterCondition,
+)
+
+if "sls_machine_status" in dev:
+    print("Registering light available condition for SLS machine status")
+    _light_available_condition = LightAvailableCondition(dev.sls_machine_status)
+    bec.bl_checks.register(_light_available_condition)
+
+if "x12sa_es1_shutter_status" in dev:
+    print("Registering shutter condition for X12SA ES1 shutter status")
+    _shutter_condition = ShutterCondition(dev.x12sa_es1_shutter_status)
+    bec.bl_checks.register(_shutter_condition)
+
+# if hasattr(dev, "sls_fast_orbit_feedback"):
+#     print("Registering fast orbit feedback condition for SLS fast orbit feedback")
+#     _fast_orbit_feedback_condition = FastOrbitFeedbackCondition(dev.sls_fast_orbit_feedback)
+#     bec.bl_checks.register(_fast_orbit_feedback_condition)

csaxs_bec/bec_ipython_client/startup/pre_startup.py

@@ -0,0 +1,14 @@
+"""
+Pre-startup script for BEC client. This script is executed before the BEC client
+is started. It can be used to add additional command line arguments. 
+"""
+
+
+def extend_command_line_args(parser):
+    """
+    Extend the command line arguments of the BEC client.
+    """
+
+    parser.add_argument("--session", help="Session name", type=str, default="cSAXS")
+
+    return parser

csaxs_bec/device_configs/bec_device_config_sastt.yaml

@@ -0,0 +1,295 @@
+# This configuration file was used for the cSAXS beamtimes in September 2023
+##################################################
+#############Config for cSAXS SAXS imaging########
+##################################################
+
+bpm4i:
+  description: 'XBPM 4: integrated counts'
+  deviceClass: ophyd.EpicsSignalRO
+  deviceConfig:
+    read_pv: X12SA-OP1-SCALER.
+  deviceTags:
+  - monitor
+  enabled: true
+  readOnly: false
+  onFailure: buffer
+  readoutPriority: baseline
+  softwareTrigger: false
+mokev:
+  description: Monochromator energy in keV
+  deviceClass: csaxs_bec.devices.epics.specMotors.EnergyKev
+  deviceConfig:
+    read_pv: X12SA-OP-MO:ROX2
+  deviceTags:
+  - monitor
+  enabled: true
+  readOnly: false
+  onFailure: buffer
+  readoutPriority: baseline
+  softwareTrigger: false
+mcs:
+  description: Mcs scalar card for transmission readout
+  deviceClass: csaxs_bec.devices.epics.mcs_csaxs.MCScSAXS
+  deviceConfig:
+    prefix: 'X12SA-MCS:'
+    mcs_config:
+      num_lines: 1
+  deviceTags:
+  - cSAXS
+  - mcs
+  onFailure: buffer
+  enabled: true
+  readoutPriority: monitored
+  softwareTrigger: false
+eiger9m:
+  description: Eiger9m HPC area detector 9M
+  deviceClass: csaxs_bec.devices.epics.eiger9m_csaxs.Eiger9McSAXS
+  deviceConfig:
+    prefix: 'X12SA-ES-EIGER9M:'
+  deviceTags:
+  - cSAXS
+  - eiger9m
+  onFailure: buffer
+  enabled: true
+  readoutPriority: async
+  softwareTrigger: false
+ddg_detectors:
+  description: DelayGenerator for detector triggering
+  deviceClass: csaxs_bec.devices.epics.delay_generator_csaxs.DelayGeneratorcSAXS
+  deviceConfig:
+    prefix: 'delaygen:DG1:'
+    ddg_config:
+      delay_burst: 40.e-3
+      delta_width: 0
+      additional_triggers: 0
+      polarity:
+      - 1 # T0 -> DDG MCS
+      - 0 # eiger
+      - 1 # falcon
+      - 1 
+      - 1
+      amplitude: 4.5
+      offset: 0
+      thres_trig_level: 2.5
+      set_high_on_exposure: False
+      set_high_on_stage: False
+  deviceTags:
+  - cSAXS
+  - ddg_detectors
+  onFailure: buffer
+  enabled: true
+  readoutPriority: async
+  softwareTrigger: false
+ddg_mcs:
+  description: DelayGenerator for mcs triggering
+  deviceClass: csaxs_bec.devices.epics.delay_generator_csaxs.DelayGeneratorcSAXS
+  deviceConfig:
+    prefix: 'delaygen:DG2:'
+    ddg_config:
+      delay_burst: 0
+      delta_width: 0
+      additional_triggers: 1
+      polarity:
+      - 1
+      - 0
+      - 1
+      - 1
+      - 1
+      amplitude: 4.5
+      offset: 0
+      thres_trig_level: 2.5
+      set_high_on_exposure: False
+      set_high_on_stage: False
+      set_trigger_source: EXT_RISING_EDGE
+      trigger_width: 3.e-3
+  deviceTags:
+  - cSAXS
+  - ddg_mcs
+  onFailure: buffer
+  enabled: true
+  readoutPriority: async
+  softwareTrigger: false
+ddg_fsh:
+  description: DelayGenerator for fast shutter control
+  deviceClass: csaxs_bec.devices.epics.delay_generator_csaxs.DelayGeneratorcSAXS
+  deviceConfig:
+    prefix: 'delaygen:DG3:'
+    ddg_config:
+      delay_burst: 0
+      delta_width: 80.e-3
+      additional_triggers: 0
+      polarity:
+      - 1
+      - 1
+      - 1
+      - 1
+      - 1
+      amplitude: 4.5
+      offset: 0
+      thres_trig_level: 2.5
+      set_high_on_exposure: True
+      set_high_on_stage: False
+  deviceTags:
+  - cSAXS
+  - ddg_fsh
+  onFailure: buffer
+  enabled: true
+  readoutPriority: async
+  softwareTrigger: false
+falcon:
+  description: Falcon detector x-ray fluoresence 
+  deviceClass: csaxs_bec.devices.epics.falcon_csaxs.FalconcSAXS
+  deviceConfig:
+    prefix: 'X12SA-SITORO:'
+  deviceTags:
+  - cSAXS
+  - falcon
+  onFailure: buffer
+  enabled: true
+  readoutPriority: async
+  softwareTrigger: false
+pilatus_2:
+  description: Pilatus2 HPC area detector 300k 
+  deviceClass: csaxs_bec.devices.epics.pilatus_csaxs.PilatuscSAXS
+  deviceConfig:
+    prefix: 'X12SA-ES-PILATUS300K:'
+  deviceTags:
+  - cSAXS
+  - pilatus_2
+  onFailure: buffer
+  enabled: true
+  readoutPriority: async
+  softwareTrigger: false
+samx:
+  description: SGalil motor stage
+  deviceClass: csaxs_bec.devices.omny.galil.SGalilMotor
+  deviceConfig:
+    axis_Id: "E"
+    host: '129.129.122.26'
+    port: 23
+    sign: -1
+    limits:
+    - -181
+    - -0.1
+  deviceTags:
+  - cSAXS
+  - sgalil
+  onFailure: buffer
+  enabled: true
+  readoutPriority: baseline
+  softwareTrigger: false
+samy:
+  description: SGalil motor stage
+  deviceClass: csaxs_bec.devices.omny.galil.SGalilMotor
+  deviceConfig:
+    axis_Id: "C"
+    host: '129.129.122.26'
+    port: 23
+    sign: -1
+    limits:
+    - -66
+    - -12
+  deviceTags:
+  - cSAXS
+  - sgalil
+  onFailure: buffer
+  enabled: true
+  readoutPriority: baseline
+  softwareTrigger: false
+micfoc:
+  description: Focusing motor of Microscope stage
+  deviceClass: ophyd_devices.devices.EpicsMotorEx
+  deviceConfig:
+    prefix: X12SA-ES2-ES06
+    motor_resolution: 0.00125
+    base_velocity: 0.25
+    velocity: 2.5
+    backlash_distance: 0.125
+    acceleration: 0.4
+    user_offset_dir: 0
+  deviceTags:
+  - cSAXS
+  - micfoc
+  onFailure: buffer
+  enabled: true
+  readoutPriority: baseline
+  softwareTrigger: false
+owis_samx:
+  description: Owis motor stage samx
+  deviceClass: ophyd_devices.devices.EpicsMotorEx
+  deviceConfig:
+    prefix: X12SA-ES2-ES01
+    motor_resolution: 0.00125
+    base_velocity: 0.0625
+    velocity: 10
+    backlash_distance: 0.125
+    acceleration: 0.2
+    user_offset_dir: 0
+  deviceTags:
+  - cSAXS
+  - owis_samx
+  onFailure: buffer
+  enabled: true
+  readoutPriority: baseline
+  softwareTrigger: false
+owis_samy:
+  description: Owis motor stage samx
+  deviceClass: ophyd_devices.devices.EpicsMotorEx
+  deviceConfig:
+    prefix: X12SA-ES2-ES02
+    motor_resolution: 0.00125
+    base_velocity: 0.0625
+    velocity: 10
+    backlash_distance: 0.125
+    acceleration: 0.2
+    user_offset_dir: 0
+  deviceTags:
+  - cSAXS
+  - owis_samx
+  onFailure: buffer
+  enabled: true
+  readoutPriority: baseline
+  softwareTrigger: false
+rotx:
+  description: Rotation stage rotx
+  deviceClass: ophyd_devices.devices.EpicsMotorEx
+  deviceConfig:
+    prefix: X12SA-ES2-ES05
+    motor_resolution: 0.0025
+    base_velocity: 0.5
+    velocity: 7.5
+    backlash_distance: 0.25
+    acceleration: 0.2
+    user_offset_dir: 1
+    limits:
+    - -0.1
+    - 0.1
+  deviceTags:
+  - cSAXS
+  - rotx
+  onFailure: buffer
+  enabled: true
+  readoutPriority: baseline
+  softwareTrigger: false
+roty:
+  description: Rotation stage rotx
+  deviceClass: ophyd_devices.devices.EpicsMotorEx
+  deviceConfig:
+    prefix: X12SA-ES2-ES04
+    motor_resolution: 0.0025
+    base_velocity: 0.5
+    velocity: 7.5
+    backlash_distance: 0.25
+    acceleration: 0.2
+    user_offset_dir: 1
+    limits:
+    - -0.1
+    - 0.1
+  deviceTags:
+  - cSAXS
+  - rotx
+  onFailure: buffer
+  enabled: true
+  readoutPriority: baseline
+  softwareTrigger: false
+    

csaxs_bec/device_configs/ddg_template.yaml

@@ -0,0 +1,46 @@
+ddg:
+  description: DelayGenerator for detector triggering
+  deviceClass: csaxs_bec.devices.epics.delay_generator_csaxs.DelayGeneratorcSAXS
+  deviceConfig:
+    prefix: 'X12SA-CPCL-DDG3:'
+    ddg_config:
+      delay_burst: 40.e-3
+      delta_width: 0
+      additional_triggers: 0
+      polarity:
+      - 1 # T0 
+      - 0 # eiger and LeCroy4
+      - 1 
+      - 1 
+      - 1
+      amplitude: 4.5
+      offset: 0
+      thres_trig_level: 2.5
+      set_high_on_exposure: False
+      set_high_on_stage: False
+  deviceTags:
+  - cSAXS
+  - ddg_detectors
+  onFailure: buffer
+  enabled: true
+  readoutPriority: async
+  softwareTrigger: True
+eiger_jfjoch:
+  description: DelayGenerator for detector triggering
+  deviceClass: csaxs_bec.devices.jungfraujoch.eiger_jungfrau_joch.Eiger9McSAXS
+  deviceConfig:
+  deviceTags:
+  - cSAXS
+  - eiger9m
+  onFailure: buffer
+  enabled: true
+  readoutPriority: async
+  softwareTrigger: False
+simulated_monitor:
+  readoutPriority: monitored
+  deviceClass: ophyd_devices.SimMonitor
+  deviceConfig:
+  deviceTags:
+    - beamline
+  enabled: true
+  readOnly: false

csaxs_bec/device_configs/flomni_config.yaml

@@ -0,0 +1,364 @@
+############################################################
+#################### flOMNI Galil motors ###################
+############################################################
+
+feyex:
+  description: Xray eye X
+  deviceClass: csaxs_bec.devices.omny.galil.fgalil_ophyd.FlomniGalilMotor
+  deviceConfig:
+    axis_Id: D
+    host: mpc2844.psi.ch
+    limits:
+    - -30
+    - -1
+    port: 8082
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    in: -16.267
+    out: -1
+feyey:
+  description: Xray eye Y
+  deviceClass: csaxs_bec.devices.omny.galil.fgalil_ophyd.FlomniGalilMotor
+  deviceConfig:
+    axis_Id: E
+    host: mpc2844.psi.ch
+    limits:
+    - -1
+    - -10
+    port: 8082
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    in: -10.467
+fheater:
+  description: Heater Y
+  deviceClass: csaxs_bec.devices.omny.galil.fgalil_ophyd.FlomniGalilMotor
+  deviceConfig:
+    axis_Id: C
+    host: mpc2844.psi.ch
+    limits:
+    - -15
+    - 0
+    port: 8082
+    sign: -1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+foptx:
+  description: Optics X
+  deviceClass: csaxs_bec.devices.omny.galil.fgalil_ophyd.FlomniGalilMotor
+  deviceConfig:
+    axis_Id: B
+    host: mpc2844.psi.ch
+    limits:
+    - -17
+    - -12
+    port: 8082
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: true
+  readoutPriority: baseline
+  userParameter:
+    in: -13.761
+fopty:
+  description: Optics Y
+  deviceClass: csaxs_bec.devices.omny.galil.fgalil_ophyd.FlomniGalilMotor
+  deviceConfig:
+    axis_Id: F
+    host: mpc2844.psi.ch
+    limits:
+    - 0
+    - 4
+    port: 8082
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: true
+  readoutPriority: baseline
+  userParameter:
+    in: 0.552
+    out: 0.752
+foptz:
+  description: Optics Z
+  deviceClass: csaxs_bec.devices.omny.galil.fgalil_ophyd.FlomniGalilMotor
+  deviceConfig:
+    axis_Id: A
+    host: mpc2844.psi.ch
+    limits:
+    - 0
+    - 27
+    port: 8082
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    in: 23
+fsamroy:
+  description: Sample rotation
+  deviceClass: csaxs_bec.devices.omny.galil.fupr_ophyd.FuprGalilMotor
+  deviceConfig:
+    axis_Id: A
+    host: mpc2844.psi.ch
+    limits:
+    - -5
+    - 365
+    port: 8084
+    sign: -1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+fsamx:
+  description: Sample coarse X
+  deviceClass: csaxs_bec.devices.omny.galil.fgalil_ophyd.FlomniGalilMotor
+  deviceConfig:
+    axis_Id: E
+    host: mpc2844.psi.ch
+    limits:
+    - -162
+    - 0
+    port: 8081
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: true
+  readoutPriority: baseline
+  userParameter:
+    in: -1.1
+fsamy:
+  description: Sample coarse Y
+  deviceClass: csaxs_bec.devices.omny.galil.fgalil_ophyd.FlomniGalilMotor
+  deviceConfig:
+    axis_Id: F
+    host: mpc2844.psi.ch
+    limits:
+    - 2
+    - 3.1
+    port: 8081
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: true
+  readoutPriority: baseline
+  userParameter:
+    in: 2.75
+ftracky:
+  description: Laser Tracker coarse Y
+  deviceClass: csaxs_bec.devices.omny.galil.fgalil_ophyd.FlomniGalilMotor
+  deviceConfig:
+    axis_Id: H
+    host: mpc2844.psi.ch
+    limits:
+    - 2.2
+    - 2.8
+    port: 8082
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+ftrackz:
+  description: Laser Tracker coarse Z
+  deviceClass: csaxs_bec.devices.omny.galil.fgalil_ophyd.FlomniGalilMotor
+  deviceConfig:
+    axis_Id: G
+    host: mpc2844.psi.ch
+    limits:
+    - 4.5
+    - 5.5
+    port: 8082
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+ftransx:
+  description: Sample transer X
+  deviceClass: csaxs_bec.devices.omny.galil.fgalil_ophyd.FlomniGalilMotor
+  deviceConfig:
+    axis_Id: C
+    host: mpc2844.psi.ch
+    limits:
+    - 0
+    - 50
+    port: 8081
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+ftransy:
+  description: Sample transer Y
+  deviceClass: csaxs_bec.devices.omny.galil.fgalil_ophyd.FlomniGalilMotor
+  deviceConfig:
+    axis_Id: A
+    host: mpc2844.psi.ch
+    limits:
+    - -100
+    - 0
+    port: 8081
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+ftransz:
+  description: Sample transer Z
+  deviceClass: csaxs_bec.devices.omny.galil.fgalil_ophyd.FlomniGalilMotor
+  deviceConfig:
+    axis_Id: B
+    host: mpc2844.psi.ch
+    limits:
+    - 0
+    - 145
+    port: 8081
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+ftray:
+  description: Sample transfer tray
+  deviceClass: csaxs_bec.devices.omny.galil.fgalil_ophyd.FlomniGalilMotor
+  deviceConfig:
+    axis_Id: D
+    host: mpc2844.psi.ch
+    limits:
+    - -200
+    - 0
+    port: 8081
+    sign: -1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+
+
+############################################################
+#################### flOMNI Sample Names ###################
+############################################################
+
+flomni_samples:
+  description: Sample names and storage
+  deviceClass: csaxs_bec.devices.omny.flomni_sample_storage.FlomniSampleStorage
+  deviceConfig: {}
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+
+############################################################
+#################### flOMNI Smaract motors #################
+############################################################
+
+fosax:
+  description: OSA X
+  deviceClass: csaxs_bec.devices.smaract.smaract_ophyd.SmaractMotor
+  deviceConfig:
+    axis_Id: A
+    host: mpc2844.psi.ch
+    limits:
+    - 10.2
+    - 10.6
+    port: 3334
+    sign: -1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    in: 9.124
+    out: 5.3
+fosay:
+  description: OSA Y
+  deviceClass: csaxs_bec.devices.smaract.smaract_ophyd.SmaractMotor
+  deviceConfig:
+    axis_Id: B
+    host: mpc2844.psi.ch
+    limits:
+    - -3.1
+    - -2.9
+    port: 3334
+    sign: -1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    in: 0.367
+fosaz:
+  description: OSA Z
+  deviceClass: csaxs_bec.devices.smaract.smaract_ophyd.SmaractMotor
+  deviceConfig:
+    axis_Id: C
+    host: mpc2844.psi.ch
+    limits:
+    - -6
+    - -4
+    port: 3334
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    in: 8.5
+    out: 6
+
+############################################################
+#################### flOMNI RT motors ######################
+############################################################
+  
+rtx:
+  description: flomni rt
+  deviceClass: csaxs_bec.devices.omny.rt.rt_flomni_ophyd.RtFlomniMotor
+  deviceConfig:
+    axis_Id: A
+    host: mpc2844.psi.ch
+    port: 2222
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: on_request
+  userParameter:
+    low_signal: 11000
+    min_signal: 10000
+    rt_pid_voltage: -0.06219
+rty:
+  description: flomni rt
+  deviceClass: csaxs_bec.devices.omny.rt.rt_flomni_ophyd.RtFlomniMotor
+  deviceConfig:
+    axis_Id: B
+    host: mpc2844.psi.ch
+    port: 2222
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: on_request
+  userParameter:
+    tomo_additional_offsety: 0
+rtz:
+  description: flomni rt
+  deviceClass: csaxs_bec.devices.omny.rt.rt_flomni_ophyd.RtFlomniMotor
+  deviceConfig:
+    axis_Id: C
+    host: mpc2844.psi.ch
+    port: 2222
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: on_request

csaxs_bec/device_configs/lamni_config.yaml

@@ -0,0 +1,261 @@
+############################################################
+#################### LamNI Galil motors ####################
+############################################################
+
+leyex:
+  description: Xray eye X
+  deviceClass: csaxs_bec.devices.omny.galil.lgalil_ophyd.LamniGalilMotor
+  deviceConfig:
+    axis_Id: G
+    host: mpc2680.psi.ch
+    limits:
+      - 0
+      - 0
+    port: 8081
+    sign: -1
+  deviceTags:
+  - lamni
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    in: 14.117
+leyey:
+  description: Xray eye Y
+  deviceClass: csaxs_bec.devices.omny.galil.lgalil_ophyd.LamniGalilMotor
+  deviceConfig:
+    axis_Id: H
+    host: mpc2680.psi.ch
+    limits:
+      - 0
+      - 0
+    port: 8081
+    sign: -1
+  deviceTags:
+  - lamni
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    in: 48.069
+    out: 0.5
+loptx:
+  description: Optics X
+  deviceClass: csaxs_bec.devices.omny.galil.lgalil_ophyd.LamniGalilMotor
+  deviceConfig:
+    axis_Id: E
+    host: mpc2680.psi.ch
+    limits:
+      - 0
+      - 0
+    port: 8081
+    sign: 1
+  deviceTags:
+  - lamni
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    in: -0.244
+    out: -0.699
+lopty:
+  description: Optics Y
+  deviceClass: csaxs_bec.devices.omny.galil.lgalil_ophyd.LamniGalilMotor
+  deviceConfig:
+    axis_Id: F
+    host: mpc2680.psi.ch
+    limits:
+      - 0
+      - 0
+    port: 8081
+    sign: 1
+  deviceTags:
+  - lamni
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    in: 3.724
+    out: 3.53
+loptz:
+  description: Optics Z
+  deviceClass: csaxs_bec.devices.omny.galil.lgalil_ophyd.LamniGalilMotor
+  deviceConfig:
+    axis_Id: D
+    host: mpc2680.psi.ch
+    limits:
+      - 0
+      - 0
+    port: 8081
+    sign: -1
+  deviceTags:
+  - lamni
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+lsamrot:
+  description: Sample rotation
+  deviceClass: csaxs_bec.devices.omny.galil.lgalil_ophyd.LamniGalilMotor
+  deviceConfig:
+    axis_Id: C
+    host: mpc2680.psi.ch
+    limits:
+      - 0
+      - 0
+    port: 8081
+    sign: 1
+  deviceTags:
+  - lamni
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+lsamx:
+  description: Sample coarse X
+  deviceClass: csaxs_bec.devices.omny.galil.lgalil_ophyd.LamniGalilMotor
+  deviceConfig:
+    axis_Id: A
+    host: mpc2680.psi.ch
+    limits:
+      - 0
+      - 0
+    port: 8081
+    sign: -1
+  deviceTags:
+  - lamni
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    center: 8.768
+lsamy:
+  description: Sample coarse Y
+  deviceClass: csaxs_bec.devices.omny.galil.lgalil_ophyd.LamniGalilMotor
+  deviceConfig:
+    axis_Id: B
+    host: mpc2680.psi.ch
+    limits:
+      - 0
+      - 0
+    port: 8081
+    sign: 1
+  deviceTags:
+  - lamni
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    center: 10.041
+
+
+############################################################
+################ LamNI Smaract motors ######################
+############################################################
+
+losax:
+  description: OSA X
+  deviceClass: csaxs_bec.devices.smaract.smaract_ophyd.SmaractMotor
+  deviceConfig:
+    axis_Id: A
+    host: mpc2680.psi.ch
+    limits:
+      - 0
+      - 0
+    port: 8085
+    sign: -1
+  deviceTags:
+  - lamni
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    in: -1.442
+losay:
+  description: OSA Y
+  deviceClass: csaxs_bec.devices.smaract.smaract_ophyd.SmaractMotor
+  deviceConfig:
+    axis_Id: B
+    host: mpc2680.psi.ch
+    limits:
+      - 0
+      - 0
+    port: 8085
+    sign: -1
+  deviceTags:
+  - lamni
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    in: -0.171
+    out: 3.8
+losaz:
+  description: OSA Z
+  deviceClass: csaxs_bec.devices.smaract.smaract_ophyd.SmaractMotor
+  deviceConfig:
+    axis_Id: C
+    host: mpc2680.psi.ch
+    limits:
+      - 0
+      - 0
+    port: 8085
+    sign: 1
+  deviceTags:
+  - lamni
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  userParameter:
+    in: -1
+    out: -3
+
+############################################################
+#################### flOMNI RT motors ######################
+############################################################
+
+rtx:
+  deviceClass: csaxs_bec.devices.omny.rt.rt_lamni_ophyd.RtLamniMotor
+  deviceConfig:
+    axis_Id: A
+    device_access: true
+    host: mpc2680.psi.ch
+    labels: rtx
+    limits:
+    - 0
+    - 0
+    port: 3333
+    sign: 1
+  deviceTags:
+  - lamni
+  readoutPriority: baseline
+  enabled: true
+  readOnly: False
+rty:
+  deviceClass: csaxs_bec.devices.omny.rt.rt_lamni_ophyd.RtLamniMotor
+  deviceConfig:
+    axis_Id: B
+    device_access: true
+    host: mpc2680.psi.ch
+    labels: rty
+    limits:
+    - 0
+    - 0
+    port: 3333
+    sign: 1
+  deviceTags:
+  - lamni
+  readoutPriority: baseline
+  enabled: true
+  readOnly: False
+
+

csaxs_bec/device_configs/npoint_template.yaml

@@ -0,0 +1,38 @@
+############################################################
+#################### npoint motors #########################
+############################################################
+
+npx:
+  description: nPoint x axis on the big npoint controller
+  deviceClass: csaxs_bec.devices.npoint.npoint.NPointAxis
+  deviceConfig:
+    axis_Id: A
+    host: "nPoint000003.psi.ch"
+    limits:
+    - -50
+    - 50
+    port: 23
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  deviceTags:
+  - npoint
+npy:
+  description: nPoint y axis on the big npoint controller
+  deviceClass: csaxs_bec.devices.npoint.npoint.NPointAxis
+  deviceConfig:
+    axis_Id: B
+    host: "nPoint000003.psi.ch"
+    limits:
+    - -50
+    - 50
+    port: 23
+    sign: 1
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline
+  deviceTags:
+  - npoint

csaxs_bec/device_configs/omny_config.yaml

@@ -0,0 +1,8 @@
+omny_samples:
+  description: OMNYSampleStorage
+  deviceClass: csaxs_bec.devices.omny.omny_sample_storage.OMNYSampleStorage 
+  deviceConfig: {}
+  enabled: true
+  onFailure: buffer
+  readOnly: false
+  readoutPriority: baseline

csaxs_bec/devices/device_list.md

@@ -0,0 +1,38 @@
+// This file was autogenerated. Do not edit it manually.
+## Device List
+### csaxs_bec 
+| Device | Documentation | Module |
+| :----- | :------------- | :------ |
+| Bpm4i |  | [csaxs_bec.devices.epics.specMotors](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/specMotors.py) |
+| DelayGeneratorcSAXS | <br>    DG645 delay generator at cSAXS (multiple can be in use depending on the setup)<br><br>    Default values for setting up DDG.<br>    Note: checks of set calues are not (only partially) included, check manual for details on possible settings.<br>    https://www.thinksrs.com/downloads/pdfs/manuals/DG645m.pdf<br><br>    - delay_burst               : (float >=0) Delay between trigger and first pulse in burst mode<br>    - delta_width               : (float >= 0) Add width to fast shutter signal to make sure its open during acquisition<br>    - additional_triggers       : (int) add additional triggers to burst mode (mcs card needs +1 triggers per line)<br>    - polarity                  : (list of 0/1) polarity for different channels<br>    - amplitude                 : (float) amplitude voltage of TTLs<br>    - offset                    : (float) offset for ampltitude<br>    - thres_trig_level          : (float) threshold of trigger amplitude<br><br>    Custom signals for logic in different DDGs during scans (for custom_prepare.prepare_ddg):<br><br>    - set_high_on_exposure      : (bool): if True, then TTL signal should go high during the full acquisition time of a scan.<br>    # TODO trigger_width and fixed_ttl could be combined into single list.<br>    - fixed_ttl_width           : (list of either 1 or 0), one for each channel.<br>    - trigger_width             : (float) if fixed_ttl_width is True, then the width of the TTL pulse is set to this value.<br>    - set_trigger_source        : (TriggerSource) specifies the default trigger source for the DDG.<br>    - premove_trigger           : (bool) if True, then a trigger should be executed before the scan starts (to be implemented in on_pre_scan).<br>    - set_high_on_stage         : (bool) if True, then TTL signal should go high already on stage.<br>     | [csaxs_bec.devices.epics.delay_generator_csaxs](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/delay_generator_csaxs.py) |
+| Eiger1p5MDetector |  | [csaxs_bec.devices.omny.eiger1p5m](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/omny/eiger1p5m.py) |
+| Eiger9McSAXS | <br>    Eiger9M detector for CSAXS<br><br>    Parent class: PSIDetectorBase<br><br>    class attributes:<br>        custom_prepare_cls (FalconSetup)        : Custom detector setup class for cSAXS,<br>                                                  inherits from CustomDetectorMixin<br>        PSIDetectorBase.set_min_readout (float) : Minimum readout time for the detector<br>        Various EpicsPVs for controlling the detector<br>     | [csaxs_bec.devices.epics.eiger9m_csaxs](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/eiger9m_csaxs.py) |
+| EpicsDXPFalcon | <br>    DXP parameters for Falcon detector<br><br>    Base class to map EPICS PVs from DXP parameters to ophyd signals.<br>     | [csaxs_bec.devices.epics.falcon_csaxs](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/falcon_csaxs.py) |
+| FalconcSAXS | <br>    Falcon Sitoro detector for CSAXS<br><br>    Parent class: PSIDetectorBase<br><br>    class attributes:<br>        custom_prepare_cls (FalconSetup)        : Custom detector setup class for cSAXS,<br>                                                  inherits from CustomDetectorMixin<br>        PSIDetectorBase.set_min_readout (float) : Minimum readout time for the detector<br>        dxp (EpicsDXPFalcon)                    : DXP parameters for Falcon detector<br>        mca (EpicsMCARecord)                    : MCA parameters for Falcon detector<br>        hdf5 (FalconHDF5Plugins)                : HDF5 parameters for Falcon detector<br>        MIN_READOUT (float)                     : Minimum readout time for the detector<br>     | [csaxs_bec.devices.epics.falcon_csaxs](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/falcon_csaxs.py) |
+| FalconHDF5Plugins | <br>    HDF5 parameters for Falcon detector<br><br>    Base class to map EPICS PVs from HDF5 Plugin to ophyd signals.<br>     | [csaxs_bec.devices.epics.falcon_csaxs](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/falcon_csaxs.py) |
+| FlomniGalilMotor |  | [csaxs_bec.devices.omny.galil.fgalil_ophyd](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/omny/galil/fgalil_ophyd.py) |
+| FlomniSampleStorage |  | [csaxs_bec.devices.omny.flomni_sample_storage](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/omny/flomni_sample_storage.py) |
+| FuprGalilMotor |  | [csaxs_bec.devices.omny.galil.fupr_ophyd](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/omny/galil/fupr_ophyd.py) |
+| GirderMotorPITCH | Girder YAW pseudo motor | [csaxs_bec.devices.epics.specMotors](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/specMotors.py) |
+| GirderMotorROLL | Girder ROLL pseudo motor | [csaxs_bec.devices.epics.specMotors](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/specMotors.py) |
+| GirderMotorX1 | Girder X translation pseudo motor | [csaxs_bec.devices.epics.specMotors](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/specMotors.py) |
+| GirderMotorY1 | Girder Y translation pseudo motor | [csaxs_bec.devices.epics.specMotors](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/specMotors.py) |
+| GirderMotorYAW | Girder YAW pseudo motor | [csaxs_bec.devices.epics.specMotors](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/specMotors.py) |
+| InsertionDevice | Python wrapper for the CSAXS insertion device control<br><br>    This wrapper provides a positioner interface for the ID control.<br>    is completely custom XBPM with templates directly in the<br>    VME repo. Thus it needs a custom ophyd template as well...<br><br>    WARN: The x and y are not updated by the IOC<br>     | [csaxs_bec.devices.epics.InsertionDevice](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/InsertionDevice.py) |
+| LamniGalilMotor |  | [csaxs_bec.devices.omny.galil.lgalil_ophyd](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/omny/galil/lgalil_ophyd.py) |
+| MCScSAXS | MCS card for cSAXS for implementation at cSAXS beamline | [csaxs_bec.devices.epics.mcs_csaxs](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/mcs_csaxs.py) |
+| NPointAxis | <br>    NPointAxis class, which inherits from Device and PositionerBase. This class<br>    represents an axis of an nPoint piezo stage and provides the necessary<br>    functionality to move the axis and read its current position.<br>     | [csaxs_bec.devices.npoint.npoint](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/npoint/npoint.py) |
+| OMNYSampleStorage |  | [csaxs_bec.devices.omny.omny_sample_storage](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/omny/omny_sample_storage.py) |
+| PilatuscSAXS | Pilatus_2 300k detector for CSAXS<br><br>    Parent class: PSIDetectorBase<br><br>    class attributes:<br>        custom_prepare_cls (Eiger9MSetup)   : Custom detector setup class for cSAXS,<br>                                              inherits from CustomDetectorMixin<br>        cam (SLSDetectorCam)                : Detector camera<br>        MIN_READOUT (float)                 : Minimum readout time for the detector<br><br>     | [csaxs_bec.devices.epics.pilatus_csaxs](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/pilatus_csaxs.py) |
+| PmDetectorRotation | Detector rotation pseudo motor<br><br>    Small wrapper to convert detector pusher position to rotation angle.<br>     | [csaxs_bec.devices.epics.specMotors](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/specMotors.py) |
+| PmMonoBender | Monochromator bender<br><br>    Small wrapper to combine the four monochromator bender motors.<br>     | [csaxs_bec.devices.epics.specMotors](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/specMotors.py) |
+| RtFlomniMotor |  | [csaxs_bec.devices.omny.rt.rt_flomni_ophyd](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/omny/rt/rt_flomni_ophyd.py) |
+| RtLamniMotor |  | [csaxs_bec.devices.omny.rt.rt_lamni_ophyd](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/omny/rt/rt_lamni_ophyd.py) |
+| SGalilMotor |  "SGalil Motors at cSAXS have a<br>    DC motor (y axis - vertical) - implemented as C<br>    and a step motor (x-axis horizontal) - implemented as E<br>    that require different communication for control<br>     | [csaxs_bec.devices.omny.galil.sgalil_ophyd](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/omny/galil/sgalil_ophyd.py) |
+| SIS38XX | SIS38XX card for access to EPICs PVs at cSAXS beamline | [csaxs_bec.devices.epics.mcs_csaxs](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/mcs_csaxs.py) |
+| SLSDetectorCam | SLS Detector Camera - Pilatus<br><br>    Base class to map EPICS PVs to ophyd signals.<br>     | [csaxs_bec.devices.epics.pilatus_csaxs](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/pilatus_csaxs.py) |
+| SmaractMotor |  | [csaxs_bec.devices.smaract.smaract_ophyd](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/smaract/smaract_ophyd.py) |
+| XbpmBase | Python wrapper for X-ray Beam Position Monitors<br><br>    XBPM's consist of a metal-coated diamond window that ejects<br>    photoelectrons from the incoming X-ray beam. These electons<br>    are collected and their current is measured. Effectively<br>    they act as four quadrant photodiodes and are used as BPMs<br>    at the undulator beamlines of SLS.<br><br>    Note: EPICS provided signals are read only, but the user can<br>    change the beam position offset.<br>     | [csaxs_bec.devices.epics.XbpmBase](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/XbpmBase.py) |
+| XbpmCsaxsOp | Python wrapper for custom XBPMs in the cSAXS optics hutch<br><br>    This is  completely custom XBPM with templates directly in the<br>    VME repo. Thus it needs a custom ophyd template as well...<br><br>    WARN: The x and y are not updated by the IOC<br>     | [csaxs_bec.devices.epics.XbpmBase](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/XbpmBase.py) |
+| XbpmSim | Python wrapper for simulated X-ray Beam Position Monitors<br><br>    XBPM's consist of a metal-coated diamond window that ejects<br>    photoelectrons from the incoming X-ray beam. These electons<br>    are collected and their current is measured. Effectively<br>    they act as four quadrant photodiodes and are used as BPMs<br>    at the undulator beamlines of SLS.<br><br>    Note: EPICS provided signals are read only, but the user can<br>       change the beam position offset.<br><br>    This simulation device extends the basic proxy with a script that<br>    fills signals with quasi-randomized values.<br>     | [csaxs_bec.devices.epics.XbpmBase](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/epics/XbpmBase.py) |
+| Xeye |  | [csaxs_bec.devices.sls_devices.cSAXS.xeye](https://gitlab.psi.ch/bec/csaxs_bec/-/blob/main/csaxs_bec/devices/sls_devices/cSAXS/xeye.py) |

csaxs_bec/devices/epics/InsertionDevice.py

@@ -0,0 +1,28 @@
+from ophyd import Component, EpicsSignal, EpicsSignalRO, Kind, PVPositioner
+
+
+class InsertionDevice(PVPositioner):
+    """Python wrapper for the CSAXS insertion device control
+
+    This wrapper provides a positioner interface for the ID control.
+    is completely custom XBPM with templates directly in the
+    VME repo. Thus it needs a custom ophyd template as well...
+
+    WARN: The x and y are not updated by the IOC
+    """
+
+    status = Component(EpicsSignalRO, "-USER:STATUS", auto_monitor=True)
+    errorSource = Component(EpicsSignalRO, "-USER:ERROR-SOURCE", auto_monitor=True)
+    isOpen = Component(EpicsSignalRO, "-GAP:ISOPEN", auto_monitor=True)
+
+    # PVPositioner interface
+    setpoint = Component(EpicsSignal, "-GAP:SET", auto_monitor=True)
+    readback = Component(EpicsSignalRO, "-GAP:READ", auto_monitor=True, kind=Kind.hinted)
+    done = Component(EpicsSignalRO, ":DONE", auto_monitor=True)
+    stop_signal = Component(EpicsSignal, "-GAP:STOP", kind=Kind.omitted)
+
+
+# Automatically start simulation if directly invoked
+# (NA for important devices)
+if __name__ == "__main__":
+    pass

csaxs_bec/devices/epics/XbpmBase.py

@@ -0,0 +1,136 @@
+import numpy as np
+from ophyd import Component, Device, EpicsSignal, EpicsSignalRO
+
+
+class XbpmCsaxsOp(Device):
+    """Python wrapper for custom XBPMs in the cSAXS optics hutch
+
+    This is  completely custom XBPM with templates directly in the
+    VME repo. Thus it needs a custom ophyd template as well...
+
+    WARN: The x and y are not updated by the IOC
+    """
+
+    sum = Component(EpicsSignalRO, "SUM", auto_monitor=True)
+    x = Component(EpicsSignalRO, "POSH", auto_monitor=True)
+    y = Component(EpicsSignalRO, "POSV", auto_monitor=True)
+    s1 = Component(EpicsSignalRO, "CHAN1", auto_monitor=True)
+    s2 = Component(EpicsSignalRO, "CHAN2", auto_monitor=True)
+    s3 = Component(EpicsSignalRO, "CHAN3", auto_monitor=True)
+    s4 = Component(EpicsSignalRO, "CHAN4", auto_monitor=True)
+
+
+class XbpmBase(Device):
+    """Python wrapper for X-ray Beam Position Monitors
+
+    XBPM's consist of a metal-coated diamond window that ejects
+    photoelectrons from the incoming X-ray beam. These electons
+    are collected and their current is measured. Effectively
+    they act as four quadrant photodiodes and are used as BPMs
+    at the undulator beamlines of SLS.
+
+    Note: EPICS provided signals are read only, but the user can
+    change the beam position offset.
+    """
+
+    # Motor interface
+    s1 = Component(EpicsSignalRO, "Current1", auto_monitor=True)
+    s2 = Component(EpicsSignalRO, "Current2", auto_monitor=True)
+    s3 = Component(EpicsSignalRO, "Current3", auto_monitor=True)
+    s4 = Component(EpicsSignalRO, "Current4", auto_monitor=True)
+    sum = Component(EpicsSignalRO, "SumAll", auto_monitor=True)
+    asymH = Component(EpicsSignalRO, "asymH", auto_monitor=True)
+    asymV = Component(EpicsSignalRO, "asymV", auto_monitor=True)
+    x = Component(EpicsSignalRO, "X", auto_monitor=True)
+    y = Component(EpicsSignalRO, "Y", auto_monitor=True)
+    scaleH = Component(EpicsSignal, "PositionScaleX", auto_monitor=False)
+    offsetH = Component(EpicsSignal, "PositionOffsetX", auto_monitor=False)
+    scaleV = Component(EpicsSignal, "PositionScaleY", auto_monitor=False)
+    offsetV = Component(EpicsSignal, "PositionOffsetY", auto_monitor=False)
+
+
+class XbpmSim(XbpmBase):
+    """Python wrapper for simulated X-ray Beam Position Monitors
+
+    XBPM's consist of a metal-coated diamond window that ejects
+    photoelectrons from the incoming X-ray beam. These electons
+    are collected and their current is measured. Effectively
+    they act as four quadrant photodiodes and are used as BPMs
+    at the undulator beamlines of SLS.
+
+    Note: EPICS provided signals are read only, but the user can
+       change the beam position offset.
+
+    This simulation device extends the basic proxy with a script that
+    fills signals with quasi-randomized values.
+    """
+
+    # Motor interface
+    s1w = Component(EpicsSignal, "Current1:RAW.VAL", auto_monitor=False)
+    s2w = Component(EpicsSignal, "Current2:RAW.VAL", auto_monitor=False)
+    s3w = Component(EpicsSignal, "Current3:RAW.VAL", auto_monitor=False)
+    s4w = Component(EpicsSignal, "Current4:RAW.VAL", auto_monitor=False)
+    rangew = Component(EpicsSignal, "RANGEraw", auto_monitor=False)
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+
+        self._MX = 0
+        self._MY = 0
+        self._I0 = 255.0
+        self._x = np.linspace(-5, 5, 64)
+        self._y = np.linspace(-5, 5, 64)
+        self._x, self._y = np.meshgrid(self._x, self._y)
+
+    def _simFrame(self):
+        """Generator to simulate a jumping gaussian"""
+
+        # define normalized 2D gaussian
+        def gaus2d(x=0, y=0, mx=0, my=0, sx=1, sy=1):
+            return np.exp(-((x - mx) ** 2.0 / (2.0 * sx**2.0) + (y - my) ** 2.0 / (2.0 * sy**2.0)))
+
+        # Generator for dynamic values
+        self._MX = 0.75 * self._MX + 0.25 * (10.0 * np.random.random() - 5.0)
+        self._MY = 0.75 * self._MY + 0.25 * (10.0 * np.random.random() - 5.0)
+        self._I0 = 0.75 * self._I0 + 0.25 * (255.0 * np.random.random())
+
+        arr = self._I0 * gaus2d(self._x, self._y, self._MX, self._MY)
+        return arr
+
+    def sim(self):
+        # Get next frame
+        beam = self._simFrame()
+        total = np.sum(beam)
+        rnge = np.floor(np.log10(total) - 0.0)
+        s1 = np.sum(beam[32:64, 32:64]) / 10**rnge
+        s2 = np.sum(beam[0:32, 32:64]) / 10**rnge
+        s3 = np.sum(beam[32:64, 0:32]) / 10**rnge
+        s4 = np.sum(beam[0:32, 0:32]) / 10**rnge
+
+        self.s1w.set(s1).wait()
+        self.s2w.set(s2).wait()
+        self.s3w.set(s3).wait()
+        self.s4w.set(s4).wait()
+        self.rangew.set(rnge).wait()
+        # Print debug info
+        print(f"Raw signals: R={rnge}\t{s1}\t{s2}\t{s3}\t{s4}")
+        # plt.imshow(beam)
+        # plt.show(block=False)
+        # plt.pause(0.5)
+
+
+# Automatically start simulation if directly invoked
+if __name__ == "__main__":
+    xbpm1 = XbpmSim("X01DA-FE-XBPM1:", name="xbpm1")
+    xbpm2 = XbpmSim("X01DA-FE-XBPM2:", name="xbpm2")
+
+    xbpm1.wait_for_connection(timeout=5)
+    xbpm2.wait_for_connection(timeout=5)
+
+    xbpm1.rangew.set(1).wait()
+    xbpm2.rangew.set(1).wait()
+
+    while True:
+        print("---")
+        xbpm1.sim()
+        xbpm2.sim()

