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feat: move csaxs devices to plugin structure, fix imports and tests

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This commit is contained in:
appel_c
2024-04-19 12:03:30 +02:00
parent f5366e453f
commit 74f6fa7ffd
54 changed files with 19 additions and 13441 deletions
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8
ophyd_devices/__init__.py
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@ -2,14 +2,7 @@ from .ophyd_patch import monkey_patch_ophyd
monkey_patch_ophyd()
from .eiger1p5m_csaxs.eiger1p5m import Eiger1p5MDetector
from .epics import *
from .galil.fgalil_ophyd import FlomniGalilMotor
from .galil.fupr_ophyd import FuprGalilMotor
from .galil.galil_ophyd import GalilMotor
from .galil.sgalil_ophyd import SGalilMotor
from .npoint.npoint import NPointAxis
from .rt_lamni import RtFlomniMotor, RtLamniMotor
from .sim.sim import SimCamera
from .sim.sim import SimFlyer
from .sim.sim import SimFlyer as SynFlyer
@ -23,7 +16,6 @@ from .sim.sim_frameworks import DeviceProxy, H5ImageReplayProxy, SlitProxy
from .sim.sim_signals import ReadOnlySignal
from .sim.sim_signals import ReadOnlySignal as SynSignalRO
from .sls_devices.sls_devices import SLSInfo, SLSOperatorMessages
from .smaract.smaract_ophyd import SmaractMotor
from .utils.bec_device_base import BECDeviceBase
from .utils.dynamic_pseudo import ComputedSignal
from .utils.static_device_test import launch

0
ophyd_devices/eiger1p5m_csaxs/__init__.py
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173
ophyd_devices/eiger1p5m_csaxs/eiger1p5m.py
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@ -1,173 +0,0 @@
import os
import time
from bec_lib import MessageEndpoints, bec_logger, messages
from ophyd import Component as Cpt
from ophyd import Device, DeviceStatus, EpicsSignal, EpicsSignalRO, Signal
logger = bec_logger.logger
class _SLSDetectorConfigSignal(Signal):
def put(self, value, *, timestamp=None, force=False):
self._readback = value
self.parent.sim_state[self.name] = value
def get(self):
self._readback = self.parent.sim_state[self.name]
return self.parent.sim_state[self.name]
# if (_eigerinvac_is_on == 1) {
# tic("setup eiger in vac")
# epics_put("X12SA-ES1-DOUBLE-02",0)
# unix(sprintf("mkdir -p /sls/X12SA/data/%s/Data10/eiger_4/S%05d-%05d/S%05d",_username,int((SCAN_N+1)/1000)*1000,int((SCAN_N+1)/1000)*1000+999,SCAN_N+1))
# epics_put("XOMNYI-DET-OUTDIR:0.DESC",sprintf("/sls/X12SA/data/%s/Data10/eiger_4/",_username))
# epics_put("XOMNYI-DET-OUTDIR:1.DESC",sprintf("S%05d-%05d/S%05d",int((SCAN_N+1)/1000)*1000,int((SCAN_N+1)/1000)*1000+999,SCAN_N+1))
# epics_put("XOMNYI-DET-CYCLES:0", _lamni_scan_numberofpts)
# epics_put("XOMNYI-DET-EXPTIME:0", $2)
# epics_put("XOMNYI-DET-INDEX:0", SCAN_N+1)
# epics_put("XOMNYI-DET-CONTROL:0.DESC", "begin")
# if(_eigerinvac_burst==0)
# {
# epics_put("XOMNYI-DET-CYCLES:0", _lamni_scan_numberofpts)
# epics_put("XOMNYI-DET-EXPTIME:0", $2)
# metadata_set("eiger_burst", "int", 1, 1)
# }
# else
# {
# metadata_set("eiger_burst", "int", 1, (int($2/0.0085)))
# epics_put("XOMNYI-DET-CYCLES:0", _lamni_scan_numberofpts*(int($2/0.0085)))
# epics_put("XOMNYI-DET-EXPTIME:0", 0.005)
# }
# global _DC_acquisition_ID
# _DC_acquisition_ID = SCAN_N+1
class Eiger1p5MDetector(Device):
USER_ACCESS = []
file_path = Cpt(EpicsSignal, name="file_path", read_pv="XOMNYI-DET-OUTDIR:0.DESC")
detector_out_scan_dir = Cpt(
EpicsSignal, name="detector_out_scan_dir", read_pv="XOMNYI-DET-OUTDIR:1.DESC"
)
frames = Cpt(EpicsSignal, name="frames", read_pv="XOMNYI-DET-CYCLES:0")
exp_time = Cpt(EpicsSignal, name="exp_time", read_pv="XOMNYI-DET-EXPTIME:0")
index = Cpt(EpicsSignal, name="index", read_pv="XOMNYI-DET-INDEX:0")
detector_control = Cpt(
EpicsSignal, name="detector_control", read_pv="XOMNYI-DET-CONTROL:0.DESC"
)
framescaught = Cpt(EpicsSignalRO, name="framescaught", read_pv="XOMNYI-DET-CONTROL:0.VAL")
file_pattern = Cpt(_SLSDetectorConfigSignal, name="file_pattern", value="")
burst = Cpt(_SLSDetectorConfigSignal, name="burst", value=1)
save_file = Cpt(_SLSDetectorConfigSignal, name="save_file", value=False)
def __init__(self, *, name, kind=None, parent=None, device_manager=None, **kwargs):
self.device_manager = device_manager
super().__init__(name=name, parent=parent, kind=kind, **kwargs)
self.sim_state = {
f"{self.name}_file_path": "~/Data10/data/",
f"{self.name}_file_pattern": f"{self.name}_{{:05d}}.h5",
f"{self.name}_frames": 1,
f"{self.name}_burst": 1,
f"{self.name}_save_file": False,
f"{self.name}_exp_time": 0,
}
self._stopped = False
self.file_name = ""
self.metadata = {}
self.username = "e20588" # TODO get from config
def _get_current_scan_msg(self) -> messages.ScanStatusMessage:
return self.device_manager.connector.get(MessageEndpoints.scan_status())
def _get_scan_dir(self, scan_bundle, scan_number, leading_zeros=None):
if leading_zeros is None:
leading_zeros = len(str(scan_bundle))
floor_dir = scan_number // scan_bundle * scan_bundle
return f"S{floor_dir:0{leading_zeros}d}-{floor_dir+scan_bundle-1:0{leading_zeros}d}/S{scan_number:0{leading_zeros}d}"
def stage(self) -> list[object]:
scan_msg = self._get_current_scan_msg()
self.metadata = {
"scan_id": scan_msg.content["scan_id"],
"RID": scan_msg.content["info"]["RID"],
"queue_id": scan_msg.content["info"]["queue_id"],
}
scan_number = scan_msg.content["info"]["scan_number"]
exp_time = scan_msg.content["info"]["exp_time"]
# set base path for detector output
self.file_path.set(f"/sls/X12SA/data/{self.username}/Data10/eiger_4/")
# set scan directory (e.g. S00000-00999/S00020)
scan_dir = self._get_scan_dir(scan_bundle=1000, scan_number=scan_number, leading_zeros=5)
