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gac-x06da 2025-03-14 14:17:25 +01:00 committed by mohacsi_i
parent 59103f16c6
commit 5b60842eda
2 changed files with 25 additions and 14 deletions
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1
ophyd_devices/devices/__init__.py
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@ -5,3 +5,4 @@ from ophyd.sim import SynAxis, SynPeriodicSignal, SynSignal
from .epics_motor_ex import EpicsMotorEx
from .sls_devices import SLSInfo, SLSOperatorMessages
from .SpmBase import SpmBase
from .psi_motor import EpicsMotorMR, EpicsMotorEC

38
ophyd_devices/devices/psi_motor.py
View File

@ -1,12 +1,10 @@
""" Extension class for EpicsMotor
"""Extension class for EpicsMotor
This module extends the basic EpicsMotor with additional functionality. It
exposes additional parameters of the EPICS MotorRecord and provides a more
detailed interface for motors using the new ECMC-based motion systems at PSI.
"""
import warnings
from ophyd import Component, EpicsMotor, EpicsSignal, EpicsSignalRO, Kind
from ophyd.status import DeviceStatus, MoveStatus
from ophyd.utils.errors import UnknownStatusFailure
@ -47,22 +45,23 @@ class EpicsMotorMR(EpicsMotor):
This could get it deadlock if it was previously explicitly stopped.
"""
# Reset SPMG before move
spmg = self.motor_mode.get()
if spmg != SpmgStates.GO:
if self.motor_mode.get() != SpmgStates.GO:
self.motor_mode.set(SpmgStates.GO).wait()
# Warn if EPIC motorRecord claims an error (it's not easy to reset)
status = self.motor_status.get()
if status:
warnings.warn(
f"EPICS MotorRecord is in alarm state {status}, ophyd will raise", RuntimeWarning
self.log.warning(
f"EPICS MotorRecord is in alarm state {status}, ophyd will raise"
)
# Warni if trying to move beyond an active limit
# if self.high_limit_switch and position > self.position:
# warnings.warn("Attempting to move above active HLS", RuntimeWarning)
# if self.low_limit_switch and position < self.position:
# warnings.warn("Attempting to move below active LLS", RuntimeWarning)
# Warn if trying to move beyond an active limit
# NOTE: VME limit switches active only in the direction of travel (or disconnected)
# NOTE: SoftMotor limits are not propagated at all
if self.high_limit_switch.get(use_monitor=False) and position > self.position:
self.log.warning("Attempting to move above active HLS")
if self.low_limit_switch.get(use_monitor=False) and position < self.position:
self.log.warning("Attempting to move below active LLS")
# EpicsMotor might raise
# EpicsMotor might raise if MR is in alarm
try:
status = super().move(position, wait, **kwargs)
return status
@ -84,7 +83,12 @@ class EpicsMotorEC(EpicsMotorMR):
USER_ACCESS = ["reset"]
motor_enable_readback = Component(EpicsSignalRO, "-EnaAct", auto_monitor=True, kind=Kind.normal)
motor_enable = Component(
EpicsSignal, "-EnaCmd-RB", write_pv="-EnaCmd", auto_monitor=True, kind=Kind.normal
EpicsSignalRO,
"-EnaCmd-RB",
write_pv="-EnaCmd",
put_complete=True,
auto_monitor=True,
kind=Kind.normal,
)
homed = Component(EpicsSignalRO, "-Homed", auto_monitor=True, kind=Kind.normal)
velocity_readback = Component(EpicsSignalRO, "-VelAct", auto_monitor=True, kind=Kind.normal)
@ -112,6 +116,12 @@ class EpicsMotorEC(EpicsMotorMR):
if error:
raise RuntimeError(f"Motor is in error state with message: '{self.error_msg.get()}'")
# Warn if trying to move beyond an active limit
if self.high_interlock.get(use_monitor=False) and position > self.position:
self.log.warning("Attempting to move above active HLS or Ilock")
if self.high_interlock.get(use_monitor=False) and position < self.position:
self.log.warning("Attempting to move below active LLS or Ilock")
return super().move(position, wait, **kwargs)
def reset(self):