csaxs_bec/devices/epics/__init__.py

@@ -0,0 +1 @@
+

csaxs_bec/devices/epics/cSaxsVirtualMotors.py

@@ -0,0 +1,32 @@
+""" TODO This class seems to be missing various imports and appears to have not been tested in motion yet."""
+
+# TABLES_DT_PUSH_DIST_MM = 890
+
+
+# class DetectorTableTheta(PseudoPositioner):
+#     """Detector table tilt motor
+
+#     Small wrapper to adjust the detector table tilt as angle.
+#     The table is pushed from one side by a single vertical motor.
+
+#     Note: Rarely used!
+#     """
+
+#     # Real axis (in degrees)
+#     pusher = Component(EpicsMotor, "", name="pusher")
+#     # Virtual axis
+#     theta = Component(PseudoSingle, name="theta")
+
+#     _real = ["pusher"]
+
+#     @pseudo_position_argument
+#     def forward(self, pseudo_pos):
+#         return self.RealPosition(
+#             pusher=tan(pseudo_pos.theta * 3.141592 / 180.0) * TABLES_DT_PUSH_DIST_MM
+#         )
+
+#     @real_position_argument
+#     def inverse(self, real_pos):
+#         return self.PseudoPosition(
+#             theta=-180 * atan(real_pos.pusher / TABLES_DT_PUSH_DIST_MM) / 3.141592
+#         )

csaxs_bec/devices/epics/delay_generator_csaxs.py

@@ -0,0 +1,529 @@
+import time
+
+from bec_lib import bec_logger
+from ophyd import Component, DeviceStatus
+
+from ophyd_devices.interfaces.base_classes.psi_delay_generator_base import (
+    DDGCustomMixin,
+    PSIDelayGeneratorBase,
+    TriggerSource,
+)
+from ophyd_devices.utils import bec_utils
+
+logger = bec_logger.logger
+
+
+class DelayGeneratorError(Exception):
+    """Exception raised for errors."""
+
+
+# class DDGSetup(DDGCustomMixin):
+#     """
+#     Mixin class for DelayGenerator logic at cSAXS.
+
+#     At cSAXS, multiple DDGs were operated at the same time. There different behaviour is
+#         implemented in the ddg_config signals that are passed via the device config.
+#     """
+
+#     def initialize_default_parameter(self) -> None:
+#         """Method to initialize default parameters."""
+#         for ii, channel in enumerate(self.parent.all_channels):
+#             self.parent.set_channels("polarity", self.parent.polarity.get()[ii], [channel])
+
+#         self.parent.set_channels("amplitude", self.parent.amplitude.get())
+#         self.parent.set_channels("offset", self.parent.offset.get())
+#         # Setup reference
+#         self.parent.set_channels(
+#             "reference", 0, [f"channel{pair}.ch1" for pair in self.parent.all_delay_pairs]
+#         )
+#         self.parent.set_channels(
+#             "reference", 0, [f"channel{pair}.ch2" for pair in self.parent.all_delay_pairs]
+#         )
+#         self.parent.set_trigger(getattr(TriggerSource, self.parent.set_trigger_source.get()))
+#         # Set threshold level for ext. pulses
+#         self.parent.level.put(self.parent.thres_trig_level.get())
+
+#     def prepare_ddg(self) -> None:
+#         """
+#         Method to prepare scan logic of cSAXS
+
+#         Two scantypes are supported: "step" and "fly":
+#         - step: Scan is performed by stepping the motor and acquiring data at each step
+#         - fly: Scan is performed by moving the motor with a constant velocity and acquiring data
+
+#         Custom logic for different DDG behaviour during scans.
+
+#         - set_high_on_exposure      : If True, then TTL signal is high during
+#                                     the full exposure time of the scan (all frames).
+#                                     E.g. Keep shutter open for the full scan.
+#         - fixed_ttl_width           : fixed_ttl_width is a list of 5 values, one for each channel.
+#                                     If the value is 0, then the width of the TTL pulse is determined,
+#                                     no matter which parameters are passed from the scaninfo for exposure time
+#         - set_trigger_source        : Specifies the default trigger source for the DDG. For cSAXS, relevant ones
+#                                     were: SINGLE_SHOT, EXT_RISING_EDGE
+#         """
+#         self.parent.set_trigger(getattr(TriggerSource, self.parent.set_trigger_source.get()))
+#         # scantype "step"
+#         if self.parent.scaninfo.scan_type == "step":
+#             # High on exposure means that the signal
+#             if self.parent.set_high_on_exposure.get():
+#                 # caluculate parameters
+#                 num_burst_cycle = 1 + self.parent.additional_triggers.get()
+
+#                 exp_time = (
+#                     self.parent.delta_width.get()
+#                     + self.parent.scaninfo.frames_per_trigger
+#                     * (self.parent.scaninfo.exp_time + self.parent.scaninfo.readout_time)
+#                 )
+#                 total_exposure = exp_time
+#                 delay_burst = self.parent.delay_burst.get()
+
+#                 # Set individual channel widths, if fixed_ttl_width and trigger_width are combined, this can be a common call too
+#                 if not self.parent.trigger_width.get():
+#                     self.parent.set_channels("width", exp_time)
+#                 else:
+#                     self.parent.set_channels("width", self.parent.trigger_width.get())
+#                 for value, channel in zip(
+#                     self.parent.fixed_ttl_width.get(), self.parent.all_channels
+#                 ):
+#                     logger.debug(f"Trying to set DDG {channel} to {value}")
+#                     if value != 0:
+#                         self.parent.set_channels("width", value, channels=[channel])
+#             else:
+#                 # caluculate parameters
+#                 exp_time = self.parent.delta_width.get() + self.parent.scaninfo.exp_time
+#                 total_exposure = exp_time + self.parent.scaninfo.readout_time
+#                 delay_burst = self.parent.delay_burst.get()
+#                 num_burst_cycle = (
+#                     self.parent.scaninfo.frames_per_trigger + self.parent.additional_triggers.get()
+#                 )
+
+#                 # Set individual channel widths, if fixed_ttl_width and trigger_width are combined, this can be a common call too
+#                 if not self.parent.trigger_width.get():
+#                     self.parent.set_channels("width", exp_time)
+#                 else:
+#                     self.parent.set_channels("width", self.parent.trigger_width.get())
+#         # scantype "fly"
+#         elif self.parent.scaninfo.scan_type == "fly":
+#             if self.parent.set_high_on_exposure.get():
+#                 # caluculate parameters
+#                 exp_time = (
+#                     self.parent.delta_width.get()
+#                     + self.parent.scaninfo.exp_time * self.parent.scaninfo.num_points
+#                     + self.parent.scaninfo.readout_time * (self.parent.scaninfo.num_points - 1)
+#                 )
+#                 total_exposure = exp_time
+#                 delay_burst = self.parent.delay_burst.get()
+#                 num_burst_cycle = 1 + self.parent.additional_triggers.get()
+
+#                 # Set individual channel widths, if fixed_ttl_width and trigger_width are combined, this can be a common call too
+#                 if not self.parent.trigger_width.get():
+#                     self.parent.set_channels("width", exp_time)
+#                 else:
+#                     self.parent.set_channels("width", self.parent.trigger_width.get())
+#                 for value, channel in zip(
+#                     self.parent.fixed_ttl_width.get(), self.parent.all_channels
+#                 ):
+#                     logger.debug(f"Trying to set DDG {channel} to {value}")
+#                     if value != 0:
+#                         self.parent.set_channels("width", value, channels=[channel])
+#             else:
+#                 # caluculate parameters
+#                 exp_time = self.parent.delta_width.get() + self.parent.scaninfo.exp_time
+#                 total_exposure = exp_time + self.parent.scaninfo.readout_time
+#                 delay_burst = self.parent.delay_burst.get()
+#                 num_burst_cycle = (
+#                     self.parent.scaninfo.num_points + self.parent.additional_triggers.get()
+#                 )
+
+#                 # Set individual channel widths, if fixed_ttl_width and trigger_width are combined, this can be a common call too
+#                 if not self.parent.trigger_width.get():
+#                     self.parent.set_channels("width", exp_time)
+#                 else:
+#                     self.parent.set_channels("width", self.parent.trigger_width.get())
+
+#         else:
+#             raise Exception(f"Unknown scan type {self.parent.scaninfo.scan_type}")
+#         # Set common DDG parameters
+#         self.parent.burst_enable(num_burst_cycle, delay_burst, total_exposure, config="first")
+#         self.parent.set_channels("delay", 0.0)
+
+#     def on_trigger(self) -> None:
+#         """Method to be executed upon trigger"""
+#         if self.parent.source.read()[self.parent.source.name]["value"] == TriggerSource.SINGLE_SHOT:
+#             self.parent.trigger_shot.put(1)
+
+#     def check_scan_id(self) -> None:
+#         """
+#         Method to check if scan_id has changed.
+
+#         If yes, then it changes parent.stopped to True, which will stop further actions.
+#         """
+#         old_scan_id = self.parent.scaninfo.scan_id
+#         self.parent.scaninfo.load_scan_metadata()
+#         if self.parent.scaninfo.scan_id != old_scan_id:
+#             self.parent.stopped = True
+
+#     def finished(self) -> None:
+#         """Method checks if DDG finished acquisition"""
+
+#     def on_pre_scan(self) -> None:
+#         """
+#         Method called by pre_scan hook in parent class.
+
+#         Executes trigger if premove_trigger is Trus.
+#         """
+#         if self.parent.premove_trigger.get() is True:
+#             self.parent.trigger_shot.put(1)
+
+class DDGSetup(DDGCustomMixin):
+    """
+    Mixin class for DelayGenerator logic at cSAXS.
+
+    At cSAXS, multiple DDGs were operated at the same time. There different behaviour is
+        implemented in the ddg_config signals that are passed via the device config.
+    """
+
+    def initialize_default_parameter(self) -> None:
+        """Method to initialize default parameters."""
+        for ii, channel in enumerate(self.parent.all_channels):
+            self.parent.set_channels("polarity", self.parent.polarity.get()[ii], [channel])
+
+        self.parent.set_channels("amplitude", self.parent.amplitude.get())
+        self.parent.set_channels("offset", self.parent.offset.get())
+        # Setup reference
+        self.parent.set_channels(
+            "reference", 0, [f"channel{pair}.ch1" for pair in self.parent.all_delay_pairs]
+        )
+        self.parent.set_channels(
+            "reference", 0, [f"channel{pair}.ch2" for pair in self.parent.all_delay_pairs]
+        )
+        self.parent.set_trigger(getattr(TriggerSource, self.parent.set_trigger_source.get()))
+        # Set threshold level for ext. pulses
+        self.parent.level.put(self.parent.thres_trig_level.get())
+
+    def prepare_ddg(self) -> None:
+        self.parent.set_trigger(getattr(TriggerSource, self.parent.set_trigger_source.get()))
+        # scantype "jjf_test"
+        scan_name = self.parent.scaninfo.scan_msg.content["info"].get("scan_name", "")
+        if scan_name ==  "jjf_test":
+            # exp_time = self.parent.scaninfo.exp_time
+            # readout = self.parent.scaninfo.readout_time
+            # num_burst_cycle = self.parent.scaninfo.scan_msg.content["info"]["kwargs"]["num_points"]
+            # total_exposure = exp_time+readout
+            exp_time = 480e-6#self.parent.scaninfo.exp_time
+            readout = 20e-6#self.parent.scaninfo.readout_time
+            total_exposure = exp_time+readout
+            num_burst_cycle = self.parent.scaninfo.scan_msg.content["info"]["kwargs"]["num_points"]
+            num_burst_cycle = int(num_burst_cycle * self.parent.scaninfo.exp_time/total_exposure)
+            delay = 0 
+            delay_burst = self.parent.delay_burst.get()
+            
+            self.parent.set_trigger(trigger_source=TriggerSource.SINGLE_SHOT)
+            
+            self.parent.set_channels(signal='width', value=exp_time)
+            self.parent.set_channels(signal='delay', value=delay)
+            self.parent.burst_enable(count=num_burst_cycle, delay=delay_burst, period=total_exposure, config="first")
+            logger.info(f"{self.parent.name}: On stage with n_burst: {num_burst_cycle} and total_exp {total_exposure}")
+
+    def on_stage(self) -> None:
+        scan_name = self.parent.scaninfo.scan_msg.content["info"].get("scan_name", "")
+        if scan_name == "jjf_test":
+            exp_time = 480e-6#self.parent.scaninfo.exp_time
+            readout = 20e-6#self.parent.scaninfo.readout_time
+            total_exposure = exp_time+readout
+            num_burst_cycle = self.parent.scaninfo.scan_msg.content["info"]["kwargs"]["num_points"]
+            num_burst_cycle = int(num_burst_cycle * self.parent.scaninfo.exp_time/total_exposure)
+            self.parent.set_channels("width", exp_time)
+            self.parent.set_channels("delay", 0.0)
+            logger.info(f"{self.parent.name}: On stage with n_burst: {num_burst_cycle} and total_exp {total_exposure}")
+            self.parent.burst_enable(num_burst_cycle, 0, total_exposure, config="first")     
+
+    def on_trigger(self) -> None:
+        """Method to be executed upon trigger"""
+        if self.parent.source.read()[self.parent.source.name]["value"] == TriggerSource.SINGLE_SHOT:
+            self.parent.trigger_shot.put(1)
+        scan_name = self.parent.scaninfo.scan_msg.content["info"].get("scan_name", "")
+        if scan_name == "jjf_test":
+            exp_time = 480e-6#self.parent.scaninfo.exp_time
+            readout = 20e-6#self.parent.scaninfo.readout_time
+            total_exposure = exp_time+readout
+            num_burst_cycle = self.parent.scaninfo.scan_msg.content["info"]["kwargs"]["num_points"]
+            num_burst_cycle = int(num_burst_cycle * self.parent.scaninfo.exp_time/total_exposure)
+            cycle = self.parent.scaninfo.scan_msg.content["info"]["kwargs"]["cycles"]
+            #time.sleep(num_burst_cycle*total_exposure)
+            def check_ddg()->int:
+                self.parent.trigger_burst_readout.put(1)
+                return self.parent.burst_cycle_finished.get()
+            status = self.wait_with_status(signal_conditions=[(check_ddg, 1)], 
+                                            timeout=num_burst_cycle*total_exposure+1,
+                                            check_stopped=True, 
+                                            exception_on_timeout=DelayGeneratorError(f"{self.parent.name} run into timeout in complete call.")
+                                            )
+            logger.info(f"Return status {self.parent.name}")
+            return status
+            # timer = 0
+            # while True:
+            #     self.parent.trigger_burst_readout.put(1)
+            #     state = self.parent.burst_cycle_finished.get()
+            #     if state == 1:
+            #         break
+            #     time.sleep(0.05)
+            #     timer +=0.05
+            #     if timer>3:
+            #         raise TimeoutError(f"{self.parent.name} did not return. Bit state for end_burst_cycle is {state} for state")
+
+
+    def on_complete(self) -> DeviceStatus:
+        pass
+        # logger.info(f"On complete started for {self.parent.name}")
+        # scan_name = self.parent.scaninfo.scan_msg.content["info"].get("scan_name", "")
+        # if scan_name != "jjf_test":
+        #     return None
+        # def check_ddg()->int:
+        #     lambda r : self.parent.trigger_burst_readout.put(1)
+        #     return lambda r: self.parent.burst_cycle_finished.get()
+        # status = self.wait_with_status(signal_conditions=[(check_ddg, 1)], 
+        #                                 timeout=3,
+        #                                 check_stopped=True, 
+        #                                 exception_on_timeout=DelayGeneratorError(f"{self.parent.name} run into timeout in complete call.")
+        #                                 )
+        # logger.info(f"Return status {self.parent.name}")
+        # return status
+
+    def check_scan_id(self) -> None:
+        """
+        Method to check if scan_id has changed.
+
+        If yes, then it changes parent.stopped to True, which will stop further actions.
+        """
+        old_scan_id = self.parent.scaninfo.scan_id
+        self.parent.scaninfo.load_scan_metadata()
+        if self.parent.scaninfo.scan_id != old_scan_id:
+            self.parent.stopped = True
+
+    def finished(self) -> None:
+        """Method checks if DDG finished acquisition"""
+
+    def on_pre_scan(self) -> None:
+        """
+        Method called by pre_scan hook in parent class.
+
+        Executes trigger if premove_trigger is Trus.
+        """
+        if self.parent.premove_trigger.get() is True:
+            self.parent.trigger_shot.put(1)
+
+
+class DelayGeneratorcSAXS(PSIDelayGeneratorBase):
+    """
+    DG645 delay generator at cSAXS (multiple can be in use depending on the setup)
+
+    Default values for setting up DDG.
+    Note: checks of set calues are not (only partially) included, check manual for details on possible settings.
+    https://www.thinksrs.com/downloads/pdfs/manuals/DG645m.pdf
+
+    - delay_burst               : (float >=0) Delay between trigger and first pulse in burst mode
+    - delta_width               : (float >= 0) Add width to fast shutter signal to make sure its open during acquisition
+    - additional_triggers       : (int) add additional triggers to burst mode (mcs card needs +1 triggers per line)
+    - polarity                  : (list of 0/1) polarity for different channels
+    - amplitude                 : (float) amplitude voltage of TTLs
+    - offset                    : (float) offset for ampltitude
+    - thres_trig_level          : (float) threshold of trigger amplitude
+
+    Custom signals for logic in different DDGs during scans (for custom_prepare.prepare_ddg):
+
+    - set_high_on_exposure      : (bool): if True, then TTL signal should go high during the full acquisition time of a scan.
+    # TODO trigger_width and fixed_ttl could be combined into single list.
+    - fixed_ttl_width           : (list of either 1 or 0), one for each channel.
+    - trigger_width             : (float) if fixed_ttl_width is True, then the width of the TTL pulse is set to this value.
+    - set_trigger_source        : (TriggerSource) specifies the default trigger source for the DDG.
+    - premove_trigger           : (bool) if True, then a trigger should be executed before the scan starts (to be implemented in on_pre_scan).
+    - set_high_on_stage         : (bool) if True, then TTL signal should go high already on stage.
+    """
+
+    custom_prepare_cls = DDGSetup
+
+
+    delay_burst = Component(
+        bec_utils.ConfigSignal, name="delay_burst", kind="config", config_storage_name="ddg_config"
+    )
+
+    delta_width = Component(
+        bec_utils.ConfigSignal, name="delta_width", kind="config", config_storage_name="ddg_config"
+    )
+
+    additional_triggers = Component(
+        bec_utils.ConfigSignal,
+        name="additional_triggers",
+        kind="config",
+        config_storage_name="ddg_config",
+    )
+
+    polarity = Component(
+        bec_utils.ConfigSignal, name="polarity", kind="config", config_storage_name="ddg_config"
+    )
+
+    fixed_ttl_width = Component(
+        bec_utils.ConfigSignal,
+        name="fixed_ttl_width",
+        kind="config",
+        config_storage_name="ddg_config",
+    )
+
+    amplitude = Component(
+        bec_utils.ConfigSignal, name="amplitude", kind="config", config_storage_name="ddg_config"
+    )
+
+    offset = Component(
+        bec_utils.ConfigSignal, name="offset", kind="config", config_storage_name="ddg_config"
+    )
+
+    thres_trig_level = Component(
+        bec_utils.ConfigSignal,
+        name="thres_trig_level",
+        kind="config",
+        config_storage_name="ddg_config",
+    )
+
+    set_high_on_exposure = Component(
+        bec_utils.ConfigSignal,
+        name="set_high_on_exposure",
+        kind="config",
+        config_storage_name="ddg_config",
+    )
+
+    set_high_on_stage = Component(
+        bec_utils.ConfigSignal,
+        name="set_high_on_stage",
+        kind="config",
+        config_storage_name="ddg_config",
+    )
+
+    set_trigger_source = Component(
+        bec_utils.ConfigSignal,
+        name="set_trigger_source",
+        kind="config",
+        config_storage_name="ddg_config",
+    )
+
+    trigger_width = Component(
+        bec_utils.ConfigSignal,
+        name="trigger_width",
+        kind="config",
+        config_storage_name="ddg_config",
+    )
+    premove_trigger = Component(
+        bec_utils.ConfigSignal,
+        name="premove_trigger",
+        kind="config",
+        config_storage_name="ddg_config",
+    )
+
+    def __init__(
+        self,
+        prefix="",
+        *,
+        name,
+        kind=None,
+        read_attrs=None,
+        configuration_attrs=None,
+        parent=None,
+        device_manager=None,
+        ddg_config=None,
+        **kwargs,
+    ):
+        """
+        Args:
+            prefix (str, optional): Prefix of the device. Defaults to "".
+            name (str): Name of the device.
+            kind (str, optional): Kind of the device. Defaults to None.
+            read_attrs (list, optional): List of attributes to read. Defaults to None.
+            configuration_attrs (list, optional): List of attributes to configure. Defaults to None.
+            parent (Device, optional): Parent device. Defaults to None.
+            device_manager (DeviceManagerBase, optional): DeviceManagerBase object. Defaults to None.
+            sim_mode (bool, optional): Simulation mode flag. Defaults to False.
+            ddg_config (dict, optional): Dictionary of ddg_config signals. Defaults to None.
+
+        """
+        # Default values for ddg_config signals
+        self.ddg_config = {
+            # Setup default values
+            f"{name}_delay_burst": 0,
+            f"{name}_delta_width": 0,
+            f"{name}_additional_triggers": 0,
+            f"{name}_polarity": [1, 1, 1, 1, 1],
+            f"{name}_amplitude": 4.5,
+            f"{name}_offset": 0,
+            f"{name}_thres_trig_level": 2.5,
+            # Values for different behaviour during scans
+            f"{name}_fixed_ttl_width": [0, 0, 0, 0, 0],
+            f"{name}_trigger_width": None,
+            f"{name}_set_high_on_exposure": False,
+            f"{name}_set_high_on_stage": False,
+            f"{name}_set_trigger_source": "SINGLE_SHOT",
+            f"{name}_premove_trigger": False,
+        }
+        if ddg_config is not None:
+            # pylint: disable=expression-not-assigned
+            [self.ddg_config.update({f"{name}_{key}": value}) for key, value in ddg_config.items()]
+        super().__init__(
+            prefix=prefix,
+            name=name,
+            kind=kind,
+            read_attrs=read_attrs,
+            configuration_attrs=configuration_attrs,
+            parent=parent,
+            device_manager=device_manager,
+            **kwargs,
+        )
+
+
+if __name__ == "__main__":
+    # Start delay generator in simulation mode.
+    # Note: To run, access to Epics must be available.
+    import time
+    config = {
+        "delay_burst": 40.0e-3,
+        "delta_width": 0,
+        "additional_triggers": 0,
+        "polarity": [1, 0, 1, 1, 1],  # T0  # to eiger and lecroy4
+        "amplitude": 4.5,
+        "offset": 0,
+        "thres_trig_level": 2.5,
+        "set_high_on_exposure": False,
+        "set_high_on_stage": False,
+    }
+    start = time.time()
+    print(f"Start with init of DDG3 with config: {config}")
+    dgen = DelayGeneratorcSAXS("X12SA-CPCL-DDG3:", name="dgen", ddg_config=config)
+    print(f"Finished init after: {time.time()-start}s")
+    start = time.time()
+    print(f"Start setting up DDG3")
+    exp_time = 1/(2e3) # 2 kHz
+    readout = exp_time/10
+    delay = 0 
+    num_burst_cycle = 1e4 # N triggers
+    total_exposure = exp_time+readout
+    delay_burst = dgen.delay_burst.get()
+    dgen.set_trigger(trigger_source=TriggerSource.SINGLE_SHOT)
+    
+    dgen.set_channels(signal='width', value=exp_time)
+    dgen.set_channels(signal='delay', value=0)
+    dgen.burst_enable(count=num_burst_cycle, delay=delay_burst, period=total_exposure, config="first")
+    print(f"Start sending {num_burst_cycle} triggers after {time.time()-start}s, ETA {num_burst_cycle*total_exposure}s")
+    break_time = time.time()
+    dgen.trigger()
+    # Wait here briefly for status to finish, whether this is realiable has to be tested
+    time.sleep(num_burst_cycle*total_exposure)
+    timer = 0
+    while True:
+        dgen.trigger_burst_readout.put(1)
+        state = dgen.burst_cycle_finished.get()
+        if state == 1:
+            break
+        time.sleep(0.05)
+        timer +=0.05
+        if timer>3:
+            raise TimeoutError(f"dgen.name did not return with value {state} for state")
+    print(f"Finished trigger cascade of {num_burst_cycle} with {exp_time}s -> {num_burst_cycle*exp_time}s after {time.time()-start}s in total, {break_time} for sending triggers.")

csaxs_bec/devices/epics/eiger9m_csaxs.py

@@ -0,0 +1,381 @@
+import enum
+import os
+import threading
+import time
+from typing import Any
+
+import numpy as np
+from bec_lib.logger import bec_logger
+from ophyd import ADComponent as ADCpt
+from ophyd import Device, EpicsSignal, EpicsSignalRO, EpicsSignalWithRBV
+from ophyd_devices.interfaces.base_classes.psi_detector_base import (
+    CustomDetectorMixin,
+    PSIDetectorBase,
+)
+from std_daq_client import StdDaqClient
+
+logger = bec_logger.logger
+
+
+class EigerError(Exception):
+    """Base class for exceptions in this module."""
+
+
+class EigerTimeoutError(EigerError):
+    """Raised when the Eiger does not respond in time."""
+
+
+class Eiger9MSetup(CustomDetectorMixin):
+    """Eiger setup class
+
+    Parent class: CustomDetectorMixin
+
+    """
+
+    def __init__(self, *args, parent: Device = None, **kwargs) -> None:
+        super().__init__(*args, parent=parent, **kwargs)
+        self.std_rest_server_url = (
+            kwargs["file_writer_url"] if "file_writer_url" in kwargs else "http://xbl-daq-29:5000"
+        )
+        self.std_client = None
+        self._lock = threading.RLock()
+
+    def on_init(self) -> None:
+        """Initialize the detector"""
+        self.initialize_default_parameter()
+        self.initialize_detector()
+        self.initialize_detector_backend()
+
+    def initialize_detector(self) -> None:
+        """Initialize detector"""
+        self.stop_detector()
+        self.parent.cam.trigger_mode.put(TriggerSource.GATING)
+
+    def initialize_default_parameter(self) -> None:
+        """Set default parameters for Eiger9M detector"""
+        self.update_readout_time()
+
+    def update_readout_time(self) -> None:
+        """Set readout time for Eiger9M detector"""
+        readout_time = (
+            self.parent.scaninfo.readout_time
+            if hasattr(self.parent.scaninfo, "readout_time")
+            else self.parent.MIN_READOUT
+        )
+        self.parent.readout_time = max(readout_time, self.parent.MIN_READOUT)
+
+    def initialize_detector_backend(self) -> None:
+        """Initialize detector backend"""
+
+        self.std_client = StdDaqClient(url_base=self.std_rest_server_url)
+        self.std_client.stop_writer()
+        eacc = self.parent.scaninfo.username
+        self.update_std_cfg("writer_user_id", int(eacc.strip(" e")))
+
+        signal_conditions = [(lambda: self.std_client.get_status()["state"], "READY")]
+        if not self.wait_for_signals(
+            signal_conditions=signal_conditions,
+            timeout=self.parent.TIMEOUT_FOR_SIGNALS,
+            all_signals=True,
+        ):
+            raise EigerTimeoutError(
+                f"Std client not in READY state, returns: {self.std_client.get_status()}"
+            )
+
+    def update_std_cfg(self, cfg_key: str, value: Any) -> None:
+        """
+        Update std_daq config
+
+        Checks that the new value matches the type of the former entry.
+
+        Args:
+            cfg_key (str)   : config key of value to be updated
+            value (Any)     : value to be updated for the specified key
+
+        Raises:
+            Raises EigerError if the key was not in the config before and if the new value does not match the type of the old value
+
+        """
+
+        cfg = self.std_client.get_config()
+        old_value = cfg.get(cfg_key)
+        if old_value is None:
+            raise EigerError(
+                f"Tried to change entry for key {cfg_key} in std_config that does not exist"
+            )
+        if not isinstance(value, type(old_value)):
+            raise EigerError(
+                f"Type of new value {type(value)}:{value} does not match old value"
+                f" {type(old_value)}:{old_value}"
+            )
+
+        cfg.update({cfg_key: value})
+        logger.debug(cfg)
+        self.std_client.set_config(cfg)
+        logger.debug(f"Updated std_daq config for key {cfg_key} from {old_value} to {value}")
+
+    def on_stage(self) -> None:
+        """Prepare the detector for scan"""
+        self.prepare_detector()
+        self.prepare_data_backend()
+        self.publish_file_location(done=False, successful=False)
+        self.arm_acquisition()
+
+    def prepare_detector(self) -> None:
+        """Prepare detector for scan"""
+        self.set_detector_threshold()
+        self.set_acquisition_params()
+        self.parent.cam.trigger_mode.put(TriggerSource.GATING)
+
+    def set_detector_threshold(self) -> None:
+        """
+        Set the detector threshold
+
+        The function sets the detector threshold automatically to 1/2 of the beam energy.
+        """
+        mokev = self.parent.device_manager.devices.mokev.obj.read()[
+            self.parent.device_manager.devices.mokev.name
+        ]["value"]
+        factor = 1
+        unit = getattr(self.parent.cam.threshold_energy, "units", None)
+
+        if unit is not None and unit == "eV":
+            factor = 1000
+        setpoint = int(mokev * factor)
+        energy = self.parent.cam.beam_energy.read()[self.parent.cam.beam_energy.name]["value"]
+
+        if setpoint != energy:
+            self.parent.cam.beam_energy.set(setpoint)
+
+        threshold = self.parent.cam.threshold_energy.read()[self.parent.cam.threshold_energy.name][
+            "value"
+        ]
+        if not np.isclose(setpoint / 2, threshold, rtol=0.05):
+            self.parent.cam.threshold_energy.set(setpoint / 2)
+
+    def set_acquisition_params(self) -> None:
+        """Set acquisition parameters for the detector"""
+        self.parent.cam.num_images.put(
+            int(self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger)
+        )
+        self.parent.cam.num_frames.put(1)
+        self.update_readout_time()
+
+    def prepare_data_backend(self) -> None:
+        """Prepare the data backend for the scan"""
+        self.parent.filepath.set(
+            self.parent.filewriter.compile_full_filename(f"{self.parent.name}.h5")
+        ).wait()
+        self.filepath_exists(self.parent.filepath.get())
+        self.stop_detector_backend()
+        try:
+            self.std_client.start_writer_async(
+                {
+                    "output_file": self.parent.filepath.get(),
+                    "n_images": int(
+                        self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger
+                    ),
+                }
+            )
+        except Exception as exc:
+            time.sleep(5)
+            if self.std_client.get_status()["state"] == "READY":
+                raise EigerTimeoutError(f"Timeout of start_writer_async with {exc}") from exc
+
+        signal_conditions = [
+            (lambda: self.std_client.get_status()["acquisition"]["state"], "WAITING_IMAGES")
+        ]
+        if not self.wait_for_signals(
+            signal_conditions=signal_conditions,
+            timeout=self.parent.TIMEOUT_FOR_SIGNALS,
+            check_stopped=False,
+            all_signals=True,
+        ):
+            raise EigerTimeoutError(
+                "Timeout of 5s reached for std_daq start_writer_async with std_daq client status"
+                f" {self.std_client.get_status()}"
+            )
+
+    def on_unstage(self) -> None:
+        """Unstage the detector"""
+        pass
+
+    def on_complete(self) -> None:
+        """Complete the detector"""
+        self.finished(timeout=self.parent.TIMEOUT_FOR_SIGNALS)
+        self.publish_file_location(done=True, successful=True)
+
+    def on_stop(self) -> None:
+        """Stop the detector"""
+        self.stop_detector()
+        self.stop_detector_backend()
+
+    def stop_detector(self) -> None:
+        """Stop the detector"""
+
+        # Stop detector
+        self.parent.cam.acquire.put(0)
+        signal_conditions = [
+            (
+                lambda: self.parent.cam.detector_state.read()[self.parent.cam.detector_state.name][
+                    "value"
+                ],
+                DetectorState.IDLE,
+            )
+        ]
+
+        if not self.wait_for_signals(
+            signal_conditions=signal_conditions,
+            timeout=self.parent.TIMEOUT_FOR_SIGNALS - self.parent.TIMEOUT_FOR_SIGNALS // 2,
+            check_stopped=True,
+            all_signals=False,
+        ):
+            # Retry stop detector and wait for remaining time
+            self.parent.cam.acquire.put(0)
+            if not self.wait_for_signals(
+                signal_conditions=signal_conditions,
+                timeout=self.parent.TIMEOUT_FOR_SIGNALS - self.parent.TIMEOUT_FOR_SIGNALS // 2,
+                check_stopped=True,
+                all_signals=False,
+            ):
+                raise EigerTimeoutError(
+                    f"Failed to stop detector, detector state {signal_conditions[0][0]}"
+                )
+
+    def stop_detector_backend(self) -> None:
+        """Close file writer"""
+        self.std_client.stop_writer()
+
+    def filepath_exists(self, filepath: str) -> None:
+        """Check if filepath exists"""
+        signal_conditions = [(lambda: os.path.exists(os.path.dirname(filepath)), True)]
+        if not self.wait_for_signals(
+            signal_conditions=signal_conditions,
+            timeout=self.parent.TIMEOUT_FOR_SIGNALS,
+            check_stopped=False,
+            all_signals=True,
+        ):
+            raise EigerError(f"Timeout of 3s reached for filepath {filepath}")
+
+    def arm_acquisition(self) -> None:
+        """Arm Eiger detector for acquisition"""
+        self.parent.cam.acquire.put(1)
+        signal_conditions = [
+            (
+                lambda: self.parent.cam.detector_state.read()[self.parent.cam.detector_state.name][
+                    "value"
+                ],
+                DetectorState.RUNNING,
+            )
+        ]
+        if not self.wait_for_signals(
+            signal_conditions=signal_conditions,
+            timeout=self.parent.TIMEOUT_FOR_SIGNALS,
+            check_stopped=True,
+            all_signals=False,
+        ):
+            raise EigerTimeoutError(
+                f"Failed to arm the acquisition. Detector state {signal_conditions[0][0]}"
+            )
+
+    def finished(self, timeout: int = 5) -> None:
+        """Check if acquisition is finished."""
+        with self._lock:
+            signal_conditions = [
+                (
+                    lambda: self.parent.cam.acquire.read()[self.parent.cam.acquire.name]["value"],
+                    DetectorState.IDLE,
+                ),
+                (lambda: self.std_client.get_status()["acquisition"]["state"], "FINISHED"),
+                (
+                    lambda: self.std_client.get_status()["acquisition"]["stats"][
+                        "n_write_completed"
+                    ],
+                    int(self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger),
+                ),
+            ]
+            if not self.wait_for_signals(
+                signal_conditions=signal_conditions,
+                timeout=timeout,
+                check_stopped=True,
+                all_signals=True,
+            ):
+                raise EigerTimeoutError(
+                    f"Reached timeout with detector state {signal_conditions[0][0]}, std_daq state"
+                    f" {signal_conditions[1][0]} and received frames of {signal_conditions[2][0]} for"
+                    " the file writer"
+                )
+            self.stop_detector()
+            self.stop_detector_backend()
+
+
+class SLSDetectorCam(Device):
+    """
+    SLS Detector Camera - Eiger9M
+
+    Base class to map EPICS PVs to ophyd signals.
+    """
+
+    threshold_energy = ADCpt(EpicsSignalWithRBV, "ThresholdEnergy")
+    beam_energy = ADCpt(EpicsSignalWithRBV, "BeamEnergy")
+    bit_depth = ADCpt(EpicsSignalWithRBV, "BitDepth")
+    num_images = ADCpt(EpicsSignalWithRBV, "NumCycles")
+    num_frames = ADCpt(EpicsSignalWithRBV, "NumFrames")
+    trigger_mode = ADCpt(EpicsSignalWithRBV, "TimingMode")
+    trigger_software = ADCpt(EpicsSignal, "TriggerSoftware")
+    acquire = ADCpt(EpicsSignal, "Acquire")
+    detector_state = ADCpt(EpicsSignalRO, "DetectorState_RBV")
+
+
+class TriggerSource(int, enum.Enum):
+    """Trigger signals for Eiger9M detector"""
+
+    AUTO = 0
+    TRIGGER = 1
+    GATING = 2
+    BURST_TRIGGER = 3
+
+
+class DetectorState(int, enum.Enum):
+    """Detector states for Eiger9M detector"""
+
+    IDLE = 0
+    ERROR = 1
+    WAITING = 2
+    FINISHED = 3
+    TRANSMITTING = 4
+    RUNNING = 5
+    STOPPED = 6
+    STILL_WAITING = 7
+    INITIALIZING = 8
+    DISCONNECTED = 9
+    ABORTED = 10
+
+
+class Eiger9McSAXS(PSIDetectorBase):
+    """
+    Eiger9M detector for CSAXS
+
+    Parent class: PSIDetectorBase
+
+    class attributes:
+        custom_prepare_cls (FalconSetup)        : Custom detector setup class for cSAXS,
+                                                  inherits from CustomDetectorMixin
+        PSIDetectorBase.set_min_readout (float) : Minimum readout time for the detector
+        Various EpicsPVs for controlling the detector
+    """
+
+    # Specify which functions are revealed to the user in BEC client
+    USER_ACCESS = []
+
+    # specify Setup class
+    custom_prepare_cls = Eiger9MSetup
+    # specify minimum readout time for detector and timeout for checks after unstage
+    MIN_READOUT = 3e-3
+    TIMEOUT_FOR_SIGNALS = 5
+    # specify class attributes
+    cam = ADCpt(SLSDetectorCam, "cam1:")
+
+
+if __name__ == "__main__":
+    eiger = Eiger9McSAXS(name="eiger", prefix="X12SA-ES-EIGER9M:", sim_mode=True)