self.detector_out_scan_dir.set(scan_dir)
self.file_name = os.path.join(f"/sls/X12SA/data/{self.username}/Data10/eiger_4/", scan_dir)
# set the scan number
self.index.set(scan_number)
# set the number of frames
self.frames.set(scan_msg.content["info"]["num_points"])
# set the exposure time
self.exp_time.set(exp_time)
# wait for detector control to become "ready"
while True:
det_ctrl = self.detector_control.get()
if det_ctrl == "ready":
break
time.sleep(0.005)
# send the "begin" flag to start processing the above commands
self.detector_control.set("begin")
# wait for detector to be "armed"
logger.info("Waiting for detector setup")
while True:
det_ctrl = self.detector_control.get()
if det_ctrl == "armed":
break
time.sleep(0.005)
self.detector_control.put("acquiring")
return super().stage()
def unstage(self) -> list[object]:
time_waited = 0
sleep_time = 0.2
framesexpected = self.frames.get()
while True:
framescaught = self.framescaught.get()
if self.framescaught.get() < framesexpected:
logger.info(
f"Waiting for frames: Transferred {framescaught} out of {framesexpected}"
)
time_waited += sleep_time
time.sleep(sleep_time)
if self._stopped:
break
continue
break
self.detector_control.put("stop")
signals = {"config": self.read(), "data": self.file_name}
msg = messages.DeviceMessage(signals=signals, metadata=self.metadata)
self.device_manager.connector.set_and_publish(MessageEndpoints.device_read(self.name), msg)
self._stopped = False
return super().unstage()
def stop(self, *, success=False):
self.detector_control.put("stop")
super().stop(success=success)
self._stopped = True
if __name__ == "__main__":
eiger = Eiger1p5MDetector(name="eiger1p5m", label="eiger1p5m")
breakpoint()

3
ophyd_devices/epics/__init__.py
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@ -3,9 +3,6 @@ from ophyd import EpicsMotor, EpicsSignal, EpicsSignalRO
from ophyd.quadem import QuadEM
from ophyd.sim import SynAxis, SynPeriodicSignal, SynSignal
from .devices.delay_generator_csaxs import DelayGeneratorcSAXS
from .devices.flomni_sample_storage import FlomniSampleStorage
from .devices.InsertionDevice import InsertionDevice
from .devices.slits import SlitH, SlitV
from .devices.specMotors import (
Bpm4i,

1452
ophyd_devices/epics/db/x12sa_database.yml
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28
ophyd_devices/epics/devices/InsertionDevice.py
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@ -1,28 +0,0 @@
from ophyd import Component, EpicsSignal, EpicsSignalRO, Kind, PVPositioner
class InsertionDevice(PVPositioner):
"""Python wrapper for the CSAXS insertion device control
This wrapper provides a positioner interface for the ID control.
is completely custom XBPM with templates directly in the
VME repo. Thus it needs a custom ophyd template as well...
WARN: The x and y are not updated by the IOC
"""
status = Component(EpicsSignalRO, "-USER:STATUS", auto_monitor=True)
errorSource = Component(EpicsSignalRO, "-USER:ERROR-SOURCE", auto_monitor=True)
isOpen = Component(EpicsSignalRO, "-GAP:ISOPEN", auto_monitor=True)
# PVPositioner interface
setpoint = Component(EpicsSignal, "-GAP:SET", auto_monitor=True)
readback = Component(EpicsSignalRO, "-GAP:READ", auto_monitor=True, kind=Kind.hinted)
done = Component(EpicsSignalRO, ":DONE", auto_monitor=True)
stop_signal = Component(EpicsSignal, "-GAP:STOP", kind=Kind.omitted)
# Automatically start simulation if directly invoked
# (NA for important devices)
if __name__ == "__main__":
pass

7
ophyd_devices/epics/devices/__init__.py
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@ -12,17 +12,10 @@ from .aerotech.AerotechAutomation1 import (
aa1GlobalVariables,
aa1Tasks,
)
from .delay_generator_csaxs import DelayGeneratorcSAXS
from .eiger9m_csaxs import Eiger9McSAXS
# cSAXS
from .epics_motor_ex import EpicsMotorEx
from .falcon_csaxs import FalconcSAXS
from .flomni_sample_storage import FlomniSampleStorage
from .grashopper_tomcat import GrashopperTOMCAT
from .InsertionDevice import InsertionDevice
from .mcs_csaxs import MCScSAXS
from .pilatus_csaxs import PilatuscSAXS
from .psi_detector_base import CustomDetectorMixin, PSIDetectorBase
from .slits import SlitH, SlitV
from .specMotors import (

30
ophyd_devices/epics/devices/cSaxsVirtualMotors.py
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@ -1,30 +0,0 @@
TABLES_DT_PUSH_DIST_MM = 890
class DetectorTableTheta(PseudoPositioner):
"""Detector table tilt motor
Small wrapper to adjust the detector table tilt as angle.
The table is pushed from one side by a single vertical motor.
Note: Rarely used!
"""
# Real axis (in degrees)
pusher = Component(EpicsMotor, "", name="pusher")
# Virtual axis
theta = Component(PseudoSingle, name="theta")
_real = ["pusher"]
@pseudo_position_argument
def forward(self, pseudo_pos):
return self.RealPosition(
pusher=tan(pseudo_pos.theta * 3.141592 / 180.0) * TABLES_DT_PUSH_DIST_MM
)
@real_position_argument
def inverse(self, real_pos):
return self.PseudoPosition(
theta=-180 * atan(real_pos.pusher / TABLES_DT_PUSH_DIST_MM) / 3.141592
)

346
ophyd_devices/epics/devices/delay_generator_csaxs.py
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@ -1,346 +0,0 @@
from bec_lib import bec_logger
from ophyd import Component
from ophyd_devices.epics.devices.psi_delay_generator_base import (
DDGCustomMixin,
PSIDelayGeneratorBase,
TriggerSource,
)
from ophyd_devices.utils import bec_utils
logger = bec_logger.logger
class DelayGeneratorError(Exception):
"""Exception raised for errors."""
class DDGSetup(DDGCustomMixin):
"""
Mixin class for DelayGenerator logic at cSAXS.
