From 576f9a6a5b2e427d37f40c996bd7cd6735b8aab9 Mon Sep 17 00:00:00 2001
From: appel_c <christian.appel@psi.ch>
Date: Wed, 3 Sep 2025 20:00:25 +0200
Subject: [PATCH] w

---
 debye_bec/devices/pilatus/pilatus.py | 43 +++++++++++++++++++++++-----
 1 file changed, 36 insertions(+), 7 deletions(-)

diff --git a/debye_bec/devices/pilatus/pilatus.py b/debye_bec/devices/pilatus/pilatus.py
index cbaed1e..a24ab35 100644
--- a/debye_bec/devices/pilatus/pilatus.py
+++ b/debye_bec/devices/pilatus/pilatus.py
@@ -15,7 +15,13 @@ from ophyd import EpicsSignal, Kind
 from ophyd.areadetector.cam import ADBase, PilatusDetectorCam
 from ophyd.areadetector.plugins import HDF5Plugin_V22 as HDF5Plugin
 from ophyd.status import WaitTimeoutError
-from ophyd_devices import AndStatus, CompareStatus, DeviceStatus, FileEventSignal, PreviewSignal
+from ophyd_devices import (
+    AndStatusWithList,
+    CompareStatus,
+    DeviceStatus,
+    FileEventSignal,
+    PreviewSignal,
+)
 from ophyd_devices.devices.areadetector.plugins import ImagePlugin_V35 as ImagePlugin
 from ophyd_devices.interfaces.base_classes.psi_device_base import PSIDeviceBase
 from ophyd_devices.utils.psi_device_base_utils import TaskStatus
@@ -178,6 +184,9 @@ class Pilatus(PSIDeviceBase, ADBase):
             last_image = self.preview.get()
             if np.array_equal(data, last_image):
                 # No update if image is the same, ~2.5ms on 2400x2400 image (6M)
+                logger.debug(
+                    f"Pilatus preview image for {self.name} is the same as last one, not updating."
+                )
                 return
             self.preview.put(data)
 
@@ -245,7 +254,7 @@ class Pilatus(PSIDeviceBase, ADBase):
             self.cam.array_callbacks.set(1).wait(5)  # Enable array callbacks
             self.hdf.enable.set(1).wait(5)  # Enable HDF5 plugin
             # Camera settings
-            self.cam.num_exposures.set(1).wait(5)  # why
+            self.cam.num_exposures.set(1).wait(5)
             self.cam.num_images.set(n_images).wait(5)
             self.cam.acquire_time.set(detector_exp_time).wait(5)
             self.cam.acquire_period.set(PILATUS_ACQUIRE_TIME).wait(5)
@@ -272,9 +281,11 @@ class Pilatus(PSIDeviceBase, ADBase):
         else:
             status_hdf = CompareStatus(self.hdf.capture, ACQUIREMODE.ACQUIRING.value)
             status_cam = CompareStatus(self.cam.acquire, ACQUIREMODE.ACQUIRING.value)
-            status = AndStatus(status_hdf, status_cam)  # , name=f"{self.name}_on_pre_scan")
+            status = AndStatusWithList(device=self, status_list=[status_hdf, status_cam])
             self.cam.acquire.put(1)
             self.hdf.capture.put(1)
+            status.add_callback(self._on_failure_callback)  # Callback on failure
+            self.cancel_on_stop(status)
             return status
 
     def on_trigger(self) -> DeviceStatus | None:
@@ -289,6 +300,7 @@ class Pilatus(PSIDeviceBase, ADBase):
             status = CompareStatus(self.hdf.num_captured, img_counter + 1)
             logger.warning(f"Triggering took image {time.time() - start_time:.3f} seconds")
             self.trigger_shot.put(1)
+            status.add_callback(self._on_failure_callback)  # Callback on failure
             self.cancel_on_stop(status)
             return status
 
@@ -315,12 +327,27 @@ class Pilatus(PSIDeviceBase, ADBase):
                 "frames_per_trigger", 1
             )
             status_img_written = CompareStatus(self.hdf.num_captured, num_images)
-            # TODO change to new ANDSTATUS
-            status_cam = AndStatus(status_hdf, status_cam)
-            status = AndStatus(status_cam, status_img_written)  # , name=f"{self.name}_on_complete")
-            # status.add_callback(self._complete_callback)  # Callback that writing was successful
+            status = AndStatusWithList(
+                device=self, status_list=[status_hdf, status_cam, status_img_written]
+            )
+            status.add_callback(self._complete_callback)  # Callback that writing was successful
+            status.add_callback(self._on_failure_callback)  # Callback on failure
+            self.cancel_on_stop(status)
             return status
 
+    def _on_failure_callback(self, status: DeviceStatus | AndStatusWithList):
+        """
+        This is a best effort cleanup procedure for the Pilatus backend.
+        It seems as if the CamServer is likely to crash, and needs a restart
+        if an acquisition is interrupted pre-dominantly and not properly stopped.
+        So we attach it to any status object during the acquisition.
+
+        Args:
+            status (DeviceStatus | AndStatusWithList): The status object to check.
+        """
+        if not status.success:
+            status.device.on_stop()
+
     def on_kickoff(self) -> None:
         """Called to kickoff a device for a fly scan. Has to be called explicitly."""
 
@@ -343,6 +370,8 @@ if __name__ == "__main__":
         logger.info(f"Connecting to pilatus...")
         pilatus.on_connected()
         for exp_time, scan_number, n_pnts in zip([0.5, 1.0, 2.0], [1, 2, 3], [30, 20, 10]):
+            logger.info(f"Sleeping for 5s")
+            time.sleep(5)
             pilatus.scan_info.msg.num_points = n_pnts
             pilatus.scan_info.msg.scan_parameters["exposure_time"] = exp_time
             pilatus.scan_info.msg.scan_parameters["frames_per_trigger"] = 1