csaxs_bec/devices/epics/falcon_csaxs.py

@@ -0,0 +1,349 @@
+import enum
+import os
+import threading
+
+from bec_lib.logger import bec_logger
+from ophyd import Component as Cpt
+from ophyd import Device, EpicsSignal, EpicsSignalRO, EpicsSignalWithRBV
+from ophyd.mca import EpicsMCARecord
+from ophyd_devices.interfaces.base_classes.psi_detector_base import (
+    CustomDetectorMixin,
+    PSIDetectorBase,
+)
+
+logger = bec_logger.logger
+
+
+class FalconError(Exception):
+    """Base class for exceptions in this module."""
+
+
+class FalconTimeoutError(FalconError):
+    """Raised when the Falcon does not respond in time."""
+
+
+class DetectorState(enum.IntEnum):
+    """Detector states for Falcon detector"""
+
+    DONE = 0
+    ACQUIRING = 1
+
+
+class TriggerSource(enum.IntEnum):
+    """Trigger source for Falcon detector"""
+
+    USER = 0
+    GATE = 1
+    SYNC = 2
+
+
+class MappingSource(enum.IntEnum):
+    """Mapping source for Falcon detector"""
+
+    SPECTRUM = 0
+    MAPPING = 1
+
+
+class EpicsDXPFalcon(Device):
+    """
+    DXP parameters for Falcon detector
+
+    Base class to map EPICS PVs from DXP parameters to ophyd signals.
+    """
+
+    elapsed_live_time = Cpt(EpicsSignal, "ElapsedLiveTime")
+    elapsed_real_time = Cpt(EpicsSignal, "ElapsedRealTime")
+    elapsed_trigger_live_time = Cpt(EpicsSignal, "ElapsedTriggerLiveTime")
+
+    # Energy Filter PVs
+    energy_threshold = Cpt(EpicsSignalWithRBV, "DetectionThreshold")
+    min_pulse_separation = Cpt(EpicsSignalWithRBV, "MinPulsePairSeparation")
+    detection_filter = Cpt(EpicsSignalWithRBV, "DetectionFilter", string=True)
+    scale_factor = Cpt(EpicsSignalWithRBV, "ScaleFactor")
+    risetime_optimisation = Cpt(EpicsSignalWithRBV, "RisetimeOptimization")
+
+    # Misc PVs
+    detector_polarity = Cpt(EpicsSignalWithRBV, "DetectorPolarity")
+    decay_time = Cpt(EpicsSignalWithRBV, "DecayTime")
+
+    current_pixel = Cpt(EpicsSignalRO, "CurrentPixel")
+
+
+class FalconHDF5Plugins(Device):
+    """
+    HDF5 parameters for Falcon detector
+
+    Base class to map EPICS PVs from HDF5 Plugin to ophyd signals.
+    """
+
+    capture = Cpt(EpicsSignalWithRBV, "Capture")
+    enable = Cpt(EpicsSignalWithRBV, "EnableCallbacks", string=True, kind="config")
+    xml_file_name = Cpt(EpicsSignalWithRBV, "XMLFileName", string=True, kind="config")
+    lazy_open = Cpt(EpicsSignalWithRBV, "LazyOpen", string=True, doc="0='No' 1='Yes'")
+    temp_suffix = Cpt(EpicsSignalWithRBV, "TempSuffix", string=True)
+    file_path = Cpt(EpicsSignalWithRBV, "FilePath", string=True, kind="config")
+    file_name = Cpt(EpicsSignalWithRBV, "FileName", string=True, kind="config")
+    file_template = Cpt(EpicsSignalWithRBV, "FileTemplate", string=True, kind="config")
+    num_capture = Cpt(EpicsSignalWithRBV, "NumCapture", kind="config")
+    file_write_mode = Cpt(EpicsSignalWithRBV, "FileWriteMode", kind="config")
+    queue_size = Cpt(EpicsSignalWithRBV, "QueueSize", kind="config")
+    array_counter = Cpt(EpicsSignalWithRBV, "ArrayCounter", kind="config")
+
+
+class FalconSetup(CustomDetectorMixin):
+    """
+    Falcon setup class for cSAXS
+
+    Parent class: CustomDetectorMixin
+
+    """
+
+    def __init__(self, *args, parent: Device = None, **kwargs) -> None:
+        super().__init__(*args, parent=parent, **kwargs)
+        self._lock = threading.RLock()
+
+    def on_init(self) -> None:
+        """Initialize Falcon detector"""
+        self.initialize_default_parameter()
+        self.initialize_detector()
+        self.initialize_detector_backend()
+
+    def initialize_default_parameter(self) -> None:
+        """
+        Set default parameters for Falcon
+
+        This will set:
+        - readout (float): readout time in seconds
+        - value_pixel_per_buffer (int): number of spectra in buffer of Falcon Sitoro
+
+        """
+        self.parent.value_pixel_per_buffer = 20
+        self.update_readout_time()
+
+    def update_readout_time(self) -> None:
+        """Set readout time for Eiger9M detector"""
+        readout_time = (
+            self.parent.scaninfo.readout_time
+            if hasattr(self.parent.scaninfo, "readout_time")
+            else self.parent.MIN_READOUT
+        )
+        self.parent.readout_time = max(readout_time, self.parent.MIN_READOUT)
+
+    def initialize_detector(self) -> None:
+        """Initialize Falcon detector"""
+        self.stop_detector()
+        self.stop_detector_backend()
+        self.set_trigger(
+            mapping_mode=MappingSource.MAPPING, trigger_source=TriggerSource.GATE, ignore_gate=0
+        )
+        # 1 Realtime
+        self.parent.preset_mode.put(1)
+        # 0 Normal, 1 Inverted
+        self.parent.input_logic_polarity.put(0)
+        # 0 Manual 1 Auto
+        self.parent.auto_pixels_per_buffer.put(0)
+        # Sets the number of pixels/spectra in the buffer
+        self.parent.pixels_per_buffer.put(self.parent.value_pixel_per_buffer)
+
+    def initialize_detector_backend(self) -> None:
+        """Initialize the detector backend for Falcon."""
+        self.parent.hdf5.enable.put(1)
+        # file location of h5 layout for cSAXS
+        self.parent.hdf5.xml_file_name.put("layout.xml")
+        # TODO Check if lazy open is needed and wanted!
+        self.parent.hdf5.lazy_open.put(1)
+        self.parent.hdf5.temp_suffix.put("")
+        # size of queue for number of spectra allowed in the buffer, if too small at high throughput, data is lost
+        self.parent.hdf5.queue_size.put(2000)
+        # Segmentation into Spectra within EPICS, 1 is activate, 0 is deactivate
+        self.parent.nd_array_mode.put(1)
+
+    def on_stage(self) -> None:
+        """Prepare detector and backend for acquisition"""
+        self.prepare_detector()
+        self.prepare_data_backend()
+        self.publish_file_location(done=False, successful=False)
+        self.arm_acquisition()
+
+    def prepare_detector(self) -> None:
+        """Prepare detector for acquisition"""
+        self.set_trigger(
+            mapping_mode=MappingSource.MAPPING, trigger_source=TriggerSource.GATE, ignore_gate=0
+        )
+        self.parent.preset_real.put(self.parent.scaninfo.exp_time)
+        self.parent.pixels_per_run.put(
+            int(self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger)
+        )
+
+    def prepare_data_backend(self) -> None:
+        """Prepare data backend for acquisition"""
+        self.parent.filepath.set(
+            self.parent.filewriter.compile_full_filename(f"{self.parent.name}.h5")
+        ).wait()
+        file_path, file_name = os.path.split(self.parent.filepath.get())
+        self.parent.hdf5.file_path.put(file_path)
+        self.parent.hdf5.file_name.put(file_name)
+        self.parent.hdf5.file_template.put("%s%s")
+        self.parent.hdf5.num_capture.put(
+            int(self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger)
+        )
+        self.parent.hdf5.file_write_mode.put(2)
+        # Reset spectrum counter in filewriter, used for indexing & identifying missing triggers
+        self.parent.hdf5.array_counter.put(0)
+        # Start file writing
+        self.parent.hdf5.capture.put(1)
+
+    def arm_acquisition(self) -> None:
+        """Arm detector for acquisition"""
+        self.parent.start_all.put(1)
+        signal_conditions = [
+            (
+                lambda: self.parent.state.read()[self.parent.state.name]["value"],
+                DetectorState.ACQUIRING,
+            )
+        ]
+        if not self.wait_for_signals(
+            signal_conditions=signal_conditions,
+            timeout=self.parent.TIMEOUT_FOR_SIGNALS,
+            check_stopped=True,
+            all_signals=False,
+        ):
+            raise FalconTimeoutError(
+                f"Failed to arm the acquisition. Detector state {signal_conditions[0][0]}"
+            )
+
+    def on_unstage(self) -> None:
+        """Unstage detector and backend"""
+        pass
+
+    def on_complete(self) -> None:
+        """Complete detector and backend"""
+        self.finished(timeout=self.parent.TIMEOUT_FOR_SIGNALS)
+        self.publish_file_location(done=True, successful=True)
+
+    def on_stop(self) -> None:
+        """Stop detector and backend"""
+        self.stop_detector()
+        self.stop_detector_backend()
+
+    def stop_detector(self) -> None:
+        """Stops detector"""
+
+        self.parent.stop_all.put(1)
+        self.parent.erase_all.put(1)
+
+        signal_conditions = [
+            (lambda: self.parent.state.read()[self.parent.state.name]["value"], DetectorState.DONE)
+        ]
+
+        if not self.wait_for_signals(
+            signal_conditions=signal_conditions,
+            timeout=self.parent.TIMEOUT_FOR_SIGNALS - self.parent.TIMEOUT_FOR_SIGNALS // 2,
+            all_signals=False,
+        ):
+            # Retry stop detector and wait for remaining time
+            raise FalconTimeoutError(
+                f"Failed to stop detector, timeout with state {signal_conditions[0][0]}"
+            )
+
+    def stop_detector_backend(self) -> None:
+        """Stop the detector backend"""
+        self.parent.hdf5.capture.put(0)
+
+    def finished(self, timeout: int = 5) -> None:
+        """Check if scan finished succesfully"""
+        with self._lock:
+            total_frames = int(
+                self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger
+            )
+            signal_conditions = [
+                (self.parent.dxp.current_pixel.get, total_frames),
+                (self.parent.hdf5.array_counter.get, total_frames),
+            ]
+            if not self.wait_for_signals(
+                signal_conditions=signal_conditions,
+                timeout=timeout,
+                check_stopped=True,
+                all_signals=True,
+            ):
+                logger.debug(
+                    f"Falcon missed a trigger: received trigger {self.parent.dxp.current_pixel.get()},"
+                    f" send data {self.parent.hdf5.array_counter.get()} from total_frames"
+                    f" {total_frames}"
+                )
+            self.stop_detector()
+            self.stop_detector_backend()
+
+    def set_trigger(
+        self, mapping_mode: MappingSource, trigger_source: TriggerSource, ignore_gate: int = 0
+    ) -> None:
+        """
+        Set triggering mode for detector
+
+        Args:
+            mapping_mode (MappingSource): Mapping mode for the detector
+            trigger_source (TriggerSource): Trigger source for the detector, pixel_advance_signal
+            ignore_gate (int): Ignore gate from TTL signal; defaults to 0
+
+        """
+        mapping = int(mapping_mode)
+        trigger = trigger_source
+        self.parent.collect_mode.put(mapping)
+        self.parent.pixel_advance_mode.put(trigger)
+        self.parent.ignore_gate.put(ignore_gate)
+
+
+class FalconcSAXS(PSIDetectorBase):
+    """
+    Falcon Sitoro detector for CSAXS
+
+    Parent class: PSIDetectorBase
+
+    class attributes:
+        custom_prepare_cls (FalconSetup)        : Custom detector setup class for cSAXS,
+                                                  inherits from CustomDetectorMixin
+        PSIDetectorBase.set_min_readout (float) : Minimum readout time for the detector
+        dxp (EpicsDXPFalcon)                    : DXP parameters for Falcon detector
+        mca (EpicsMCARecord)                    : MCA parameters for Falcon detector
+        hdf5 (FalconHDF5Plugins)                : HDF5 parameters for Falcon detector
+        MIN_READOUT (float)                     : Minimum readout time for the detector
+    """
+
+    # Specify which functions are revealed to the user in BEC client
+    USER_ACCESS = ["describe"]
+
+    # specify Setup class
+    custom_prepare_cls = FalconSetup
+    # specify minimum readout time for detector
+    MIN_READOUT = 3e-3
+    TIMEOUT_FOR_SIGNALS = 5
+
+    # specify class attributes
+    dxp = Cpt(EpicsDXPFalcon, "dxp1:")
+    mca = Cpt(EpicsMCARecord, "mca1")
+    hdf5 = Cpt(FalconHDF5Plugins, "HDF1:")
+
+    stop_all = Cpt(EpicsSignal, "StopAll")
+    erase_all = Cpt(EpicsSignal, "EraseAll")
+    start_all = Cpt(EpicsSignal, "StartAll")
+    state = Cpt(EpicsSignal, "Acquiring")
+    preset_mode = Cpt(EpicsSignal, "PresetMode")  # 0 No preset 1 Real time 2 Events 3 Triggers
+    preset_real = Cpt(EpicsSignal, "PresetReal")
+    preset_events = Cpt(EpicsSignal, "PresetEvents")
+    preset_triggers = Cpt(EpicsSignal, "PresetTriggers")
+    triggers = Cpt(EpicsSignalRO, "MaxTriggers", lazy=True)
+    events = Cpt(EpicsSignalRO, "MaxEvents", lazy=True)
+    input_count_rate = Cpt(EpicsSignalRO, "MaxInputCountRate", lazy=True)
+    output_count_rate = Cpt(EpicsSignalRO, "MaxOutputCountRate", lazy=True)
+    collect_mode = Cpt(EpicsSignal, "CollectMode")  # 0 MCA spectra, 1 MCA mapping
+    pixel_advance_mode = Cpt(EpicsSignal, "PixelAdvanceMode")
+    ignore_gate = Cpt(EpicsSignal, "IgnoreGate")
+    input_logic_polarity = Cpt(EpicsSignal, "InputLogicPolarity")
+    auto_pixels_per_buffer = Cpt(EpicsSignal, "AutoPixelsPerBuffer")
+    pixels_per_buffer = Cpt(EpicsSignal, "PixelsPerBuffer")
+    pixels_per_run = Cpt(EpicsSignal, "PixelsPerRun")
+    nd_array_mode = Cpt(EpicsSignal, "NDArrayMode")
+
+
+if __name__ == "__main__":
+    falcon = FalconcSAXS(name="falcon", prefix="X12SA-SITORO:", sim_mode=True)

csaxs_bec/devices/epics/mcs_csaxs.py

@@ -0,0 +1,319 @@
+import enum
+import threading
+from collections import defaultdict
+
+import numpy as np
+from bec_lib import bec_logger, messages
+from bec_lib.endpoints import MessageEndpoints
+from ophyd import Component as Cpt
+from ophyd import Device, EpicsSignal, EpicsSignalRO
+from ophyd_devices.interfaces.base_classes.psi_detector_base import (
+    CustomDetectorMixin,
+    PSIDetectorBase,
+)
+from ophyd_devices.utils import bec_utils
+
+logger = bec_logger.logger
+
+
+class MCSError(Exception):
+    """Base class for exceptions in this module."""
+
+
+class MCSTimeoutError(MCSError):
+    """Raise when MCS card runs into a timeout"""
+
+
+class TriggerSource(int, enum.Enum):
+    """Trigger source for mcs card - see manual for more information"""
+
+    MODE0 = 0
+    MODE1 = 1
+    MODE2 = 2
+    MODE3 = 3
+    MODE4 = 4
+    MODE5 = 5
+    MODE6 = 6
+
+
+class ChannelAdvance(int, enum.Enum):
+    """Channel advance pixel mode for mcs card - see manual for more information"""
+
+    INTERNAL = 0
+    EXTERNAL = 1
+
+
+class ReadoutMode(int, enum.Enum):
+    """Readout mode for mcs card - see manual for more information"""
+
+    PASSIVE = 0
+    EVENT = 1
+    IO_INTR = 2
+    FREQ_0_1HZ = 3
+    FREQ_0_2HZ = 4
+    FREQ_0_5HZ = 5
+    FREQ_1HZ = 6
+    FREQ_2HZ = 7
+    FREQ_5HZ = 8
+    FREQ_10HZ = 9
+    FREQ_100HZ = 10
+
+
+class MCSSetup(CustomDetectorMixin):
+    """Setup mixin class for the MCS card"""
+
+    def __init__(self, *args, parent: Device = None, **kwargs) -> None:
+        super().__init__(*args, parent=parent, **kwargs)
+        self._lock = threading.RLock()
+        self._stream_ttl = 1800
+        self.acquisition_done = False
+        self.counter = 0
+        self.n_points = 0
+        self.mca_names = [
+            signal for signal in self.parent.component_names if signal.startswith("mca")
+        ]
+        self.mca_data = defaultdict(lambda: [])
+
+    def on_init(self) -> None:
+        """Init sequence for the detector"""
+        self.initialize_detector()
+        self.initialize_detector_backend()
+
+    def initialize_detector(self) -> None:
+        """Initialize detector"""
+        # External trigger for pixel advance
+        self.parent.channel_advance.set(ChannelAdvance.EXTERNAL)
+        # Use internal clock for channel 1
+        self.parent.channel1_source.set(ChannelAdvance.INTERNAL)
+        self.parent.user_led.set(0)
+        # Set number of channels to 5
+        self.parent.mux_output.set(5)
+        # Trigger Mode used for cSAXS
+        self.parent.input_mode.set(TriggerSource.MODE3)
+        # specify polarity of trigger signals
+        self.parent.input_polarity.set(0)
+        self.parent.output_polarity.set(1)
+        # do not start counting on start
+        self.parent.count_on_start.set(0)
+        self.stop_detector()
+
+    def initialize_detector_backend(self) -> None:
+        """Initialize detector backend"""
+        for mca in self.mca_names:
+            signal = getattr(self.parent, mca)
+            signal.subscribe(self._on_mca_data, run=False)
+        self.parent.current_channel.subscribe(self._progress_update, run=False)
+
+    def _progress_update(self, value, **kwargs) -> None:
+        """Progress update on the scan"""
+        num_lines = self.parent.num_lines.get()
+        max_value = self.parent.scaninfo.num_points
+        # self.counter seems to be a deprecated variable from a former implementation of the mcs card
+        # pylint: disable=protected-access
+        self.parent._run_subs(
+            sub_type=self.parent.SUB_PROGRESS,
+            value=self.counter * int(self.parent.scaninfo.num_points / num_lines) + value,
+            max_value=max_value,
+            # TODO check if that is correct with
+            done=bool(max_value == value),  # == self.counter),
+        )
+
+    def _on_mca_data(self, *args, obj=None, value=None, **kwargs) -> None:
+        """Callback function for scan progress"""
+        with self._lock:
+            if not isinstance(value, (list, np.ndarray)):
+                return
+            self.mca_data[obj.attr_name] = value
+            if len(self.mca_names) != len(self.mca_data):
+                return
+            self.acquisition_done = True
+            self._send_data_to_bec()
+            self.mca_data = defaultdict(lambda: [])
+
+    def _send_data_to_bec(self) -> None:
+        """Sends bundled data to BEC"""
+        if self.parent.scaninfo.scan_msg is None:
+            return
+        metadata = self.parent.scaninfo.scan_msg.metadata
+        metadata.update({"async_update": "append", "num_lines": self.parent.num_lines.get()})
+        msg = messages.DeviceMessage(
+            signals=dict(self.mca_data), metadata=self.parent.scaninfo.scan_msg.metadata
+        )
+        self.parent.connector.xadd(
+            topic=MessageEndpoints.device_async_readback(
+                scan_id=self.parent.scaninfo.scan_id, device=self.parent.name
+            ),
+            msg={"data": msg},
+            expire=self._stream_ttl,
+        )
+
+    def on_stage(self) -> None:
+        """Stage detector"""
+        self.prepare_detector()
+        self.prepare_detector_backend()
+
+    def prepare_detector(self) -> None:
+        """Prepare detector for scan"""
+        self.set_acquisition_params()
+        self.parent.input_mode.set(TriggerSource.MODE3)
+
+    def set_acquisition_params(self) -> None:
+        """Set acquisition parameters for scan"""
+        if self.parent.scaninfo.scan_type == "step":
+            self.n_points = int(self.parent.scaninfo.frames_per_trigger) * int(
+                self.parent.scaninfo.num_points
+            )
+        elif self.parent.scaninfo.scan_type == "fly":
+            self.n_points = int(self.parent.scaninfo.num_points)  # / int(self.num_lines.get()))
+        else:
+            raise MCSError(f"Scantype {self.parent.scaninfo} not implemented for MCS card")
+        if self.n_points > 10000:
+            raise MCSError(
+                f"Requested number of points N={self.n_points} exceeds hardware limit of mcs card"
+                " 10000 (N-1)"
+            )
+        self.parent.num_use_all.set(self.n_points)
+        self.parent.preset_real.set(0)
+
+    def prepare_detector_backend(self) -> None:
+        """Prepare detector backend for scan"""
+        self.parent.erase_all.set(1)
+        self.parent.read_mode.set(ReadoutMode.EVENT)
+
+    def arm_acquisition(self) -> None:
+        """Arm detector for acquisition"""
+        self.counter = 0
+        self.parent.erase_start.set(1)
+
+    def on_unstage(self) -> None:
+        """Unstage detector"""
+        pass
+
+    def on_complete(self) -> None:
+        """Complete detector"""
+        self.finished(timeout=self.parent.TIMEOUT_FOR_SIGNALS)
+
+    def finished(self, timeout: int = 5) -> None:
+        """Check if acquisition is finished, if not successful, rais MCSTimeoutError"""
+        signal_conditions = [
+            (lambda: self.acquisition_done, True),
+            (self.parent.acquiring.get, 0),  # Considering making a enum.Int class for this state
+        ]
+        if not self.wait_for_signals(
+            signal_conditions=signal_conditions,
+            timeout=timeout,
+            check_stopped=True,
+            all_signals=True,
+        ):
+            total_frames = self.counter * int(
+                self.parent.scaninfo.num_points / self.parent.num_lines.get()
+            ) + max(self.parent.current_channel.get(), 0)
+            raise MCSTimeoutError(
+                f"Reached timeout with mcs in state {self.parent.acquiring.get()} and"
+                f" {total_frames} frames arriving at the mcs card"
+            )
+
+    def on_stop(self) -> None:
+        """Stop detector"""
+        self.stop_detector()
+        self.stop_detector_backend()
+
+    def stop_detector(self) -> None:
+        """Stop detector"""
+        self.parent.stop_all.set(1)
+
+    def stop_detector_backend(self) -> None:
+        """Stop acquisition of data"""
+        self.acquisition_done = True
+
+
+class SIS38XX(Device):
+    """SIS38XX card for access to EPICs PVs at cSAXS beamline"""
+
+
+class MCScSAXS(PSIDetectorBase):
+    """MCS card for cSAXS for implementation at cSAXS beamline"""
+
+    USER_ACCESS = []
+    SUB_PROGRESS = "progress"
+    SUB_VALUE = "value"
+    _default_sub = SUB_VALUE
+
+    # specify Setup class
+    custom_prepare_cls = MCSSetup
+    # specify minimum readout time for detector
+    MIN_READOUT = 0
+    TIMEOUT_FOR_SIGNALS = 5
+
+    # PV access to SISS38XX card
+    # Acquisition
+    erase_all = Cpt(EpicsSignal, "EraseAll")
+    erase_start = Cpt(EpicsSignal, "EraseStart")  # ,trigger_value=1
+    start_all = Cpt(EpicsSignal, "StartAll")
+    stop_all = Cpt(EpicsSignal, "StopAll")
+    acquiring = Cpt(EpicsSignal, "Acquiring")
+    preset_real = Cpt(EpicsSignal, "PresetReal")
+    elapsed_real = Cpt(EpicsSignal, "ElapsedReal")
+    read_mode = Cpt(EpicsSignal, "ReadAll.SCAN")
+    read_all = Cpt(EpicsSignal, "DoReadAll.VAL")  # ,trigger_value=1
+    num_use_all = Cpt(EpicsSignal, "NuseAll")
+    current_channel = Cpt(EpicsSignal, "CurrentChannel")
+    dwell = Cpt(EpicsSignal, "Dwell")
+    channel_advance = Cpt(EpicsSignal, "ChannelAdvance")
+    count_on_start = Cpt(EpicsSignal, "CountOnStart")
+    software_channel_advance = Cpt(EpicsSignal, "SoftwareChannelAdvance")
+    channel1_source = Cpt(EpicsSignal, "Channel1Source")
+    prescale = Cpt(EpicsSignal, "Prescale")
+    enable_client_wait = Cpt(EpicsSignal, "EnableClientWait")
+    client_wait = Cpt(EpicsSignal, "ClientWait")
+    acquire_mode = Cpt(EpicsSignal, "AcquireMode")
+    mux_output = Cpt(EpicsSignal, "MUXOutput")
+    user_led = Cpt(EpicsSignal, "UserLED")
+    input_mode = Cpt(EpicsSignal, "InputMode")
+    input_polarity = Cpt(EpicsSignal, "InputPolarity")
+    output_mode = Cpt(EpicsSignal, "OutputMode")
+    output_polarity = Cpt(EpicsSignal, "OutputPolarity")
+    model = Cpt(EpicsSignalRO, "Model", string=True)
+    firmware = Cpt(EpicsSignalRO, "Firmware")
+    max_channels = Cpt(EpicsSignalRO, "MaxChannels")
+
+    # PV access to MCA signals
+    mca1 = Cpt(EpicsSignalRO, "mca1.VAL", auto_monitor=True)
+    mca3 = Cpt(EpicsSignalRO, "mca3.VAL", auto_monitor=True)
+    mca4 = Cpt(EpicsSignalRO, "mca4.VAL", auto_monitor=True)
+    current_channel = Cpt(EpicsSignalRO, "CurrentChannel", auto_monitor=True)
+
+    # Custom signal readout from device config
+    num_lines = Cpt(
+        bec_utils.ConfigSignal, name="num_lines", kind="config", config_storage_name="mcs_config"
+    )
+
+    def __init__(
+        self,
+        prefix="",
+        *,
+        name,
+        kind=None,
+        parent=None,
+        device_manager=None,
+        mcs_config=None,
+        **kwargs,
+    ):
+        self.mcs_config = {f"{name}_num_lines": 1}
+        if mcs_config is not None:
+            # pylint: disable=expression-not-assigned
+            [self.mcs_config.update({f"{name}_{key}": value}) for key, value in mcs_config.items()]
+
+        super().__init__(
+            prefix=prefix,
+            name=name,
+            kind=kind,
+            parent=parent,
+            device_manager=device_manager,
+            **kwargs,
+        )
+
+
+# Automatically connect to test environmenr if directly invoked
+if __name__ == "__main__":
+    mcs = MCScSAXS(name="mcs", prefix="X12SA-MCS:", sim_mode=True)

csaxs_bec/devices/epics/pilatus_csaxs.py

@@ -0,0 +1,400 @@
+import enum
+import json
+import os
+import threading
+import time
+
+import numpy as np
+import requests
+from bec_lib import bec_logger
+from ophyd import ADComponent as ADCpt
+from ophyd import Device, EpicsSignal, EpicsSignalRO, EpicsSignalWithRBV, Staged
+from ophyd_devices.interfaces.base_classes.psi_detector_base import (
+    CustomDetectorMixin,
+    PSIDetectorBase,
+)
+
+logger = bec_logger.logger
+
+
+class PilatusError(Exception):
+    """Base class for exceptions in this module."""
+
+
+class PilatusTimeoutError(PilatusError):
+    """Raised when the Pilatus does not respond in time during unstage."""
+
+
+class TriggerSource(enum.IntEnum):
+    """Trigger source options for the detector"""
+
+    INTERNAL = 0
+    EXT_ENABLE = 1
+    EXT_TRIGGER = 2
+    MULTI_TRIGGER = 3
+    ALGINMENT = 4
+
+
+class SLSDetectorCam(Device):
+    """SLS Detector Camera - Pilatus
+
+    Base class to map EPICS PVs to ophyd signals.
+    """
+
+    num_images = ADCpt(EpicsSignalWithRBV, "NumImages")
+    num_frames = ADCpt(EpicsSignalWithRBV, "NumExposures")
+    delay_time = ADCpt(EpicsSignalWithRBV, "NumExposures")
+    trigger_mode = ADCpt(EpicsSignalWithRBV, "TriggerMode")
+    acquire = ADCpt(EpicsSignal, "Acquire")
+    armed = ADCpt(EpicsSignalRO, "Armed")
+
+    read_file_timeout = ADCpt(EpicsSignal, "ImageFileTmot")
+    detector_state = ADCpt(EpicsSignalRO, "StatusMessage_RBV")
+    status_message_camserver = ADCpt(EpicsSignalRO, "StringFromServer_RBV", string=True)
+    acquire_time = ADCpt(EpicsSignal, "AcquireTime")
+    acquire_period = ADCpt(EpicsSignal, "AcquirePeriod")
+    threshold_energy = ADCpt(EpicsSignalWithRBV, "ThresholdEnergy")
+    file_path = ADCpt(EpicsSignalWithRBV, "FilePath")
+    file_name = ADCpt(EpicsSignalWithRBV, "FileName")
+    file_number = ADCpt(EpicsSignalWithRBV, "FileNumber")
+    auto_increment = ADCpt(EpicsSignalWithRBV, "AutoIncrement")
+    file_template = ADCpt(EpicsSignalWithRBV, "FileTemplate")
+    file_format = ADCpt(EpicsSignalWithRBV, "FileNumber")
+    gap_fill = ADCpt(EpicsSignalWithRBV, "GapFill")
+
+
+class PilatusSetup(CustomDetectorMixin):
+    """Pilatus setup class for cSAXS
+
+    Parent class: CustomDetectorMixin
+
+    """
+
+    def __init__(self, *args, parent: Device = None, **kwargs) -> None:
+        super().__init__(*args, parent=parent, **kwargs)
+        self._lock = threading.RLock()
+
+    def on_init(self) -> None:
+        """Initialize the detector"""
+        self.initialize_default_parameter()
+        self.initialize_detector()
+
+    def initialize_default_parameter(self) -> None:
+        """Set default parameters for Eiger9M detector"""
+        self.update_readout_time()
+
+    def update_readout_time(self) -> None:
+        """Set readout time for Eiger9M detector"""
+        readout_time = (
+            self.parent.scaninfo.readout_time
+            if hasattr(self.parent.scaninfo, "readout_time")
+            else self.parent.MIN_READOUT
+        )
+        self.parent.readout_time = max(readout_time, self.parent.MIN_READOUT)
+
+    def initialize_detector(self) -> None:
+        """Initialize detector"""
+        # Stops the detector
+        self.stop_detector()
+        # Sets the trigger source to GATING
+        self.parent.cam.trigger_mode.put(TriggerSource.EXT_ENABLE)
+
+    def on_stage(self) -> None:
+        """Stage the detector for scan"""
+        self.prepare_detector()
+        self.prepare_data_backend()
+        self.publish_file_location(
+            done=False, successful=False, metadata={"input_path": self.parent.filepath_raw}
+        )
+
+    def prepare_detector(self) -> None:
+        """
+        Prepare detector for scan.
+
+        Includes checking the detector threshold,
+        setting the acquisition parameters and setting the trigger source
+        """
+        self.set_detector_threshold()
+        self.set_acquisition_params()
+        self.parent.cam.trigger_mode.put(TriggerSource.EXT_ENABLE)
+
+    def prepare_data_backend(self) -> None:
+        """
+        Prepare the detector backend of pilatus for a scan
+
+        A zmq service is running on xbl-daq-34 that is waiting
+        for a zmq message to start the writer for the pilatus_2 x12sa-pd-2
+
+        """
+
+        self.stop_detector_backend()
+
+        self.parent.filepath.set(
+            self.parent.filewriter.compile_full_filename("pilatus_2.h5")
+        ).wait()
+        self.parent.cam.file_path.put("/dev/shm/zmq/")
+        self.parent.cam.file_name.put(
+            f"{self.parent.scaninfo.username}_2_{self.parent.scaninfo.scan_number:05d}"
+        )
+        self.parent.cam.auto_increment.put(1)  # auto increment
+        self.parent.cam.file_number.put(0)  # first iter
+        self.parent.cam.file_format.put(0)  # 0: TIFF
+        self.parent.cam.file_template.put("%s%s_%5.5d.cbf")
+
+        # TODO better to remove hard coded path with link to home directory/pilatus_2
+        basepath = f"/sls/X12SA/data/{self.parent.scaninfo.username}/Data10/pilatus_2/"
+        self.parent.filepath_raw = os.path.join(
+            basepath,
+            self.parent.filewriter.get_scan_directory(self.parent.scaninfo.scan_number, 1000, 5),
+        )
+        # Make directory if needed
+        self.create_directory(self.parent.filepath_raw)
+
+        headers = {"Content-Type": "application/json", "Accept": "application/json"}
+        # start the stream on x12sa-pd-2
+        url = "http://x12sa-pd-2:8080/stream/pilatus_2"
+        data_msg = {
+            "source": [
+                {
+                    "searchPath": "/",
+                    "searchPattern": "glob:*.cbf",
+                    "destinationPath": self.parent.filepath_raw,
+                }
+            ]
+        }
+        res = self.send_requests_put(url=url, data=data_msg, headers=headers)
+        logger.info(f"{res.status_code} -  {res.text} - {res.content}")
+
+        if not res.ok:
+            res.raise_for_status()
+
+        # start the data receiver on xbl-daq-34
+        url = "http://xbl-daq-34:8091/pilatus_2/run"
+        data_msg = [
+            "zmqWriter",
+            self.parent.scaninfo.username,
+            {
+                "addr": "tcp://x12sa-pd-2:8888",
+                "dst": ["file"],
+                "numFrm": int(
+                    self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger
+                ),
+                "timeout": 2000,
+                "ifType": "PULL",
+                "user": self.parent.scaninfo.username,
+            },
+        ]
+        res = self.send_requests_put(url=url, data=data_msg, headers=headers)
+        logger.info(f"{res.status_code}  - {res.text} - {res.content}")
+
+        if not res.ok:
+            res.raise_for_status()
+
+        # Wait for server to become available again
+        time.sleep(0.1)
+        logger.info(f"{res.status_code} -{res.text} - {res.content}")
+
+        # Send requests.put to xbl-daq-34 to wait for data
+        url = "http://xbl-daq-34:8091/pilatus_2/wait"
+        data_msg = [
+            "zmqWriter",
+            self.parent.scaninfo.username,
+            {
+                "frmCnt": int(
+                    self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger
+                ),
+                "timeout": 2000,
+            },
+        ]
+        try:
+            res = self.send_requests_put(url=url, data=data_msg, headers=headers)
+            logger.info(f"{res}")
+
+            if not res.ok:
+                res.raise_for_status()
+        except Exception as exc:
+            logger.info(f"Pilatus2 wait threw Exception: {exc}")
+
+    def set_detector_threshold(self) -> None:
+        """
+        Set correct detector threshold to 1/2 of current X-ray energy, allow 5% tolerance
+
+        Threshold might be in ev or keV
+        """
+
+        # get current beam energy from device manageer
+        mokev = self.parent.device_manager.devices.mokev.obj.read()[
+            self.parent.device_manager.devices.mokev.name
+        ]["value"]
+        factor = 1
+
+        # Check if energies are eV or keV, assume keV as the default
+        unit = getattr(self.parent.cam.threshold_energy, "units", None)
+        if unit is not None and unit == "eV":
+            factor = 1000
+
+        # set energy on detector
+        setpoint = int(mokev * factor)
+
+        # set threshold on detector
+        threshold = self.parent.cam.threshold_energy.read()[self.parent.cam.threshold_energy.name][
+            "value"
+        ]
+        if not np.isclose(setpoint / 2, threshold, rtol=0.05):
+            self.parent.cam.threshold_energy.set(setpoint / 2)
+
+    def set_acquisition_params(self) -> None:
+        """Set acquisition parameters for the detector"""
+
+        # Set number of images and frames (frames is for internal burst of detector)
+        self.parent.cam.num_images.put(
+            int(self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger)
+        )
+        self.parent.cam.num_frames.put(1)
+
+        # Update the readout time of the detector
+        self.update_readout_time()
+
+    def create_directory(self, filepath: str) -> None:
+        """Create directory if it does not exist"""
+        os.makedirs(filepath, exist_ok=True)
+
+    def close_file_writer(self) -> None:
+        """
+        Close the file writer for pilatus_2
+
+        Delete the data from x12sa-pd-2
+
+        """
+        url = "http://x12sa-pd-2:8080/stream/pilatus_2"
+        try:
+            res = self.send_requests_delete(url=url)
+            if not res.ok:
+                res.raise_for_status()
+        except Exception as exc:
+            logger.info(f"Pilatus2 close threw Exception: {exc}")
+
+    def stop_file_writer(self) -> None:
+        """
+        Stop the file writer for pilatus_2
+
+        Runs on xbl-daq-34
+        """
+        url = "http://xbl-daq-34:8091/pilatus_2/stop"
+        res = self.send_requests_put(url=url)
+        if not res.ok:
+            res.raise_for_status()
+
+    def send_requests_put(self, url: str, data: list = None, headers: dict = None) -> object:
+        """
+        Send a put request to the given url
+
+        Args:
+            url (str): url to send the request to
+            data (dict): data to be sent with the request (optional)
+            headers (dict): headers to be sent with the request (optional)
+
+        Returns:
+            status code of the request
+        """
+        return requests.put(url=url, data=json.dumps(data), headers=headers, timeout=5)
+
+    def send_requests_delete(self, url: str, headers: dict = None) -> object:
+        """
+        Send a delete request to the given url
+
+        Args:
+            url (str): url to send the request to
+            headers (dict): headers to be sent with the request (optional)
+
+        Returns:
+            status code of the request
+        """
+        return requests.delete(url=url, headers=headers, timeout=5)
+
+    def on_pre_scan(self) -> None:
+        """Prepare detector for scan"""
+        self.arm_acquisition()
+
+    def arm_acquisition(self) -> None:
+        """Arms the detector for the acquisition"""
+        self.parent.cam.acquire.put(1)
+        # TODO is this sleep needed? to be tested with detector and for how long
+        time.sleep(0.5)
+
+    def on_unstage(self) -> None:
+        """Unstage the detector"""
+        pass
+
+    def on_complete(self) -> None:
+        """Complete the scan"""
+        self.finished(timeout=self.parent.TIMEOUT_FOR_SIGNALS)
+        self.publish_file_location(
+            done=True, successful=True, metadata={"input_path": self.parent.filepath_raw}
+        )
+
+    def finished(self, timeout: int = 5) -> None:
+        """Check if acquisition is finished."""
+        # pylint: disable=protected-access
+        # TODO: at the moment this relies on device.mcs.obj._staged attribute
+        signal_conditions = [
+            (lambda: self.parent.device_manager.devices.mcs.obj._staged, Staged.no)
+        ]
+        if not self.wait_for_signals(
+            signal_conditions=signal_conditions,
+            timeout=timeout,
+            check_stopped=True,
+            all_signals=True,
+        ):
+            raise PilatusTimeoutError(
+                f"Reached timeout with detector state {signal_conditions[0][0]}, std_daq state"
+                f" {signal_conditions[1][0]} and received frames of {signal_conditions[2][0]} for"
+                " the file writer"
+            )
+        self.stop_detector()
+        self.stop_detector_backend()
+
+    def on_stop(self) -> None:
+        """Stop detector"""
+        self.stop_detector()
+        self.stop_detector_backend()
+
+    def stop_detector(self) -> None:
+        """Stop detector"""
+        self.parent.cam.acquire.put(0)
+
+    def stop_detector_backend(self) -> None:
+        """Stop the file writer zmq service for pilatus_2"""
+        self.close_file_writer()
+        time.sleep(0.1)
+        self.stop_file_writer()
+        time.sleep(0.1)
+
+
+class PilatuscSAXS(PSIDetectorBase):
+    """Pilatus_2 300k detector for CSAXS
+
+    Parent class: PSIDetectorBase
+
+    class attributes:
+        custom_prepare_cls (Eiger9MSetup)   : Custom detector setup class for cSAXS,
+                                              inherits from CustomDetectorMixin
+        cam (SLSDetectorCam)                : Detector camera
+        MIN_READOUT (float)                 : Minimum readout time for the detector
+
+    """
+
+    # Specify which functions are revealed to the user in BEC client
+    USER_ACCESS = []
+
+    # specify Setup class
+    custom_prepare_cls = PilatusSetup
+    # specify minimum readout time for detector
+    MIN_READOUT = 3e-3
+    TIMEOUT_FOR_SIGNALS = 5
+    # specify class attributes
+    cam = ADCpt(SLSDetectorCam, "cam1:")
+
+
+if __name__ == "__main__":
+    pilatus_2 = PilatuscSAXS(name="pilatus_2", prefix="X12SA-ES-PILATUS300K:", sim_mode=True)