At cSAXS, multiple DDGs were operated at the same time. There different behaviour is
implemented in the ddg_config signals that are passed via the device config.
"""
def initialize_default_parameter(self) -> None:
"""Method to initialize default parameters."""
for ii, channel in enumerate(self.parent.all_channels):
self.parent.set_channels("polarity", self.parent.polarity.get()[ii], [channel])
self.parent.set_channels("amplitude", self.parent.amplitude.get())
self.parent.set_channels("offset", self.parent.offset.get())
# Setup reference
self.parent.set_channels(
"reference", 0, [f"channel{pair}.ch1" for pair in self.parent.all_delay_pairs]
)
self.parent.set_channels(
"reference", 0, [f"channel{pair}.ch2" for pair in self.parent.all_delay_pairs]
)
self.parent.set_trigger(getattr(TriggerSource, self.parent.set_trigger_source.get()))
# Set threshold level for ext. pulses
self.parent.level.put(self.parent.thres_trig_level.get())
def prepare_ddg(self) -> None:
"""
Method to prepare scan logic of cSAXS
Two scantypes are supported: "step" and "fly":
- step: Scan is performed by stepping the motor and acquiring data at each step
- fly: Scan is performed by moving the motor with a constant velocity and acquiring data
Custom logic for different DDG behaviour during scans.
- set_high_on_exposure : If True, then TTL signal is high during
the full exposure time of the scan (all frames).
E.g. Keep shutter open for the full scan.
- fixed_ttl_width : fixed_ttl_width is a list of 5 values, one for each channel.
If the value is 0, then the width of the TTL pulse is determined,
no matter which parameters are passed from the scaninfo for exposure time
- set_trigger_source : Specifies the default trigger source for the DDG. For cSAXS, relevant ones
were: SINGLE_SHOT, EXT_RISING_EDGE
"""
self.parent.set_trigger(getattr(TriggerSource, self.parent.set_trigger_source.get()))
# scantype "step"
if self.parent.scaninfo.scan_type == "step":
# High on exposure means that the signal
if self.parent.set_high_on_exposure.get():
# caluculate parameters
num_burst_cycle = 1 + self.parent.additional_triggers.get()
exp_time = (
self.parent.delta_width.get()
+ self.parent.scaninfo.frames_per_trigger
* (self.parent.scaninfo.exp_time + self.parent.scaninfo.readout_time)
)
total_exposure = exp_time
delay_burst = self.parent.delay_burst.get()
# Set individual channel widths, if fixed_ttl_width and trigger_width are combined, this can be a common call too
if not self.parent.trigger_width.get():
self.parent.set_channels("width", exp_time)
else:
self.parent.set_channels("width", self.parent.trigger_width.get())
for value, channel in zip(
self.parent.fixed_ttl_width.get(), self.parent.all_channels
):
logger.debug(f"Trying to set DDG {channel} to {value}")
if value != 0:
self.parent.set_channels("width", value, channels=[channel])
else:
# caluculate parameters
exp_time = self.parent.delta_width.get() + self.parent.scaninfo.exp_time
total_exposure = exp_time + self.parent.scaninfo.readout_time
delay_burst = self.parent.delay_burst.get()
num_burst_cycle = (
self.parent.scaninfo.frames_per_trigger + self.parent.additional_triggers.get()
)
# Set individual channel widths, if fixed_ttl_width and trigger_width are combined, this can be a common call too
if not self.parent.trigger_width.get():
self.parent.set_channels("width", exp_time)
else:
self.parent.set_channels("width", self.parent.trigger_width.get())
# scantype "fly"
elif self.parent.scaninfo.scan_type == "fly":
if self.parent.set_high_on_exposure.get():
# caluculate parameters
exp_time = (
self.parent.delta_width.get()
+ self.parent.scaninfo.exp_time * self.parent.scaninfo.num_points
+ self.parent.scaninfo.readout_time * (self.parent.scaninfo.num_points - 1)
)
total_exposure = exp_time
delay_burst = self.parent.delay_burst.get()
num_burst_cycle = 1 + self.parent.additional_triggers.get()
# Set individual channel widths, if fixed_ttl_width and trigger_width are combined, this can be a common call too
if not self.parent.trigger_width.get():
self.parent.set_channels("width", exp_time)
else:
self.parent.set_channels("width", self.parent.trigger_width.get())
for value, channel in zip(
self.parent.fixed_ttl_width.get(), self.parent.all_channels
):
logger.debug(f"Trying to set DDG {channel} to {value}")
if value != 0:
self.parent.set_channels("width", value, channels=[channel])
else:
# caluculate parameters
exp_time = self.parent.delta_width.get() + self.parent.scaninfo.exp_time
total_exposure = exp_time + self.parent.scaninfo.readout_time
delay_burst = self.parent.delay_burst.get()
num_burst_cycle = (
self.parent.scaninfo.num_points + self.parent.additional_triggers.get()
)
# Set individual channel widths, if fixed_ttl_width and trigger_width are combined, this can be a common call too
if not self.parent.trigger_width.get():
self.parent.set_channels("width", exp_time)
else:
self.parent.set_channels("width", self.parent.trigger_width.get())
else:
raise Exception(f"Unknown scan type {self.parent.scaninfo.scan_type}")
# Set common DDG parameters
self.parent.burst_enable(num_burst_cycle, delay_burst, total_exposure, config="first")
self.parent.set_channels("delay", 0.0)
def on_trigger(self) -> None:
"""Method to be executed upon trigger"""
if self.parent.source.read()[self.parent.source.name]["value"] == TriggerSource.SINGLE_SHOT:
self.parent.trigger_shot.put(1)
def check_scan_id(self) -> None:
"""
Method to check if scan_id has changed.
If yes, then it changes parent.stopped to True, which will stop further actions.
