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feat: add continous readout of encoder while scanning

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e21206
2023-08-16 16:42:55 +02:00
parent 451311027a
commit 69fdeb1e96
1 changed files with 35 additions and 4 deletions
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39
ophyd_devices/galil/sgalil_ophyd.py
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@@ -264,6 +264,9 @@ class GalilController(Controller):
LimitError: Raised if the speed is above 2mm/s or below 0.02mm/s LimitError: Raised if the speed is above 2mm/s or below 0.02mm/s
""" """
#time.sleep(0.2)
# Check limits # Check limits
# TODO check sign of stage, or not necessary # TODO check sign of stage, or not necessary
check_values = [start_y, end_y, start_x, end_x] check_values = [start_y, end_y, start_x, end_x]
@@ -280,6 +283,8 @@ class GalilController(Controller):
step_grid = (end_x - start_x) / interval_x step_grid = (end_x - start_x) / interval_x
n_samples = int(interval_y * 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*0.1/2*1000):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"a_start={start_y:.04f};a_end={end_y:.04f};speed={speed:.04f}")
self.socket_put_and_receive( self.socket_put_and_receive(
f"b_start={start_x:.04f};gridmax={gridmax:d};b_step={step_grid:.04f}" f"b_start={start_x:.04f};gridmax={gridmax:d};b_step={step_grid:.04f}"
@@ -289,13 +294,39 @@ class GalilController(Controller):
# sleep 50ms to avoid controller running into # sleep 50ms to avoid controller running into
time.sleep(0.1) time.sleep(0.1)
self.socket_put_and_receive("XQ#SCANG") self.socket_put_and_receive("XQ#SCANG")
#time.sleep(0.1)
#threading.Thread(target=_while_in_motion(3, n_samples), daemon=True).start()
#self._while_in_motion(3, n_samples)
def _while_in_motion(self, thread_id: int, n_samples: int) -> tuple:
last_readout = 0 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])
curren_encoder = self.socket_put_and_receive(f"MGposct") return val_axis4, val_axis2
# TODO add here loop for continous readout -> checks thread?
# TODO does not run from ipython
def read_encoder_position(fromval: int, toval: int) -> tuple: def read_encoder_position(self, fromval: int, toval: int) -> tuple:
val_axis2 = [] # y axis val_axis2 = [] # y axis
val_axis4 = [] # x axis val_axis4 = [] # x axis
for ii in range(fromval, toval + 1): for ii in range(fromval, toval + 1):