csaxs_bec/devices/epics/specMotors.py

@@ -0,0 +1,304 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Wed Oct 13 18:06:15 2021
+
+@author: mohacsi_i
+
+IMPORTANT: Virtual monochromator axes should be implemented already in EPICS!!!
+"""
+
+import time
+from math import asin, atan, isclose, sin, sqrt, tan
+
+import numpy as np
+from ophyd import (
+    Component,
+    Device,
+    EpicsMotor,
+    EpicsSignal,
+    EpicsSignalRO,
+    Kind,
+    PseudoPositioner,
+    PseudoSingle,
+    PVPositioner,
+    Signal,
+)
+from ophyd.pseudopos import pseudo_position_argument, real_position_argument
+
+
+class PmMonoBender(PseudoPositioner):
+    """Monochromator bender
+
+    Small wrapper to combine the four monochromator bender motors.
+    """
+
+    # Real axes
+    ai = Component(EpicsMotor, "TRYA", name="ai")
+    bo = Component(EpicsMotor, "TRYB", name="bo")
+    co = Component(EpicsMotor, "TRYC", name="co")
+    di = Component(EpicsMotor, "TRYD", name="di")
+
+    # Virtual axis
+    bend = Component(PseudoSingle, name="bend")
+
+    _real = ["ai", "bo", "co", "di"]
+
+    @pseudo_position_argument
+    def forward(self, pseudo_pos):
+        delta = pseudo_pos.bend - 0.25 * (
+            self.ai.position + self.bo.position + self.co.position + self.di.position
+        )
+        return self.RealPosition(
+            ai=self.ai.position + delta,
+            bo=self.bo.position + delta,
+            co=self.co.position + delta,
+            di=self.di.position + delta,
+        )
+
+    @real_position_argument
+    def inverse(self, real_pos):
+        return self.PseudoPosition(
+            bend=0.25 * (real_pos.ai + real_pos.bo + real_pos.co + real_pos.di)
+        )
+
+
+def r2d(radians):
+    return radians * 180 / 3.141592
+
+
+def d2r(degrees):
+    return degrees * 3.141592 / 180.0
+
+
+class PmDetectorRotation(PseudoPositioner):
+    """Detector rotation pseudo motor
+
+    Small wrapper to convert detector pusher position to rotation angle.
+    """
+
+    _tables_dt_push_dist_mm = 890
+    # Real axes
+    dtpush = Component(EpicsMotor, "", name="dtpush")
+
+    # Virtual axis
+    dtth = Component(PseudoSingle, name="dtth")
+
+    _real = ["dtpush"]
+
+    @pseudo_position_argument
+    def forward(self, pseudo_pos):
+        return self.RealPosition(
+            dtpush=d2r(tan(-3.14 / 180 * pseudo_pos.dtth)) * self._tables_dt_push_dist_mm
+        )
+
+    @real_position_argument
+    def inverse(self, real_pos):
+        return self.PseudoPosition(dtth=r2d(-atan(real_pos.dtpush / self._tables_dt_push_dist_mm)))
+
+
+class GirderMotorX1(PVPositioner):
+    """Girder X translation pseudo motor"""
+
+    setpoint = Component(EpicsSignal, ":X_SET", name="sp")
+    readback = Component(EpicsSignalRO, ":X1", name="rbv")
+    done = Component(EpicsSignal, ":M-DMOV", name="dmov")
+
+
+class GirderMotorY1(PVPositioner):
+    """Girder Y translation pseudo motor"""
+
+    setpoint = Component(EpicsSignal, ":Y_SET", name="sp")
+    readback = Component(EpicsSignalRO, ":Y1", name="rbv")
+    done = Component(EpicsSignal, ":M-DMOV", name="dmov")
+
+
+class GirderMotorYAW(PVPositioner):
+    """Girder YAW pseudo motor"""
+
+    setpoint = Component(EpicsSignal, ":YAW_SET", name="sp")
+    readback = Component(EpicsSignalRO, ":YAW1", name="rbv")
+    done = Component(EpicsSignal, ":M-DMOV", name="dmov")
+
+
+class GirderMotorROLL(PVPositioner):
+    """Girder ROLL pseudo motor"""
+
+    setpoint = Component(EpicsSignal, ":ROLL_SET", name="sp")
+    readback = Component(EpicsSignalRO, ":ROLL1", name="rbv")
+    done = Component(EpicsSignal, ":M-DMOV", name="dmov")
+
+
+class GirderMotorPITCH(PVPositioner):
+    """Girder YAW pseudo motor"""
+
+    setpoint = Component(EpicsSignal, ":PITCH_SET", name="sp")
+    readback = Component(EpicsSignalRO, ":PITCH1", name="rbv")
+    done = Component(EpicsSignal, ":M-DMOV", name="dmov")
+
+
+class VirtualEpicsSignalRO(EpicsSignalRO):
+    """This is a test class to create derives signals from one or
+    multiple original signals...
+    """
+
+    def calc(self, val):
+        return val
+
+    def get(self, *args, **kwargs):
+        raw = super().get(*args, **kwargs)
+        return self.calc(raw)
+
+
+class MonoTheta1(VirtualEpicsSignalRO):
+    """Converts the pusher motor position to theta angle"""
+
+    _mono_a0_enc_scale1 = -1.0
+    _mono_a1_lever_length1 = 206.706
+    _mono_a2_pusher_offs1 = 6.85858
+    _mono_a3_enc_offs1 = -16.9731
+
+    def calc(self, val):
+        asin_arg = (val - self._mono_a2_pusher_offs1) / self._mono_a1_lever_length1
+        theta1 = (
+            self._mono_a0_enc_scale1 * asin(asin_arg) / 3.141592 * 180.0 + self._mono_a3_enc_offs1
+        )
+        return theta1
+
+
+class MonoTheta2(VirtualEpicsSignalRO):
+    """Converts the pusher motor position to theta angle"""
+
+    _mono_a3_enc_offs2 = -19.7072
+    _mono_a2_pusher_offs2 = 5.93905
+    _mono_a1_lever_length2 = 206.572
+    _mono_a0_enc_scale2 = -1.0
+
+    def calc(self, val):
+        asin_arg = (val - self._mono_a2_pusher_offs2) / self._mono_a1_lever_length2
+        theta2 = (
+            self._mono_a0_enc_scale2 * asin(asin_arg) / 3.141592 * 180.0 + self._mono_a3_enc_offs2
+        )
+        return theta2
+
+
+MONO_THETA2_OFFSETS_FILENAME = (
+    "/sls/X12SA/data/gac-x12saop/spec/macros/spec_data/mono_th2_offsets.txt"
+)
+
+
+class EnergyKev(VirtualEpicsSignalRO):
+    """Converts the pusher motor position to energy in keV"""
+
+    _mono_add_offs = True
+    _mono_a3_enc_offs2 = -19.7072
+    _mono_a2_pusher_offs2 = 5.93905
+    _mono_a1_lever_length2 = 206.572
+    _mono_a0_enc_scale2 = -1.0
+    _mono_hce = 12.39852066
+    _mono_2d2 = 2 * 5.43102 / sqrt(3)
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        self._th2_offsets = np.loadtxt(MONO_THETA2_OFFSETS_FILENAME)
+
+    def _mono_get_th2_offs(self, energy_keV):
+        if self._th2_offsets is None:
+            return 0.0
+
+        max_offs = np.max(self._th2_offsets[:, 1])
+
+        if max_offs > 0.2:
+            raise ValueError(
+                f"\nThe empirical moth2 corrections are as high as {max_offs} deg\nThis is unreasonable and the corrections will not be used.\n\n***PLEASE INFORM BEAMLINE SCIENTISTS***\n"
+            )
+
+        offs = np.interp(energy_keV, self._th2_offsets[:, 0], self._th2_offsets[:, 1])
+        # print(offs)
+        return offs
+
+    def calc(self, val):
+        _mono_sintheta2_to_Ekev = -self._mono_hce / self._mono_2d2
+        asin_arg = (val - self._mono_a2_pusher_offs2) / self._mono_a1_lever_length2
+        theta2_deg = (
+            self._mono_a0_enc_scale2 * asin(asin_arg) / 3.141592 * 180.0 + self._mono_a3_enc_offs2
+        )
+        E_keV = _mono_sintheta2_to_Ekev / sin(theta2_deg / 180.0 * 3.141592)
+
+        if self._mono_add_offs:
+            theta2_deg -= self._mono_get_th2_offs(E_keV)
+            E_keV = _mono_sintheta2_to_Ekev / sin(theta2_deg / 180.0 * 3.141592)
+        return E_keV
+
+
+class CurrentSum(Signal):
+    """Adds up four current signals from the parent"""
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        self.parent.ch1.subscribe(self._emit_value)
+
+    def _emit_value(self, **kwargs):
+        timestamp = kwargs.pop("timestamp", time.time())
+        self.wait_for_connection()
+        self._run_subs(sub_type="value", timestamp=timestamp, obj=self)
+
+    def get(self, *args, **kwargs):
+        # self.parent._cnt.set(1).wait()
+        self._metadata["timestamp"] = time.time()
+        total = (
+            self.parent.ch1.get()
+            + self.parent.ch2.get()
+            + self.parent.ch3.get()
+            + self.parent.ch4.get()
+        )
+        return total
+
+
+class Bpm4i(Device):
+    SUB_VALUE = "value"
+    _default_sub = SUB_VALUE
+    _cont = Component(EpicsSignal, "CONT", put_complete=True, kind=Kind.omitted)
+    _cnt = Component(EpicsSignal, "CNT", put_complete=True, kind=Kind.omitted)
+    ch1 = Component(EpicsSignalRO, "S2", auto_monitor=True, kind=Kind.omitted, name="ch1")
+    ch2 = Component(EpicsSignalRO, "S3", auto_monitor=True, kind=Kind.omitted, name="ch2")
+    ch3 = Component(EpicsSignalRO, "S4", auto_monitor=True, kind=Kind.omitted, name="ch3")
+    ch4 = Component(EpicsSignalRO, "S5", auto_monitor=True, kind=Kind.omitted, name="ch4")
+    sum = Component(CurrentSum, kind=Kind.hinted, name="sum")
+
+    def __init__(
+        self,
+        prefix="",
+        *,
+        name,
+        kind=None,
+        read_attrs=None,
+        configuration_attrs=None,
+        parent=None,
+        **kwargs,
+    ):
+        super().__init__(
+            prefix,
+            name=name,
+            kind=kind,
+            read_attrs=read_attrs,
+            configuration_attrs=configuration_attrs,
+            parent=parent,
+            **kwargs,
+        )
+        self.sum.name = self.name
+        # Ensure the scaler counts automatically
+        self._cont.wait_for_connection()
+        self._cont.set(1).wait()
+        self.ch1.subscribe(self._emit_value)
+
+    def _emit_value(self, **kwargs):
+        timestamp = kwargs.pop("timestamp", time.time())
+        self.wait_for_connection()
+        self._run_subs(sub_type=self.SUB_VALUE, timestamp=timestamp, obj=self)
+
+
+if __name__ == "__main__":
+    dut = Bpm4i("X12SA-OP1-SCALER.", name="bpm4")
+    dut.wait_for_connection()
+    print(dut.read())
+    print(dut.describe())

csaxs_bec/devices/jungfraujoch/eiger_jungfrau_joch.py

@@ -0,0 +1,166 @@
+import enum
+import os
+import threading
+import time
+from typing import Any
+
+import numpy as np
+import openapi_client
+from bec_lib.logger import bec_logger
+from openapi_client.models.dataset_settings import DatasetSettings
+from ophyd import ADComponent as ADCpt
+from ophyd import Device, EpicsSignal, EpicsSignalRO, EpicsSignalWithRBV
+from std_daq_client import StdDaqClient
+
+from ophyd_devices.interfaces.base_classes.psi_detector_base import (
+    CustomDetectorMixin,
+    PSIDetectorBase,
+)
+
+logger = bec_logger.logger
+
+
+class EigerError(Exception):
+    """Base class for exceptions in this module."""
+
+
+class EigerTimeoutError(EigerError):
+    """Raised when the Eiger does not respond in time."""
+
+class DetectorState(str, enum.Enum):
+    """Detector states for Eiger9M detector"""
+
+    IDLE = "idle"
+
+class ErrorState(int, enum.Enum):
+    """ Error State in the detector"""
+    ERROR_STATUS_WAITING = 504
+
+class Eiger9MJungfrauJochSetup(CustomDetectorMixin):
+    """Eiger setup class
+
+    Parent class: CustomDetectorMixin
+
+    """
+
+    def __init__(self, *args, parent: Device = None, **kwargs) -> None:
+        super().__init__(*args, parent=parent, **kwargs)
+        # kwargs["host"] = 
+        # kwargs["port"] = 
+        configuration = openapi_client.Configuration(host="http://sls-jfjoch-001:8080")
+        api_client = openapi_client.ApiClient(configuration)
+        self.api = openapi_client.DefaultApi(api_client)
+
+        self.actually_init()
+
+
+    def actually_init(self):
+        status = self.get_daq_status()
+        if status != DetectorState.IDLE:
+            self.api.initialize_post()
+            self.actually_wait_till_done()
+
+    def actually_wait_till_done(self):
+        while True:
+            try:
+                done = self.api.wait_till_done_post()
+            except Exception as e: #TODO: be more specific
+                if e.status != ErrorState.ERROR_STATUS_WAITING:
+                    print(e)
+                    raise e
+            else:
+                #TODO: use number_of_triggers_left for progress...
+                if done is None: # seems we get None instead of: status == 200
+                    return
+            time.sleep(0.1) #TODO
+
+    def get_daq_status(self):
+        return self.api.status_get().state
+    
+
+    def on_stage(self):
+        scan_name = self.parent.scaninfo.scan_msg.content["info"].get("scan_name", "")
+        if scan_name != "jjf_test":
+            return
+        
+        exp_time = self.parent.scaninfo.exp_time
+        readout = self.parent.scaninfo.readout_time
+        num_burst_cycle = self.parent.scaninfo.scan_msg.content["info"]["kwargs"]["num_points"]
+        cycles = self.parent.scaninfo.scan_msg.content["info"]["kwargs"]["cycles"]
+        total_points = num_burst_cycle * cycles
+        dataset_settings = DatasetSettings(
+            image_time_us = int(exp_time*1e6),
+            ntrigger=total_points,
+            beam_x_pxl = 0,
+            beam_y_pxl = 0,
+            detector_distance_mm = 100,
+            incident_energy_ke_v = 10.00,
+        )
+        self.api.start_post(dataset_settings=dataset_settings)
+
+    def on_unstage(self):
+        pass
+
+    def on_complete(self):
+        logger.info("Starting complete for {self.parent.name}")
+        scan_name = self.parent.scaninfo.scan_msg.content["info"].get("scan_name", "")
+        if scan_name != "jjf_test":
+            return
+
+        def wait_till_done_post():
+            try:
+                done = self.api.wait_till_done_post(timeout=1)
+            except Exception as e: #TODO: be more specific
+                return False
+            else:
+                #TODO: use number_of_triggers_left for progress...
+                if done is None: # seems we get None instead of: status == 200
+                    return True
+            return True
+                
+
+        status = self.wait_with_status(signal_conditions=[(wait_till_done_post, True)], check_stopped=True,timeout=10)
+        return status
+    
+    def on_stop(self):
+        self.api.cancel_post()
+
+class TriggerSource(int, enum.Enum):
+    """Trigger signals for Eiger9M detector"""
+
+    AUTO = 0
+    TRIGGER = 1
+    GATING = 2
+    BURST_TRIGGER = 3
+
+
+
+
+
+class Eiger9McSAXS(PSIDetectorBase):
+    """
+    Eiger9M detector for CSAXS
+
+    Parent class: PSIDetectorBase
+
+    class attributes:
+        custom_prepare_cls (FalconSetup)        : Custom detector setup class for cSAXS,
+                                                  inherits from CustomDetectorMixin
+        PSIDetectorBase.set_min_readout (float) : Minimum readout time for the detector
+        Various EpicsPVs for controlling the detector
+    """
+
+    # Specify which functions are revealed to the user in BEC client
+    USER_ACCESS = []
+
+    # specify Setup class
+    custom_prepare_cls = Eiger9MJungfrauJochSetup
+    # specify minimum readout time for detector and timeout for checks after unstage
+    MIN_READOUT = 20e-6
+    TIMEOUT_FOR_SIGNALS = 5
+    # specify class attributes
+
+
+if __name__ == "__main__":
+    eiger = Eiger9McSAXS(name="eiger", prefix="X12SA-ES-EIGER9M:")
+    eiger.custom_prepare.client.init()

csaxs_bec/devices/jungfraujoch/jungfraujoch_client.py

@@ -0,0 +1,84 @@
+import string
+from time import sleep
+
+import openapi_client
+
+ERROR_STATUS_WAITING = 504
+STATUS_IDLE = "Idle"
+
+# allow / to enable creation of subfolders
+ALLOWED_CHARS = set(
+    string.ascii_letters + string.digits + "_-+/"
+)
+
+
+def character_cleanup(s, default="_", allowed=ALLOWED_CHARS):
+    return "".join(i if i in allowed else default for i in s)
+
+
+
+class JFJClient:
+
+    def __init__(self, host):
+        configuration = openapi_client.Configuration(host=host)
+        api_client = openapi_client.ApiClient(configuration)
+        self.api = openapi_client.DefaultApi(api_client)
+
+        self.actually_init()
+
+
+    def actually_init(self):
+        status = self.get_daq_status()
+        if status != STATUS_IDLE:
+            self.api.initialize_post()
+            self.actually_wait_till_done()
+
+        status = self.get_daq_status()
+        if status != STATUS_IDLE:
+            raise RuntimeError(f"status is not {STATUS_IDLE} but: {status}")
+
+
+    def actually_wait_till_done(self):
+        while True:
+            try:
+                done = self.api.wait_till_done_post()
+            except Exception as e: #TODO: be more specific
+                if e.status != ERROR_STATUS_WAITING:
+                    print(e)
+                    raise e
+            else:
+                #TODO: use number_of_triggers_left for progress...
+                if done is None: # seems we get None instead of: status == 200
+                    return
+            sleep(0.1) #TODO
+
+
+    def get_daq_status(self):
+        return self.api.status_get().state
+
+    def get_detector_status(self):
+        return self.api.detector_status_get()#.state #TODO
+
+    def get_detectors(self):
+        return self.api.config_select_detector_get()
+
+    def get_detector_config(self):
+        return self.api.config_detector_get()
+
+
+    def acquire(self, file_prefix, **kwargs):
+        status = self.get_daq_status()
+        if status != STATUS_IDLE:
+            raise RuntimeError(f"status is not {STATUS_IDLE} but: {status}")
+
+        file_prefix = character_cleanup(file_prefix)
+        dataset_settings = openapi_client.DatasetSettings(file_prefix=file_prefix, **kwargs)
+
+        self.api.start_post(dataset_settings=dataset_settings)
+        self.actually_wait_till_done()
+
+
+    def take_pedestal(self):
+        self.api.pedestal_post()
+        self.actually_wait_till_done()
+

csaxs_bec/devices/npoint/__init__.py

@@ -0,0 +1 @@
+from .npoint import NPointAxis, NPointController

csaxs_bec/devices/npoint/npoint.py

@@ -0,0 +1,588 @@
+import functools
+import threading
+import time
+
+import numpy as np
+from ophyd import Component as Cpt
+from ophyd import Device, PositionerBase, Signal, SignalRO
+from ophyd.status import wait as status_wait
+from ophyd.utils import LimitError, ReadOnlyError
+from ophyd_devices.utils.controller import Controller, threadlocked
+from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
+from prettytable import PrettyTable
+
+
+def channel_checked(fcn):
+    """Decorator to catch attempted access to channels that are not available."""
+
+    @functools.wraps(fcn)
+    def wrapper(self, *args, **kwargs):
+        # pylint: disable=protected-access
+        self._check_channel(args[0])
+        return fcn(self, *args, **kwargs)
+
+    return wrapper
+
+
+class NpointError(Exception):
+    """
+    Base class for Npoint errors.
+    """
+
+
+class NPointController(Controller):
+    """
+    Controller for nPoint piezo stages. This class inherits from the Controller class
+    and provides a singleton interface to the nPoint controller.
+    """
+
+    _axes_per_controller = 3
+    _read_single_loc_bit = "A0"
+    _write_single_loc_bit = "A2"
+    _trailing_bit = "55"
+    _range_offset = "78"
+    _channel_base = ["11", "83"]
+
+    def show_all(self) -> None:
+        """Display current status of all channels
+
+        Returns:
+            None
+        """
+        if not self.connected:
+            print("npoint controller is currently disabled.")
+            return
+        print(f"Connected to controller at {self._socket_host}:{self._socket_port}")
+        t = PrettyTable()
+        t.field_names = ["Channel", "Range", "Position", "Target"]
+        for ii in range(self._axes_per_controller):
+            t.add_row([ii, self._get_range(ii), self.get_current_pos(ii), self.get_target_pos(ii)])
+        print(t)
+
+    @channel_checked
+    def _get_range(self, channel: int) -> int:
+        """Get the range of the specified channel axis.
+
+        Args:
+            channel (int): Channel for which the range should be requested.
+
+        Raises:
+            RuntimeError: Raised if the received message doesn't have the expected number of bytes (10).
+
+        Returns:
+            int: Range
+        """
+
+        # for first channel: 0x11 83 10 78
+        addr = self._channel_base.copy()
+        addr.extend([f"{16 + 16 * channel:x}", self._range_offset])
+        send_buffer = self.__read_single_location_buffer(addr)
+
+        recvd = self._put_and_receive(send_buffer)
+        if len(recvd) != 10:
+            raise RuntimeError(
+                f"Received buffer is corrupted. Expected 10 bytes and instead got {len(recvd)}"
+            )
+        device_range = self._hex_list_to_int(recvd[5:-1], signed=False)
+        return device_range
+
+    @channel_checked
+    def get_current_pos(self, channel: int) -> float:
+        # for first channel: 0x11 83 13 34
+        addr = self._channel_base.copy()
+        addr.extend([f"{19 + 16 * channel:x}", "34"])
+        send_buffer = self.__read_single_location_buffer(addr)
+
+        recvd = self._put_and_receive(send_buffer)
+
+        pos_buffer = recvd[5:-1]
+        pos = self._hex_list_to_int(pos_buffer) / 1048574 * 100
+        return pos
+
+    @channel_checked
+    def set_target_pos(self, channel: int, pos: float) -> None:
+        # for first channel: 0x11 83 12 18 00 00 00 00
+        addr = self._channel_base.copy()
+        addr.extend([f"{18 + channel * 16:x}", "18"])
+
+        target = int(round(1048574 / 100 * pos))
+        data = [f"{m:02x}" for m in target.to_bytes(4, byteorder="big", signed=True)]
+
+        send_buffer = self.__write_single_location_buffer(addr, data)
+        self._put(send_buffer)
+
+    @channel_checked
+    def get_target_pos(self, channel: int) -> float:
+        # for first channel: 0x11 83 12 18
+        addr = self._channel_base.copy()
+        addr.extend([f"{18 + channel * 16:x}", "18"])
+        send_buffer = self.__read_single_location_buffer(addr)
+
+        recvd = self._put_and_receive(send_buffer)
+        pos_buffer = recvd[5:-1]
+        pos = self._hex_list_to_int(pos_buffer) / 1048574 * 100
+        return pos
+
+    @channel_checked
+    def _set_servo(self, channel: int, enable: bool) -> None:
+        print("Not tested")
+        return
+        # # for first channel: 0x11 83 10 84 00 00 00 00
+        # addr = self._channel_base.copy()
+        # addr.extend([f"{16 + channel * 16:x}", "84"])
+
+        # if enable:
+        #     data = ["00"] * 3 + ["01"]
+        # else:
+        #     data = ["00"] * 4
+        # send_buffer = self.__write_single_location_buffer(addr, data)
+
+        # self._put(send_buffer)
+
+    @channel_checked
+    def _get_servo(self, channel: int) -> int:
+        # for first channel: 0x11 83 10 84 00 00 00 00
+        addr = self._channel_base.copy()
+        addr.extend([f"{16 + channel * 16:x}", "84"])
+        send_buffer = self.__read_single_location_buffer(addr)
+
+        recvd = self._put_and_receive(send_buffer)
+        buffer = recvd[5:-1]
+        status = self._hex_list_to_int(buffer)
+        return status
+
+    @threadlocked
+    def _put(self, buffer: list) -> None:
+        """Translates a list of hex values to bytes and sends them to the socket.
+
+        Args:
+            buffer (list): List of hex values without leading 0x
+
+        Returns:
+            None
+        """
+
+        buffer = b"".join([bytes.fromhex(m) for m in buffer])
+        self.sock.put(buffer)
+
+    @threadlocked
+    def _put_and_receive(self, msg_hex_list: list) -> list:
+        """Send msg to socket and wait for a reply.
+
+        Args:
+            msg_hex_list (list): List of hex values without leading 0x.
+
+        Returns:
+            list: Received message as a list of hex values
+        """
+
+        buffer = b"".join([bytes.fromhex(m) for m in msg_hex_list])
+        self.sock.put(buffer)
+        recv_msg = self.sock.receive()
+        recv_hex_list = [hex(m) for m in recv_msg]
+        self._verify_received_msg(msg_hex_list, recv_hex_list)
+        return recv_hex_list
+
+    def _verify_received_msg(self, in_list: list, out_list: list) -> None:
+        """Ensure that the first address bits of sent and received messages are the same.
+
+        Args:
+            in_list (list): list containing the sent message
+            out_list (list): list containing the received message
+
+        Raises:
+            RuntimeError: Raised if first two address bits of 'in' and 'out' are not identical
+
+        Returns:
+            None
+        """
+
+        # first, translate hex (str) values to int
+        in_list_int = [int(val, 16) for val in in_list]
+        out_list_int = [int(val, 16) for val in out_list]
+
+        # first ints of the reply should be the same. Otherwise something went wrong
+        if not in_list_int[:2] == out_list_int[:2]:
+            raise RuntimeError("Connection failure. Please restart the controller.")
+
+    def _check_channel(self, channel: int) -> None:
+        if channel >= self._axes_per_controller:
+            raise ValueError(
+                f"Channel {channel+1} exceeds the available number of channels ({self._axes_per_controller})"
+            )
+
+    @staticmethod
+    def _hex_list_to_int(in_buffer: list, byteorder="little", signed=True) -> int:
+        """Translate hex list to int.
+
+        Args:
+            in_buffer (list): Input buffer; received as list of hex values
+            byteorder (str, optional): Byteorder of in_buffer. Defaults to "little".
+            signed (bool, optional): Whether the hex list represents a signed int. Defaults to True.
+
+        Returns:
+            int: Translated integer.
+        """
+        if byteorder == "little":
+            in_buffer.reverse()
+
+        # make sure that all hex strings have the same format ("FF")
+        val_hex = [f"{int(m, 16):02x}" for m in in_buffer]
+
+        val_bytes = [bytes.fromhex(m) for m in val_hex]
+        val = int.from_bytes(b"".join(val_bytes), byteorder="big", signed=signed)
+        return val
+
+    @staticmethod
+    def __read_single_location_buffer(addr) -> list:
+        """Prepare buffer for reading from a single memory location (hex address).
+        Number of bytes: 6
+        Format: 0xA0 [addr] 0x55
+        Return Value: 0xA0 [addr] [data] 0x55
+        Sample Hex Transmission from PC to LC.400: A0 18 12 83 11 55
+        Sample Hex Return Transmission from LC.400 to PC: A0 18 12 83 11 64 00 00 00 55
+
+        Args:
+            addr (list): Hex address to read from
+
+        Returns:
+            list: List of hex values representing the read instruction.
+        """
+        buffer = []
+        buffer.append(NPointController._read_single_loc_bit)
+        if isinstance(addr, list):
+            addr.reverse()
+            buffer.extend(addr)
+        else:
+            buffer.append(addr)
+        buffer.append(NPointController._trailing_bit)
+
+        return buffer
+
+    @staticmethod
+    def __write_single_location_buffer(addr: list, data: list) -> list:
+        """Prepare buffer for writing to a single memory location (hex address).
+        Number of bytes: 10
+        Format: 0xA2 [addr] [data] 0x55
+        Return Value: none
+        Sample Hex Transmission from PC to C.400: A2 18 12 83 11 E8 03 00 00 55
+
+        Args:
+            addr (list): List of hex values representing the address to write to.
+            data (list): List of hex values representing the data that should be written.
+
+        Returns:
+            list: List of hex values representing the write instruction.
+        """
+        buffer = []
+        buffer.append(NPointController._write_single_loc_bit)
+        if isinstance(addr, list):
+            addr.reverse()
+            buffer.extend(addr)
+        else:
+            buffer.append(addr)
+
+        if isinstance(data, list):
+            data.reverse()
+            buffer.extend(data)
+        else:
+            buffer.append(data)
+        buffer.append(NPointController._trailing_bit)
+        return buffer
+
+    @staticmethod
+    def __read_array():
+        raise NotImplementedError
+
+    @staticmethod
+    def __write_next_command():
+        raise NotImplementedError
+
+    def __del__(self):
+        if self.connected:
+            print("Closing npoint socket")
+            self.off()
+
+
+class NpointSignalBase(SocketSignal):
+    """
+    Base class for nPoint signals.
+    """
+
+    def __init__(self, signal_name, **kwargs):
+        self.signal_name = signal_name
+        super().__init__(**kwargs)
+        self.controller: NPointController = self.parent.controller
+        self.sock = self.parent.controller.sock
+
+
+class NpointSignalRO(NpointSignalBase):
+    """
+    Base class for read-only signals.
+    """
+
+    def __init__(self, signal_name, **kwargs):
+        super().__init__(signal_name, **kwargs)
+        self._metadata["write_access"] = False
+
+    @threadlocked
+    def _socket_set(self, val):
+        raise ReadOnlyError("Read-only signals cannot be set")
+
+
+class NpointReadbackSignal(NpointSignalRO):
+    """
+    Signal to read the current position of an nPoint piezo stage.
+    """
+
+    @threadlocked
+    def _socket_get(self):
+
+        return self.controller.get_current_pos(self.parent.axis_Id_numeric) * self.parent.sign
+
+
+class NpointSetpointSignal(NpointSignalBase):
+    """
+    Signal to set the target position of an nPoint piezo stage.
+    """
+
+    setpoint = 0
+
+    @threadlocked
+    def _socket_get(self):
+        return self.controller.get_target_pos(self.parent.axis_Id_numeric) * self.parent.sign
+
+    @threadlocked
+    def _socket_set(self, val):
+        target_val = val * self.parent.sign
+        self.setpoint = target_val
+        return self.controller.set_target_pos(
+            self.parent.axis_Id_numeric, target_val * self.parent.sign
+        )
+
+
+class NpointMotorIsMoving(SignalRO):
+    """
+    Signal to indicate whether the motor is currently moving or not.
+    """
+
+    def set_motor_is_moving(self, value: int) -> None:
+        """
+        Set the motor_is_moving signal to the specified value.
+
+        Args:
+            value (int): 1 if the motor is moving, 0 otherwise.
+        """
+        self._readback = value
+
+
+class NPointAxis(Device, PositionerBase):
+    """
+    NPointAxis class, which inherits from Device and PositionerBase. This class
+    represents an axis of an nPoint piezo stage and provides the necessary
+    functionality to move the axis and read its current position.
+    """
+
+    USER_ACCESS = ["controller"]
+    readback = Cpt(NpointReadbackSignal, signal_name="readback", kind="hinted")
+    user_setpoint = Cpt(NpointSetpointSignal, signal_name="setpoint")
+
+    motor_is_moving = Cpt(NpointMotorIsMoving, value=0, kind="normal")
+    settling_time = Cpt(Signal, value=0.1, kind="config")
+    high_limit_travel = Cpt(Signal, value=0, kind="omitted")
+    low_limit_travel = Cpt(Signal, value=0, kind="omitted")
+
+    SUB_READBACK = "readback"
+    SUB_CONNECTION_CHANGE = "connection_change"
+    _default_sub = SUB_READBACK
+
+    def __init__(
+        self,
+        axis_Id,
+        prefix="",
+        *,
+        name,
+        kind=None,
+        read_attrs=None,
+        configuration_attrs=None,
+        parent=None,
+        host="mpc2680.psi.ch",
+        port=8085,
+        limits=None,
+        sign=1,
+        socket_cls=SocketIO,
+        tolerance: float = 0.05,
+        **kwargs,
+    ):
+        self.controller = NPointController(
+            socket_cls=socket_cls, socket_host=host, socket_port=port
+        )
+        self.axis_Id = axis_Id
+        self.sign = sign
+        self.controller.set_axis(axis=self, axis_nr=self.axis_Id_numeric)
+        self.tolerance = tolerance
+
+        super().__init__(
+            prefix,
+            name=name,
+            kind=kind,
+            read_attrs=read_attrs,
+            configuration_attrs=configuration_attrs,
+            parent=parent,
+            **kwargs,
+        )
+        self.readback.name = self.name
+        self.controller.subscribe(
+            self._update_connection_state, event_type=self.SUB_CONNECTION_CHANGE
+        )
+        self._update_connection_state()
+        if limits is not None:
+            assert len(limits) == 2
+            self.low_limit_travel.put(limits[0])
+            self.high_limit_travel.put(limits[1])
+
+    @property
+    def limits(self):
+        return (self.low_limit_travel.get(), self.high_limit_travel.get())
+
+    @property
+    def low_limit(self):
+        return self.limits[0]
+
+    @property
+    def high_limit(self):
+        return self.limits[1]
+
+    def check_value(self, pos):
+        """Check that the position is within the soft limits"""
+        low_limit, high_limit = self.limits
+
+        if low_limit < high_limit and not (low_limit <= pos <= high_limit):
+            raise LimitError(f"position={pos} not within limits {self.limits}")
+
+    def _update_connection_state(self, **kwargs):
+        for walk in self.walk_signals():
+            walk.item._metadata["connected"] = self.controller.connected
+
+    @raise_if_disconnected
+    def move(self, position, wait=True, **kwargs):
+        """Move to a specified position, optionally waiting for motion to
+        complete.
+
+        Parameters
+        ----------
+        position
+            Position to move to
+        moved_cb : callable
+            Call this callback when movement has finished. This callback must
+            accept one keyword argument: 'obj' which will be set to this
+            positioner instance.
+        timeout : float, optional
+            Maximum time to wait for the motion. If None, the default timeout
+            for this positioner is used.
+
+        Returns
+        -------
+        status : MoveStatus
+
+        Raises
+        ------
+        TimeoutError
+            When motion takes longer than `timeout`
+        ValueError
+            On invalid positions
+        RuntimeError
+            If motion fails other than timing out
+        """
+        self._started_moving = False
+        timeout = kwargs.pop("timeout", 10)
+        status = super().move(position, timeout=timeout, **kwargs)
+        self.user_setpoint.put(position, wait=False)
+
+        def move_and_finish():
+            self.motor_is_moving.set_motor_is_moving(1)
+            val = self.readback.read()
+            self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
+            time.sleep(self.settling_time.get())
+            self.motor_is_moving.set_motor_is_moving(0)
+            val = self.readback.read()
+            self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
+            success = np.isclose(val[self.name]["value"], position, atol=self.tolerance)
+            self._done_moving(success=success)
+
+        threading.Thread(target=move_and_finish, daemon=True).start()
+        try:
+            if wait:
+                status_wait(status)
+        except KeyboardInterrupt:
+            self.stop()
+            raise
+
+        return status
+
+    @property
+    def axis_Id(self):
+        """
+        Return the axis_Id_alpha.
+        """
+        return self._axis_Id_alpha
+
+    @axis_Id.setter
+    def axis_Id(self, val: str):
+        """
+        Set the axis_Id_alpha and axis_Id_numeric based on the alpha value.
+
+        Args:
+            val (str): Single-character axis identifier.
+        """
+        if isinstance(val, str):
+            if len(val) != 1:
+                raise ValueError("Only single-character axis_Ids are supported.")
+            self._axis_Id_alpha = val
+            self._axis_Id_numeric = ord(val.lower()) - 97
+        else:
+            raise TypeError(f"Expected value of type str but received {type(val)}")
+
+    @property
+    def axis_Id_numeric(self):
+        """
+        Return the numeric value of the axis_Id.
+        """
+        return self._axis_Id_numeric
+
+    @axis_Id_numeric.setter
+    def axis_Id_numeric(self, val: int):
+        """
+        Set the axis_Id_numeric and axis_Id_alpha based on the numeric value.
+
+        Args:
+            val (int): Numeric axis identifier.
+        """
+        if isinstance(val, int):
+            if val > 26:
+                raise ValueError("Numeric value exceeds supported range.")
+            self._axis_Id_alpha = val
+            self._axis_Id_numeric = (chr(val + 97)).capitalize()
+        else:
+            raise TypeError(f"Expected value of type int but received {type(val)}")
+
+    @property
+    def egu(self):
+        """The engineering units (EGU) for positions"""
+        return "um"
+
+    def stage(self) -> list[object]:
+        return super().stage()
+
+    def unstage(self) -> list[object]:
+        return super().unstage()
+
+
+if __name__ == "__main__":
+    npx = NPointAxis(axis_Id="A", name="npx", host="nPoint000003.psi.ch", port=23)
+    npy = NPointAxis(axis_Id="B", name="npy", host="nPoint000003.psi.ch", port=23)
+    npx.controller.on()
+    print("socket is open, axis is ready!")
+    npx.move(10)
+    print(npx.read())
+    npx.controller.off()

csaxs_bec/devices/omny/eiger1p5m.py

@@ -0,0 +1,174 @@
+import os
+import time
+
+from bec_lib import bec_logger, messages
+from bec_lib.endpoints import MessageEndpoints
+from ophyd import Component as Cpt
+from ophyd import Device, EpicsSignal, EpicsSignalRO, Signal
+
+logger = bec_logger.logger
+
+
+class _SLSDetectorConfigSignal(Signal):
+    def put(self, value, *, timestamp=None, force=False):
+        self._readback = value
+        self.parent.sim_state[self.name] = value
+
+    def get(self):
+        self._readback = self.parent.sim_state[self.name]
+        return self.parent.sim_state[self.name]
+
+
+# if (_eigerinvac_is_on == 1) {
+#   tic("setup eiger in vac")
+#   epics_put("X12SA-ES1-DOUBLE-02",0)
+#     unix(sprintf("mkdir -p /sls/X12SA/data/%s/Data10/eiger_4/S%05d-%05d/S%05d",_username,int((SCAN_N+1)/1000)*1000,int((SCAN_N+1)/1000)*1000+999,SCAN_N+1))
+
+#     epics_put("XOMNYI-DET-OUTDIR:0.DESC",sprintf("/sls/X12SA/data/%s/Data10/eiger_4/",_username))
+#     epics_put("XOMNYI-DET-OUTDIR:1.DESC",sprintf("S%05d-%05d/S%05d",int((SCAN_N+1)/1000)*1000,int((SCAN_N+1)/1000)*1000+999,SCAN_N+1))
+#    epics_put("XOMNYI-DET-CYCLES:0", _lamni_scan_numberofpts)
+#     epics_put("XOMNYI-DET-EXPTIME:0", $2)
+#     epics_put("XOMNYI-DET-INDEX:0", SCAN_N+1)
+
+#     epics_put("XOMNYI-DET-CONTROL:0.DESC", "begin")
+#     if(_eigerinvac_burst==0)
+#     {
+#       epics_put("XOMNYI-DET-CYCLES:0", _lamni_scan_numberofpts)
+#       epics_put("XOMNYI-DET-EXPTIME:0", $2)
+#       metadata_set("eiger_burst", "int", 1, 1)
+#     }
+#     else
+#     {
+#       metadata_set("eiger_burst", "int", 1, (int($2/0.0085)))
+#       epics_put("XOMNYI-DET-CYCLES:0", _lamni_scan_numberofpts*(int($2/0.0085)))
+#       epics_put("XOMNYI-DET-EXPTIME:0", 0.005)
+#     }
+#  global _DC_acquisition_ID
+#     _DC_acquisition_ID = SCAN_N+1
+
+
+class Eiger1p5MDetector(Device):
+    USER_ACCESS = []
+    file_path = Cpt(EpicsSignal, name="file_path", read_pv="XOMNYI-DET-OUTDIR:0.DESC")
+    detector_out_scan_dir = Cpt(
+        EpicsSignal, name="detector_out_scan_dir", read_pv="XOMNYI-DET-OUTDIR:1.DESC"
+    )
+    frames = Cpt(EpicsSignal, name="frames", read_pv="XOMNYI-DET-CYCLES:0")
+    exp_time = Cpt(EpicsSignal, name="exp_time", read_pv="XOMNYI-DET-EXPTIME:0")
+    index = Cpt(EpicsSignal, name="index", read_pv="XOMNYI-DET-INDEX:0")
+    detector_control = Cpt(
+        EpicsSignal, name="detector_control", read_pv="XOMNYI-DET-CONTROL:0.DESC"
+    )
+    framescaught = Cpt(EpicsSignalRO, name="framescaught", read_pv="XOMNYI-DET-CONTROL:0.VAL")
+
+    file_pattern = Cpt(_SLSDetectorConfigSignal, name="file_pattern", value="")
+    burst = Cpt(_SLSDetectorConfigSignal, name="burst", value=1)
+    save_file = Cpt(_SLSDetectorConfigSignal, name="save_file", value=False)
+
+    def __init__(self, *, name, kind=None, parent=None, device_manager=None, **kwargs):
+        self.device_manager = device_manager
+        super().__init__(name=name, parent=parent, kind=kind, **kwargs)
+        self.sim_state = {
+            f"{self.name}_file_path": "~/Data10/data/",
+            f"{self.name}_file_pattern": f"{self.name}_{{:05d}}.h5",
+            f"{self.name}_frames": 1,
+            f"{self.name}_burst": 1,
+            f"{self.name}_save_file": False,
+            f"{self.name}_exp_time": 0,
+        }
+        self._stopped = False
+        self.file_name = ""
+        self.metadata = {}
+        self.username = "e20588"  # TODO get from config
+
+    def _get_current_scan_msg(self) -> messages.ScanStatusMessage:
+        return self.device_manager.connector.get(MessageEndpoints.scan_status())
+
+    def _get_scan_dir(self, scan_bundle, scan_number, leading_zeros=None):
+        if leading_zeros is None:
+            leading_zeros = len(str(scan_bundle))
+        floor_dir = scan_number // scan_bundle * scan_bundle
+        return f"S{floor_dir:0{leading_zeros}d}-{floor_dir+scan_bundle-1:0{leading_zeros}d}/S{scan_number:0{leading_zeros}d}"
+
+    def stage(self) -> list[object]:
+        scan_msg = self._get_current_scan_msg()
+        self.metadata = {
+            "scan_id": scan_msg.content["scan_id"],
+            "RID": scan_msg.content["info"]["RID"],
+            "queue_id": scan_msg.content["info"]["queue_id"],
+        }
+        scan_number = scan_msg.content["info"]["scan_number"]
+        exp_time = scan_msg.content["info"]["exp_time"]
+
+        # set base path for detector output
+        self.file_path.set(f"/sls/X12SA/data/{self.username}/Data10/eiger_4/")
+
+        # set scan directory (e.g. S00000-00999/S00020)
+        scan_dir = self._get_scan_dir(scan_bundle=1000, scan_number=scan_number, leading_zeros=5)
+        self.detector_out_scan_dir.set(scan_dir)
+
+        self.file_name = os.path.join(f"/sls/X12SA/data/{self.username}/Data10/eiger_4/", scan_dir)
+
+        # set the scan number
+        self.index.set(scan_number)
+
+        # set the number of frames
+        self.frames.set(scan_msg.content["info"]["num_points"])
+
+        # set the exposure time
+        self.exp_time.set(exp_time)
+
+        # wait for detector control to become "ready"
+        while True:
+            det_ctrl = self.detector_control.get()
+            if det_ctrl == "ready":
+                break
+            time.sleep(0.005)
+
+        # send the "begin" flag to start processing the above commands
+        self.detector_control.set("begin")
+
+        # wait for detector to be "armed"
+        logger.info("Waiting for detector setup")
+        while True:
+            det_ctrl = self.detector_control.get()
+            if det_ctrl == "armed":
+                break
+            time.sleep(0.005)
+
+        self.detector_control.put("acquiring")
+
+        return super().stage()
+
+    def unstage(self) -> list[object]:
+        time_waited = 0
+        sleep_time = 0.2
+        framesexpected = self.frames.get()
+        while True:
+            framescaught = self.framescaught.get()
+            if self.framescaught.get() < framesexpected:
+                logger.info(
+                    f"Waiting for frames: Transferred {framescaught} out of {framesexpected}"
+                )
+                time_waited += sleep_time
+                time.sleep(sleep_time)
+                if self._stopped:
+                    break
+                continue
+            break
+        self.detector_control.put("stop")
+        signals = {"config": self.read(), "data": self.file_name}
+        msg = messages.DeviceMessage(signals=signals, metadata=self.metadata)
+        self.device_manager.connector.set_and_publish(MessageEndpoints.device_read(self.name), msg)
+        self._stopped = False
+        return super().unstage()
+
+    def stop(self, *, success=False):
+        self.detector_control.put("stop")
+        super().stop(success=success)
+        self._stopped = True
+
+
+if __name__ == "__main__":
+    eiger = Eiger1p5MDetector(name="eiger1p5m", label="eiger1p5m")
+    breakpoint()