"""
old_scan_id = self.parent.scaninfo.scan_id
self.parent.scaninfo.load_scan_metadata()
if self.parent.scaninfo.scan_id != old_scan_id:
self.parent.stopped = True
def finished(self) -> None:
"""Method checks if DDG finished acquisition"""
def on_pre_scan(self) -> None:
"""
Method called by pre_scan hook in parent class.
Executes trigger if premove_trigger is Trus.
"""
if self.parent.premove_trigger.get() is True:
self.parent.trigger_shot.put(1)
class DelayGeneratorcSAXS(PSIDelayGeneratorBase):
"""
DG645 delay generator at cSAXS (multiple can be in use depending on the setup)
Default values for setting up DDG.
Note: checks of set calues are not (only partially) included, check manual for details on possible settings.
https://www.thinksrs.com/downloads/pdfs/manuals/DG645m.pdf
- delay_burst : (float >=0) Delay between trigger and first pulse in burst mode
- delta_width : (float >= 0) Add width to fast shutter signal to make sure its open during acquisition
- additional_triggers : (int) add additional triggers to burst mode (mcs card needs +1 triggers per line)
- polarity : (list of 0/1) polarity for different channels
- amplitude : (float) amplitude voltage of TTLs
- offset : (float) offset for ampltitude
- thres_trig_level : (float) threshold of trigger amplitude
Custom signals for logic in different DDGs during scans (for custom_prepare.prepare_ddg):
- set_high_on_exposure : (bool): if True, then TTL signal should go high during the full acquisition time of a scan.
# TODO trigger_width and fixed_ttl could be combined into single list.
- fixed_ttl_width : (list of either 1 or 0), one for each channel.
- trigger_width : (float) if fixed_ttl_width is True, then the width of the TTL pulse is set to this value.
- set_trigger_source : (TriggerSource) specifies the default trigger source for the DDG.
- premove_trigger : (bool) if True, then a trigger should be executed before the scan starts (to be implemented in on_pre_scan).
- set_high_on_stage : (bool) if True, then TTL signal should go high already on stage.
"""
custom_prepare_cls = DDGSetup
delay_burst = Component(
bec_utils.ConfigSignal, name="delay_burst", kind="config", config_storage_name="ddg_config"
)
delta_width = Component(
bec_utils.ConfigSignal, name="delta_width", kind="config", config_storage_name="ddg_config"
)
additional_triggers = Component(
bec_utils.ConfigSignal,
name="additional_triggers",
kind="config",
config_storage_name="ddg_config",
)
polarity = Component(
bec_utils.ConfigSignal, name="polarity", kind="config", config_storage_name="ddg_config"
)
fixed_ttl_width = Component(
bec_utils.ConfigSignal,
name="fixed_ttl_width",
kind="config",
config_storage_name="ddg_config",
)
amplitude = Component(
bec_utils.ConfigSignal, name="amplitude", kind="config", config_storage_name="ddg_config"
)
offset = Component(
bec_utils.ConfigSignal, name="offset", kind="config", config_storage_name="ddg_config"
)
thres_trig_level = Component(
bec_utils.ConfigSignal,
name="thres_trig_level",
kind="config",
config_storage_name="ddg_config",
)
set_high_on_exposure = Component(
bec_utils.ConfigSignal,
name="set_high_on_exposure",
kind="config",
config_storage_name="ddg_config",
)
set_high_on_stage = Component(
bec_utils.ConfigSignal,
name="set_high_on_stage",
kind="config",
config_storage_name="ddg_config",
)
set_trigger_source = Component(
bec_utils.ConfigSignal,
name="set_trigger_source",
kind="config",
config_storage_name="ddg_config",
)
trigger_width = Component(
bec_utils.ConfigSignal,
name="trigger_width",
kind="config",
config_storage_name="ddg_config",
)
premove_trigger = Component(
bec_utils.ConfigSignal,
name="premove_trigger",
kind="config",
config_storage_name="ddg_config",
)
def __init__(
self,
prefix="",
*,
name,
kind=None,
read_attrs=None,
configuration_attrs=None,
parent=None,
device_manager=None,
sim_mode=False,
ddg_config=None,
**kwargs,
):
"""
Args:
prefix (str, optional): Prefix of the device. Defaults to "".
name (str): Name of the device.
kind (str, optional): Kind of the device. Defaults to None.
read_attrs (list, optional): List of attributes to read. Defaults to None.
configuration_attrs (list, optional): List of attributes to configure. Defaults to None.
parent (Device, optional): Parent device. Defaults to None.
device_manager (DeviceManagerBase, optional): DeviceManagerBase object. Defaults to None.
sim_mode (bool, optional): Simulation mode flag. Defaults to False.
ddg_config (dict, optional): Dictionary of ddg_config signals. Defaults to None.
"""
# Default values for ddg_config signals
self.ddg_config = {
# Setup default values
f"{name}_delay_burst": 0,
f"{name}_delta_width": 0,
f"{name}_additional_triggers": 0,
f"{name}_polarity": [1, 1, 1, 1, 1],
f"{name}_amplitude": 4.5,
f"{name}_offset": 0,
f"{name}_thres_trig_level": 2.5,
# Values for different behaviour during scans
f"{name}_fixed_ttl_width": [0, 0, 0, 0, 0],
f"{name}_trigger_width": None,
f"{name}_set_high_on_exposure": False,
f"{name}_set_high_on_stage": False,
f"{name}_set_trigger_source": "SINGLE_SHOT",
f"{name}_premove_trigger": False,
}
if ddg_config is not None:
# pylint: disable=expression-not-assigned
[self.ddg_config.update({f"{name}_{key}": value}) for key, value in ddg_config.items()]
super().__init__(
prefix=prefix,
name=name,
kind=kind,
read_attrs=read_attrs,
configuration_attrs=configuration_attrs,
parent=parent,
device_manager=device_manager,
sim_mode=sim_mode,
**kwargs,
)
if __name__ == "__main__":
# Start delay generator in simulation mode.
# Note: To run, access to Epics must be available.
dgen = DelayGeneratorcSAXS("delaygen:DG1:", name="dgen", sim_mode=True)

428
ophyd_devices/epics/devices/eiger9m_csaxs.py
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@ -1,428 +0,0 @@
import enum
import os
import threading
import time
from typing import Any
import numpy as np
from bec_lib import messages, threadlocked
from bec_lib.endpoints import MessageEndpoints
from bec_lib.logger import bec_logger
from ophyd import ADComponent as ADCpt
from ophyd import Device, EpicsSignal, EpicsSignalRO, EpicsSignalWithRBV
from std_daq_client import StdDaqClient
from ophyd_devices.epics.devices.psi_detector_base import CustomDetectorMixin, PSIDetectorBase
logger = bec_logger.logger
class EigerError(Exception):
"""Base class for exceptions in this module."""
