Added templated scan and required status updates

ophyd_devices/epics/devices/AerotechAutomation1.py

@@ -119,6 +119,7 @@ class aa1Tasks(Device):
         it and run it directly on a certain thread. But there's no way to 
         retrieve the source code.
     """
+    SUB_PROGRESS = "progress"
     _failure = Component(EpicsSignalRO, "FAILURE", kind=Kind.hinted)
     errStatus = Component(EpicsSignalRO, "ERRW", auto_monitor=True, kind=Kind.hinted)
     warnStatus = Component(EpicsSignalRO, "WARNW", auto_monitor=True, kind=Kind.hinted)    
@@ -139,6 +140,22 @@ class aa1Tasks(Device):
         self._textToExecute = None 
         self._isConfigured = False
         self._isStepConfig = False
+        self.subscribe(self._progress_update, "progress", run=False)
+    
+    def _progress_update(self, value, **kwargs) -> None:
+        """Progress update on the scan"""        
+        value = self.progress()
+        self._run_subs( sub_type=self.SUB_PROGRESS, value=value, max_value=1, done=1, )
+
+    def _progress(self) -> None:
+        """Progress update on the scan"""
+        if self._currentTaskMonitor is None:
+            return 1
+        else:
+            if self._currentTaskMonitor.status.value in ["Running", 4]:
+                return 0
+            else:
+                return 1
 
     def readFile(self, filename: str) -> str:
         """ Read a file from the controller """
@@ -198,7 +215,8 @@ class aa1Tasks(Device):
         old = self.read_configuration()
         self.taskIndex.set(taskIndex).wait() 
         self._textToExecute = None
-        #self._currentTaskMonitor = aa1TaskState()
+        self._currentTaskMonitor = aa1TaskState(prefix=self.prefix+f"T{taskIndex}:", name="taskmon")
+        self._currentTaskMonitor.wait_for_connection()
             
         # Choose the right execution mode
         if (filename is None) and (text not in [None, ""]):
@@ -270,9 +288,20 @@ class aa1Tasks(Device):
 
     def complete(self) -> DeviceStatus:
         """ Execute the script on the configured task"""
+        print("Called aa1Task.complete()")
         #return self._currentTaskMonitor.complete()
-        status = DeviceStatus(self)
-        status.set_finished()
+        #status = DeviceStatus(self)
+        #status.set_finished()
+        #return status
+        timestamp_ = 0
+        def notRunning(*args, old_value, value, timestamp, **kwargs):
+            nonlocal timestamp_       
+            result = False if (timestamp_== 0) else (value not in ["Running", 4])   
+            timestamp_ = timestamp
+            print(result)
+            return result    
+        # Subscribe and wait for update
+        status = SubscriptionStatus(self._currentTaskMonitor.status, notRunning, settle_time=0.5)        
         return status
 
     def describe_collect(self) -> OrderedDict:
@@ -300,12 +329,14 @@ class aa1TaskState(Device):
 
     def complete(self) -> StatusBase:
         """ Bluesky flyer interface"""
+        print("Called aa1TaskState.complete()")
         # Define wait until the busy flag goes down (excluding initial update)
         timestamp_ = 0
         def notRunning(*args, old_value, value, timestamp, **kwargs):
             nonlocal timestamp_       
             result = False if (timestamp_== 0) else (value not in ["Running", 4])   
             timestamp_ = timestamp
+            print(result)
             return result
         
         # Subscribe and wait for update

ophyd_devices/epics/devices/AerotechSnapAndStepTemplate.ascript

@@ -0,0 +1,87 @@
+// Snap-and-step
+//  Test program for high speed step scanning with individual triggers on PSO output.
+//  The file expects external parameter validation. 
+
+
+
+program
+    // External parameters
+    var $fStartPosition as real = {{ scan.startpos }}
+	var $iNumSteps as integer = {{ scan.numsteps }}
+	var $fStepSize as real = {{ scan.stepsize }}
+	var $fExposureTimeSec as real = {{ scan.exptime }}
+    var $fVelJog as real = {{ scan.travel or 200 }}
+    var $fVelScan as real = {{ scan.velocity or 50 }}
+    var $fAcceleration = {{ scan.acceleration or 500 }}
+
+    // Internal
+    var $axis as axis = ROTY
+    var $ii as integer
+
+    // Set acceleration
+    SetupAxisRampType($axis, RampType.Linear)
+    SetupAxisRampValue($axis,0,$fAcceleration)    
+    
+    // Move to start position before the scan
+    var $fPosNext as real = $fStartPosition
+    MoveAbsolute($axis, $fPosNext, $fVelJog)
+    WaitForInPosition($axis)  
+    
+    // Configure PSO (to manual event generation)
+    PsoDistanceEventsOff($axis)
+    PsoWindowConfigureEvents($axis, PsoWindowEventMode.None)
+	PsoWaveformConfigurePulseFixedTotalTime($axis, 50)
+	PsoWaveformConfigurePulseFixedOnTime($axis, 20)
+	PsoWaveformConfigurePulseFixedCount($axis, 1)
+	PsoWaveformApplyPulseConfiguration($axis)
+    PsoWaveformConfigureMode($axis, PsoWaveformMode.Pulse)
+    PsoOutputConfigureSource($axis, PsoOutputSource.Waveform)   
+    PsoWaveformOn($axis)	
+ 
+     // Configure Drive Data Collection
+    var $iDdcArrayAddr as integer = 8388608
+    var $iDdcArraySize as integer = iMaximum(5000, $iNumSteps)
+    var $iDdcSafeSpace as integer = 4096
+
+    DriveDataCaptureConfigureInput($axis, 0, DriveDataCaptureInput.PrimaryFeedback);
+    DriveDataCaptureConfigureInput($axis, 1, DriveDataCaptureInput.AnalogInput0 );
+
+    DriveDataCaptureConfigureTrigger($axis, 0, DriveDataCaptureTrigger.PsoOutput );
+    DriveDataCaptureConfigureTrigger($axis, 1, DriveDataCaptureTrigger.PsoOutput );
+ 
+    DriveDataCaptureConfigureArray($axis, 0, $iDdcArrayAddr, $iDdcArraySize);
+    DriveDataCaptureConfigureArray($axis, 1, $iDdcArrayAddr + $iDdcSafeSpace + 8 * $iDdcArraySize, $iDdcArraySize); 
+
+    // Directly before scan
+    PsoDistanceCounterOn($axis)
+    DriveDataCaptureOn($axis, 0)
+    DriveDataCaptureOn($axis, 1)
+
+    ///////////////////////////////////////////////////////////   
+    // Start the actual scanning
+    ///////////////////////////////////////////////////////////
+    for $ii = 0 to ($iNumSteps-1)
+        MoveAbsolute($axis, $fPosNext, $fVelScan)
+        WaitForInPosition($axis)        
+		PsoEventGenerateSingle($axis)
+        Dwell($fExposureTimeSec)
+		$fPosNext = $fPosNext + $fStepSize
+    end
+
+    // Directly after scan
+    PsoWaveformOff($axis)
+    DriveDataCaptureOff($axis, 0)
+    DriveDataCaptureOff($axis, 1)
+end
+
+// Demonstrates using a switch/case conditional.
+function iMaximum($A as integer, $B as integer) as integer	
+	var $retVal
+	if ($A > $B)
+		$retVal = $A
+	else
+		$retVal = $B
+	end
+	return $retVal
+end
+