csaxs_bec/devices/omny/flomni_sample_storage.py

@@ -0,0 +1,116 @@
+import time
+
+from ophyd import Component as Cpt
+from ophyd import Device
+from ophyd import DynamicDeviceComponent as Dcpt
+from ophyd import EpicsSignal
+from prettytable import PrettyTable
+
+
+class FlomniSampleStorageError(Exception):
+    pass
+
+
+class FlomniSampleStorage(Device):
+    USER_ACCESS = [
+        "is_sample_slot_used",
+        "is_sample_in_gripper",
+        "set_sample_slot",
+        "unset_sample_slot",
+        "set_sample_in_gripper",
+        "unset_sample_in_gripper",
+        "show_all",
+    ]
+    SUB_VALUE = "value"
+    _default_sub = SUB_VALUE
+    sample_placed = {
+        f"sample{i}": (EpicsSignal, f"XOMNY-SAMPLE_DB_flomni{i}:GET", {}) for i in range(21)
+    }
+    sample_placed = Dcpt(sample_placed)
+
+    sample_names = {
+        f"sample{i}": (EpicsSignal, f"XOMNY-SAMPLE_DB_flomni{i}:GET.DESC", {"string": True})
+        for i in range(21)
+    }
+    sample_names = Dcpt(sample_names)
+
+    sample_in_gripper = Cpt(
+        EpicsSignal, name="sample_in_gripper", read_pv="XOMNY-SAMPLE_DB_flomni100:GET"
+    )
+    sample_in_gripper_name = Cpt(
+        EpicsSignal,
+        name="sample_in_gripper_name",
+        read_pv="XOMNY-SAMPLE_DB_flomni100:GET.DESC",
+        string=True,
+    )
+
+    def __init__(self, prefix="", *, name, **kwargs):
+        super().__init__(prefix, name=name, **kwargs)
+        self.sample_placed.sample1.subscribe(self._emit_value)
+
+    def _emit_value(self, **kwargs):
+        timestamp = kwargs.pop("timestamp", time.time())
+        self.wait_for_connection()
+        self._run_subs(sub_type=self.SUB_VALUE, timestamp=timestamp, obj=self)
+
+    def set_sample_slot(self, slot_nr: int, name: str) -> bool:
+        if slot_nr > 20:
+            raise FlomniSampleStorageError(f"Invalid slot number {slot_nr}.")
+
+        getattr(self.sample_placed, f"sample{slot_nr}").set(1)
+        getattr(self.sample_names, f"sample{slot_nr}").set(name)
+
+    def unset_sample_slot(self, slot_nr: int) -> bool:
+        if slot_nr > 20:
+            raise FlomniSampleStorageError(f"Invalid slot number {slot_nr}.")
+
+        getattr(self.sample_placed, f"sample{slot_nr}").set(0)
+        getattr(self.sample_names, f"sample{slot_nr}").set("-")
+
+    def set_sample_in_gripper(self, name: str) -> bool:
+        self.sample_in_gripper.set(1)
+        self.sample_in_gripper_name.set(name)
+
+    def unset_sample_in_gripper(self) -> bool:
+        self.sample_in_gripper.set(0)
+        self.sample_in_gripper_name.set("-")
+
+    def is_sample_slot_used(self, slot_nr: int) -> bool:
+        val = getattr(self.sample_placed, f"sample{slot_nr}").get()
+        return bool(val)
+
+    def is_sample_in_gripper(self) -> bool:
+        val = self.sample_in_gripper.get()
+        return bool(val)
+
+    def get_sample_name(self, slot_nr) -> str:
+        val = getattr(self.sample_names, f"sample{slot_nr}").get()
+        return str(val)
+
+    def show_all(self):
+        t = PrettyTable()
+        t.title = "flOMNI sample storage"
+        field_names = [""]
+        field_names.extend(str(ax) for ax in range(1, 11))
+        for ct in range(0, 2):
+            t.field_names = field_names
+            row = ["Container " + str(ct)]
+            row.extend(
+                "used" if self.is_sample_slot_used(slot_nr) else "free"
+                for slot_nr in range((ct * 10) + 1, (ct * 10) + 11)
+            )
+            t.add_row(row)
+        print(t)
+        print("\n\nFollowing samples are currently loaded:\n")
+        for ct in range(1, 21):
+            if self.is_sample_slot_used(ct):
+                print(f"  Position {ct:2.0f}: {self.get_sample_name(ct)}")
+        if self.sample_in_gripper.get():
+            print(f"\n  Gripper:        {self.sample_in_gripper_name.get()}\n")
+        else:
+            print(f"\n  Gripper:        no sample\n")
+
+        if self.is_sample_slot_used(0):
+            print(f"  flOMNI stage:   {self.get_sample_name(0)}\n")
+        else:
+            print(f"  flOMNI stage:   no sample\n")

csaxs_bec/devices/omny/galil/__init__.py

@@ -0,0 +1,4 @@
+from .fgalil_ophyd import FlomniGalilController, FlomniGalilMotor
+from .fupr_ophyd import FuprGalilController, FuprGalilMotor
+from .lgalil_ophyd import LamniGalilController, LamniGalilMotor
+from .sgalil_ophyd import SGalilMotor

csaxs_bec/devices/omny/galil/csaxs_sgalil_triggering.drawio

@@ -0,0 +1,201 @@
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+        <mxCell id="O8qpyw_Cq4v1m74naMs6-43" value="triggered on falling edge" style="text;html=1;strokeColor=none;fillColor=none;spacingLeft=4;spacingRight=4;whiteSpace=wrap;overflow=hidden;rotatable=0;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;" vertex="1" parent="O8qpyw_Cq4v1m74naMs6-42">
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+        </mxCell>
+        <mxCell id="O8qpyw_Cq4v1m74naMs6-44" value="&lt;div align=&quot;justify&quot;&gt;&lt;span style=&quot;background-color: rgb(255, 255, 255);&quot;&gt;channel AB&lt;/span&gt;&lt;/div&gt;&lt;div align=&quot;justify&quot;&gt;&lt;div&gt;&lt;span style=&quot;background-color: rgb(255, 255, 255);&quot;&gt;delay:0&lt;br&gt;&lt;/span&gt;&lt;/div&gt;&lt;span style=&quot;background-color: rgb(255, 255, 255);&quot;&gt;width: fsh opening (20ms)&lt;br&gt;+ N_points * exp_time&lt;br&gt;+ (N_points-1) * readout time&lt;br&gt;&lt;/span&gt;&lt;/div&gt;" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=default;" vertex="1" parent="1">
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+        <mxCell id="O8qpyw_Cq4v1m74naMs6-45" value="&lt;div align=&quot;justify&quot;&gt;&lt;span style=&quot;background-color: rgb(255, 255, 255);&quot;&gt;channel AB&lt;/span&gt;&lt;/div&gt;&lt;div align=&quot;justify&quot;&gt;&lt;div&gt;&lt;span style=&quot;background-color: rgb(255, 255, 255);&quot;&gt;delay:0&lt;br&gt;&lt;/span&gt;&lt;/div&gt;&lt;span style=&quot;background-color: rgb(255, 255, 255);&quot;&gt;width: exp_time &lt;br&gt;or less&lt;br&gt;&lt;/span&gt;&lt;/div&gt;" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=default;" vertex="1" parent="1">
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+        <mxCell id="O8qpyw_Cq4v1m74naMs6-47" value="&lt;div align=&quot;justify&quot;&gt;&lt;span style=&quot;background-color: rgb(255, 255, 255);&quot;&gt;channel EF&lt;br&gt;&lt;/span&gt;&lt;/div&gt;&lt;div align=&quot;justify&quot;&gt;&lt;div&gt;&lt;span style=&quot;background-color: rgb(255, 255, 255);&quot;&gt;delay:0&lt;br&gt;&lt;/span&gt;&lt;/div&gt;&lt;span style=&quot;background-color: rgb(255, 255, 255);&quot;&gt;width: exp_time/2 &lt;br&gt;&lt;/span&gt;&lt;/div&gt;" style="text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=default;" vertex="1" parent="1">
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csaxs_bec/devices/omny/galil/fgalil_ophyd.py

@@ -0,0 +1,370 @@
+import threading
+import time
+
+import numpy as np
+from bec_lib import bec_logger
+from ophyd import Component as Cpt
+from ophyd import Device, PositionerBase, Signal
+from ophyd.status import wait as status_wait
+from ophyd.utils import LimitError
+from ophyd_devices.utils.controller import threadlocked
+from ophyd_devices.utils.socket import SocketIO, raise_if_disconnected
+
+from csaxs_bec.devices.omny.galil.galil_ophyd import (
+    BECConfigError,
+    GalilAxesReferenced,
+    GalilController,
+    GalilError,
+    GalilMotorIsMoving,
+    GalilMotorResolution,
+    GalilSetpointSignal,
+    GalilSignalRO,
+    retry_once,
+)
+
+logger = bec_logger.logger
+
+
+class FlomniGalilController(GalilController):
+    USER_ACCESS = [
+        "describe",
+        "show_running_threads",
+        "galil_show_all",
+        "socket_put_and_receive",
+        "socket_put_confirmed",
+        "drive_axis_to_limit",
+        "find_reference",
+        "get_motor_limit_switch",
+        "fosaz_light_curtain_is_triggered",
+        "is_motor_on",
+        "all_axes_referenced",
+        "lights_off",
+        "lights_on",
+    ]
+
+    def is_axis_moving(self, axis_Id, axis_Id_numeric) -> bool:
+        if axis_Id is None and axis_Id_numeric is not None:
+            axis_Id = self.axis_Id_numeric_to_alpha(axis_Id_numeric)
+        active_thread = self.is_thread_active(0)
+        motor_is_on = self.is_motor_on(axis_Id)
+        return bool(active_thread or motor_is_on)
+
+    def all_axes_referenced(self) -> bool:
+        # TODO: check if all axes are referenced in all controllers
+        return super().all_axes_referenced()
+
+    def fosaz_light_curtain_is_triggered(self) -> bool:
+        """
+        Check the light curtain status for fosaz
+
+        Returns:
+            bool: True if the light curtain is triggered
+        """
+
+        return int(float(self.socket_put_and_receive("MG @IN[14]").strip())) == 1
+
+    def lights_off(self) -> None:
+        """
+        Turn off the lights
+        """
+        self.socket_put_confirmed("CB15")
+
+    def lights_on(self) -> None:
+        """
+        Turn on the lights
+        """
+        self.socket_put_confirmed("SB15")
+
+
+class FlomniGalilReadbackSignal(GalilSignalRO):
+    @retry_once
+    @threadlocked
+    def _socket_get(self) -> float:
+        """Get command for the readback signal
+
+        Returns:
+            float: Readback value after adjusting for sign and motor resolution.
+        """
+
+        current_pos = float(self.controller.socket_put_and_receive(f"TD{self.parent.axis_Id}"))
+        current_pos *= self.parent.sign
+        step_mm = self.parent.motor_resolution.get()
+        return current_pos / step_mm
+
+    def read(self):
+        self._metadata["timestamp"] = time.time()
+        val = super().read()
+        return val
+
+
+class FlomniGalilSetpointSignal(GalilSetpointSignal):
+    @retry_once
+    @threadlocked
+    def _socket_set(self, val: float) -> None:
+        """Set a new target value / setpoint value. Before submission, the target value is adjusted for the axis' sign.
+        Furthermore, it is ensured that all axes are referenced before a new setpoint is submitted.
+
+        Args:
+            val (float): Target value / setpoint value
+
+        Raises:
+            GalilError: Raised if not all axes are referenced.
+
+        """
+        target_val = val * self.parent.sign
+        self.setpoint = target_val
+        axes_referenced = self.controller.all_axes_referenced()
+        if axes_referenced:
+            while self.controller.is_thread_active(0):
+                time.sleep(0.1)
+
+            self.controller.socket_put_confirmed(f"naxis={self.parent.axis_Id_numeric}")
+            self.controller.socket_put_confirmed(f"ntarget={target_val:.3f}")
+            self.controller.socket_put_confirmed("movereq=1")
+            self.controller.socket_put_confirmed("XQ#NEWPAR")
+            while self.controller.is_thread_active(0):
+                time.sleep(0.005)
+        else:
+            raise GalilError("Not all axes are referenced.")
+
+
+class FlomniGalilMotorResolution(GalilMotorResolution):
+    pass
+
+
+class FlomniGalilMotorIsMoving(GalilMotorIsMoving):
+    pass
+
+
+class FlomniGalilAxesReferenced(GalilAxesReferenced):
+    pass
+
+
+class FlomniGalilMotor(Device, PositionerBase):
+    USER_ACCESS = ["controller"]
+    readback = Cpt(FlomniGalilReadbackSignal, signal_name="readback", kind="hinted")
+    user_setpoint = Cpt(FlomniGalilSetpointSignal, signal_name="setpoint")
+    motor_resolution = Cpt(FlomniGalilMotorResolution, signal_name="resolution", kind="config")
+    motor_is_moving = Cpt(FlomniGalilMotorIsMoving, signal_name="motor_is_moving", kind="normal")
+    all_axes_referenced = Cpt(
+        FlomniGalilAxesReferenced, signal_name="all_axes_referenced", kind="config"
+    )
+    high_limit_travel = Cpt(Signal, value=0, kind="omitted")
+    low_limit_travel = Cpt(Signal, value=0, kind="omitted")
+
+    SUB_READBACK = "readback"
+    SUB_CONNECTION_CHANGE = "connection_change"
+    _default_sub = SUB_READBACK
+
+    def __init__(
+        self,
+        axis_Id,
+        prefix="",
+        *,
+        name,
+        kind=None,
+        read_attrs=None,
+        configuration_attrs=None,
+        parent=None,
+        host="mpc2680.psi.ch",
+        port=8081,
+        limits=None,
+        sign=1,
+        socket_cls=SocketIO,
+        device_manager=None,
+        **kwargs,
+    ):
+        self.controller = FlomniGalilController(
+            socket_cls=socket_cls, socket_host=host, socket_port=port
+        )
+        self.axis_Id = axis_Id
+        self.controller.set_axis(axis=self, axis_nr=self.axis_Id_numeric)
+        self.sign = sign
+        self.tolerance = kwargs.pop("tolerance", 0.5)
+        self.device_mapping = kwargs.pop("device_mapping", {})
+        self.device_manager = device_manager
+
+        if len(self.device_mapping) > 0 and self.device_manager is None:
+            raise BECConfigError(
+                "device_mapping has been specified but the device_manager cannot be accessed."
+            )
+        self.rt = self.device_mapping.get("rt")
+        self.pid_x_correction = 0
+
+        super().__init__(
+            prefix,
+            name=name,
+            kind=kind,
+            read_attrs=read_attrs,
+            configuration_attrs=configuration_attrs,
+            parent=parent,
+            **kwargs,
+        )
+        self.readback.name = self.name
+        self.controller.subscribe(
+            self._update_connection_state, event_type=self.SUB_CONNECTION_CHANGE
+        )
+        self._update_connection_state()
+        # self.readback.subscribe(self._forward_readback, event_type=self.readback.SUB_VALUE)
+
+        if limits is not None:
+            assert len(limits) == 2
+            self.low_limit_travel.put(limits[0])
+            self.high_limit_travel.put(limits[1])
+
+    @property
+    def limits(self):
+        return (self.low_limit_travel.get(), self.high_limit_travel.get())
+
+    @property
+    def low_limit(self):
+        return self.limits[0]
+
+    @property
+    def high_limit(self):
+        return self.limits[1]
+
+    def check_value(self, pos):
+        """Check that the position is within the soft limits"""
+        low_limit, high_limit = self.limits
+
+        if low_limit < high_limit and not (low_limit <= pos <= high_limit):
+            raise LimitError(f"position={pos} not within limits {self.limits}")
+
+    def _update_connection_state(self, **kwargs):
+        for walk in self.walk_signals():
+            walk.item._metadata["connected"] = self.controller.connected
+
+    def _forward_readback(self, **kwargs):
+        kwargs.pop("sub_type")
+        self._run_subs(sub_type="readback", **kwargs)
+
+    @raise_if_disconnected
+    def move(self, position, wait=True, **kwargs):
+        """Move to a specified position, optionally waiting for motion to
+        complete.
+
+        Parameters
+        ----------
+        position
+            Position to move to
+        moved_cb : callable
+            Call this callback when movement has finished. This callback must
+            accept one keyword argument: 'obj' which will be set to this
+            positioner instance.
+        timeout : float, optional
+            Maximum time to wait for the motion. If None, the default timeout
+            for this positioner is used.
+
+        Returns
+        -------
+        status : MoveStatus
+
+        Raises
+        ------
+        TimeoutError
+            When motion takes longer than `timeout`
+        ValueError
+            On invalid positions
+        RuntimeError
+            If motion fails other than timing out
+        """
+        self._started_moving = False
+        timeout = kwargs.pop("timeout", 100)
+        status = super().move(position, timeout=timeout, **kwargs)
+        self.user_setpoint.put(position, wait=False)
+
+        def move_and_finish():
+            while self.motor_is_moving.get():
+                logger.info("motor is moving")
+                val = self.readback.read()
+                self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
+                time.sleep(0.1)
+            val = self.readback.read()
+            success = np.isclose(val[self.name]["value"], position, atol=self.tolerance)
+
+            if not success:
+                print(" stop")
+            self._done_moving(success=success)
+            logger.info("Move finished")
+
+        threading.Thread(target=move_and_finish, daemon=True).start()
+        try:
+            if wait:
+                status_wait(status)
+        except KeyboardInterrupt:
+            self.stop()
+            raise
+
+        return status
+
+    @property
+    def axis_Id(self):
+        return self._axis_Id_alpha
+
+    @axis_Id.setter
+    def axis_Id(self, val):
+        if isinstance(val, str):
+            if len(val) != 1:
+                raise ValueError("Only single-character axis_Ids are supported.")
+            self._axis_Id_alpha = val
+            self._axis_Id_numeric = ord(val.lower()) - 97
+        else:
+            raise TypeError(f"Expected value of type str but received {type(val)}")
+
+    @property
+    def axis_Id_numeric(self):
+        return self._axis_Id_numeric
+
+    @axis_Id_numeric.setter
+    def axis_Id_numeric(self, val):
+        if isinstance(val, int):
+            if val > 26:
+                raise ValueError("Numeric value exceeds supported range.")
+            self._axis_Id_alpha = val
+            self._axis_Id_numeric = (chr(val + 97)).capitalize()
+        else:
+            raise TypeError(f"Expected value of type int but received {type(val)}")
+
+    @property
+    def egu(self):
+        """The engineering units (EGU) for positions"""
+        return "mm"
+
+    def stage(self) -> list[object]:
+        return super().stage()
+
+    def unstage(self) -> list[object]:
+        return super().unstage()
+
+    def stop(self, *, success=False):
+        self.controller.stop_all_axes()
+        return super().stop(success=success)
+
+
+# if __name__ == "__main__":
+#     mock = False
+#     if not mock:
+#         leyey = GalilMotor("H", name="leyey", host="mpc2680.psi.ch", port=8081, sign=-1)
+#         leyey.stage()
+#         status = leyey.move(0, wait=True)
+#         status = leyey.move(10, wait=True)
+#         leyey.read()
+
+#         leyey.get()
+#         leyey.describe()
+
+#         leyey.unstage()
+#     else:
+#         from ophyd_devices.utils.socket import SocketMock
+
+#         leyex = GalilMotor(
+#             "G", name="leyex", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
+#         )
+#         leyey = GalilMotor(
+#             "H", name="leyey", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
+#         )
+#         leyex.stage()
+#         # leyey.stage()
+
+#         leyex.controller.galil_show_all()

csaxs_bec/devices/omny/galil/fupr_ophyd.py

@@ -0,0 +1,315 @@
+import threading
+import time
+
+import numpy as np
+from bec_lib import bec_logger
+from ophyd import Component as Cpt
+from ophyd import Device, PositionerBase, Signal
+from ophyd.status import wait as status_wait
+from ophyd.utils import LimitError
+from ophyd_devices.utils.controller import threadlocked
+from ophyd_devices.utils.socket import SocketIO, raise_if_disconnected
+
+from csaxs_bec.devices.omny.galil.galil_ophyd import (
+    BECConfigError,
+    GalilAxesReferenced,
+    GalilController,
+    GalilError,
+    GalilMotorIsMoving,
+    GalilMotorResolution,
+    GalilReadbackSignal,
+    GalilSetpointSignal,
+    retry_once,
+)
+
+logger = bec_logger.logger
+
+
+class FuprGalilController(GalilController):
+    _axes_per_controller = 1
+
+    def is_axis_moving(self, axis_Id, axis_Id_numeric) -> bool:
+        if axis_Id is None and axis_Id_numeric is not None:
+            axis_Id = self.axis_Id_numeric_to_alpha(axis_Id_numeric)
+        is_moving = bool(float(self.socket_put_and_receive(f"MG_BG{axis_Id}")) != 0)
+        return is_moving
+
+    def axis_is_referenced(self, axis_Id) -> bool:
+        return self.all_axes_referenced()
+
+    def all_axes_referenced(self) -> bool:
+        return bool(float(self.socket_put_and_receive("MG axisref").strip()))
+
+    def drive_axis_to_limit(self, axis_Id_numeric, direction: str) -> None:
+        raise NotImplementedError("This function is not implemented for the FuprGalilController.")
+
+
+class FuprGalilReadbackSignal(GalilReadbackSignal):
+    @retry_once
+    @threadlocked
+    def _socket_get(self) -> float:
+        """Get command for the readback signal
+
+        Returns:
+            float: Readback value after adjusting for sign and motor resolution.
+        """
+
+        current_pos = float(self.controller.socket_put_and_receive(f"TP{self.parent.axis_Id}"))
+        current_pos *= self.parent.sign
+        step_mm = self.parent.motor_resolution.get()
+        return current_pos / step_mm
+
+    def read(self):
+        self._metadata["timestamp"] = time.time()
+        val = super().read()
+        if self.parent.axis_Id_numeric == 0:
+            try:
+                rt = self.parent.device_manager.devices[self.parent.rt]
+                if rt.enabled:
+                    rt.obj.controller.set_rotation_angle(val[self.parent.name]["value"])
+            except KeyError:
+                logger.warning("Failed to set RT value during readback.")
+        return val
+
+
+class FuprGalilSetpointSignal(GalilSetpointSignal):
+    @retry_once
+    @threadlocked
+    def _socket_set(self, val: float) -> None:
+        """Set a new target value / setpoint value. Before submission, the target value is adjusted for the axis' sign.
+        Furthermore, it is ensured that all axes are referenced before a new setpoint is submitted.
+
+        Args:
+            val (float): Target value / setpoint value
+
+        Raises:
+            GalilError: Raised if not all axes are referenced.
+
+        """
+        target_val = val * self.parent.sign
+        self.setpoint = target_val
+        axes_referenced = self.controller.all_axes_referenced()
+        if axes_referenced:
+            self.controller.socket_put_confirmed(
+                f"PA{self.parent.axis_Id}={int(self.setpoint*self.parent.MOTOR_RESOLUTION)}"
+            )
+            self.controller.socket_put_confirmed(f"BG{self.parent.axis_Id}")
+        else:
+            raise GalilError("Not all axes are referenced.")
+
+
+class FuprGalilMotorResolution(GalilMotorResolution):
+    @retry_once
+    @threadlocked
+    def _socket_get(self):
+        return self.parent.MOTOR_RESOLUTION
+
+
+class FuprGalilMotorIsMoving(GalilMotorIsMoving):
+    pass
+
+
+class FuprGalilAxesReferenced(GalilAxesReferenced):
+    pass
+
+
+class FuprGalilMotor(Device, PositionerBase):
+    USER_ACCESS = ["controller"]
+    MOTOR_RESOLUTION = 25600
+    readback = Cpt(FuprGalilReadbackSignal, signal_name="readback", kind="hinted")
+    user_setpoint = Cpt(FuprGalilSetpointSignal, signal_name="setpoint")
+    motor_resolution = Cpt(FuprGalilMotorResolution, signal_name="resolution", kind="config")
+    motor_is_moving = Cpt(FuprGalilMotorIsMoving, signal_name="motor_is_moving", kind="normal")
+    all_axes_referenced = Cpt(
+        FuprGalilAxesReferenced, signal_name="all_axes_referenced", kind="config"
+    )
+    high_limit_travel = Cpt(Signal, value=0, kind="omitted")
+    low_limit_travel = Cpt(Signal, value=0, kind="omitted")
+
+    SUB_READBACK = "readback"
+    SUB_CONNECTION_CHANGE = "connection_change"
+    _default_sub = SUB_READBACK
+
+    def __init__(
+        self,
+        axis_Id,
+        prefix="",
+        *,
+        name,
+        kind=None,
+        read_attrs=None,
+        configuration_attrs=None,
+        parent=None,
+        host="mpc2680.psi.ch",
+        port=8081,
+        limits=None,
+        sign=1,
+        socket_cls=SocketIO,
+        device_manager=None,
+        **kwargs,
+    ):
+        self.controller = FuprGalilController(
+            socket_cls=socket_cls, socket_host=host, socket_port=port
+        )
+        self.axis_Id = axis_Id
+        self.controller.set_axis(axis=self, axis_nr=self.axis_Id_numeric)
+        self.sign = sign
+        self.tolerance = kwargs.pop("tolerance", 0.5)
+        self.device_mapping = kwargs.pop("device_mapping", {})
+        self.device_manager = device_manager
+
+        if len(self.device_mapping) > 0 and self.device_manager is None:
+            raise BECConfigError(
+                "device_mapping has been specified but the device_manager cannot be accessed."
+            )
+        self.rt = self.device_mapping.get("rt", "rtx")
+
+        super().__init__(
+            prefix,
+            name=name,
+            kind=kind,
+            read_attrs=read_attrs,
+            configuration_attrs=configuration_attrs,
+            parent=parent,
+            **kwargs,
+        )
+        self.readback.name = self.name
+        self.controller.subscribe(
+            self._update_connection_state, event_type=self.SUB_CONNECTION_CHANGE
+        )
+        self._update_connection_state()
+        # self.readback.subscribe(self._forward_readback, event_type=self.readback.SUB_VALUE)
+
+        if limits is not None:
+            assert len(limits) == 2
+            self.low_limit_travel.put(limits[0])
+            self.high_limit_travel.put(limits[1])
+
+    @property
+    def limits(self):
+        return (self.low_limit_travel.get(), self.high_limit_travel.get())
+
+    @property
+    def low_limit(self):
+        return self.limits[0]
+
+    @property
+    def high_limit(self):
+        return self.limits[1]
+
+    def check_value(self, pos):
+        """Check that the position is within the soft limits"""
+        low_limit, high_limit = self.limits
+
+        if low_limit < high_limit and not (low_limit <= pos <= high_limit):
+            raise LimitError(f"position={pos} not within limits {self.limits}")
+
+    def _update_connection_state(self, **kwargs):
+        for walk in self.walk_signals():
+            walk.item._metadata["connected"] = self.controller.connected
+
+    def _forward_readback(self, **kwargs):
+        kwargs.pop("sub_type")
+        self._run_subs(sub_type="readback", **kwargs)
+
+    @raise_if_disconnected
+    def move(self, position, wait=True, **kwargs):
+        """Move to a specified position, optionally waiting for motion to
+        complete.
+
+        Parameters
+        ----------
+        position
+            Position to move to
+        moved_cb : callable
+            Call this callback when movement has finished. This callback must
+            accept one keyword argument: 'obj' which will be set to this
+            positioner instance.
+        timeout : float, optional
+            Maximum time to wait for the motion. If None, the default timeout
+            for this positioner is used.
+
+        Returns
+        -------
+        status : MoveStatus
+
+        Raises
+        ------
+        TimeoutError
+            When motion takes longer than `timeout`
+        ValueError
+            On invalid positions
+        RuntimeError
+            If motion fails other than timing out
+        """
+        self._started_moving = False
+        timeout = kwargs.pop("timeout", 100)
+        status = super().move(position, timeout=timeout, **kwargs)
+        self.user_setpoint.put(position, wait=False)
+
+        def move_and_finish():
+            while self.motor_is_moving.get():
+                logger.info("motor is moving")
+                val = self.readback.read()
+                self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
+                time.sleep(0.1)
+            val = self.readback.read()
+            success = np.isclose(val[self.name]["value"], position, atol=self.tolerance)
+
+            if not success:
+                print(" stop")
+            self._done_moving(success=success)
+            logger.info("Move finished")
+
+        threading.Thread(target=move_and_finish, daemon=True).start()
+        try:
+            if wait:
+                status_wait(status)
+        except KeyboardInterrupt:
+            self.stop()
+            raise
+
+        return status
+
+    @property
+    def axis_Id(self):
+        return self._axis_Id_alpha
+
+    @axis_Id.setter
+    def axis_Id(self, val):
+        if isinstance(val, str):
+            if len(val) != 1:
+                raise ValueError(f"Only single-character axis_Ids are supported.")
+            self._axis_Id_alpha = val
+            self._axis_Id_numeric = ord(val.lower()) - 97
+        else:
+            raise TypeError(f"Expected value of type str but received {type(val)}")
+
+    @property
+    def axis_Id_numeric(self):
+        return self._axis_Id_numeric
+
+    @axis_Id_numeric.setter
+    def axis_Id_numeric(self, val):
+        if isinstance(val, int):
+            if val > 26:
+                raise ValueError(f"Numeric value exceeds supported range.")
+            self._axis_Id_alpha = val
+            self._axis_Id_numeric = (chr(val + 97)).capitalize()
+        else:
+            raise TypeError(f"Expected value of type int but received {type(val)}")
+
+    @property
+    def egu(self):
+        """The engineering units (EGU) for positions"""
+        return "mm"
+
+    def stage(self) -> list[object]:
+        return super().stage()
+
+    def unstage(self) -> list[object]:
+        return super().unstage()
+
+    def stop(self, *, success=False):
+        self.controller.stop_all_axes()
+        return super().stop(success=success)

csaxs_bec/devices/omny/galil/galil_ophyd.py

@@ -0,0 +1,377 @@
+"""
+This module contains the base class for Galil controllers as well as the signals used for Galil devices.
+"""
+
+import functools
+import time
+
+from bec_lib import bec_logger
+from ophyd.utils import ReadOnlyError
+from ophyd_devices.utils.controller import Controller, threadlocked
+from ophyd_devices.utils.socket import SocketSignal
+from prettytable import PrettyTable
+
+logger = bec_logger.logger
+
+
+class GalilCommunicationError(Exception):
+    pass
+
+
+class GalilError(Exception):
+    pass
+
+
+class BECConfigError(Exception):
+    pass
+
+
+def retry_once(fcn):
+    """Decorator to rerun a function in case a Galil communication error was raised. This may happen if the buffer was not empty."""
+
+    @functools.wraps(fcn)
+    def wrapper(self, *args, **kwargs):
+        try:
+            val = fcn(self, *args, **kwargs)
+        except (GalilCommunicationError, GalilError):
+            val = fcn(self, *args, **kwargs)
+        return val
+
+    return wrapper
+
+
+class GalilController(Controller):
+    """
+    Base class for Galil controllers. This class provides the basic functionality for Galil controllers and should be subclassed for specific devices.
+    """
+
+    _axes_per_controller = 8
+    USER_ACCESS = [
+        "describe",
+        "show_running_threads",
+        "galil_show_all",
+        "socket_put_and_receive",
+        "socket_put_confirmed",
+        "drive_axis_to_limit",
+        "find_reference",
+        "get_motor_limit_switch",
+        "is_motor_on",
+        "all_axes_referenced",
+    ]
+
+    @threadlocked
+    def socket_put(self, val: str) -> None:
+        self.sock.put(f"{val}\r".encode())
+
+    @retry_once
+    def socket_put_confirmed(self, val: str) -> None:
+        """Send message to controller and ensure that it is received by checking that the socket receives a colon.
+
+        Args:
+            val (str): Message that should be sent to the socket
+
+        Raises:
+            GalilCommunicationError: Raised if the return value is not a colon.
+
+        """
+        return_val = self.socket_put_and_receive(val)
+        if return_val != ":":
+            raise GalilCommunicationError(
+                f"Expected return value of ':' but instead received {return_val}"
+            )
+
+    def is_axis_moving(self, axis_Id, axis_Id_numeric) -> bool:
+        if axis_Id is None and axis_Id_numeric is not None:
+            axis_Id = self.axis_Id_numeric_to_alpha(axis_Id_numeric)
+        is_moving = bool(float(self.socket_put_and_receive(f"MG_BG{axis_Id}")) != 0)
+        backlash_is_active = bool(
+            float(self.socket_put_and_receive(f"MGbcklact[{axis_Id_numeric}]")) != 0
+        )
+        return bool(
+            is_moving or backlash_is_active or self.is_thread_active(0) or self.is_thread_active(2)
+        )
+
+    def is_thread_active(self, thread_id: int) -> bool:
+        val = float(self.socket_put_and_receive(f"MG_XQ{thread_id}"))
+        if val == -1:
+            return False
+        return True
+
+    def stop_all_axes(self) -> str:
+        return self.socket_put_and_receive("XQ#STOP,1")
+
+    def get_digital_input(self, channel):
+        return bool(float(self.socket_put_and_receive(f"MG @IN[{channel}]").strip()))
+
+    def axis_is_referenced(self, axis_Id_numeric) -> bool:
+        return bool(float(self.socket_put_and_receive(f"MG axisref[{axis_Id_numeric}]").strip()))
+
+    def all_axes_referenced(self) -> bool:
+        """
+        Check if all axes are referenced.
+        """
+        return bool(float(self.socket_put_and_receive("MG allaxref").strip()))
+
+    def drive_axis_to_limit(self, axis_Id_numeric: int, direction: str) -> None:
+        """
+        Drive an axis to the limit in a specified direction.
+
+        Args:
+            axis_Id_numeric (int): Axis number
+            direction (str): Direction in which the axis should be driven to the limit. Either 'forward' or 'reverse'.
+        """
+        if direction == "forward":
+            direction_flag = 1
+        elif direction == "reverse":
+            direction_flag = -1
+        else:
+            raise ValueError(f"Invalid direction {direction}")
+
+        self.socket_put_confirmed(f"naxis={axis_Id_numeric}")
+        self.socket_put_confirmed(f"ndir={direction_flag}")
+        self.socket_put_confirmed("XQ#NEWPAR")
+        time.sleep(0.1)
+        self.socket_put_confirmed("XQ#FES")
+        time.sleep(0.1)
+        while self.is_axis_moving(None, axis_Id_numeric):
+            time.sleep(0.01)
+
+        axis_Id = self.axis_Id_numeric_to_alpha(axis_Id_numeric)
+        # check if we actually hit the limit
+        if direction == "forward":
+            limit = self.get_motor_limit_switch(axis_Id)[1]
+        elif direction == "reverse":
+            limit = self.get_motor_limit_switch(axis_Id)[0]
+
+        if not limit:
+            raise GalilError(f"Failed to drive axis {axis_Id}/{axis_Id_numeric} to limit.")
+
+    def find_reference(self, axis_Id_numeric: int) -> None:
+        """
+        Find the reference of an axis.
+
+        Args:
+            axis_Id_numeric (int): Axis number
+        """
+        time.sleep(0.1)
+        self.socket_put_confirmed(f"naxis={axis_Id_numeric}")
+        self.socket_put_and_receive("XQ#NEWPAR")
+        time.sleep(0.1)
+        self.socket_put_confirmed("XQ#FRM")
+        time.sleep(0.1)
+        while self.is_axis_moving(None, axis_Id_numeric):
+            time.sleep(0.1)
+
+        if not self.axis_is_referenced(axis_Id_numeric):
+            raise GalilError(f"Failed to find reference of axis {axis_Id_numeric}.")
+
+        logger.info(f"Successfully found reference of axis {axis_Id_numeric}.")
+
+    def show_running_threads(self) -> None:
+        t = PrettyTable()
+        t.title = f"Threads on {self.sock.host}:{self.sock.port}"
+        t.field_names = [str(ax) for ax in range(self._axes_per_controller)]
+        t.add_row(
+            [
+                "active" if self.is_thread_active(t) else "inactive"
+                for t in range(self._axes_per_controller)
+            ]
+        )
+        print(t)
+
+    def is_motor_on(self, axis_Id) -> bool:
+        return not bool(float(self.socket_put_and_receive(f"MG _MO{axis_Id}").strip()))
+
+    def get_motor_limit_switch(self, axis_Id) -> list:
+        """
+        Get the status of the motor limit switches.
+
+        Args:
+            axis_Id (str): Axis identifier (e.g. 'A', 'B', 'C', ...)
+
+        Returns:
+            list: List of two booleans indicating if the low and high limit switch is active, respectively.
+        """
+        ret = self.socket_put_and_receive(f"MG _LR{axis_Id}, _LF{axis_Id}")
+        low, high = ret.strip().split(" ")
+        return [not bool(float(low)), not bool(float(high))]
+
+    def describe(self) -> None:
+        t = PrettyTable()
+        t.title = f"{self.__class__.__name__} on {self.sock.host}:{self.sock.port}"
+        t.field_names = [
+            "Axis",
+            "Name",
+            "Connected",
+            "Referenced",
+            "Motor On",
+            "Limits",
+            "Position",
+        ]
+        for ax in range(self._axes_per_controller):
+            axis = self._axis[ax]
+            if axis is not None:
+                t.add_row(
+                    [
+                        f"{axis.axis_Id_numeric}/{axis.axis_Id}",
+                        axis.name,
+                        axis.connected,
+                        self.axis_is_referenced(axis.axis_Id_numeric),
+                        self.is_motor_on(axis.axis_Id),
+                        self.get_motor_limit_switch(axis.axis_Id),
+                        axis.readback.read().get(axis.name).get("value"),
+                    ]
+                )
+            else:
+                t.add_row([None for t in t.field_names])
+        print(t)
+
+        self.show_running_threads()
+        self.show_status_other()
+
+    def show_status_other(self) -> None:
+        """
+        Show additional device-specific status information.
+        Override in subclasses.
+        """
+
+    def galil_show_all(self) -> None:
+        for controller in self._controller_instances.values():
+            if isinstance(controller, GalilController):
+                controller.describe()
+
+    @staticmethod
+    def axis_Id_to_numeric(axis_Id: str) -> int:
+        return ord(axis_Id.lower()) - 97
+
+    @staticmethod
+    def axis_Id_numeric_to_alpha(axis_Id_numeric: int) -> str:
+        return (chr(axis_Id_numeric + 97)).capitalize()
+
+
+class GalilSignalBase(SocketSignal):
+    def __init__(self, signal_name, **kwargs):
+        self.signal_name = signal_name
+        super().__init__(**kwargs)
+        self.controller = self.parent.controller
+        self.sock = self.parent.controller.sock
+
+
+class GalilSignalRO(GalilSignalBase):
+    def __init__(self, signal_name, **kwargs):
+        super().__init__(signal_name, **kwargs)
+        self._metadata["write_access"] = False
+
+    def _socket_set(self, val):
+        raise ReadOnlyError("Read-only signals cannot be set")
+
+
+class GalilReadbackSignal(GalilSignalRO):
+    @retry_once
+    @threadlocked
+    def _socket_get(self) -> float:
+        """Get command for the readback signal
+
+        Returns:
+            float: Readback value after adjusting for sign and motor resolution.
+        """
+
+        current_pos = float(self.controller.socket_put_and_receive(f"TD{self.parent.axis_Id}"))
+        current_pos *= self.parent.sign
+        step_mm = self.parent.motor_resolution.get()
+        return current_pos / step_mm
+
+    def read(self):
+        self._metadata["timestamp"] = time.time()
+        val = super().read()
+        if self.parent.axis_Id_numeric == 2:
+            try:
+                rt = self.parent.device_manager.devices[self.parent.rt]
+                if rt.enabled:
+                    rt.obj.controller.set_rotation_angle(val[self.parent.name]["value"])
+            except KeyError:
+                logger.warning("Failed to set RT value during readback.")
+        return val
+
+
+class GalilSetpointSignal(GalilSignalBase):
+    setpoint = 0
+
+    def _socket_get(self) -> float:
+        """Get command for receiving the setpoint / target value.
+        The value is not pulled from the controller but instead just the last setpoint used.
+
+        Returns:
+            float: setpoint / target value
+        """
+        return self.setpoint * self.parent.sign
+
+    @retry_once
+    @threadlocked
+    def _socket_set(self, val: float) -> None:
+        """Set a new target value / setpoint value. Before submission, the target value is adjusted for the axis' sign.
+        Furthermore, it is ensured that all axes are referenced before a new setpoint is submitted.
+
+        Args:
+            val (float): Target value / setpoint value
+
+        Raises:
+            GalilError: Raised if not all axes are referenced.
+
+        """
+        target_val = val * self.parent.sign
+        self.setpoint = target_val
+        axes_referenced = self.controller.all_axes_referenced()
+        if axes_referenced:
+            while self.controller.is_thread_active(0):
+                time.sleep(0.1)
+
+            if self.parent.axis_Id_numeric == 2:
+                try:
+                    rt = self.parent.device_manager.devices[self.parent.rt]
+                    if rt.enabled:
+                        angle_status = self.parent.device_manager.devices[
+                            self.parent.rt
+                        ].obj.controller.feedback_status_angle_lamni()
+                        if angle_status:
+                            self.controller.socket_put_confirmed("angintf=1")
+                except KeyError:
+                    logger.warning(
+                        "RT is disabled. Failed to update RT angle interferometer status to galil."
+                    )
+
+            self.controller.socket_put_confirmed(f"naxis={self.parent.axis_Id_numeric}")
+            self.controller.socket_put_confirmed(f"ntarget={target_val:.3f}")
+            self.controller.socket_put_confirmed("movereq=1")
+            self.controller.socket_put_confirmed("XQ#NEWPAR")
+            while self.controller.is_thread_active(0):
+                time.sleep(0.005)
+        else:
+            raise GalilError("Not all axes are referenced.")
+
+
+class GalilMotorResolution(GalilSignalRO):
+    @retry_once
+    @threadlocked
+    def _socket_get(self):
+        return float(
+            self.controller.socket_put_and_receive(f"MG stppermm[{self.parent.axis_Id_numeric}]")
+        )
+
+
+class GalilMotorIsMoving(GalilSignalRO):
+    @threadlocked
+    def _socket_get(self):
+        return self.controller.is_axis_moving(self.parent.axis_Id, self.parent.axis_Id_numeric)
+
+    def get(self):
+        val = super().get()
+        if val is not None:
+            self._run_subs(sub_type=self.SUB_VALUE, value=val, timestamp=time.time())
+        return val
+
+
+class GalilAxesReferenced(GalilSignalRO):
+    @threadlocked
+    def _socket_get(self):
+        return self.controller.all_axes_referenced()