class EigerTimeoutError(EigerError):
"""Raised when the Eiger does not respond in time."""
class Eiger9MSetup(CustomDetectorMixin):
"""Eiger setup class
Parent class: CustomDetectorMixin
"""
def __init__(self, *args, parent: Device = None, **kwargs) -> None:
super().__init__(*args, parent=parent, **kwargs)
self.std_rest_server_url = (
kwargs["file_writer_url"] if "file_writer_url" in kwargs else "http://xbl-daq-29:5000"
)
self.std_client = None
self._lock = threading.RLock()
def initialize_default_parameter(self) -> None:
"""Set default parameters for Eiger9M detector"""
self.update_readout_time()
def update_readout_time(self) -> None:
"""Set readout time for Eiger9M detector"""
readout_time = (
self.parent.scaninfo.readout_time
if hasattr(self.parent.scaninfo, "readout_time")
else self.parent.MIN_READOUT
)
self.parent.readout_time = max(readout_time, self.parent.MIN_READOUT)
def initialize_detector(self) -> None:
"""Initialize detector"""
# Stops the detector
self.stop_detector()
# Sets the trigger source to GATING
self.parent.set_trigger(TriggerSource.GATING)
def initialize_detector_backend(self) -> None:
"""Initialize detector backend"""
# Std client
self.std_client = StdDaqClient(url_base=self.std_rest_server_url)
# Stop writer
self.std_client.stop_writer()
# Change e-account
eacc = self.parent.scaninfo.username
self.update_std_cfg("writer_user_id", int(eacc.strip(" e")))
signal_conditions = [(lambda: self.std_client.get_status()["state"], "READY")]
if not self.wait_for_signals(
signal_conditions=signal_conditions, timeout=self.parent.timeout, all_signals=True
):
raise EigerTimeoutError(
f"Std client not in READY state, returns: {self.std_client.get_status()}"
)
def update_std_cfg(self, cfg_key: str, value: Any) -> None:
"""
Update std_daq config
Checks that the new value matches the type of the former entry.
Args:
cfg_key (str) : config key of value to be updated
value (Any) : value to be updated for the specified key
Raises:
Raises EigerError if the key was not in the config before and if the new value does not match the type of the old value
"""
# Load config from client and check old value
cfg = self.std_client.get_config()
old_value = cfg.get(cfg_key)
if old_value is None:
raise EigerError(
f"Tried to change entry for key {cfg_key} in std_config that does not exist"
)
if not isinstance(value, type(old_value)):
raise EigerError(
f"Type of new value {type(value)}:{value} does not match old value"
f" {type(old_value)}:{old_value}"
)
# Update config with new value and send back to client
cfg.update({cfg_key: value})
logger.debug(cfg)
self.std_client.set_config(cfg)
logger.debug(f"Updated std_daq config for key {cfg_key} from {old_value} to {value}")
def stop_detector(self) -> None:
"""Stop the detector"""
# Stop detector
self.parent.cam.acquire.put(0)
# Check if detector returned in idle state
signal_conditions = [
(
lambda: self.parent.cam.detector_state.read()[self.parent.cam.detector_state.name][
"value"
],
DetectorState.IDLE,
)
]
if not self.wait_for_signals(
signal_conditions=signal_conditions,
timeout=self.parent.timeout - self.parent.timeout // 2,
check_stopped=True,
all_signals=False,
):
# Retry stop detector and wait for remaining time
self.parent.cam.acquire.put(0)
if not self.wait_for_signals(
signal_conditions=signal_conditions,
timeout=self.parent.timeout - self.parent.timeout // 2,
check_stopped=True,
all_signals=False,
):
raise EigerTimeoutError(
f"Failed to stop detector, detector state {signal_conditions[0][0]}"
)
def stop_detector_backend(self) -> None:
"""Close file writer"""
self.std_client.stop_writer()
def prepare_detector(self) -> None:
"""Prepare detector for scan"""
self.set_detector_threshold()
self.set_acquisition_params()
self.parent.set_trigger(TriggerSource.GATING)
def set_detector_threshold(self) -> None:
"""
Set the detector threshold
The function sets the detector threshold automatically to 1/2 of the beam energy.
"""
# get current beam energy from device manageer
mokev = self.parent.device_manager.devices.mokev.obj.read()[
self.parent.device_manager.devices.mokev.name
]["value"]
factor = 1
# Check if energies are eV or keV, assume keV as the default
unit = getattr(self.parent.cam.threshold_energy, "units", None)
if unit is not None and unit == "eV":
factor = 1000
# set energy on detector
setpoint = int(mokev * factor)
energy = self.parent.cam.beam_energy.read()[self.parent.cam.beam_energy.name]["value"]
if setpoint != energy:
self.parent.cam.beam_energy.set(setpoint)
# set threshold on detector
threshold = self.parent.cam.threshold_energy.read()[self.parent.cam.threshold_energy.name][
"value"
]
if not np.isclose(setpoint / 2, threshold, rtol=0.05):
self.parent.cam.threshold_energy.set(setpoint / 2)
def set_acquisition_params(self) -> None:
"""Set acquisition parameters for the detector"""
# Set number of images and frames (frames is for internal burst of detector)
self.parent.cam.num_images.put(
int(self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger)
)
self.parent.cam.num_frames.put(1)
# Update the readout time of the detector
self.update_readout_time()
def prepare_data_backend(self) -> None:
"""Prepare the data backend for the scan"""
self.parent.filepath = self.parent.filewriter.compile_full_filename(
f"{self.parent.name}.h5"
)
self.filepath_exists(self.parent.filepath)
self.stop_detector_backend()
try:
self.std_client.start_writer_async(
{
"output_file": self.parent.filepath,
"n_images": int(
self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger
),
}
)
except Exception as exc:
time.sleep(5)
if self.std_client.get_status()["state"] == "READY":
raise EigerTimeoutError(f"Timeout of start_writer_async with {exc}") from exc
# Check status of std_daq
signal_conditions = [
(lambda: self.std_client.get_status()["acquisition"]["state"], "WAITING_IMAGES")
]
if not self.wait_for_signals(
signal_conditions=signal_conditions,
timeout=self.parent.timeout,
check_stopped=False,
all_signals=True,
):
raise EigerTimeoutError(
"Timeout of 5s reached for std_daq start_writer_async with std_daq client status"
f" {self.std_client.get_status()}"
)
def filepath_exists(self, filepath: str) -> None:
"""Check if filepath exists"""
signal_conditions = [(lambda: os.path.exists(os.path.dirname(filepath)), True)]
if not self.wait_for_signals(
signal_conditions=signal_conditions,
timeout=self.parent.timeout,
check_stopped=False,
all_signals=True,
):
raise EigerError(f"Timeout of 3s reached for filepath {filepath}")
def arm_acquisition(self) -> None:
"""Arm Eiger detector for acquisition"""
self.parent.cam.acquire.put(1)
signal_conditions = [
(
lambda: self.parent.cam.detector_state.read()[self.parent.cam.detector_state.name][
"value"
],
DetectorState.RUNNING,
)
]
if not self.wait_for_signals(
signal_conditions=signal_conditions,
timeout=self.parent.timeout,
check_stopped=True,
all_signals=False,
):
raise EigerTimeoutError(
f"Failed to arm the acquisition. Detector state {signal_conditions[0][0]}"
)
def check_scan_id(self) -> None:
"""Checks if scan_id has changed and stops the scan if it has"""
old_scan_id = self.parent.scaninfo.scan_id
self.parent.scaninfo.load_scan_metadata()
if self.parent.scaninfo.scan_id != old_scan_id:
self.parent.stopped = True
def publish_file_location(self, done: bool = False, successful: bool = None) -> None:
"""
Publish the filepath to REDIS.
