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fix: online changes during flomni comm

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This commit is contained in:
wakonig_k 2023-12-12 14:36:38 +01:00 committed by wakonig_k
parent b808659d4d
commit 4760456e63
3 changed files with 26 additions and 53 deletions
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18
ophyd_devices/galil/fgalil_ophyd.py
View File

@ -131,11 +131,7 @@ class FlomniGalilAxesReferenced(GalilAxesReferenced):
class FlomniGalilMotor(Device, PositionerBase):
USER_ACCESS = ["controller"]
readback = Cpt(
FlomniGalilReadbackSignal,
signal_name="readback",
kind="hinted",
)
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")
@ -271,18 +267,10 @@ class FlomniGalilMotor(Device, PositionerBase):
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(),
)
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,
)
success = np.isclose(val[self.name]["value"], position, atol=self.tolerance)
if not success:
print(" stop")

23
ophyd_devices/galil/fupr_ophyd.py
View File

@ -8,8 +8,6 @@ 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 prettytable import PrettyTable
from ophyd_devices.galil.galil_ophyd import (
BECConfigError,
GalilAxesReferenced,
@ -24,6 +22,7 @@ from ophyd_devices.galil.galil_ophyd import (
)
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
@ -119,11 +118,7 @@ class FuprGalilAxesReferenced(GalilAxesReferenced):
class FuprGalilMotor(Device, PositionerBase):
USER_ACCESS = ["controller"]
MOTOR_RESOLUTION = 25600
readback = Cpt(
GalilReadbackSignal,
signal_name="readback",
kind="hinted",
)
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")
@ -169,7 +164,7 @@ class FuprGalilMotor(Device, PositionerBase):
raise BECConfigError(
"device_mapping has been specified but the device_manager cannot be accessed."
)
self.rt = self.device_mapping.get("rt")
self.rt = self.device_mapping.get("rt", "rtx")
super().__init__(
prefix,
@ -258,18 +253,10 @@ class FuprGalilMotor(Device, PositionerBase):
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(),
)
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,
)
success = np.isclose(val[self.name]["value"], position, atol=self.tolerance)
if not success:
print(" stop")

38
ophyd_devices/rt_lamni/rt_flomni_ophyd.py
View File

@ -122,7 +122,8 @@ class RtFlomniController(RtController):
fsamx_in = fsamx.user_parameter.get("in")
if not np.isclose(fsamx.obj.readback.get(), fsamx_in, atol=0.3):
raise RtError(
"Something is wrong. fsamx is very far from the samx_in position. Don't dare correct automatically."
"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):
@ -155,7 +156,8 @@ class RtFlomniController(RtController):
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."
"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
@ -171,7 +173,7 @@ class RtFlomniController(RtController):
fsamx = self.get_device_manager().devices.fsamx
fsamx.enabled_set = True
fsamx.obj.controller.socket_put_confirmed("axspeed[4]=0.1*stppermm[4]")
fsamx.obj.pid_x_correction -= (self.get_pid_x() - expected_voltage) * 0.01
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)
@ -234,7 +236,7 @@ class RtFlomniController(RtController):
logger.info("Cyclic Error Compensation: y-axis is NOT initialized")
def set_rotation_angle(self, val: float) -> None:
self.socket_put(f"a{(-val)/180*np.pi}")
self.socket_put(f"a{val/180*np.pi}")
def laser_tracker_on(self):
self.laser_update_tracker_info()
@ -369,10 +371,12 @@ class RtFlomniController(RtController):
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."
"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."
"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()
@ -465,15 +469,16 @@ class RtFlomniController(RtController):
)
logger.info(
f"Flomni 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}."
"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, pointID):
self.get_device_manager().producer.send(
MessageEndpoints.device_read("rt_flomni"),
messages.DeviceMessage(
signals=signals,
metadata={"pointID": pointID, **self.readout_metadata},
signals=signals, metadata={"pointID": pointID, **self.readout_metadata}
).dumps(),
)
@ -527,7 +532,8 @@ class RtFlomniSetpointSignal(RtSetpointSignal):
"""
if not self.parent.controller.feedback_is_running():
raise RtError(
"The interferometer feedback is not running. Either it is turned off or and interferometer error occured."
"The interferometer feedback is not running. Either it is turned off or and"
" interferometer error occured."
)
self.set_with_feedback_disabled(val)
@ -545,11 +551,7 @@ class RtFlomniFeedbackRunning(RtSignalRO):
class RtFlomniMotor(Device, PositionerBase):
USER_ACCESS = ["controller"]
readback = Cpt(
RtFlomniReadbackSignal,
signal_name="readback",
kind="hinted",
)
readback = Cpt(RtFlomniReadbackSignal, signal_name="readback", kind="hinted")
user_setpoint = Cpt(RtFlomniSetpointSignal, signal_name="setpoint")
high_limit_travel = Cpt(Signal, value=0, kind="omitted")
@ -673,11 +675,7 @@ class RtFlomniMotor(Device, PositionerBase):
while not self.controller.slew_rate_limiters_on_target():
print("motor is moving")
val = self.readback.read()
self._run_subs(
sub_type=self.SUB_READBACK,
value=val,
timestamp=time.time(),
)
self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
time.sleep(0.01)
print("Move finished")
self._done_moving()