csaxs_bec/devices/omny/galil/lgalil_ophyd.py

@@ -0,0 +1,265 @@
+import threading
+import time
+
+import numpy as np
+from bec_lib.logger import bec_logger
+from ophyd import Component as Cpt
+from ophyd import Device, PositionerBase, Signal
+from ophyd.status import wait as status_wait
+from ophyd.utils import LimitError
+from ophyd_devices.utils.socket import SocketIO, raise_if_disconnected
+
+from csaxs_bec.devices.omny.galil.galil_ophyd import (
+    BECConfigError,
+    GalilAxesReferenced,
+    GalilController,
+    GalilMotorIsMoving,
+    GalilMotorResolution,
+    GalilReadbackSignal,
+    GalilSetpointSignal,
+)
+
+logger = bec_logger.logger
+
+
+class LamniGalilController(GalilController):
+    USER_ACCESS = [
+        "describe",
+        "show_running_threads",
+        "galil_show_all",
+        "socket_put_and_receive",
+        "socket_put_confirmed",
+        "lgalil_is_air_off_and_orchestra_enabled",
+        "drive_axis_to_limit",
+        "find_reference",
+        "get_motor_limit_switch",
+        "is_motor_on",
+        "all_axes_referenced",
+    ]
+
+    def show_status_other(self):
+        if self.get_digital_input(5):
+            print("Emergency stop is not pushed.")
+        else:
+            print("Emergency stop is pushed.")
+        if self.get_digital_input(6):
+            print("Driver axis 2 error.")
+        if self.get_digital_input(13):
+            print("No air pressure at inner rotation.")
+        else:
+            print("There is air pressure at the inner rotation.")
+        if self.get_digital_input(14):
+            print("No air pressure at outer rotation axial.")
+        else:
+            print("There is air pressure at the outer rotation axial.")
+        if self.get_digital_input(15):
+            print("No air pressure at outer rotation radial.")
+        else:
+            print("There is air pressure at the outer rotation radial.")
+        swver = float(self.socket_put_and_receive("MGswver"))
+        print(f"Lgalil LAMNI firmware version {swver:2.0f}.")
+
+    def lamni_lights_off(self):
+        self.socket_put_confirmed("SB1")
+
+    def lamni_lights_on(self):
+        self.socket_put_confirmed("CB1")
+
+    def lgalil_is_air_off_and_orchestra_enabled(self) -> bool:
+        # TODO: move this to the LamNI-specific controller
+        rt_not_blocked_by_galil = bool(self.socket_put_and_receive("MG@OUT[9]"))
+        air_off = bool(self.socket_put_and_receive("MG@OUT[13]"))
+        return rt_not_blocked_by_galil and air_off
+
+
+class LamniGalilMotor(Device, PositionerBase):
+    USER_ACCESS = ["controller"]
+    readback = Cpt(GalilReadbackSignal, signal_name="readback", kind="hinted")
+    user_setpoint = Cpt(GalilSetpointSignal, signal_name="setpoint")
+    motor_resolution = Cpt(GalilMotorResolution, signal_name="resolution", kind="config")
+    motor_is_moving = Cpt(GalilMotorIsMoving, signal_name="motor_is_moving", kind="normal")
+    all_axes_referenced = Cpt(GalilAxesReferenced, signal_name="all_axes_referenced", kind="config")
+    high_limit_travel = Cpt(Signal, value=0, kind="omitted")
+    low_limit_travel = Cpt(Signal, value=0, kind="omitted")
+
+    SUB_READBACK = "readback"
+    SUB_CONNECTION_CHANGE = "connection_change"
+    _default_sub = SUB_READBACK
+
+    def __init__(
+        self,
+        axis_Id,
+        prefix="",
+        *,
+        name,
+        kind=None,
+        read_attrs=None,
+        configuration_attrs=None,
+        parent=None,
+        host="mpc2680.psi.ch",
+        port=8081,
+        limits=None,
+        sign=1,
+        socket_cls=SocketIO,
+        device_manager=None,
+        **kwargs,
+    ):
+        self.controller = LamniGalilController(
+            socket_cls=socket_cls, socket_host=host, socket_port=port
+        )
+        self.axis_Id = axis_Id
+        self.controller.set_axis(axis=self, axis_nr=self.axis_Id_numeric)
+        self.sign = sign
+        self.tolerance = kwargs.pop("tolerance", 0.5)
+        self.device_mapping = kwargs.pop("device_mapping", {})
+        self.device_manager = device_manager
+
+        if len(self.device_mapping) > 0 and self.device_manager is None:
+            raise BECConfigError(
+                "device_mapping has been specified but the device_manager cannot be accessed."
+            )
+        self.rt = self.device_mapping.get("rt")
+
+        super().__init__(
+            prefix,
+            name=name,
+            kind=kind,
+            read_attrs=read_attrs,
+            configuration_attrs=configuration_attrs,
+            parent=parent,
+            **kwargs,
+        )
+        self.readback.name = self.name
+        self.controller.subscribe(
+            self._update_connection_state, event_type=self.SUB_CONNECTION_CHANGE
+        )
+        self._update_connection_state()
+        # self.readback.subscribe(self._forward_readback, event_type=self.readback.SUB_VALUE)
+
+        if limits is not None:
+            assert len(limits) == 2
+            self.low_limit_travel.put(limits[0])
+            self.high_limit_travel.put(limits[1])
+
+    @property
+    def limits(self):
+        return (self.low_limit_travel.get(), self.high_limit_travel.get())
+
+    @property
+    def low_limit(self):
+        return self.limits[0]
+
+    @property
+    def high_limit(self):
+        return self.limits[1]
+
+    def check_value(self, pos):
+        """Check that the position is within the soft limits"""
+        low_limit, high_limit = self.limits
+
+        if low_limit < high_limit and not (low_limit <= pos <= high_limit):
+            raise LimitError(f"position={pos} not within limits {self.limits}")
+
+    def _update_connection_state(self, **kwargs):
+        for walk in self.walk_signals():
+            walk.item._metadata["connected"] = self.controller.connected
+
+    def _forward_readback(self, **kwargs):
+        kwargs.pop("sub_type")
+        self._run_subs(sub_type="readback", **kwargs)
+
+    @raise_if_disconnected
+    def move(self, position, wait=True, **kwargs):
+        """Move to a specified position, optionally waiting for motion to
+        complete.
+
+        Parameters
+        ----------
+        position
+            Position to move to
+        moved_cb : callable
+            Call this callback when movement has finished. This callback must
+            accept one keyword argument: 'obj' which will be set to this
+            positioner instance.
+        timeout : float, optional
+            Maximum time to wait for the motion. If None, the default timeout
+            for this positioner is used.
+
+        Returns
+        -------
+        status : MoveStatus
+
+        Raises
+        ------
+        TimeoutError
+            When motion takes longer than `timeout`
+        ValueError
+            On invalid positions
+        RuntimeError
+            If motion fails other than timing out
+        """
+        self._started_moving = False
+        timeout = kwargs.pop("timeout", 100)
+        status = super().move(position, timeout=timeout, **kwargs)
+        self.user_setpoint.put(position, wait=False)
+
+        def move_and_finish():
+            while self.motor_is_moving.get():
+                logger.info("motor is moving")
+                val = self.readback.read()
+                self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
+                time.sleep(0.1)
+            val = self.readback.read()
+            success = np.isclose(val[self.name]["value"], position, atol=self.tolerance)
+
+            if not success:
+                print(" stop")
+            self._done_moving(success=success)
+            logger.info("Move finished")
+
+        threading.Thread(target=move_and_finish, daemon=True).start()
+        try:
+            if wait:
+                status_wait(status)
+        except KeyboardInterrupt:
+            self.stop()
+            raise
+
+        return status
+
+    @property
+    def axis_Id(self):
+        return self._axis_Id_alpha
+
+    @axis_Id.setter
+    def axis_Id(self, val):
+        if isinstance(val, str):
+            if len(val) != 1:
+                raise ValueError("Only single-character axis_Ids are supported.")
+            self._axis_Id_alpha = val
+            self._axis_Id_numeric = self.controller.axis_Id_to_numeric(val)
+        else:
+            raise TypeError(f"Expected value of type str but received {type(val)}")
+
+    @property
+    def axis_Id_numeric(self):
+        return self._axis_Id_numeric
+
+    @axis_Id_numeric.setter
+    def axis_Id_numeric(self, val):
+        if isinstance(val, int):
+            if val > 26:
+                raise ValueError("Numeric value exceeds supported range.")
+            self._axis_Id_alpha = self.controller.axis_Id_numeric_to_alpha(val)
+            self._axis_Id_numeric = val
+        else:
+            raise TypeError(f"Expected value of type int but received {type(val)}")
+
+    @property
+    def egu(self):
+        """The engineering units (EGU) for positions"""
+        return "mm"
+
+    def stop(self, *, success=False):
+        self.controller.stop_all_axes()
+        return super().stop(success=success)

csaxs_bec/devices/omny/galil/sgalil.dmc

@@ -0,0 +1,415 @@
+'******************************************************************************
+'    scanning saxs stages controller code
+'    version 0.1 20160113, holler, based on example code
+'    version 0.2 20160321, holler, small adjustments
+'    version 0.3 20160323, position sampling
+'    version 0.4           grid scan implemented
+'    version 0.5 20160426, shutter control from controller
+'    version 0.6 20160614, code for manual stage tuning added
+'    version 0.7 20170609, prefact added
+'    version 0.8 20190327, stepper motor x axis E, encoder axis A
+'                          DC motor y axis C
+'    version 0.9 20190403, Pos sampling averaging and ring buffered
+'                          internal grid scan updated
+'                20190507  various fixes during comm. at beamline
+'                          off now in microns for higher resolution
+'    version 1.1 20191021, position samples were off compared to xrays
+'                          use AL and RL commands for position latch
+'                          to reduce delay for axis C (continuous)
+'                          switch to DI3 required, averaging removed
+'    version 1.2 20200500, switch stepper motor to axis F
+'                          because motor driver axis E defective
+'    version 2.0 20230816, adjustments in premove with BEC
+' DO8 controls the shutter
+' DI1 1 during exposure for pos sampling
+' Thread overview
+'******************************************************************************
+#AUTO
+DA*,*[];'DEALLOCATE ARRAYS
+ssaxs_v=1.3
+IA129,129,122,26
+'acctim determines pre motion
+acctim=2.5
+prvspeed=0
+posest=0
+'prefact increases the distance for pre acceleration
+'if in acctim limits
+prefact=2.5
+off=0
+DM aposavg[2000]
+DM cposavg[2000]
+nums=1
+JS#INIT
+JS#SETPLAT
+EN
+#CALIBC
+'ACC=1000000
+'DCC=1000000
+'SPC=1*mm
+PAC=2*mm
+BGC;AMC
+WT 1000
+PAC=5*mm
+BGC;AMC
+WT 1000
+JP#CALIBC
+EN 
+'default settings
+#SETTOMO
+IF(allaxref=1)
+EN
+ENDIF
+KPC=100
+PLC=0.3
+KIC=10
+KDC=30
+ILC=9
+FAC=10
+FVC=240
+EN
+'set tuning parameters for scanning saxs plate
+#SETPLAT
+IF(allaxref=1)
+EN
+ENDIF
+KPC=100
+PLC=0.3
+KIC=10
+KDC=30
+ILC=9
+FAC=10
+FVC=240
+EN
+'called with AB before execution
+#SAMPLE
+posct=0
+sposct=0
+IF(_XQ2=-1)
+'arm position latch rising axis C
+'set latch direction rising
+'we do this prior the loop, to do the switching later asap
+CN ,,1
+ALC
+XQ#SAMPLEL,2
+ELSE
+runerr=1
+ENDIF
+EN
+#SAMPLEL
+'wait for latch
+AI3
+'WT1
+''#WAITLT1
+''JP#WAITLT1,(_ALC=1);'WAIT UNTIL CAPTURED'
+'write encoder position to a array
+aposstrt=_TPA
+'write latched position to c array
+cposstrt=_RLC
+'change latch direction falling axis C
+CN ,,-1
+ALC
+'wait for latch
+AI-3
+'WT1
+''#WAITLT2
+''JP#WAITLT2,(_ALC=1);'WAIT UNTIL CAPTURED
+'write encoder position to a array
+aposend=_TPA
+'write latched position to c array
+cposend=_RLC
+'arm position latch rising axis C for next cycle
+'set latch direction rising
+CN ,,1
+ALC
+aposavg[posct]=((aposstrt+aposend)/2)
+cposavg[posct]=((cposstrt+cposend)/2)
+posct=posct+1
+sposct=sposct+1
+IF(posct>1999)
+posct=0
+ENDIF
+JP #SAMPLEL,(posct<nums)
+EN
+#SCANG
+'a_start, a_end, speed is line axis
+'b_start, gridmax, b_step is grid axis
+gridct=0
+'nums=1000
+'wait for detector
+WT350
+IF(_XQ3=(-1))
+XQ#SCANGL,3
+ENDIF
+EN
+#SCANGL
+gridpos=b_start+(gridct*b_step)
+targE=gridpos
+JS#POSE
+WT10
+IF(@INT[(gridct/2)]<>(gridct/2))
+start=a_start
+end=a_end
+ELSE
+start=a_end
+end=a_start
+ENDIF
+'XQ#SCANL,5
+'scanstat=-1
+'#lineact
+'WT2
+'JP#lineact,(scanstat<>0)
+JS#SCANL
+gridct=gridct+1
+JP #SCANGL,(gridct<=gridmax)
+'close shutter
+CB8
+EN
+#TEMP1
+EN
+'
+#SCANL
+'based on acceleration of 500 mm/s^2
+'and a max speed of 2 mm/s
+'the max distance needed for acceleration is 4 microns
+'so we pre-move 10 microns
+'variables to set in mm, mm/s
+'start = start position
+'end = end position
+'speed = velocity
+'the scan axis is defined in the init section
+IF(allaxref=0)
+EN
+ENDIF
+'
+IF(end>start)
+dir=1
+ELSE
+dir=-1
+ENDIF
+'measure required premove
+IF((@ABS[(prvspeed-speed)])>0.001)
+premv=speed*mm*5
+IF(premv>(3*mm))
+premv=3*mm
+ENDIF
+measpre=1
+ELSE
+measpre=0
+ENDIF
+'for internal grid scans reduce overshoot
+'IF(_XQ3<>-1)
+'redpremv=0.1 ;'case for int grid scan
+'ELSE
+'redpremv=1 ;'case for line based scans
+'ENDIF
+'we are doing an internal grid
+'reduce overshoot
+prepos=(start*mm)-(dir*redpremv*(premv+(off/1000*mm)))
+'move to pre-start position if needed
+'prepos=(start*mm)-(dir*speed*acctim*mm)
+'IF(@ABS[(speed*acctim)]<0.01)
+'prepos=(start*mm)-(dir*0.01*mm*prefact)
+'ENDIF
+'IF(@ABS[(speed*acctim)]>0.1)
+'ENDIF
+IF((@ABS[(_TDC-prepos)])>(0.002*mm))
+scanstat=1
+SPC=2*mm
+PAC=prepos
+BGC
+AMC
+'open the shutter
+SB8
+WT10
+ENDIF
+IF((_LFC<>0)&(_LRC=<>0))
+scanstat=2
+SPC=@RND[speed*mm]
+'arm trigger
+trigpos=(start*mm)+(dir*off/1000*mm)
+IF(dir=1)
+OCC=trigpos,0
+ENDIF
+IF(dir=-1)
+OCC=trigpos,-65536;
+ENDIF
+'PAC=((end*mm)+(dir*premv))
+PAC=((end*mm)+(dir*redpremv*(premv+(off/1000*mm))))
+BGC
+IF(measpre=1)
+calstart=_TDC
+WT25
+#CALIBV
+prevvel=_TVC
+WT10
+JP#CALIBV,((@ABS[(prevvel-(_TVC/mm))])<15)
+calend=_TDC
+premv=((@ABS[(calend-calstart)])*3)
+'case of grid scan
+prvspeed=speed
+ENDIF
+'
+AMC
+ENDIF
+scanstat=0
+'close the shutter
+'#SHUTWT
+'JP#SHUTWT,(@IN[1]=1)
+'WT10
+'JP#SHUTWT,(@IN[1]=1)
+'
+'we are doing an internal grid
+IF(_XQ3=-1)
+CB8
+ENDIF
+EN
+'
+#POSE
+posctr=0
+posest=1
+sttime=TIME
+PTF=1;'          Position Tracking aktiv
+errE=(targE-(_TPA/mm));' Fehler in mm
+IF((@ABS[errE])>0.2)
+SPF=12*stpmm
+ENDIF
+#CORRE
+posest=2
+errE=(targE-(_TPA/mm));' Fehler in mm
+PAF=_TDF+(errE*stpmm)
+IF((@ABS[errE])<0.1)
+SPF=5*stpmm
+ENDIF
+IF((@ABS[errE])<0.0001)
+posctr=posctr+1
+IF(posctr>5)
+STF
+'MG TIME-sttime, (targE-(_TPA/mm))*1000
+EN
+ENDIF
+ELSE
+posctr=0
+ENDIF
+WT5
+JP#CORRE
+posest=3
+MCF
+EN
+'
+#ZZ
+targE=120;XQ#POSE
+WT12000
+targE=20;XQ#POSE
+WT12000
+JP#ZZ
+EN
+#FINDREF
+SB1;' Bremse C-Achse loesen (nur in Verbindung mit SHC)
+SHC
+SHF
+JS#LIMSWI
+JS#REFE
+JS#REFC
+allaxref=1
+targE=0
+EN
+'
+#REFE
+SHF
+JGF=-2*stpmm
+BGF
+'MG "suche negativen Endschalter E"
+AMF
+WT100
+'step counter zero
+DPF=0
+'encoder zero
+DPA=0
+EN
+'
+#REFC
+SB1;'    Bremse loesen (nur in Verbindung mit SHC)
+SHC
+JGC=-2*mm
+BGC
+'MG "suche negativen Endschalter C"
+AMC
+WT100
+DPC=0
+EN
+'
+#LIMSWI
+scanstat=0
+JS#LFF,_LFF=0;'    +LIMIT E
+JS#LRF,_LRF=0;'   -LIMIT E
+JS#LFC,_LFC=0;'    +LIMIT C
+JS#LRC,_LRC=0;'   -LIMIT C
+RE;'                         RETURN FROM ERROR INTERUPT
+'
+#LRF
+'MG "- LIMIT E-ACHSE "
+STF
+AMF
+JGF=stpmm
+BGF
+#LOOPA1
+JP#LOOPA1,_LRF=0
+STF
+MCF
+EN
+'
+#LFF
+'MG "+ LIMIT E-ACHSE "
+STF
+AMF
+JGF=-stpmm
+BGF
+#LOOPA2
+JP#LOOPA2,_LFF=0
+STF
+MCF
+EN
+'
+#LRC
+'MG "- LIMIT C-ACHSE "
+STC
+AMC
+JGC=mm
+BGC
+#LOOPC1
+JP#LOOPC1,_LRC=0
+STC
+AMC
+EN
+'
+#LFC
+'MG "- LIMIT C-ACHSE "
+STC
+AMC
+JGC=-mm
+BGC
+#LOOPC2
+JP#LOOPC2,_LFC=0
+STC
+AMC
+EN
+'
+#INIT
+'define fast scan axis redefined by spec
+scanstat=0
+mm=10000;'  100nm Aufloesung im encoder
+stpmm=50000;' microsteps axis E/mm
+ratio=5;'
+allaxref=0
+'acceleration rates
+ACF=3000000
+DCF=3000000
+SPF=2*mm
+OEF=0;'           OF ON ERROR axis E ausgeschaltet
+MTF=2
+KSF=0.5;'         Smoothing ausgeschaltet
+ACC=10*mm
+DCC=10*mm
+DVC=1;'    Dual loop deaktiviert
+EN
+'

csaxs_bec/devices/omny/galil/sgalil_ophyd.py

@@ -0,0 +1,713 @@
+import functools
+import threading
+import time
+
+import numpy as np
+from bec_lib import bec_logger
+from ophyd import Component as Cpt
+from ophyd import Device, DeviceStatus, PositionerBase, Signal
+from ophyd.status import wait as status_wait
+from ophyd.utils import LimitError, ReadOnlyError
+from ophyd_devices.utils.controller import Controller, threadlocked
+from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
+from prettytable import PrettyTable
+
+logger = bec_logger.logger
+
+
+class GalilCommunicationError(Exception):
+    pass
+
+
+class GalilError(Exception):
+    pass
+
+
+class BECConfigError(Exception):
+    pass
+
+
+def retry_once(fcn):
+    """Decorator to rerun a function in case a Galil communication error was raised. This may happen if the buffer was not empty."""
+
+    @functools.wraps(fcn)
+    def wrapper(self, *args, **kwargs):
+        try:
+            val = fcn(self, *args, **kwargs)
+        except (GalilCommunicationError, GalilError):
+            val = fcn(self, *args, **kwargs)
+        return val
+
+    return wrapper
+
+
+class GalilController(Controller):
+    USER_ACCESS = [
+        "describe",
+        "show_running_threads",
+        "galil_show_all",
+        "socket_put_and_receive",
+        "socket_put_confirmed",
+        "sgalil_reference",
+        "fly_grid_scan",
+        "read_encoder_position",
+    ]
+
+    def __init__(
+        self,
+        *,
+        name="GalilController",
+        kind=None,
+        parent=None,
+        socket=None,
+        attr_name="",
+        labels=None,
+    ):
+        if not hasattr(self, "_initialized") or not self._initialized:
+            self._galil_axis_per_controller = 8
+            self._axis = [None for axis_num in range(self._galil_axis_per_controller)]
+            super().__init__(
+                name=name,
+                socket=socket,
+                attr_name=attr_name,
+                parent=parent,
+                labels=labels,
+                kind=kind,
+            )
+
+    def on(self, controller_num=0) -> None:
+        """Open a new socket connection to the controller"""
+        if not self.connected:
+            self.sock.open()
+            self.connected = True
+        else:
+            logger.info("The connection has already been established.")
+            # warnings.warn(f"The connection has already been established.", stacklevel=2)
+
+    def off(self) -> None:
+        """Close the socket connection to the controller"""
+        if self.connected:
+            self.sock.close()
+            self.connected = False
+        else:
+            logger.info("The connection is already closed.")
+
+    def set_axis(self, axis: Device, axis_nr: int) -> None:
+        """Assign an axis to a device instance.
+
+        Args:
+            axis (Device): Device instance (e.g. GalilMotor)
+            axis_nr (int): Controller axis number
+
+        """
+        self._axis[axis_nr] = axis
+
+    @threadlocked
+    def socket_put(self, val: str) -> None:
+        time.sleep(0.01)
+        self.sock.put(f"{val}\r".encode())
+
+    @threadlocked
+    def socket_get(self) -> str:
+        time.sleep(0.01)
+        return self.sock.receive().decode()
+
+    @retry_once
+    @threadlocked
+    def socket_put_and_receive(self, val: str, remove_trailing_chars=True) -> str:
+        self.socket_put(val)
+        if remove_trailing_chars:
+            return self._remove_trailing_characters(self.sock.receive().decode())
+        return self.socket_get()
+
+    @retry_once
+    def socket_put_confirmed(self, val: str) -> None:
+        """Send message to controller and ensure that it is received by checking that the socket receives a colon.
+
+        Args:
+            val (str): Message that should be sent to the socket
+
+        Raises:
+            GalilCommunicationError: Raised if the return value is not a colon.
+
+        """
+        return_val = self.socket_put_and_receive(val)
+        if return_val != ":":
+            raise GalilCommunicationError(
+                f"Expected return value of ':' but instead received {return_val}"
+            )
+
+    def is_axis_moving(self, axis_Id, axis_Id_numeric) -> bool:
+        is_moving = bool(float(self.socket_put_and_receive(f"MG_BG{axis_Id}")) != 0)
+        # backlash_is_active = bool(float(self.socket_put_and_receive(f"MGbcklact[axis]")) != 0)
+        return bool(is_moving)  # bool(is_moving or backlash_is_active)
+
+    def is_thread_active(self, thread_id: int) -> bool:
+        val = float(self.socket_put_and_receive(f"MG_XQ{thread_id}"))
+        if val == -1:
+            return False
+        return True
+
+    def _remove_trailing_characters(self, var) -> str:
+        if len(var) > 1:
+            return var.split("\r\n")[0]
+        return var
+
+    def stop_all_axes(self) -> str:
+        # return self.socket_put_and_receive(f"XQ#STOP,1")
+        # Command stops all threads and motors!
+        self.socket_put_and_receive(f"CB8")
+        return self.socket_put_and_receive(f"ST")
+
+    def axis_is_referenced(self) -> bool:
+        return bool(float(self.socket_put_and_receive(f"MG allaxref").strip()))
+
+    def show_running_threads(self) -> None:
+        t = PrettyTable()
+        t.title = f"Threads on {self.sock.host}:{self.sock.port}"
+        t.field_names = [str(ax) for ax in range(self._galil_axis_per_controller)]
+        t.add_row(
+            [
+                "active" if self.is_thread_active(t) else "inactive"
+                for t in range(self._galil_axis_per_controller)
+            ]
+        )
+        print(t)
+
+    def is_motor_on(self, axis_Id) -> bool:
+        return not bool(float(self.socket_put_and_receive(f"MG _MO{axis_Id}").strip()))
+
+    def get_motor_limit_switch(self, axis_Id) -> list:
+        # SGalil specific
+        if axis_Id == "C":
+            ret = self.socket_put_and_receive(f"MG _LF{axis_Id}, _LR{axis_Id}")
+            high, low = ret.strip().split(" ")
+        elif axis_Id == "E":
+            ret = self.socket_put_and_receive(f"MG _LF{'F'}, _LR{'F'}")
+            high, low = ret.strip().split(" ")
+        return [not bool(float(low)), not bool(float(high))]
+
+    def describe(self) -> None:
+        t = PrettyTable()
+        t.title = f"{self.__class__.__name__} on {self.sock.host}:{self.sock.port}"
+        t.field_names = [
+            "Axis",
+            "Name",
+            "Connected",
+            "Referenced",
+            "Motor On",
+            "Limits",
+            "Position",
+        ]
+        for ax in range(self._galil_axis_per_controller):
+            axis = self._axis[ax]
+            if axis is not None:
+                t.add_row(
+                    [
+                        f"{axis.axis_Id_numeric}/{axis.axis_Id}",
+                        axis.name,
+                        axis.connected,
+                        self.axis_is_referenced(),
+                        self.is_motor_on(axis.axis_Id),
+                        self.get_motor_limit_switch(axis.axis_Id),
+                        axis.readback.read().get(axis.name).get("value"),
+                    ]
+                )
+            else:
+                t.add_row([None for t in t.field_names])
+        print(t)
+
+        self.show_running_threads()
+
+    def galil_show_all(self) -> None:
+        for controller in self._controller_instances.values():
+            if isinstance(controller, GalilController):
+                controller.describe()
+
+    def sgalil_reference(self) -> None:
+        """Reference all axes of the controller"""
+        if self.axis_is_referenced():
+            print("All axes are already referenced.\n")
+            return
+        # Make sure no axes are moving, is this necessary?
+        self.stop_all_axes()
+        self.socket_put_and_receive(f"XQ#FINDREF")
+        print("Referencing. Please wait, timeout after 100s...\n")
+
+        timeout = time.time() + 100
+        while not self.axis_is_referenced():
+            if time.time() > timeout:
+                print("Abort reference sequence, timeout reached\n")
+                break
+            time.sleep(0.5)
+
+    # @threadlocked
+    def fly_grid_scan(
+        self,
+        status: DeviceStatus,
+        start_y: float,
+        end_y: float,
+        interval_y: int,
+        start_x: float,
+        end_x: float,
+        interval_x: int,
+        exp_time: float,
+        readout_time: float,
+        **kwargs,
+    ) -> tuple:
+        """_summary_
+
+        Args:
+            start_y (float): start position of y axis (fast axis)
+            end_y (float): end position of y axis (fast axis)
+            interval_y (int): number of points in y axis
+            start_x (float): start position of x axis (slow axis)
+            end_x (float): end position of x axis (slow axis)
+            interval_x (int): number of points in x axis
+            exp_time (float): exposure time in seconds
+            readout_time (float): readout time in seconds, minimum of .5e-3s (0.5ms)
+
+        Raises:
+
+            LimitError: Raised if any position of motion is outside of the limits
+            LimitError: Raised if the speed is above 2mm/s or below 0.02mm/s
+
+        """
+        #
+        if not self.axis_is_referenced():
+            raise GalilError("Axis are not referenced")
+        sign_y = self._axis[ord("c") - 97].sign
+        sign_x = self._axis[ord("e") - 97].sign
+        # Check limits
+        # TODO check sign of stage, or not necessary
+        check_values = [start_y, end_y, start_x, end_x]
+        for val in check_values:
+            self.check_value(val)
+
+        start_x *= sign_x
+        end_x *= sign_x
+        start_y *= sign_y
+        end_y *= sign_y
+
+        speed = np.abs(end_y - start_y) / (
+            (interval_y) * exp_time + (interval_y - 1) * readout_time
+        )
+        if speed > 2.00 or speed < 0.02:
+            raise LimitError(
+                f"Speed of {speed:.03f}mm/s is outside of acceptable range of 0.02 to 2 mm/s"
+            )
+
+        gridmax = int(interval_x - 1)
+        step_grid = (end_x - start_x) / interval_x
+        n_samples = int(interval_y * interval_x)
+
+        # Hard coded to maximum offset of 0.1mm to avoid long motions.
+        self.socket_put_and_receive(f"off={(0):f}")
+        self.socket_put_and_receive(f"a_start={start_y:.04f};a_end={end_y:.04f};speed={speed:.04f}")
+        self.socket_put_and_receive(
+            f"b_start={start_x:.04f};gridmax={gridmax:d};b_step={step_grid:.04f}"
+        )
+        self.socket_put_and_receive(f"nums={n_samples}")
+        self.socket_put_and_receive("XQ#SAMPLE")
+        # sleep 50ms to avoid controller running into
+        time.sleep(0.1)
+        self.socket_put_and_receive("XQ#SCANG")
+        # self._block_while_active(3)
+        # time.sleep(0.1)
+        threading.Thread(target=self._block_while_active, args=(3, status), daemon=True).start()
+        # self._while_in_motion(3, n_samples)
+
+    def _block_while_active(self, thread_id: int, status) -> None:
+        while self.is_thread_active(thread_id):
+            time.sleep(1)
+        time.sleep(1)
+        while self.is_thread_active(thread_id):
+            time.sleep(1)
+        status.set_finished()
+
+    # TODO this is for reading out positions, readout is limited by stage triggering
+    def _while_in_motion(self, thread_id: int, n_samples: int) -> tuple:
+        last_readout = 0
+        val_axis2 = []  # y axis
+        val_axis4 = []  # x axis
+        while self.is_thread_active(thread_id):
+            posct = int(self.socket_put_and_receive(f"MGposct").strip().split(".")[0])
+            logger.info(f"SGalil is scanning - latest enconder position {posct+1} from {n_samples}")
+            time.sleep(1)
+            if posct > last_readout:
+                positions = self.read_encoder_position(last_readout, posct)
+                val_axis4.extend(positions[0])
+                val_axis2.extend(positions[1])
+                last_readout = posct + 1
+            logger.info(len(val_axis2))
+            time.sleep(1)
+        # Readout of last positions after scan finished
+        posct = int(self.socket_put_and_receive(f"MGposct").strip().split(".")[0])
+        logger.info(f"SGalil is scanning - latest enconder position {posct} from {n_samples}")
+        if posct > last_readout:
+            positions = self.read_encoder_position(last_readout, posct)
+            val_axis4.extend(positions[0])
+            val_axis2.extend(positions[1])
+
+        return val_axis4, val_axis2
+
+    def read_encoder_position(self, fromval: int, toval: int) -> tuple:
+        val_axis2 = []  # y axis
+        val_axis4 = []  # x axis
+        for ii in range(fromval, toval + 1):
+            rts = self.socket_put_and_receive(f"MGaposavg[{ii%2000}]*10,cposavg[{ii%2000}]*10")
+            if rts == ":":
+                val_axis4.append(rts)
+                val_axis2.append(rts)
+                continue
+
+            val_axis4.append(float(rts.strip().split(" ")[0]) / 100000)
+            val_axis2.append(float(rts.strip().split(" ")[1]) / 100000)
+        return val_axis4, val_axis2
+
+
+class GalilSignalBase(SocketSignal):
+    def __init__(self, signal_name, **kwargs):
+        self.signal_name = signal_name
+        super().__init__(**kwargs)
+        self.controller = self.parent.controller
+        self.sock = self.parent.controller.sock
+
+
+class GalilSignalRO(GalilSignalBase):
+    def __init__(self, signal_name, **kwargs):
+        super().__init__(signal_name, **kwargs)
+        self._metadata["write_access"] = False
+
+    def _socket_set(self, val):
+        raise ReadOnlyError("Read-only signals cannot be set")
+
+
+class GalilReadbackSignal(GalilSignalRO):
+    @retry_once
+    @threadlocked
+    def _socket_get(self) -> float:
+        """Get command for the readback signal
+
+        Returns:
+            float: Readback value after adjusting for sign and motor resolution.
+        """
+        if self.parent.axis_Id_numeric == 2:
+            current_pos = float(
+                self.controller.socket_put_and_receive(f"MG _TP{self.parent.axis_Id}/mm")
+            )
+        elif self.parent.axis_Id_numeric == 4:
+            # hardware controller readback from axis 4 is on axis 0, A instead of E
+            current_pos = float(self.controller.socket_put_and_receive(f"MG _TP{'A'}/mm"))
+        current_pos *= self.parent.sign
+        return current_pos
+
+    def read(self):
+        self._metadata["timestamp"] = time.time()
+        val = super().read()
+        return val
+
+
+class GalilSetpointSignal(GalilSignalBase):
+    setpoint = 0
+
+    def _socket_get(self) -> float:
+        """Get command for receiving the setpoint / target value.
+        The value is not pulled from the controller but instead just the last setpoint used.
+
+        Returns:
+            float: setpoint / target value
+        """
+        return self.setpoint * self.parent.sign
+
+    @retry_once
+    @threadlocked
+    def _socket_set(self, val: float) -> None:
+        """Set a new target value / setpoint value. Before submission, the target value is adjusted for the axis' sign.
+        Furthermore, it is ensured that all axes are referenced before a new setpoint is submitted.
+
+        Args:
+            val (float): Target value / setpoint value
+
+        Raises:
+            GalilError: Raised if not all axes are referenced.
+
+        """
+        target_val = val * self.parent.sign
+        self.setpoint = target_val
+        axes_referenced = self.controller.axis_is_referenced()
+        if not axes_referenced:
+            raise GalilError(
+                "Not all axes are referenced. Please use controller.sgalil_reference(). BE AWARE that axes start moving, potentially beyond limits, make sure full range of motion is safe"
+            )
+        while self.controller.is_thread_active(0):
+            time.sleep(0.1)
+
+        if self.parent.axis_Id_numeric == 2:
+            self.controller.socket_put_confirmed(f"PA{self.parent.axis_Id}={target_val:.4f}*mm")
+            self.controller.socket_put_and_receive(f"BG{self.parent.axis_Id}")
+        elif self.parent.axis_Id_numeric == 4:
+            self.controller.socket_put_confirmed(f"targ{self.parent.axis_Id}={target_val:.4f}")
+            self.controller.socket_put_and_receive(f"XQ#POSE,{self.parent.axis_Id_numeric}")
+        while self.controller.is_thread_active(0):
+            time.sleep(0.005)
+
+
+class GalilMotorIsMoving(GalilSignalRO):
+    @threadlocked
+    def _socket_get(self):
+        if self.parent.axis_Id_numeric == 2:
+            ret = self.controller.is_axis_moving(self.parent.axis_Id, self.parent.axis_Id_numeric)
+            return ret
+        if self.parent.axis_Id_numeric == 4:
+            # Motion signal from axis 4 is mapped to axis 5
+            ret = self.controller.is_axis_moving("F", 5)
+            return ret or self.controller.is_thread_active(4)
+
+    def get(self):
+        val = super().get()
+        if val is not None:
+            self._run_subs(sub_type=self.SUB_VALUE, value=val, timestamp=time.time())
+        return val
+
+
+class GalilAxesReferenced(GalilSignalRO):
+    @threadlocked
+    def _socket_get(self):
+        return self.controller.socket_put_and_receive("MG allaxref")
+
+
+class SGalilMotor(Device, PositionerBase):
+    """ "SGalil Motors at cSAXS have a
+    DC motor (y axis - vertical) - implemented as C
+    and a step motor (x-axis horizontal) - implemented as E
+    that require different communication for control
+    """
+
+    USER_ACCESS = ["controller"]
+    readback = Cpt(GalilReadbackSignal, signal_name="readback", kind="hinted")
+    user_setpoint = Cpt(GalilSetpointSignal, signal_name="setpoint")
+    motor_is_moving = Cpt(GalilMotorIsMoving, signal_name="motor_is_moving", kind="normal")
+    all_axes_referenced = Cpt(GalilAxesReferenced, signal_name="all_axes_referenced", kind="config")
+    high_limit_travel = Cpt(Signal, value=0, kind="omitted")
+    low_limit_travel = Cpt(Signal, value=0, kind="omitted")
+
+    SUB_READBACK = "readback"
+    SUB_CONNECTION_CHANGE = "connection_change"
+    _default_sub = SUB_READBACK
+
+    def __init__(
+        self,
+        axis_Id,
+        prefix="",
+        *,
+        name,
+        kind=None,
+        read_attrs=None,
+        configuration_attrs=None,
+        parent=None,
+        host="129.129.122.26",
+        port=23,
+        limits=None,
+        sign=1,
+        socket_cls=SocketIO,
+        device_manager=None,
+        **kwargs,
+    ):
+        self.axis_Id = axis_Id
+        self.sign = sign
+        self.controller = GalilController(socket=socket_cls(host=host, port=port))
+        self.controller.set_axis(axis=self, axis_nr=self.axis_Id_numeric)
+        self.tolerance = kwargs.pop("tolerance", 0.5)
+        self.device_mapping = kwargs.pop("device_mapping", {})
+        self.device_manager = device_manager
+
+        if len(self.device_mapping) > 0 and self.device_manager is None:
+            raise BECConfigError(
+                "device_mapping has been specified but the device_manager cannot be accessed."
+            )
+        self.rt = self.device_mapping.get("rt")
+
+        super().__init__(
+            prefix,
+            name=name,
+            kind=kind,
+            read_attrs=read_attrs,
+            configuration_attrs=configuration_attrs,
+            parent=parent,
+            **kwargs,
+        )
+        self.readback.name = self.name
+        self.controller.subscribe(
+            self._update_connection_state, event_type=self.SUB_CONNECTION_CHANGE
+        )
+        self._update_connection_state()
+        # self.readback.subscribe(self._forward_readback, event_type=self.readback.SUB_VALUE)
+
+        if limits is not None:
+            assert len(limits) == 2
+            self.low_limit_travel.put(limits[0])
+            self.high_limit_travel.put(limits[1])
+
+    @property
+    def limits(self):
+        return (self.low_limit_travel.get(), self.high_limit_travel.get())
+
+    @property
+    def low_limit(self):
+        return self.limits[0]
+
+    @property
+    def high_limit(self):
+        return self.limits[1]
+
+    def check_value(self, pos):
+        """Check that the position is within the soft limits"""
+        low_limit, high_limit = self.limits
+
+        if low_limit < high_limit and not (low_limit <= pos <= high_limit):
+            raise LimitError(f"position={pos} not within limits {self.limits}")
+
+    def _update_connection_state(self, **kwargs):
+        for walk in self.walk_signals():
+            walk.item._metadata["connected"] = self.controller.connected
+
+    def _forward_readback(self, **kwargs):
+        kwargs.pop("sub_type")
+        self._run_subs(sub_type="readback", **kwargs)
+
+    @raise_if_disconnected
+    def move(self, position, wait=True, **kwargs):
+        """Move to a specified position, optionally waiting for motion to
+        complete.
+
+        Parameters
+        ----------
+        position
+            Position to move to
+        moved_cb : callable
+            Call this callback when movement has finished. This callback must
+            accept one keyword argument: 'obj' which will be set to this
+            positioner instance.
+        timeout : float, optional
+            Maximum time to wait for the motion. If None, the default timeout
+            for this positioner is used.
+
+        Returns
+        -------
+        status : MoveStatus
+
+        Raises
+        ------
+        TimeoutError
+            When motion takes longer than `timeout`
+        ValueError
+            On invalid positions
+        RuntimeError
+            If motion fails other than timing out
+        """
+        self._started_moving = False
+        timeout = kwargs.pop("timeout", 100)
+        status = super().move(position, timeout=timeout, **kwargs)
+        self.user_setpoint.put(position, wait=False)
+
+        def move_and_finish():
+            while self.motor_is_moving.get():
+                logger.info("motor is moving")
+                val = self.readback.read()
+                self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
+                time.sleep(1.5)
+            val = self.readback.read()
+            success = np.isclose(val[self.name]["value"], position, atol=self.tolerance)
+
+            if not success:
+                print(" stop")
+            self._done_moving(success=success)
+            logger.info("Move finished")
+
+        threading.Thread(target=move_and_finish, daemon=True).start()
+        try:
+            if wait:
+                status_wait(status)
+        except KeyboardInterrupt:
+            self.stop()
+            raise
+
+        return status
+
+    @property
+    def axis_Id(self):
+        return self._axis_Id_alpha
+
+    @axis_Id.setter
+    def axis_Id(self, val):
+        if isinstance(val, str):
+            if len(val) != 1:
+                raise ValueError(f"Only single-character axis_Ids are supported.")
+            if val not in ["C", "E"]:
+                raise ValueError(
+                    f"axis_id {val} is currently not supported, please use either 'C' or 'E'."
+                )
+            self._axis_Id_alpha = val
+            self._axis_Id_numeric = ord(val.lower()) - 97
+        else:
+            raise TypeError(f"Expected value of type str but received {type(val)}")
+
+    @property
+    def axis_Id_numeric(self):
+        return self._axis_Id_numeric
+
+    @axis_Id_numeric.setter
+    def axis_Id_numeric(self, val):
+        if isinstance(val, int):
+            if val not in [2, 4]:
+                raise ValueError(f"Numeric value {val} is not supported, it must be either 2 or 4.")
+            self._axis_Id_alpha = val
+            self._axis_Id_numeric = (chr(val + 97)).capitalize()
+        else:
+            raise TypeError(f"Expected value of type int but received {type(val)}.")
+
+    @property
+    def egu(self):
+        """The engineering units (EGU) for positions"""
+        return "mm"
+
+    def stop(self, *, success=False):
+        self.controller.stop_all_axes()
+        # last_speed = self.controller.socket_put_and_receive("MG")
+        rtr = self.controller.socket_put_and_receive(f"SPC={2*10000}")
+        logger.info(f"{rtr}")
+        # logger.info(f'Motor stopped, restored speed for samy from {last_speed}mm/s to 2mm/s')
+        return super().stop(success=success)
+
+    def kickoff(self) -> DeviceStatus:
+        status = DeviceStatus(self)
+        self.controller.fly_grid_scan(
+            status,
+            self._kickoff_params.get("start_y"),
+            self._kickoff_params.get("end_y"),
+            self._kickoff_params.get("interval_y"),
+            self._kickoff_params.get("start_x"),
+            self._kickoff_params.get("end_x"),
+            self._kickoff_params.get("interval_x"),
+            self._kickoff_params.get("exp_time"),
+            self._kickoff_params.get("readout_time"),
+        )
+        return status
+
+    def configure(self, parameter: dict, **kwargs) -> None:
+        self._kickoff_params = parameter
+
+
+if __name__ == "__main__":
+    mock = False
+    if not mock:
+        samy = SGalilMotor("C", name="samy", host="129.129.122.26", port=23, sign=-1)
+        samx = SGalilMotor("E", name="samx", host="129.129.122.26", port=23, sign=-1)
+    else:
+        from ophyd_devices.utils.socket import SocketMock
+
+        samx = SGalilMotor("E", name="samx", host="129.129.122.26", port=23, socket_cls=SocketMock)
+        samy = SGalilMotor("C", name="samy", host="129.129.122.26", port=23, socket_cls=SocketMock)
+
+        samx.controller.galil_show_all()