We publish two events here:
- file_event: event for the filewriter
- public_file: event for any secondary service (e.g. radial integ code)
Args:
done (bool): True if scan is finished
successful (bool): True if scan was successful
"""
pipe = self.parent.connector.pipeline()
if successful is None:
msg = messages.FileMessage(file_path=self.parent.filepath, done=done)
else:
msg = messages.FileMessage(
file_path=self.parent.filepath, done=done, successful=successful
)
self.parent.connector.set_and_publish(
MessageEndpoints.public_file(self.parent.scaninfo.scan_id, self.parent.name),
msg,
pipe=pipe,
)
self.parent.connector.set_and_publish(
MessageEndpoints.file_event(self.parent.name), msg, pipe=pipe
)
pipe.execute()
@threadlocked
def finished(self):
"""Check if acquisition is finished."""
signal_conditions = [
(
lambda: self.parent.cam.acquire.read()[self.parent.cam.acquire.name]["value"],
DetectorState.IDLE,
),
(lambda: self.std_client.get_status()["acquisition"]["state"], "FINISHED"),
(
lambda: self.std_client.get_status()["acquisition"]["stats"]["n_write_completed"],
int(self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger),
),
]
if not self.wait_for_signals(
signal_conditions=signal_conditions,
timeout=self.parent.timeout,
check_stopped=True,
all_signals=True,
):
raise EigerTimeoutError(
f"Reached timeout with detector state {signal_conditions[0][0]}, std_daq state"
f" {signal_conditions[1][0]} and received frames of {signal_conditions[2][0]} for"
" the file writer"
)
self.stop_detector()
self.stop_detector_backend()
class SLSDetectorCam(Device):
"""
SLS Detector Camera - Eiger9M
Base class to map EPICS PVs to ophyd signals.
"""
threshold_energy = ADCpt(EpicsSignalWithRBV, "ThresholdEnergy")
beam_energy = ADCpt(EpicsSignalWithRBV, "BeamEnergy")
bit_depth = ADCpt(EpicsSignalWithRBV, "BitDepth")
num_images = ADCpt(EpicsSignalWithRBV, "NumCycles")
num_frames = ADCpt(EpicsSignalWithRBV, "NumFrames")
trigger_mode = ADCpt(EpicsSignalWithRBV, "TimingMode")
trigger_software = ADCpt(EpicsSignal, "TriggerSoftware")
acquire = ADCpt(EpicsSignal, "Acquire")
detector_state = ADCpt(EpicsSignalRO, "DetectorState_RBV")
class TriggerSource(enum.IntEnum):
"""Trigger signals for Eiger9M detector"""
AUTO = 0
TRIGGER = 1
GATING = 2
BURST_TRIGGER = 3
class DetectorState(enum.IntEnum):
"""Detector states for Eiger9M detector"""
IDLE = 0
ERROR = 1
WAITING = 2
FINISHED = 3
TRANSMITTING = 4
RUNNING = 5
STOPPED = 6
STILL_WAITING = 7
INITIALIZING = 8
DISCONNECTED = 9
ABORTED = 10
class Eiger9McSAXS(PSIDetectorBase):
"""
Eiger9M detector for CSAXS
Parent class: PSIDetectorBase
class attributes:
custom_prepare_cls (FalconSetup) : Custom detector setup class for cSAXS,
inherits from CustomDetectorMixin
PSIDetectorBase.set_min_readout (float) : Minimum readout time for the detector
Various EpicsPVs for controlling the detector
"""
# Specify which functions are revealed to the user in BEC client
USER_ACCESS = ["describe"]
# specify Setup class
custom_prepare_cls = Eiger9MSetup
# specify minimum readout time for detector
MIN_READOUT = 3e-3
# specify class attributes
cam = ADCpt(SLSDetectorCam, "cam1:")
def set_trigger(self, trigger_source: TriggerSource) -> None:
"""Set trigger source for the detector.