csaxs_bec/devices/omny/galil/sgalil_readme.md

@@ -0,0 +1,79 @@
+# Documentation SGalil ophyd wrapper 
+Ophyd wrapper for the SGalil controller and stages.
+## TODO tests and evaluate whether its good to combine common functionaltiy with galil lamni/omny/flomni controller
+## Integration of the device in IPython kernel
+BEC needs to be able to reach the host TCP to initiate a connection to the device.
+```Python
+from csaxs_bec.devices.omny.galil.sgalil_ophyd import SGalilMotor
+samx = SGalilMotor("E", name="samx", host="129.129.122.26", port=23, sign=-1)
+samy = SGalilMotor("C", name="samy", host="129.129.122.26", port=23, sign=-1)
+# connect to the controller
+samx.controller.on()
+samx.read()
+samx.move(5)
+dir(samx)# for full printout of commands
+# useful for development, check below socket communication with sgalil controller
+samx.controller.socket_put_and_receive('#string: message_to_controller')
+```
+## TODO Integration of device in BEC device config!
+to be tested too
+
+## Fly scans
+2D grid fly scan as implemented on the controller. 
+TTL triggers are sent for the start of each line. 
+The scan on the controller needs to be matched with an appropriate triggering scheme, as for instance shown in the attached scheme together with the Stanford Research DG645 device at cSAXS.
+![image info](./csaxs_sgalil_triggering.png)
+```Python
+samx.controller.(start_y, end_y, interval_y, start_x, end_x, interval_x, exp_time, readtime)
+# for example 
+samx.controller.fly_grid_scan(start_y= 16, end_y= 24, interval_y= 100, start_x= 18, end_x= 17.6, interval_x= 2, exp_time= 0.08, readtime= 0.005)
+```
+
+## TODO implement line scan
+Check SPEC implementation for line scans with sgalil controller, and complement it with a suitable triggering scheme of the DG645.
+
+## TODO readout of positions in encoder
+Should this be integrated in the flyscan or not. 
+To be explored where this is most suitable. 
+
+## Socket communication with sgalil controller
+### vertical axis (samy)
+- initiate with axis 2, C
+- in motion: "MG _BG{axis_char}", e.g. "MG _BGC" , 0 or 1
+- limit switch not pressed: "MG _LR{axis_char}, _LF{axis_char}" , 0 or 1
+- position: "MG _TP{axis_char}/mm" , position in mm
+- Axis referenced: "MG allaxref", 0 or 1
+- stop all axis: "XQ#STOP,1"
+- is motor on: "MG _MO{axis_char}", 0 or 1
+- is thread active: "MG _XQ{thread_id}", 0 or 1
+**Specific for sgalil_y**
+- set_motion_speed: "SP{axis_char}=2*mm", 2mm/s is max speed
+- set_final_pos: "PA{axis_char}={val:04f}*mm", target pos in mm
+- start motion: "BG{axis_char}", start motion
+### horizontal axis (samx) 
+note: some hardware modifications were done that require access to different channels in the encoder. Encoder, motor and limit switches are not controlled by the same endpoint/axis of the controller... see below
+- initiate with axis 4, E
+**Specific for sgalil_x**
+- set_final_pos: "targ{axis_char}={val:04f}", e.g. "targE=2.0000"
+- start motion: "XQ#POSE,{axis_char}"
+- For *in motion* and *limit switch not pressed* commands, 
+the key changes to AXIS 5 || F, e.g. "MG _BGF"
+- For *position* switch to Axis 0 || A, e.g. "MG _TPA/mm"
+
+### flyscan 2D grid commanes:
+Last command  ('XQ#SCANG') has to come with sufficient delay, important for setting up dedicated scans 
+f***ast axis***
+- self.socket_put_and_receive(f'a_start={start_y:.04f};a_end={end_y:.04f};speed={speed:.04f}')
+***slow axis***
+- self.socket_put_and_receive(f'b_start={start_x:.04f};gridmax={gridmax:d};b_step={step_grid:.04f}')
+- self.socket_put_and_receive(f'nums={n_samples}') # Declare number of triggers for encoder
+- self.socket_put_and_receive('XQ#SAMPLE') # Reset encoder counting --> sampling starts with 0
+Start scan (be aware, needs some waiting from before)
+- self.socket_put_and_receive('XQ#SCANG')
+
+### Encoder readings!
+The encoder readout is triggered by an TTL pulse. 
+Unfortunately, TTL triggers to the encoder can only be accepted with at least 12.5ms time between rising/falling edges. Therefore, maximum readout has to be ~25Hz, rather 30Hz (experimentally determined).
+Socket commands for the readout:
+- self.socket_put_and_receive('MGsposct') # get current position counter
+- self.socket_put_and_receive('MGaposavg[{ii%2000}]*10, cposavg[{ii%2000}]*10,') # loop over ii

csaxs_bec/devices/omny/omny_sample_storage.py

@@ -0,0 +1,282 @@
+import time
+
+from ophyd import Component as Cpt
+from ophyd import Device
+from ophyd import DynamicDeviceComponent as Dcpt
+from ophyd import EpicsSignal
+from prettytable import FRAME, PrettyTable
+
+
+class OMNYSampleStorageError(Exception):
+    pass
+
+
+class OMNYSampleStorage(Device):
+    USER_ACCESS = [
+        "is_sample_slot_used",
+        "is_sample_in_gripper",
+        "set_sample_slot",
+        "unset_sample_slot",
+        "set_sample_in_gripper",
+        "unset_sample_in_gripper",
+        "set_sample_in_samplestage",
+        "unset_sample_in_samplestage",
+        "get_sample_name_in_samplestage",
+        "get_sample_name",
+        "is_sample_in_samplestage",
+        "set_shuttle_slot",
+        "unset_shuttle_slot",
+        "get_shuttle_name_slot",
+        "is_shuttle_slot_used",
+        "search_shuttle_in_slot",
+        "show_all",
+    ]
+    SUB_VALUE = "value"
+    _default_sub = SUB_VALUE
+
+    sample_shuttle_A_placed = {
+        f"sample{i}": (EpicsSignal, f"XOMNY-SAMPLE_DB_shuttle_A:{i}", {}) for i in range(1, 7)
+    }
+    sample_shuttle_A_placed = Dcpt(sample_shuttle_A_placed)
+
+    sample_shuttle_B_placed = {
+        f"sample{i}": (EpicsSignal, f"XOMNY-SAMPLE_DB_shuttle_B:{i}", {}) for i in range(1, 7)
+    }
+    sample_shuttle_B_placed = Dcpt(sample_shuttle_B_placed)
+
+    sample_shuttle_C_placed = {
+        f"sample{i}": (EpicsSignal, f"XOMNY-SAMPLE_DB_shuttle_C:{i}", {}) for i in range(1, 7)
+    }
+    sample_shuttle_C_placed = Dcpt(sample_shuttle_C_placed)
+
+    sample_shuttle_C_placed = {
+        f"sample{i}": (EpicsSignal, f"XOMNY-SAMPLE_DB_shuttle_C:{i}", {}) for i in range(1, 7)
+    }
+    sample_shuttle_C_placed = Dcpt(sample_shuttle_C_placed)
+
+    parking_placed = {
+        f"parking{i}": (EpicsSignal, f"XOMNY-SAMPLE_DB_parking:{i}", {}) for i in range(1, 7)
+    }
+    parking_placed = Dcpt(parking_placed)
+
+    sample_placed = {
+        f"sample{i}": (EpicsSignal, f"XOMNY-SAMPLE_DB_omny:{i}", {})
+        for i in [10, 11, 12, 13, 14, 32, 33, 34, 100, 101]
+    }
+    sample_placed = Dcpt(sample_placed)
+
+    sample_shuttle_A_names = {
+        f"sample{i}": (EpicsSignal, f"XOMNY-SAMPLE_DB_shuttle_A:{i}.DESC", {"string": True})
+        for i in range(1, 7)
+    }
+    sample_shuttle_A_names = Dcpt(sample_shuttle_A_names)
+
+    sample_shuttle_B_names = {
+        f"sample{i}": (EpicsSignal, f"XOMNY-SAMPLE_DB_shuttle_B:{i}.DESC", {"string": True})
+        for i in range(1, 7)
+    }
+    sample_shuttle_B_names = Dcpt(sample_shuttle_B_names)
+
+    sample_shuttle_C_names = {
+        f"sample{i}": (EpicsSignal, f"XOMNY-SAMPLE_DB_shuttle_C:{i}.DESC", {"string": True})
+        for i in range(1, 7)
+    }
+    sample_shuttle_C_names = Dcpt(sample_shuttle_C_names)
+
+    parking_names = {
+        f"parking{i}": (EpicsSignal, f"XOMNY-SAMPLE_DB_parking:{i}.DESC", {"string": True})
+        for i in range(1, 7)
+    }
+    parking_names = Dcpt(parking_names)
+
+    sample_names = {
+        f"sample{i}": (EpicsSignal, f"XOMNY-SAMPLE_DB_omny:{i}.DESC", {"string": True})
+        for i in [10, 11, 12, 13, 14, 32, 33, 34, 100, 101]
+    }
+    sample_names = Dcpt(sample_names)
+
+    sample_in_gripper = Cpt(
+        EpicsSignal, name="sample_in_gripper", read_pv="XOMNY-SAMPLE_DB_omny:110.VAL"
+    )
+    sample_in_gripper_name = Cpt(
+        EpicsSignal,
+        name="sample_in_gripper_name",
+        read_pv="XOMNY-SAMPLE_DB_omny:110.DESC",
+        string=True,
+    )
+
+    sample_in_samplestage = Cpt(
+        EpicsSignal, name="sample_in_samplestage", read_pv="XOMNY-SAMPLE_DB_omny:0.VAL"
+    )
+    sample_in_samplestage_name = Cpt(
+        EpicsSignal,
+        name="sample_in_samplestage_name",
+        read_pv="XOMNY-SAMPLE_DB_omny:0.DESC",
+        string=True,
+    )
+
+    def __init__(self, prefix="", *, name, **kwargs):
+        super().__init__(prefix, name=name, **kwargs)
+        self.sample_shuttle_A_placed.sample1.subscribe(self._emit_value)
+
+    def _emit_value(self, **kwargs):
+        timestamp = kwargs.pop("timestamp", time.time())
+        self.wait_for_connection()
+        self._run_subs(sub_type=self.SUB_VALUE, timestamp=timestamp, obj=self)
+
+    def set_sample_slot(self, container: str, slot_nr: int, name: str) -> bool:
+        if slot_nr > 20:
+            raise OMNYSampleStorageError(f"Invalid slot number {slot_nr}.")
+
+        if container == "A":
+            getattr(self.sample_shuttle_A_placed, f"sample{slot_nr}").set(1)
+            getattr(self.sample_shuttle_A_names, f"sample{slot_nr}").set(name)
+        elif container == "B":
+            getattr(self.sample_shuttle_B_placed, f"sample{slot_nr}").set(1)
+            getattr(self.sample_shuttle_B_names, f"sample{slot_nr}").set(name)
+        elif container == "C":
+            getattr(self.sample_shuttle_C_placed, f"sample{slot_nr}").set(1)
+            getattr(self.sample_shuttle_C_names, f"sample{slot_nr}").set(name)
+
+    def unset_sample_slot(self, shuttle: str, slot_nr: int) -> bool:
+        if slot_nr > 20:
+            raise OMNYSampleStorageError(f"Invalid slot number {slot_nr}.")
+
+        if shuttle == "A":
+            getattr(self.sample_shuttle_A_placed, f"sample{slot_nr}").set(0)
+            getattr(self.sample_shuttle_A_names, f"sample{slot_nr}").set("-")
+        if shuttle == "B":
+            getattr(self.sample_shuttle_B_placed, f"sample{slot_nr}").set(0)
+            getattr(self.sample_shuttle_B_names, f"sample{slot_nr}").set("-")
+        if shuttle == "C":
+            getattr(self.sample_shuttle_C_placed, f"sample{slot_nr}").set(0)
+            getattr(self.sample_shuttle_C_names, f"sample{slot_nr}").set("-")
+
+    def set_shuttle_slot(self, container: str, slot_nr: int) -> bool:
+        if slot_nr > 6:
+            raise OMNYSampleStorageError(f"Invalid slot number {slot_nr}.")
+        getattr(self.parking_placed, f"parking{slot_nr}").set(1)
+        getattr(self.parking_names, f"parking{slot_nr}").set(container)
+
+    def unset_shuttle_slot(self, slot_nr: int) -> bool:
+        if slot_nr > 6:
+            raise OMNYSampleStorageError(f"Invalid slot number {slot_nr}.")
+        getattr(self.parking_placed, f"parking{slot_nr}").set(0)
+        getattr(self.parking_names, f"parking{slot_nr}").set("none")
+
+    def set_sample_in_gripper(self, name: str) -> bool:
+        self.sample_in_gripper.set(1)
+        self.sample_in_gripper_name.set(name)
+
+    def unset_sample_in_gripper(self) -> bool:
+        self.sample_in_gripper.set(0)
+        self.sample_in_gripper_name.set("-")
+
+    def set_sample_in_samplestage(self, name: str) -> bool:
+        self.sample_in_samplestage.set(1)
+        self.sample_in_samplestage_name.set(name)
+
+    def unset_sample_in_samplestage(self) -> bool:
+        self.sample_in_samplestage.set(0)
+        self.sample_in_samplestage_name.set("-")
+
+    def is_sample_slot_used(self, container, slot_nr: int) -> bool:
+        if container == "A":
+            val = getattr(self.sample_shuttle_A_placed, f"sample{slot_nr}").get()
+        if container == "B":
+            val = getattr(self.sample_shuttle_B_placed, f"sample{slot_nr}").get()
+        if container == "C":
+            val = getattr(self.sample_shuttle_C_placed, f"sample{slot_nr}").get()
+        elif container == "O":
+            val = getattr(self.sample_placed, f"sample{slot_nr}").get()
+        return bool(val)
+
+    def is_shuttle_slot_used(self, slot_nr: int) -> bool:
+        val = getattr(self.parking_placed, f"parking{slot_nr}").get()
+        return bool(val)
+
+    def is_sample_in_gripper(self) -> bool:
+        val = self.sample_in_gripper.get()
+        return bool(val)
+
+    def is_sample_in_samplestage(self) -> bool:
+        val = self.sample_in_samplestage.get()
+        return bool(val)
+
+    def get_sample_name(self, container, slot_nr) -> str:
+        if container == "A":
+            val = getattr(self.sample_shuttle_A_names, f"sample{slot_nr}").get()
+        elif container == "B":
+            val = getattr(self.sample_shuttle_B_names, f"sample{slot_nr}").get()
+        elif container == "C":
+            val = getattr(self.sample_shuttle_C_names, f"sample{slot_nr}").get()
+        elif container == "O":
+            val = getattr(self.sample_names, f"sample{slot_nr}").get()
+        else:
+            val = "unknown container"
+        return str(val)
+
+    def get_shuttle_name_slot(self, slot_nr: int) -> str:
+        val = getattr(self.parking_names, f"parking{slot_nr}").get()
+        return str(val)
+
+    def get_sample_name_in_gripper(self) -> str:
+        val = self.sample_in_gripper_name.get()
+        return str(val)
+
+    def get_sample_name_in_samplestage(self) -> str:
+        val = self.sample_in_samplestage_name.get()
+        return str(val)
+
+    def search_shuttle_in_slot(self, shuttle: str) -> int:
+        returnvalue = 0
+        for i in range(1, 7):
+            if self.get_shuttle_name_slot(i) == shuttle:
+                returnvalue = i
+        return returnvalue
+
+    def show_all(self):
+        t = PrettyTable()
+        red = "\x1b[91m"
+        green = "\x1b[92m"
+        white = "\x1b[0m"
+        for ch in ["A", "B", "C"]:
+            t.clear()
+            shuttle_in_slot = self.search_shuttle_in_slot(ch)
+            if shuttle_in_slot > 0:
+                t.title = green + "Shuttle " + ch + " in OMNY slot " + str(shuttle_in_slot) + white
+            else:
+                t.title = red + "Shuttle " + ch + white
+            field_names = [""]
+            for ax in [1, 3, 5]:
+                row = []
+                row.extend([self.get_sample_name(ch, ax)])
+                row.extend(str(ax))
+                row.extend(str(ax + 1))
+                row.extend([self.get_sample_name(ch, ax + 1)])
+                t.add_row(row)
+            t.header = False
+            t.vrules = FRAME
+            print(t)
+
+        if self.is_sample_in_samplestage():
+            print(f"\n\n  Sample stage:   {self.get_sample_name_in_samplestage()}")
+        else:
+            print(f"\n\n  Sample stage:   no sample")
+
+        if self.is_sample_in_gripper():
+            print(f"\n  Gripper:        {self.get_sample_name_in_gripper()}\n")
+        else:
+            print(f"\n  Gripper:        no sample\n")
+
+        t.clear()
+        t.title = "Fixed positions in OMNY"
+        for i in [10, 11, 12, 13, 14, 32, 33, 34, 100, 101]:
+            row = []
+            row.extend([f"Position {i:3d}"])
+            if self.is_sample_slot_used("O", i):
+                row.extend(self.get_sample_name("O", i))
+            else:
+                row.extend(["free"])
+            t.add_row(row)
+        print(t)

csaxs_bec/devices/omny/rt/__init__.py

@@ -0,0 +1,2 @@
+from .rt_flomni_ophyd import RtFlomniController, RtFlomniMotor
+from .rt_lamni_ophyd import RtLamniController, RtLamniMotor

csaxs_bec/devices/omny/rt/rt_flomni_ophyd.py

@@ -0,0 +1,815 @@
+import threading
+import time
+from typing import List
+
+import numpy as np
+from bec_lib import bec_logger, messages
+from bec_lib.endpoints import MessageEndpoints
+from ophyd import Component as Cpt
+from ophyd import Device, PositionerBase, Signal
+from ophyd.status import wait as status_wait
+from ophyd.utils import LimitError
+from ophyd_devices.utils.controller import Controller, threadlocked
+from ophyd_devices.utils.socket import SocketIO, raise_if_disconnected
+from prettytable import PrettyTable
+
+from csaxs_bec.devices.omny.rt.rt_ophyd import (
+    BECConfigError,
+    RtCommunicationError,
+    RtError,
+    RtReadbackSignal,
+    RtSetpointSignal,
+    RtSignalRO,
+    retry_once,
+)
+
+logger = bec_logger.logger
+
+
+class RtFlomniController(Controller):
+    _axes_per_controller = 3
+    USER_ACCESS = [
+        "socket_put_and_receive",
+        "set_rotation_angle",
+        "feedback_disable",
+        "feedback_enable_without_reset",
+        "feedback_enable_with_reset",
+        "feedback_is_running",
+        "add_pos_to_scan",
+        "get_pid_x",
+        "move_samx_to_scan_region",
+        "clear_trajectory_generator",
+        "show_cyclic_error_compensation",
+        "laser_tracker_on",
+        "laser_tracker_off",
+        "laser_tracker_show_all",
+        "show_signal_strength_interferometer",
+        "read_ssi_interferometer",
+        "laser_tracker_check_signalstrength",
+        "laser_tracker_check_enabled",
+    ]
+
+    def __init__(
+        self,
+        *,
+        name="RtFlomniController",
+        socket_cls=None,
+        socket_host=None,
+        socket_port=None,
+        attr_name="",
+        parent=None,
+        labels=None,
+        kind=None,
+    ):
+        super().__init__(
+            name=name,
+            socket_cls=socket_cls,
+            socket_host=socket_host,
+            socket_port=socket_port,
+            attr_name=attr_name,
+            parent=parent,
+            labels=labels,
+            kind=kind,
+        )
+        self.tracker_info = {}
+        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
+        axis_is_on_target = bool(float(self.socket_put_and_receive("o")))
+        return not axis_is_on_target
+
+    @threadlocked
+    def stop_all_axes(self):
+        self.socket_put("sc")
+
+    def add_pos_to_scan(self, positions) -> None:
+        def send_positions(parent, positions):
+            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}")
+                if pos_index > 100:
+                    parent._min_scan_buffer_reached = True
+            parent._min_scan_buffer_reached = True
+            logger.info(
+                f"Sending {len(positions)} positions took {time.time()-start_time} seconds."
+            )
+
+        threading.Thread(target=send_positions, args=(self, positions), daemon=True).start()
+
+    def move_to_zero(self):
+        self.socket_put("pa0,0")
+        self.get_axis_by_name("rtx").user_setpoint.setpoint = 0
+        self.socket_put("pa1,0")
+        self.get_axis_by_name("rty").user_setpoint.setpoint = 0
+        self.socket_put("pa2,0")
+        self.get_axis_by_name("rtz").user_setpoint.setpoint = 0
+        time.sleep(0.05)
+
+    def feedback_is_running(self) -> bool:
+        status = int(float(self.socket_put_and_receive("l2").strip()))
+        if status == 1:
+            return False
+        return True
+
+    def feedback_enable_with_reset(self):
+        self.socket_put("l0")  # disable feedback
+
+        self.move_to_zero()
+
+        if not self.slew_rate_limiters_on_target() or np.abs(self.pid_y()) > 0.1:
+            print("Please wait, slew rate limiters not on target.")
+            logger.info("Please wait, slew rate limiters not on target.")
+        while not self.slew_rate_limiters_on_target() or np.abs(self.pid_y()) > 0.1:
+            time.sleep(0.05)
+
+        self.get_device_manager().devices.rty.update_user_parameter({"tomo_additional_offsety": 0})
+        self.clear_trajectory_generator()
+
+        self.laser_tracker_on()
+
+        # move to 0. FUPR will set the rotation angle during readout
+        self.get_device_manager().devices.fsamroy.obj.move(0, wait=True)
+
+        fsamx = self.get_device_manager().devices.fsamx
+
+        fsamx.obj.pid_x_correction = 0
+        fsamx.obj.controller.socket_put_confirmed("axspeed[4]=0.1*stppermm[4]")
+        fsamx_in = fsamx.user_parameter.get("in")
+        if not np.isclose(fsamx.obj.readback.get(), fsamx_in, atol=0.3):
+            print(
+                "Something is wrong. fsamx is very far from the samx_in position. Don't dare correct automatically."
+            )
+            raise RtError(
+                "Something is wrong. fsamx is very far from the samx_in position. Don't dare correct automatically."
+            )
+
+        if not np.isclose(fsamx.obj.readback.get(), fsamx_in, atol=0.01):
+            fsamx.read_only = False
+            fsamx.obj.move(fsamx_in, wait=True)
+            fsamx.read_only = True
+            time.sleep(1)
+
+        self.socket_put("l1")
+        time.sleep(0.4)
+
+        if not self.feedback_is_running():
+            print("Feedback is not running; likely an error in the interferometer.")
+            raise RtError("Feedback is not running; likely an error in the interferometer.")
+
+        time.sleep(1.5)
+        self.show_cyclic_error_compensation()
+
+        self.rt_pid_voltage = self.get_pid_x()
+        rtx = self.get_device_manager().devices.rtx
+        rtx.update_user_parameter({"rt_pid_voltage": self.rt_pid_voltage})
+
+        self.set_device_enabled("fsamx", False)
+        self.set_device_enabled("fsamy", False)
+        self.set_device_enabled("foptx", False)
+        self.set_device_enabled("fopty", False)
+
+    def move_samx_to_scan_region(self, fovx: float, cenx: float):
+        time.sleep(0.05)
+        if self.rt_pid_voltage is None:
+            rtx = self.get_device_manager().devices.rtx
+            self.rt_pid_voltage = rtx.user_parameter.get("rt_pid_voltage")
+            if self.rt_pid_voltage is None:
+                raise RtError(
+                    "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}")
+        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")
+            fsamx = self.get_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)
+
+        if wait_on_exit:
+            time.sleep(1)
+
+        self.socket_put("v1")
+
+    @threadlocked
+    def clear_trajectory_generator(self):
+        self.socket_put("sc")
+        logger.info("flomni scan stopped and deleted, moving to start position")
+
+    def feedback_enable_without_reset(self):
+        self.laser_tracker_on()
+        self.socket_put("l3")
+        time.sleep(0.01)
+
+        if not self.feedback_is_running():
+            print("Feedback is not running; likely an error in the interferometer.")
+            raise RtError("Feedback is not running; likely an error in the interferometer.")
+
+        self.set_device_enabled("fsamx", False)
+        self.set_device_enabled("fsamy", False)
+        self.set_device_enabled("foptx", False)
+        self.set_device_enabled("fopty", False)
+
+    def feedback_disable(self):
+        self.clear_trajectory_generator()
+        self.move_to_zero()
+        self.socket_put("l0")
+
+        self.set_device_enabled("fsamx", True)
+        self.set_device_enabled("fsamy", True)
+        self.set_device_enabled("foptx", True)
+        self.set_device_enabled("fopty", True)
+
+        fsamx = self.get_device_manager().devices.fsamx
+        fsamx.obj.controller.socket_put_confirmed("axspeed[4]=025*stppermm[4]")
+        print("rt feedback is now disalbed.")
+
+    def get_pid_x(self) -> float:
+        voltage = float(self.socket_put_and_receive("g").strip())
+        return voltage
+
+    def show_cyclic_error_compensation(self):
+        cec0 = int(float(self.socket_put_and_receive("w0").strip()))
+        cec1 = int(float(self.socket_put_and_receive("w1").strip()))
+
+        if cec0 == 32:
+            logger.info("Cyclic Error Compensation: y-axis is initialized")
+        else:
+            logger.info("Cyclic Error Compensation: y-axis is NOT initialized")
+            print("Cyclic Error Compensation: y-axis is NOT initialized")
+        if cec1 == 32:
+            logger.info("Cyclic Error Compensation: x-axis is initialized")
+        else:
+            logger.info("Cyclic Error Compensation: x-axis is NOT initialized")
+            print("Cyclic Error Compensation: x-axis is NOT initialized")
+
+    def set_rotation_angle(self, val: float) -> None:
+        self.socket_put(f"a{val/180*np.pi}")
+
+    def laser_tracker_check_enabled(self) -> bool:
+        self.laser_update_tracker_info()
+        if self.tracker_info["enabled_z"] and self.tracker_info["enabled_y"]:
+            return True
+        else:
+            return False
+
+    def laser_tracker_on(self):
+        if not self.laser_tracker_check_enabled():
+            logger.info("Enabling the laser tracker. Please wait...")
+            print("Enabling the laser tracker. Please wait...")
+
+            tracker_intensity = self.tracker_info["tracker_intensity"]
+            if (
+                tracker_intensity < self.tracker_info["threshold_intensity_y"]
+                or tracker_intensity < self.tracker_info["threshold_intensity_z"]
+            ):
+                logger.info(self.tracker_info)
+                print("The tracker cannot be enabled because the beam intensity it low.")
+                raise RtError("The tracker cannot be enabled because the beam intensity it low.")
+
+            self.move_to_zero()
+            self.socket_put("T1")
+            time.sleep(0.5)
+
+            self.get_device_manager().devices.ftrackz.obj.controller.socket_put_confirmed(
+                "trackyct=0"
+            )
+            self.get_device_manager().devices.ftrackz.obj.controller.socket_put_confirmed(
+                "trackzct=0"
+            )
+
+        self.laser_tracker_wait_on_target()
+        logger.info("Laser tracker running!")
+        print("Laser tracker running!")
+
+    def laser_tracker_off(self):
+        if self.feedback_is_running():
+            print(
+                "Interferometer feedback is running. Cannot disable the tracker. First disable the feedback using rt_feedback_disable()"
+            )
+        else:
+            self.socket_put("T0")
+            logger.info("Disabled the laser tracker")
+            print("Disabled the laser tracker")
+
+    def laser_tracker_show_all(self):
+        self.laser_update_tracker_info()
+        t = PrettyTable()
+        t.title = f"Laser Tracker Info"
+        t.field_names = ["Name", "Value"]
+        for key, val in self.tracker_info.items():
+            t.add_row([key, val])
+        print(t)
+
+    def laser_update_tracker_info(self):
+        ret = self.socket_put_and_receive("Ts")
+
+        # remove trailing \n
+        ret = ret.split("\n")[0]
+
+        tracker_values = [float(val) for val in ret.split(",")]
+        self.tracker_info = {
+            "tracker_intensity": tracker_values[2],
+            "threshold_intensity_y": tracker_values[8],
+            "enabled_y": bool(tracker_values[10]),
+            "beampos_y": tracker_values[5],
+            "target_y": tracker_values[6],
+            "piezo_voltage_y": tracker_values[9],
+            "threshold_intensity_z": tracker_values[3],
+            "enabled_z": bool(tracker_values[10]),
+            "beampos_z": tracker_values[0],
+            "target_z": tracker_values[1],
+            "piezo_voltage_z": tracker_values[4],
+        }
+
+    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")
+
+    def laser_tracker_on_target(self) -> bool:
+        self.laser_update_tracker_info()
+        if np.isclose(
+            self.tracker_info["beampos_y"], self.tracker_info["target_y"], atol=0.02
+        ) and np.isclose(self.tracker_info["beampos_z"], self.tracker_info["target_z"], atol=0.02):
+            return True
+        return False
+
+    def laser_tracker_wait_on_target(self):
+        max_repeat = 25
+        count = 0
+        while not self.laser_tracker_on_target():
+            self.laser_tracker_galil_enable()
+            logger.info("Waiting for laser tracker to reach target.")
+            time.sleep(0.5)
+            count += 1
+            if count > max_repeat:
+                print("Failed to reach laser target position.")
+                raise RtError("Failed to reach laser target position.")
+
+    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_check_signalstrength(self):
+        if not self.laser_tracker_check_enabled():
+            returnval = "disabled"
+        else:
+            returnval = "ok"
+            self.laser_tracker_wait_on_target()
+
+            signal = self.read_ssi_interferometer(1)
+            rtx = self.get_device_manager().devices.rtx
+            min_signal = rtx.user_parameter.get("min_signal")
+            low_signal = rtx.user_parameter.get("low_signal")
+            if signal < min_signal:
+                time.sleep(1)
+                if signal < min_signal:
+                    print(
+                        f"\x1b[91mThe signal of the tracker {signal} is below the minimum required signal of {min_signal}. Readjustment requred!\x1b[0m"
+                    )
+                    returnval = "toolow"
+                    # raise RtError("The interferometer signal of tracker is too low.")
+            elif signal < low_signal:
+                print(
+                    f"\x1b[91mThe signal of the tracker {signal} is below the warning limit of {low_signal}. Readjustment recommended!\x1b[0m"
+                )
+                returnval = "low"
+        return returnval
+
+    def show_signal_strength_interferometer(self):
+        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)
+
+    def _get_signals_from_table(self, return_table) -> dict:
+        self.average_stdeviations_x_st_fzp += float(return_table[4])
+        self.average_stdeviations_y_st_fzp += float(return_table[7])
+        signals = {
+            "target_x": {"value": float(return_table[2])},
+            "average_x_st_fzp": {"value": float(return_table[3])},
+            "stdev_x_st_fzp": {"value": float(return_table[4])},
+            "target_y": {"value": float(return_table[5])},
+            "average_y_st_fzp": {"value": float(return_table[6])},
+            "stdev_y_st_fzp": {"value": float(return_table[7])},
+            "average_rotz": {"value": float(return_table[8])},
+            "stdev_rotz": {"value": float(return_table[9])},
+            "average_stdeviations_x_st_fzp": {
+                "value": self.average_stdeviations_x_st_fzp / (int(return_table[0]) + 1)
+            },
+            "average_stdeviations_y_st_fzp": {
+                "value": self.average_stdeviations_y_st_fzp / (int(return_table[0]) + 1)
+            },
+        }
+        return signals
+
+    @threadlocked
+    def start_scan(self):
+        if not self.feedback_is_running():
+            logger.error(
+                "Cannot start scan because feedback loop is not running or there is an"
+                " interferometer error."
+            )
+            raise RtError(
+                "Cannot start scan because feedback loop is not running or there is an"
+                " interferometer error."
+            )
+            # here exception
+        (mode, number_of_positions_planned, current_position_in_scan) = self.get_scan_status()
+
+        if number_of_positions_planned == 0:
+            logger.error("Cannot start scan because no target positions are planned.")
+            raise RtError("Cannot start scan because no target positions are planned.")
+            # hier exception
+        # start a point-by-point scan (for cont scan in flomni it would be "sa")
+        self.socket_put_and_receive("sd")
+
+    @retry_once
+    @threadlocked
+    def get_scan_status(self):
+        return_table = (self.socket_put_and_receive("sr")).split(",")
+        if len(return_table) != 3:
+            raise RtCommunicationError(
+                f"Expected to receive 3 return values. Instead received {return_table}"
+            )
+        mode = int(float(return_table[0]))
+        # mode 0: direct positioning
+        # mode 1: running internal timer (not tested/used anymore)
+        # mode 2: rt point scan running
+        # mode 3: rt point scan starting
+        # mode 5/6: rt continuous scanning (not available in LamNI)
+        number_of_positions_planned = int(float(return_table[1]))
+        current_position_in_scan = int(float(return_table[2]))
+        return (mode, number_of_positions_planned, current_position_in_scan)
+
+    def get_device_manager(self):
+        for axis in self._axis:
+            if hasattr(axis, "device_manager") and axis.device_manager:
+                return axis.device_manager
+        raise BECConfigError("Could not access the device_manager")
+
+    def read_positions_from_sampler(self):
+        # this was for reading after the scan completed
+        number_of_samples_to_read = 1  # self.get_scan_status()[1]  #number of valid samples, will be updated upon first data read
+
+        read_counter = 0
+
+        self.average_stdeviations_x_st_fzp = 0
+        self.average_stdeviations_y_st_fzp = 0
+        self.average_lamni_angle = 0
+
+        mode, number_of_positions_planned, current_position_in_scan = self.get_scan_status()
+
+        # if not (mode==2 or mode==3):
+        #    error
+        self.get_device_manager().connector.set(
+            MessageEndpoints.device_status("rt_scan"),
+            messages.DeviceStatusMessage(
+                device="rt_scan", status=1, metadata=self.readout_metadata
+            ),
+        )
+        # while scan is running
+        while mode > 0:
+            # 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()
+            time.sleep(0.01)
+            if current_position_in_scan > 5:
+                while current_position_in_scan > read_counter + 1:
+                    return_table = (self.socket_put_and_receive(f"r{read_counter}")).split(",")
+                    # logger.info(f"{return_table}")
+                    logger.info(f"Read {read_counter} out of {number_of_positions_planned}")
+
+                    read_counter = read_counter + 1
+
+                    signals = self._get_signals_from_table(return_table)
+
+                    self.publish_device_data(signals=signals, point_id=int(return_table[0]))
+
+        time.sleep(0.05)
+
+        # read the last samples even though scan is finished already
+        while number_of_positions_planned > read_counter:
+            return_table = (self.socket_put_and_receive(f"r{read_counter}")).split(",")
+            logger.info(f"Read {read_counter} out of {number_of_positions_planned}")
+            # logger.info(f"{return_table}")
+            read_counter = read_counter + 1
+
+            signals = self._get_signals_from_table(return_table)
+            self.publish_device_data(signals=signals, point_id=int(return_table[0]))
+
+        self.get_device_manager().connector.set(
+            MessageEndpoints.device_status("rt_scan"),
+            messages.DeviceStatusMessage(
+                device="rt_scan", status=0, metadata=self.readout_metadata
+            ),
+        )
+
+        logger.info(
+            "Flomni statistics: Average of all standard deviations: x"
+            f" {self.average_stdeviations_x_st_fzp/number_of_samples_to_read}, y"
+            f" {self.average_stdeviations_y_st_fzp/number_of_samples_to_read}."
+        )
+
+    def publish_device_data(self, signals, point_id):
+        self.get_device_manager().connector.set_and_publish(
+            MessageEndpoints.device_read("rt_flomni"),
+            messages.DeviceMessage(
+                signals=signals, metadata={"point_id": point_id, **self.readout_metadata}
+            ),
+        )
+
+    def start_readout(self):
+        readout = threading.Thread(target=self.read_positions_from_sampler)
+        readout.start()
+
+    def kickoff(self, metadata):
+        self.readout_metadata = metadata
+        while not self._min_scan_buffer_reached:
+            time.sleep(0.001)
+        self.start_scan()
+        time.sleep(0.1)
+        self.start_readout()
+
+
+class RtFlomniReadbackSignal(RtReadbackSignal):
+    @retry_once
+    @threadlocked
+    def _socket_get(self) -> float:
+        """Get command for the readback signal
+
+        Returns:
+        float: Readback value after adjusting for sign and motor resolution.
+        """
+        time.sleep(0.1)
+        return_table = (self.controller.socket_put_and_receive(f"pr")).split(",")
+
+        current_pos = float(return_table[self.parent.axis_Id_numeric])
+
+        current_pos *= self.parent.sign
+        self.parent.user_setpoint.setpoint = current_pos
+        return current_pos
+
+
+class RtFlomniSetpointSignal(RtSetpointSignal):
+    setpoint = 0
+
+    @retry_once
+    @threadlocked
+    def _socket_set(self, val: float) -> None:
+        """Set a new target value / setpoint value. Before submission, the target value is adjusted for the axis' sign.
+        Furthermore, it is ensured that all axes are referenced before a new setpoint is submitted.
+
+        Args:
+            val (float): Target value / setpoint value
+
+        Raises:
+            RtError: Raised if interferometer feedback is disabled.
+
+        """
+        if not self.parent.controller.feedback_is_running():
+            print(
+                "The interferometer feedback is not running. Either it is turned off or and"
+                " interferometer error occured."
+            )
+            raise RtError(
+                "The interferometer feedback is not running. Either it is turned off or and"
+                " interferometer error occured."
+            )
+        self.set_with_feedback_disabled(val)
+
+    def set_with_feedback_disabled(self, val):
+        target_val = val * self.parent.sign
+        self.setpoint = target_val
+        self.controller.socket_put(f"pa{self.parent.axis_Id_numeric},{target_val:.4f}")
+
+
+class RtFlomniFeedbackRunning(RtSignalRO):
+    @threadlocked
+    def _socket_get(self):
+        return int(self.parent.controller.feedback_is_running())
+
+
+class RtFlomniMotor(Device, PositionerBase):
+    USER_ACCESS = ["controller"]
+    readback = Cpt(RtFlomniReadbackSignal, signal_name="readback", kind="hinted")
+    user_setpoint = Cpt(RtFlomniSetpointSignal, signal_name="setpoint")
+
+    high_limit_travel = Cpt(Signal, value=0, kind="omitted")
+    low_limit_travel = Cpt(Signal, value=0, kind="omitted")
+
+    SUB_READBACK = "readback"
+    SUB_CONNECTION_CHANGE = "connection_change"
+    _default_sub = SUB_READBACK
+
+    def __init__(
+        self,
+        axis_Id,
+        prefix="",
+        *,
+        name,
+        kind=None,
+        read_attrs=None,
+        configuration_attrs=None,
+        parent=None,
+        host="mpc2844.psi.ch",
+        port=2222,
+        sign=1,
+        socket_cls=SocketIO,
+        device_manager=None,
+        limits=None,
+        **kwargs,
+    ):
+        self.axis_Id = axis_Id
+        self.sign = sign
+        self.controller = RtFlomniController(
+            socket_cls=socket_cls, socket_host=host, socket_port=port
+        )
+        self.controller.set_axis(axis=self, axis_nr=self.axis_Id_numeric)
+        self.device_manager = device_manager
+        self.tolerance = kwargs.pop("tolerance", 0.5)
+
+        super().__init__(
+            prefix,
+            name=name,
+            kind=kind,
+            read_attrs=read_attrs,
+            configuration_attrs=configuration_attrs,
+            parent=parent,
+            **kwargs,
+        )
+        self.readback.name = self.name
+        self.controller.subscribe(
+            self._update_connection_state, event_type=self.SUB_CONNECTION_CHANGE
+        )
+        self._update_connection_state()
+        self._stopped = False
+
+        # self.readback.subscribe(self._forward_readback, event_type=self.readback.SUB_VALUE)
+        if limits is not None:
+            assert len(limits) == 2
+            self.low_limit_travel.put(limits[0])
+            self.high_limit_travel.put(limits[1])
+
+    @property
+    def limits(self):
+        return (self.low_limit_travel.get(), self.high_limit_travel.get())
+
+    @property
+    def low_limit(self):
+        return self.limits[0]
+
+    @property
+    def high_limit(self):
+        return self.limits[1]
+
+    def check_value(self, value, **kwargs):
+        """Check that the position is within the soft limits"""
+        low_limit, high_limit = self.limits
+
+        if low_limit < high_limit and not (low_limit <= value <= high_limit):
+            raise LimitError(f"position={value} not within limits {self.limits}")
+
+    def _update_connection_state(self, **kwargs):
+        for walk in self.walk_signals():
+            # pylint: disable=protected-access
+            walk.item._metadata["connected"] = self.controller.connected
+
+    def _forward_readback(self, **kwargs):
+        kwargs.pop("sub_type")
+        self._run_subs(sub_type="readback", **kwargs)
+
+    @raise_if_disconnected
+    def move(self, position, wait=True, **kwargs):
+        """Move to a specified position, optionally waiting for motion to
+        complete.
+
+        Parameters
+        ----------
+        position
+            Position to move to
+        moved_cb : callable
+            Call this callback when movement has finished. This callback must
+            accept one keyword argument: 'obj' which will be set to this
+            positioner instance.
+        timeout : float, optional
+            Maximum time to wait for the motion. If None, the default timeout
+            for this positioner is used.
+
+        Returns
+        -------
+        status : MoveStatus
+
+        Raises
+        ------
+        TimeoutError
+            When motion takes longer than `timeout`
+        ValueError
+            On invalid positions
+        RuntimeError
+            If motion fails other than timing out
+        """
+        self._started_moving = False
+        timeout = kwargs.pop("timeout", 100)
+        status = super().move(position, timeout=timeout, **kwargs)
+        self.user_setpoint.put(position, wait=False)
+
+        def move_and_finish():
+            while not self.controller.slew_rate_limiters_on_target() and not self._stopped:
+                print("motor is moving")
+                val = self.readback.read()
+                self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
+                time.sleep(0.01)
+            print("Move finished")
+            self._done_moving(success=(not self._stopped))
+
+        self._stopped = False
+        threading.Thread(target=move_and_finish, daemon=True).start()
+        try:
+            if wait:
+                status_wait(status)
+        except KeyboardInterrupt:
+            self.stop()
+            raise
+
+        return status
+
+    @property
+    def axis_Id(self):
+        return self._axis_Id_alpha
+
+    @axis_Id.setter
+    def axis_Id(self, val):
+        if isinstance(val, str):
+            if len(val) != 1:
+                raise ValueError("Only single-character axis_Ids are supported.")
+            self._axis_Id_alpha = val
+            self._axis_Id_numeric = ord(val.lower()) - 97
+        else:
+            raise TypeError(f"Expected value of type str but received {type(val)}")
+
+    @property
+    def axis_Id_numeric(self):
+        return self._axis_Id_numeric
+
+    @axis_Id_numeric.setter
+    def axis_Id_numeric(self, val):
+        if isinstance(val, int):
+            if val > 26:
+                raise ValueError("Numeric value exceeds supported range.")
+            self._axis_Id_alpha = val
+            self._axis_Id_numeric = (chr(val + 97)).capitalize()
+        else:
+            raise TypeError(f"Expected value of type int but received {type(val)}")
+
+    def kickoff(self, metadata, **kwargs) -> None:
+        self.controller.kickoff(metadata)
+
+    @property
+    def egu(self):
+        """The engineering units (EGU) for positions"""
+        return "um"
+
+    def stop(self, *, success=False):
+        self.controller.stop_all_axes()
+        self._stopped = True
+        return super().stop(success=success)
+
+
+if __name__ == "__main__":
+    rtcontroller = RtFlomniController(
+        socket_cls=SocketIO, socket_host="mpc2844.psi.ch", socket_port=2222
+    )
+    rtcontroller.on()
+    rtcontroller.laser_tracker_on()