Check the TriggerSource enum for possible values
Args:
trigger_source (TriggerSource): Trigger source for the detector
"""
value = trigger_source
self.cam.trigger_mode.put(value)
def stage(self) -> list[object]:
"""
Add functionality to stage, and arm the detector
Additional call to:
- custom_prepare.arm_acquisition()
"""
rtr = super().stage()
self.custom_prepare.arm_acquisition()
return rtr
if __name__ == "__main__":
eiger = Eiger9McSAXS(name="eiger", prefix="X12SA-ES-EIGER9M:", sim_mode=True)

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ophyd_devices/epics/devices/falcon_csaxs.py
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@ -1,357 +0,0 @@
import enum
import os
from bec_lib import messages
from bec_lib.endpoints import MessageEndpoints
from bec_lib.logger import bec_logger
from ophyd import Component as Cpt
from ophyd import Device, EpicsSignal, EpicsSignalRO, EpicsSignalWithRBV
from ophyd.mca import EpicsMCARecord
from ophyd_devices.epics.devices.psi_detector_base import CustomDetectorMixin, PSIDetectorBase
logger = bec_logger.logger
class FalconError(Exception):
"""Base class for exceptions in this module."""
class FalconTimeoutError(FalconError):
"""Raised when the Falcon does not respond in time."""
class DetectorState(enum.IntEnum):
"""Detector states for Falcon detector"""
DONE = 0
ACQUIRING = 1
class TriggerSource(enum.IntEnum):
"""Trigger source for Falcon detector"""
USER = 0
GATE = 1
SYNC = 2
class MappingSource(enum.IntEnum):
"""Mapping source for Falcon detector"""
SPECTRUM = 0
MAPPING = 1
class EpicsDXPFalcon(Device):
"""
DXP parameters for Falcon detector
Base class to map EPICS PVs from DXP parameters to ophyd signals.
"""
elapsed_live_time = Cpt(EpicsSignal, "ElapsedLiveTime")
elapsed_real_time = Cpt(EpicsSignal, "ElapsedRealTime")
elapsed_trigger_live_time = Cpt(EpicsSignal, "ElapsedTriggerLiveTime")
# Energy Filter PVs
energy_threshold = Cpt(EpicsSignalWithRBV, "DetectionThreshold")
min_pulse_separation = Cpt(EpicsSignalWithRBV, "MinPulsePairSeparation")
detection_filter = Cpt(EpicsSignalWithRBV, "DetectionFilter", string=True)
scale_factor = Cpt(EpicsSignalWithRBV, "ScaleFactor")
risetime_optimisation = Cpt(EpicsSignalWithRBV, "RisetimeOptimization")
# Misc PVs
detector_polarity = Cpt(EpicsSignalWithRBV, "DetectorPolarity")
decay_time = Cpt(EpicsSignalWithRBV, "DecayTime")
current_pixel = Cpt(EpicsSignalRO, "CurrentPixel")
class FalconHDF5Plugins(Device):
"""
HDF5 parameters for Falcon detector
Base class to map EPICS PVs from HDF5 Plugin to ophyd signals.
"""
capture = Cpt(EpicsSignalWithRBV, "Capture")
enable = Cpt(EpicsSignalWithRBV, "EnableCallbacks", string=True, kind="config")
xml_file_name = Cpt(EpicsSignalWithRBV, "XMLFileName", string=True, kind="config")
lazy_open = Cpt(EpicsSignalWithRBV, "LazyOpen", string=True, doc="0='No' 1='Yes'")
temp_suffix = Cpt(EpicsSignalWithRBV, "TempSuffix", string=True)
file_path = Cpt(EpicsSignalWithRBV, "FilePath", string=True, kind="config")
file_name = Cpt(EpicsSignalWithRBV, "FileName", string=True, kind="config")
file_template = Cpt(EpicsSignalWithRBV, "FileTemplate", string=True, kind="config")
num_capture = Cpt(EpicsSignalWithRBV, "NumCapture", kind="config")
file_write_mode = Cpt(EpicsSignalWithRBV, "FileWriteMode", kind="config")
queue_size = Cpt(EpicsSignalWithRBV, "QueueSize", kind="config")
array_counter = Cpt(EpicsSignalWithRBV, "ArrayCounter", kind="config")
class FalconSetup(CustomDetectorMixin):
"""
Falcon setup class for cSAXS
Parent class: CustomDetectorMixin
"""
def initialize_default_parameter(self) -> None:
"""
Set default parameters for Falcon
This will set:
- readout (float): readout time in seconds
- value_pixel_per_buffer (int): number of spectra in buffer of Falcon Sitoro
"""
self.parent.value_pixel_per_buffer = 20
self.update_readout_time()
def update_readout_time(self) -> None:
"""Set readout time for Eiger9M detector"""
readout_time = (
self.parent.scaninfo.readout_time
if hasattr(self.parent.scaninfo, "readout_time")
else self.parent.MIN_READOUT
)
self.parent.readout_time = max(readout_time, self.parent.MIN_READOUT)
def initialize_detector(self) -> None:
"""Initialize Falcon detector"""
self.stop_detector()
self.stop_detector_backend()
self.parent.set_trigger(
mapping_mode=MappingSource.MAPPING, trigger_source=TriggerSource.GATE, ignore_gate=0
)
# 1 Realtime
self.parent.preset_mode.put(1)
# 0 Normal, 1 Inverted
self.parent.input_logic_polarity.put(0)
# 0 Manual 1 Auto
self.parent.auto_pixels_per_buffer.put(0)
# Sets the number of pixels/spectra in the buffer
self.parent.pixels_per_buffer.put(self.parent.value_pixel_per_buffer)
def stop_detector(self) -> None:
"""Stops detector"""
self.parent.stop_all.put(1)
self.parent.erase_all.put(1)
signal_conditions = [
(lambda: self.parent.state.read()[self.parent.state.name]["value"], DetectorState.DONE)
]
if not self.wait_for_signals(
signal_conditions=signal_conditions,
timeout=self.parent.timeout - self.parent.timeout // 2,
all_signals=False,
):
# Retry stop detector and wait for remaining time
raise FalconTimeoutError(
f"Failed to stop detector, timeout with state {signal_conditions[0][0]}"
)
def stop_detector_backend(self) -> None:
"""Stop the detector backend"""
self.parent.hdf5.capture.put(0)
def initialize_detector_backend(self) -> None:
"""Initialize the detector backend for Falcon."""