csaxs_bec/devices/omny/rt/rt_lamni_ophyd.py

@@ -0,0 +1,739 @@
+import functools
+import threading
+import time
+
+import numpy as np
+from bec_lib import bec_logger, messages
+from bec_lib.endpoints import MessageEndpoints
+from ophyd import Component as Cpt
+from ophyd import Device, PositionerBase, Signal
+from ophyd.status import wait as status_wait
+from ophyd.utils import LimitError, ReadOnlyError
+from ophyd_devices.utils.controller import Controller, threadlocked
+from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
+
+from csaxs_bec.devices.omny.rt.rt_ophyd import RtCommunicationError, RtError
+
+logger = bec_logger.logger
+
+
+class RtLamniCommunicationError(Exception):
+    pass
+
+
+class RtLamniError(Exception):
+    pass
+
+
+class BECConfigError(Exception):
+    pass
+
+
+def retry_once(fcn):
+    """Decorator to rerun a function in case a CommunicationError was raised. This may happen if the buffer was not empty."""
+
+    @functools.wraps(fcn)
+    def wrapper(self, *args, **kwargs):
+        try:
+            val = fcn(self, *args, **kwargs)
+        except (RtLamniCommunicationError, RtLamniError):
+            val = fcn(self, *args, **kwargs)
+        return val
+
+    return wrapper
+
+
+class RtLamniController(Controller):
+    """
+    RT-Lamni controller class for all rt devices.
+    """
+
+    _axes_per_controller = 3
+    USER_ACCESS = [
+        "socket_put_and_receive",
+        "set_rotation_angle",
+        "feedback_disable",
+        "feedback_enable_without_reset",
+        "feedback_disable_and_even_reset_lamni_angle_interferometer",
+        "feedback_enable_with_reset",
+        "add_pos_to_scan",
+        "clear_trajectory_generator",
+        "_set_axis_velocity",
+        "_set_axis_velocity_maximum_speed",
+        "_position_sampling_single_read",
+        "_position_sampling_single_reset_and_start_sampling",
+    ]
+
+    def __init__(
+        self,
+        *,
+        name="RtLamniController",
+        socket_cls=None,
+        socket_host=None,
+        socket_port=None,
+        attr_name="",
+        parent=None,
+        labels=None,
+        kind=None,
+    ):
+        super().__init__(
+            name=name,
+            socket_cls=socket_cls,
+            socket_host=socket_host,
+            socket_port=socket_port,
+            attr_name=attr_name,
+            parent=parent,
+            labels=labels,
+            kind=kind,
+        )
+        self._min_scan_buffer_reached = False
+
+    @threadlocked
+    def feedback_disable(self):
+        self.socket_put("J0")
+        logger.info("LamNI Feedback disabled.")
+        self.set_device_enabled("lsamx", True)
+        self.set_device_enabled("lsamy", True)
+        self.set_device_enabled("loptx", True)
+        self.set_device_enabled("lopty", True)
+        self.set_device_enabled("loptz", True)
+
+    def is_axis_moving(self, axis_Id) -> bool:
+        # this checks that axis is on target
+        axis_is_on_target = bool(float(self.socket_put_and_receive("o")))
+        return not axis_is_on_target
+
+    @threadlocked
+    def stop_all_axes(self):
+        self.socket_put("sc")
+
+    @threadlocked
+    def set_rotation_angle(self, val: float):
+        self.socket_put(f"a{(val-300+30.538)/180*np.pi}")
+
+    @threadlocked
+    def _set_axis_velocity(self, um_per_s):
+        self.socket_put(f"V{um_per_s}")
+
+    @threadlocked
+    def _set_axis_velocity_maximum_speed(self):
+        self.socket_put(f"V0")
+
+    # for developement of soft continuous scanning
+    @threadlocked
+    def _position_sampling_single_reset_and_start_sampling(self):
+        self.socket_put(f"Ss")
+
+    @threadlocked
+    def _position_sampling_single_read(self):
+        (number_of_samples, sum0, sum0_2, sum1, sum1_2, sum2, sum2_2) = self.socket_put_and_receive(
+            f"Sr"
+        ).split(",")
+        avg_x = float(sum1) / int(number_of_samples)
+        avg_y = float(sum0) / int(number_of_samples)
+        stdev_x = np.sqrt(
+            float(sum1_2) / int(number_of_samples)
+            - np.power(float(sum1) / int(number_of_samples), 2)
+        )
+        stdev_y = np.sqrt(
+            float(sum0_2) / int(number_of_samples)
+            - np.power(float(sum0) / int(number_of_samples), 2)
+        )
+        return (avg_x, avg_y, stdev_x, stdev_y)
+
+    @threadlocked
+    def feedback_enable_without_reset(self):
+        # read current interferometer position
+        return_table = (self.socket_put_and_receive(f"J4")).split(",")
+        x_curr = float(return_table[2])
+        y_curr = float(return_table[1])
+        # set these as closed loop target position
+        self.socket_put(f"pa0,{x_curr:.4f}")
+        self.socket_put(f"pa1,{y_curr:.4f}")
+        self.get_device_manager().devices.rtx.obj.user_setpoint.set_with_feedback_disabled(x_curr)
+        self.get_device_manager().devices.rty.obj.user_setpoint.set_with_feedback_disabled(y_curr)
+        self.socket_put("J5")
+        logger.info("LamNI Feedback enabled (without reset).")
+        self.set_device_enabled("lsamx", False)
+        self.set_device_enabled("lsamy", False)
+        self.set_device_enabled("loptx", False)
+        self.set_device_enabled("lopty", False)
+        self.set_device_enabled("loptz", False)
+
+    @threadlocked
+    def feedback_disable_and_even_reset_lamni_angle_interferometer(self):
+        self.socket_put("J6")
+        logger.info("LamNI Feedback disabled including the angular interferometer.")
+        self.set_device_enabled("lsamx", True)
+        self.set_device_enabled("lsamy", True)
+        self.set_device_enabled("loptx", True)
+        self.set_device_enabled("lopty", True)
+        self.set_device_enabled("loptz", True)
+
+    @threadlocked
+    def clear_trajectory_generator(self):
+        self.socket_put("sc")
+        logger.info("LamNI scan stopped and deleted, moving to start position")
+
+    def add_pos_to_scan(self, positions) -> None:
+        def send_positions(parent, positions):
+            parent._min_scan_buffer_reached = False
+            for pos_index, pos in enumerate(positions):
+                parent.socket_put_and_receive(f"s{pos[0]:.05f},{pos[1]:.05f},0")
+                if pos_index > 100:
+                    parent._min_scan_buffer_reached = True
+            parent._min_scan_buffer_reached = True
+
+        threading.Thread(target=send_positions, args=(self, positions), daemon=True).start()
+
+    @retry_once
+    @threadlocked
+    def get_scan_status(self):
+        return_table = (self.socket_put_and_receive(f"sr")).split(",")
+        if len(return_table) != 3:
+            raise RtCommunicationError(
+                f"Expected to receive 3 return values. Instead received {return_table}"
+            )
+        mode = int(return_table[0])
+        # mode 0: direct positioning
+        # mode 1: running internal timer (not tested/used anymore)
+        # mode 2: rt point scan running
+        # mode 3: rt point scan starting
+        # mode 5/6: rt continuous scanning (not available in LamNI)
+        number_of_positions_planned = int(return_table[1])
+        current_position_in_scan = int(return_table[2])
+        return (mode, number_of_positions_planned, current_position_in_scan)
+
+    @threadlocked
+    def start_scan(self):
+        interferometer_feedback_not_running = int((self.socket_put_and_receive("J2")).split(",")[0])
+        if interferometer_feedback_not_running == 1:
+            logger.error(
+                "Cannot start scan because feedback loop is not running or there is an interferometer error."
+            )
+            raise RtError(
+                "Cannot start scan because feedback loop is not running or there is an interferometer error."
+            )
+            # here exception
+        (mode, number_of_positions_planned, current_position_in_scan) = self.get_scan_status()
+
+        if number_of_positions_planned == 0:
+            logger.error("Cannot start scan because no target positions are planned.")
+            raise RtError("Cannot start scan because no target positions are planned.")
+            # hier exception
+        # start a point-by-point scan (for cont scan in flomni it would be "sa")
+        self.socket_put_and_receive("sd")
+
+    def start_readout(self):
+        readout = threading.Thread(target=self.read_positions_from_sampler)
+        readout.start()
+
+    def kickoff(self, metadata):
+        self.readout_metadata = metadata
+        while not self._min_scan_buffer_reached:
+            time.sleep(0.001)
+        self.start_scan()
+        time.sleep(0.1)
+        self.start_readout()
+
+    def _get_signals_from_table(self, return_table) -> dict:
+        self.average_stdeviations_x_st_fzp += float(return_table[5])
+        self.average_stdeviations_y_st_fzp += float(return_table[8])
+        self.average_lamni_angle += float(return_table[19])
+        signals = {
+            "target_x": {"value": float(return_table[3])},
+            "average_x_st_fzp": {"value": float(return_table[4])},
+            "stdev_x_st_fzp": {"value": float(return_table[5])},
+            "target_y": {"value": float(return_table[6])},
+            "average_y_st_fzp": {"value": float(return_table[7])},
+            "stdev_y_st_fzp": {"value": float(return_table[8])},
+            "average_cap1": {"value": float(return_table[9])},
+            "stdev_cap1": {"value": float(return_table[10])},
+            "average_cap2": {"value": float(return_table[11])},
+            "stdev_cap2": {"value": float(return_table[12])},
+            "average_cap3": {"value": float(return_table[13])},
+            "stdev_cap3": {"value": float(return_table[14])},
+            "average_cap4": {"value": float(return_table[15])},
+            "stdev_cap4": {"value": float(return_table[16])},
+            "average_cap5": {"value": float(return_table[17])},
+            "stdev_cap5": {"value": float(return_table[18])},
+            "average_angle_interf_ST": {"value": float(return_table[19])},
+            "stdev_angle_interf_ST": {"value": float(return_table[20])},
+            "average_stdeviations_x_st_fzp": {
+                "value": self.average_stdeviations_x_st_fzp / (int(return_table[0]) + 1)
+            },
+            "average_stdeviations_y_st_fzp": {
+                "value": self.average_stdeviations_y_st_fzp / (int(return_table[0]) + 1)
+            },
+            "average_lamni_angle": {"value": self.average_lamni_angle / (int(return_table[0]) + 1)},
+        }
+        return signals
+
+    def read_positions_from_sampler(self):
+        # this was for reading after the scan completed
+        number_of_samples_to_read = 1  # self.get_scan_status()[1]  #number of valid samples, will be updated upon first data read
+
+        read_counter = 0
+        previous_point_in_scan = 0
+
+        self.average_stdeviations_x_st_fzp = 0
+        self.average_stdeviations_y_st_fzp = 0
+        self.average_lamni_angle = 0
+
+        mode, number_of_positions_planned, current_position_in_scan = self.get_scan_status()
+
+        # if not (mode==2 or mode==3):
+        #    error
+        self.get_device_manager().connector.set(
+            MessageEndpoints.device_status("rt_scan"),
+            messages.DeviceStatusMessage(
+                device="rt_scan", status=1, metadata=self.readout_metadata
+            ),
+        )
+        # while scan is running
+        while mode > 0:
+            # 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()
+            time.sleep(0.01)
+            if current_position_in_scan > 5:
+                while current_position_in_scan > read_counter + 1:
+                    return_table = (self.socket_put_and_receive(f"r{read_counter}")).split(",")
+                    # logger.info(f"{return_table}")
+                    logger.info(f"Read {read_counter} out of {number_of_positions_planned}")
+
+                    read_counter = read_counter + 1
+
+                    signals = self._get_signals_from_table(return_table)
+
+                    self.publish_device_data(signals=signals, point_id=int(return_table[0]))
+
+        time.sleep(0.05)
+
+        # read the last samples even though scan is finished already
+        while number_of_positions_planned > read_counter:
+            return_table = (self.socket_put_and_receive(f"r{read_counter}")).split(",")
+            logger.info(f"Read {read_counter} out of {number_of_positions_planned}")
+            # logger.info(f"{return_table}")
+            read_counter = read_counter + 1
+
+            signals = self._get_signals_from_table(return_table)
+            self.publish_device_data(signals=signals, point_id=int(return_table[0]))
+
+        self.get_device_manager().connector.set(
+            MessageEndpoints.device_status("rt_scan"),
+            messages.DeviceStatusMessage(
+                device="rt_scan", status=0, metadata=self.readout_metadata
+            ),
+        )
+
+        logger.info(
+            f"LamNI statistics: Average of all standard deviations: x {self.average_stdeviations_x_st_fzp/number_of_samples_to_read}, y {self.average_stdeviations_y_st_fzp/number_of_samples_to_read}, angle {self.average_lamni_angle/number_of_samples_to_read}."
+        )
+
+    def publish_device_data(self, signals, point_id):
+        self.get_device_manager().connector.set_and_publish(
+            MessageEndpoints.device_read("rt_lamni"),
+            messages.DeviceMessage(
+                signals=signals, metadata={"point_id": point_id, **self.readout_metadata}
+            ),
+        )
+
+    def feedback_status_angle_lamni(self) -> bool:
+        return_table = (self.socket_put_and_receive("J7")).split(",")
+        logger.debug(
+            f"LamNI angle interferomter status {bool(return_table[0])}, position {float(return_table[1])}, signal {float(return_table[2])}"
+        )
+        return bool(return_table[0])
+
+    def feedback_enable_with_reset(self):
+        if not self.feedback_status_angle_lamni():
+            self.feedback_disable_and_even_reset_lamni_angle_interferometer()
+            logger.info("LamNI resetting interferometer inclusive angular interferomter.")
+        else:
+            self.feedback_disable()
+            logger.info(
+                "LamNI resetting interferomter except angular interferometer which is already running."
+            )
+
+        # set these as closed loop target position
+
+        self.socket_put("pa0,0")
+        self.get_axis_by_name("rtx").user_setpoint.setpoint = 0
+        self.socket_put("pa1,0")
+        self.get_axis_by_name("rty").user_setpoint.setpoint = 0
+        self.socket_put(
+            "pa2,0"
+        )  # we set all three outputs of the traj. gen. although in LamNI case only 0,1 are used
+        self.clear_trajectory_generator()
+
+        self.get_device_manager().devices.lsamrot.obj.move(0, wait=True)
+
+        galil_controller_rt_status = (
+            self.get_device_manager().devices.lsamx.obj.controller.lgalil_is_air_off_and_orchestra_enabled()
+        )
+
+        if galil_controller_rt_status == 0:
+            logger.error(
+                "Cannot enable feedback. The small rotation air is on and/or orchestra disabled by the motor controller."
+            )
+            raise RtError(
+                "Cannot enable feedback. The small rotation air is on and/or orchestra disabled by the motor controller."
+            )
+
+        time.sleep(0.03)
+
+        lsamx_user_params = self.get_device_manager().devices.lsamx.user_parameter
+        if lsamx_user_params is None or lsamx_user_params.get("center") is None:
+            raise RuntimeError("lsamx center is not defined")
+        lsamy_user_params = self.get_device_manager().devices.lsamy.user_parameter
+        if lsamy_user_params is None or lsamy_user_params.get("center") is None:
+            raise RuntimeError("lsamy center is not defined")
+        lsamx_center = lsamx_user_params.get("center")
+        lsamy_center = lsamy_user_params.get("center")
+        self.get_device_manager().devices.lsamx.obj.move(lsamx_center, wait=True)
+        self.get_device_manager().devices.lsamy.obj.move(lsamy_center, wait=True)
+        self.socket_put("J1")
+
+        _waitforfeedbackctr = 0
+
+        interferometer_feedback_not_running = int((self.socket_put_and_receive("J2")).split(",")[0])
+
+        while interferometer_feedback_not_running == 1 and _waitforfeedbackctr < 100:
+            time.sleep(0.01)
+            _waitforfeedbackctr = _waitforfeedbackctr + 1
+            interferometer_feedback_not_running = int(
+                (self.socket_put_and_receive("J2")).split(",")[0]
+            )
+
+        self.set_device_enabled("lsamx", False)
+        self.set_device_enabled("lsamy", False)
+        self.set_device_enabled("loptx", False)
+        self.set_device_enabled("lopty", False)
+        self.set_device_enabled("loptz", False)
+
+        if interferometer_feedback_not_running == 1:
+            logger.error(
+                "Cannot start scan because feedback loop is not running or there is an interferometer error."
+            )
+            raise RtError(
+                "Cannot start scan because feedback loop is not running or there is an interferometer error."
+            )
+
+        time.sleep(0.01)
+
+        # ptychography_alignment_done = 0
+
+
+class RtLamniSignalBase(SocketSignal):
+    def __init__(self, signal_name, **kwargs):
+        self.signal_name = signal_name
+        super().__init__(**kwargs)
+        self.controller = self.parent.controller
+        self.sock = self.parent.controller.sock
+
+
+class RtLamniSignalRO(RtLamniSignalBase):
+    def __init__(self, signal_name, **kwargs):
+        super().__init__(signal_name, **kwargs)
+        self._metadata["write_access"] = False
+
+    def _socket_set(self, val):
+        raise ReadOnlyError("Read-only signals cannot be set")
+
+
+class RtLamniReadbackSignal(RtLamniSignalRO):
+    @retry_once
+    @threadlocked
+    def _socket_get(self) -> float:
+        """Get command for the readback signal
+
+        Returns:
+        float: Readback value after adjusting for sign and motor resolution.
+        """
+        return_table = (self.controller.socket_put_and_receive(f"J4")).split(",")
+        print(return_table)
+        if self.parent.axis_Id_numeric == 0:
+            readback_index = 2
+        elif self.parent.axis_Id_numeric == 1:
+            readback_index = 1
+        else:
+            raise RtLamniError("Currently, only two axes are supported.")
+        print(return_table)
+        current_pos = float(return_table[readback_index])
+
+        current_pos *= self.parent.sign
+        return current_pos
+
+
+class RtLamniSetpointSignal(RtLamniSignalBase):
+    setpoint = 0
+
+    def _socket_get(self) -> float:
+        """Get command for receiving the setpoint / target value.
+        The value is not pulled from the controller but instead just the last setpoint used.
+
+        Returns:
+            float: setpoint / target value
+        """
+        return self.setpoint
+
+    @retry_once
+    @threadlocked
+    def _socket_set(self, val: float) -> None:
+        """Set a new target value / setpoint value. Before submission, the target value is adjusted for the axis' sign.
+        Furthermore, it is ensured that all axes are referenced before a new setpoint is submitted.
+
+        Args:
+            val (float): Target value / setpoint value
+
+        Raises:
+            RtLamniError: Raised if interferometer feedback is disabled.
+
+        """
+        interferometer_feedback_not_running = int(
+            (self.controller.socket_put_and_receive("J2")).split(",")[0]
+        )
+        if interferometer_feedback_not_running != 0:
+            raise RtLamniError(
+                "The interferometer feedback is not running. Either it is turned off or and interferometer error occured."
+            )
+        self.set_with_feedback_disabled(val)
+
+    def set_with_feedback_disabled(self, val):
+        target_val = val * self.parent.sign
+        self.setpoint = target_val
+        self.controller.socket_put(f"pa{self.parent.axis_Id_numeric},{target_val:.4f}")
+
+
+class RtLamniMotorIsMoving(RtLamniSignalRO):
+    def _socket_get(self):
+        return self.controller.is_axis_moving(self.parent.axis_Id_numeric)
+
+    def get(self):
+        val = super().get()
+        if val is not None:
+            self._run_subs(sub_type=self.SUB_VALUE, value=val, timestamp=time.time())
+        return val
+
+
+class RtLamniFeedbackRunning(RtLamniSignalRO):
+    @threadlocked
+    def _socket_get(self):
+        if int((self.controller.socket_put_and_receive("J2")).split(",")[0]) == 0:
+            return 1
+        else:
+            return 0
+
+
+class RtLamniMotor(Device, PositionerBase):
+    USER_ACCESS = ["controller"]
+    readback = Cpt(RtLamniReadbackSignal, signal_name="readback", kind="hinted")
+    user_setpoint = Cpt(RtLamniSetpointSignal, signal_name="setpoint")
+
+    motor_is_moving = Cpt(RtLamniMotorIsMoving, signal_name="motor_is_moving", kind="normal")
+    high_limit_travel = Cpt(Signal, value=0, kind="omitted")
+    low_limit_travel = Cpt(Signal, value=0, kind="omitted")
+
+    SUB_READBACK = "readback"
+    SUB_CONNECTION_CHANGE = "connection_change"
+    _default_sub = SUB_READBACK
+
+    def __init__(
+        self,
+        axis_Id,
+        prefix="",
+        *,
+        name,
+        kind=None,
+        read_attrs=None,
+        configuration_attrs=None,
+        parent=None,
+        host="mpc2680.psi.ch",
+        port=3333,
+        sign=1,
+        socket_cls=SocketIO,
+        device_manager=None,
+        limits=None,
+        **kwargs,
+    ):
+        self.axis_Id = axis_Id
+        self.sign = sign
+        self.controller = RtLamniController(
+            socket_cls=socket_cls, socket_host=host, socket_port=port
+        )
+        self.controller.set_axis(axis=self, axis_nr=self.axis_Id_numeric)
+        self.device_manager = device_manager
+        self.tolerance = kwargs.pop("tolerance", 0.5)
+
+        super().__init__(
+            prefix,
+            name=name,
+            kind=kind,
+            read_attrs=read_attrs,
+            configuration_attrs=configuration_attrs,
+            parent=parent,
+            **kwargs,
+        )
+        self.readback.name = self.name
+        self.controller.subscribe(
+            self._update_connection_state, event_type=self.SUB_CONNECTION_CHANGE
+        )
+        self._update_connection_state()
+
+        # self.readback.subscribe(self._forward_readback, event_type=self.readback.SUB_VALUE)
+        if limits is not None:
+            assert len(limits) == 2
+            self.low_limit_travel.put(limits[0])
+            self.high_limit_travel.put(limits[1])
+
+    @property
+    def limits(self):
+        return (self.low_limit_travel.get(), self.high_limit_travel.get())
+
+    @property
+    def low_limit(self):
+        return self.limits[0]
+
+    @property
+    def high_limit(self):
+        return self.limits[1]
+
+    def check_value(self, value, **kwargs):
+        """Check that the position is within the soft limits"""
+        low_limit, high_limit = self.limits
+
+        if low_limit < high_limit and not (low_limit <= value <= high_limit):
+            raise LimitError(f"position={value} not within limits {self.limits}")
+
+    def _update_connection_state(self, **kwargs):
+        for walk in self.walk_signals():
+            # pylint: disable=protected-access
+            walk.item._metadata["connected"] = self.controller.connected
+
+    def _forward_readback(self, **kwargs):
+        kwargs.pop("sub_type")
+        self._run_subs(sub_type="readback", **kwargs)
+
+    @raise_if_disconnected
+    def move(self, position, wait=True, **kwargs):
+        """Move to a specified position, optionally waiting for motion to
+        complete.
+
+        Parameters
+        ----------
+        position
+            Position to move to
+        moved_cb : callable
+            Call this callback when movement has finished. This callback must
+            accept one keyword argument: 'obj' which will be set to this
+            positioner instance.
+        timeout : float, optional
+            Maximum time to wait for the motion. If None, the default timeout
+            for this positioner is used.
+
+        Returns
+        -------
+        status : MoveStatus
+
+        Raises
+        ------
+        TimeoutError
+            When motion takes longer than `timeout`
+        ValueError
+            On invalid positions
+        RuntimeError
+            If motion fails other than timing out
+        """
+        self._started_moving = False
+        timeout = kwargs.pop("timeout", 100)
+        status = super().move(position, timeout=timeout, **kwargs)
+        self.user_setpoint.put(position, wait=False)
+
+        def move_and_finish():
+            while self.motor_is_moving.get():
+                print("motor is moving")
+                val = self.readback.read()
+                self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
+                time.sleep(0.01)
+            print("Move finished")
+            self._done_moving()
+
+        threading.Thread(target=move_and_finish, daemon=True).start()
+        try:
+            if wait:
+                status_wait(status)
+        except KeyboardInterrupt:
+            self.stop()
+            raise
+
+        return status
+
+    @property
+    def axis_Id(self):
+        return self._axis_Id_alpha
+
+    @axis_Id.setter
+    def axis_Id(self, val):
+        if isinstance(val, str):
+            if len(val) != 1:
+                raise ValueError("Only single-character axis_Ids are supported.")
+            self._axis_Id_alpha = val
+            self._axis_Id_numeric = ord(val.lower()) - 97
+        else:
+            raise TypeError(f"Expected value of type str but received {type(val)}")
+
+    @property
+    def axis_Id_numeric(self):
+        return self._axis_Id_numeric
+
+    @axis_Id_numeric.setter
+    def axis_Id_numeric(self, val):
+        if isinstance(val, int):
+            if val > 26:
+                raise ValueError("Numeric value exceeds supported range.")
+            self._axis_Id_alpha = val
+            self._axis_Id_numeric = (chr(val + 97)).capitalize()
+        else:
+            raise TypeError(f"Expected value of type int but received {type(val)}")
+
+    def kickoff(self, metadata, **kwargs) -> None:
+        self.controller.kickoff(metadata)
+
+    @property
+    def egu(self):
+        """The engineering units (EGU) for positions"""
+        return "um"
+
+    # how is this used later?
+
+    def stage(self) -> list[object]:
+        return super().stage()
+
+    def unstage(self) -> list[object]:
+        return super().unstage()
+
+    def stop(self, *, success=False):
+        self.controller.stop_all_axes()
+        return super().stop(success=success)
+
+
+if __name__ == "__main__":  # pragma: no cover
+    mock = False
+    if not mock:
+        rty = RtLamniMotor("B", name="rty", host="mpc2680.psi.ch", port=3333, sign=1)
+        rty.stage()
+        status = rty.move(0, wait=True)
+        status = rty.move(10, wait=True)
+        rty.read()
+
+        rty.get()
+        rty.describe()
+
+        rty.unstage()
+    else:
+        from ophyd_devices.utils.socket import SocketMock
+
+        rtx = RtLamniMotor("A", name="rtx", host="mpc2680.psi.ch", port=3333, socket_cls=SocketMock)
+        rty = RtLamniMotor("B", name="rty", host="mpc2680.psi.ch", port=3333, socket_cls=SocketMock)
+        rtx.stage()
+        # rty.stage()

csaxs_bec/devices/omny/rt/rt_ophyd.py

@@ -0,0 +1,140 @@
+"""
+This module contains base signals for RT devices. Controller and motors are implemented in the 
+bespoke modules such as `rt_flomni_ophyd.py` or `rt_lamni_ophyd.py`.
+"""
+
+import functools
+import time
+
+from bec_lib import bec_logger
+from ophyd.utils import ReadOnlyError
+from ophyd_devices.utils.controller import ControllerCommunicationError, threadlocked
+from ophyd_devices.utils.socket import SocketSignal
+
+logger = bec_logger.logger
+
+
+class RtCommunicationError(ControllerCommunicationError):
+    pass
+
+
+class RtError(ControllerCommunicationError):
+    pass
+
+
+class BECConfigError(Exception):
+    pass
+
+
+def retry_once(fcn):
+    """Decorator to rerun a function in case a CommunicationError was raised. This may happen if the buffer was not empty."""
+
+    @functools.wraps(fcn)
+    def wrapper(self, *args, **kwargs):
+        try:
+            val = fcn(self, *args, **kwargs)
+        except (RtCommunicationError, RtError):
+            val = fcn(self, *args, **kwargs)
+        return val
+
+    return wrapper
+
+
+class RtSignalBase(SocketSignal):
+    def __init__(self, signal_name, **kwargs):
+        self.signal_name = signal_name
+        super().__init__(**kwargs)
+        self.controller = self.parent.controller
+        self.sock = self.parent.controller.sock
+
+
+class RtSignalRO(RtSignalBase):
+    def __init__(self, signal_name, **kwargs):
+        super().__init__(signal_name, **kwargs)
+        self._metadata["write_access"] = False
+
+    def _socket_set(self, val):
+        raise ReadOnlyError("Read-only signals cannot be set")
+
+
+class RtReadbackSignal(RtSignalRO):
+    @retry_once
+    @threadlocked
+    def _socket_get(self) -> float:
+        """Get command for the readback signal
+
+        Returns:
+        float: Readback value after adjusting for sign and motor resolution.
+        """
+        return_table = (self.controller.socket_put_and_receive("J4")).split(",")
+        if self.parent.axis_Id_numeric == 0:
+            readback_index = 2
+        elif self.parent.axis_Id_numeric == 1:
+            readback_index = 1
+        else:
+            raise RtError("Currently, only two axes are supported.")
+
+        current_pos = float(return_table[readback_index])
+
+        current_pos *= self.parent.sign
+        return current_pos
+
+
+class RtSetpointSignal(RtSignalBase):
+    setpoint = 0
+
+    def _socket_get(self) -> float:
+        """Get command for receiving the setpoint / target value.
+        The value is not pulled from the controller but instead just the last setpoint used.
+
+        Returns:
+            float: setpoint / target value
+        """
+        return self.setpoint
+
+    @retry_once
+    @threadlocked
+    def _socket_set(self, val: float) -> None:
+        """Set a new target value / setpoint value. Before submission, the target value is adjusted for the axis' sign.
+        Furthermore, it is ensured that all axes are referenced before a new setpoint is submitted.
+
+        Args:
+            val (float): Target value / setpoint value
+
+        Raises:
+            RtError: Raised if interferometer feedback is disabled.
+
+        """
+        interferometer_feedback_not_running = int(
+            (self.controller.socket_put_and_receive("J2")).split(",")[0]
+        )
+        if interferometer_feedback_not_running != 0:
+            raise RtError(
+                "The interferometer feedback is not running. Either it is turned off or and interferometer error occured."
+            )
+        self.set_with_feedback_disabled(val)
+
+    def set_with_feedback_disabled(self, val):
+        target_val = val * self.parent.sign
+        self.setpoint = target_val
+        self.controller.socket_put(f"pa{self.parent.axis_Id_numeric},{target_val:.4f}")
+
+
+class RtMotorIsMoving(RtSignalRO):
+    def _socket_get(self):
+        return self.controller.is_axis_moving(self.parent.axis_Id_numeric)
+
+    def get(self):
+        val = super().get()
+        if val is not None:
+            self._run_subs(sub_type=self.SUB_VALUE, value=val, timestamp=time.time())
+        return val
+
+
+class RtFeedbackRunning(RtSignalRO):
+    @threadlocked
+    def _socket_get(self):
+        if int((self.controller.socket_put_and_receive("J2")).split(",")[0]) == 0:
+            return 1
+        else:
+            return 0

csaxs_bec/devices/sls_devices/cSAXS/xeye.py

@@ -0,0 +1,9 @@
+from ophyd import Component as Cpt
+from ophyd import Device, EpicsSignal
+
+
+class Xeye(Device):
+    save_frame = Cpt(EpicsSignal, "XOMNY-XEYE-SAVEFRAME:0")
+    acquisition_done = Cpt(EpicsSignal, "XOMNY-XEYE-ACQDONE:0")
+    acquisition = Cpt(EpicsSignal, "XOMNY-XEYE-ACQ:0")
+    x_width = Cpt(EpicsSignal, "XOMNY-XEYE-XWIDTH_X:0")