self.parent.hdf5.enable.put(1)
# file location of h5 layout for cSAXS
self.parent.hdf5.xml_file_name.put("layout.xml")
# TODO Check if lazy open is needed and wanted!
self.parent.hdf5.lazy_open.put(1)
self.parent.hdf5.temp_suffix.put("")
# size of queue for number of spectra allowed in the buffer, if too small at high throughput, data is lost
self.parent.hdf5.queue_size.put(2000)
# Segmentation into Spectra within EPICS, 1 is activate, 0 is deactivate
self.parent.nd_array_mode.put(1)
def prepare_detector(self) -> None:
"""Prepare detector for acquisition"""
self.parent.set_trigger(
mapping_mode=MappingSource.MAPPING, trigger_source=TriggerSource.GATE, ignore_gate=0
)
self.parent.preset_real.put(self.parent.scaninfo.exp_time)
self.parent.pixels_per_run.put(
int(self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger)
)
def prepare_data_backend(self) -> None:
"""Prepare data backend for acquisition"""
self.parent.filepath = self.parent.filewriter.compile_full_filename(
f"{self.parent.name}.h5"
)
file_path, file_name = os.path.split(self.parent.filepath)
self.parent.hdf5.file_path.put(file_path)
self.parent.hdf5.file_name.put(file_name)
self.parent.hdf5.file_template.put("%s%s")
self.parent.hdf5.num_capture.put(
int(self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger)
)
self.parent.hdf5.file_write_mode.put(2)
# Reset spectrum counter in filewriter, used for indexing & identifying missing triggers
self.parent.hdf5.array_counter.put(0)
# Start file writing
self.parent.hdf5.capture.put(1)
def arm_acquisition(self) -> None:
"""Arm detector for acquisition"""
self.parent.start_all.put(1)
signal_conditions = [
(
lambda: self.parent.state.read()[self.parent.state.name]["value"],
DetectorState.ACQUIRING,
)
]
if not self.wait_for_signals(
signal_conditions=signal_conditions,
timeout=self.parent.timeout,
check_stopped=True,
all_signals=False,
):
raise FalconTimeoutError(
f"Failed to arm the acquisition. Detector state {signal_conditions[0][0]}"
)
def check_scan_id(self) -> None:
"""Checks if scan_id has changed and stops the scan if it has"""
old_scan_id = self.parent.scaninfo.scan_id
self.parent.scaninfo.load_scan_metadata()
if self.parent.scaninfo.scan_id != old_scan_id:
self.parent.stopped = True
def publish_file_location(self, done: bool = False, successful: bool = None) -> None:
"""
Publish the filepath to REDIS.
We publish two events here:
- file_event: event for the filewriter
- public_file: event for any secondary service (e.g. radial integ code)
Args:
done (bool): True if scan is finished
successful (bool): True if scan was successful
"""
pipe = self.parent.connector.pipeline()
if successful is None:
msg = messages.FileMessage(file_path=self.parent.filepath, done=done)
else:
msg = messages.FileMessage(
file_path=self.parent.filepath, done=done, successful=successful
)
self.parent.connector.set_and_publish(
MessageEndpoints.public_file(self.parent.scaninfo.scan_id, self.parent.name),
msg,
pipe=pipe,
)
self.parent.connector.set_and_publish(
MessageEndpoints.file_event(self.parent.name), msg, pipe=pipe
)
pipe.execute()
def finished(self) -> None:
"""Check if scan finished succesfully"""
total_frames = int(
self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger
)
signal_conditions = [
(self.parent.dxp.current_pixel.get, total_frames),
(self.parent.hdf5.array_counter.get, total_frames),
]
if not self.wait_for_signals(
signal_conditions=signal_conditions,
timeout=self.parent.timeout,
check_stopped=True,
all_signals=True,
):
logger.debug(
f"Falcon missed a trigger: received trigger {self.parent.dxp.current_pixel.get()},"
f" send data {self.parent.hdf5.array_counter.get()} from total_frames"
f" {total_frames}"
)
self.stop_detector()
self.stop_detector_backend()
class FalconcSAXS(PSIDetectorBase):
"""
Falcon Sitoro detector for CSAXS
Parent class: PSIDetectorBase
class attributes:
custom_prepare_cls (FalconSetup) : Custom detector setup class for cSAXS,
inherits from CustomDetectorMixin
PSIDetectorBase.set_min_readout (float) : Minimum readout time for the detector
dxp (EpicsDXPFalcon) : DXP parameters for Falcon detector
mca (EpicsMCARecord) : MCA parameters for Falcon detector
hdf5 (FalconHDF5Plugins) : HDF5 parameters for Falcon detector
MIN_READOUT (float) : Minimum readout time for the detector
"""
# Specify which functions are revealed to the user in BEC client
USER_ACCESS = ["describe"]
# specify Setup class
custom_prepare_cls = FalconSetup
# specify minimum readout time for detector
MIN_READOUT = 3e-3
# specify class attributes
dxp = Cpt(EpicsDXPFalcon, "dxp1:")
mca = Cpt(EpicsMCARecord, "mca1")
hdf5 = Cpt(FalconHDF5Plugins, "HDF1:")
stop_all = Cpt(EpicsSignal, "StopAll")
erase_all = Cpt(EpicsSignal, "EraseAll")
start_all = Cpt(EpicsSignal, "StartAll")
state = Cpt(EpicsSignal, "Acquiring")
preset_mode = Cpt(EpicsSignal, "PresetMode") # 0 No preset 1 Real time 2 Events 3 Triggers
preset_real = Cpt(EpicsSignal, "PresetReal")
preset_events = Cpt(EpicsSignal, "PresetEvents")
preset_triggers = Cpt(EpicsSignal, "PresetTriggers")
triggers = Cpt(EpicsSignalRO, "MaxTriggers", lazy=True)
events = Cpt(EpicsSignalRO, "MaxEvents", lazy=True)
input_count_rate = Cpt(EpicsSignalRO, "MaxInputCountRate", lazy=True)
output_count_rate = Cpt(EpicsSignalRO, "MaxOutputCountRate", lazy=True)
collect_mode = Cpt(EpicsSignal, "CollectMode") # 0 MCA spectra, 1 MCA mapping
pixel_advance_mode = Cpt(EpicsSignal, "PixelAdvanceMode")
ignore_gate = Cpt(EpicsSignal, "IgnoreGate")
input_logic_polarity = Cpt(EpicsSignal, "InputLogicPolarity")
auto_pixels_per_buffer = Cpt(EpicsSignal, "AutoPixelsPerBuffer")
pixels_per_buffer = Cpt(EpicsSignal, "PixelsPerBuffer")
pixels_per_run = Cpt(EpicsSignal, "PixelsPerRun")
nd_array_mode = Cpt(EpicsSignal, "NDArrayMode")
def set_trigger(
self, mapping_mode: MappingSource, trigger_source: TriggerSource, ignore_gate: int = 0
) -> None:
"""
Set triggering mode for detector
Args:
mapping_mode (MappingSource): Mapping mode for the detector
trigger_source (TriggerSource): Trigger source for the detector, pixel_advance_signal
ignore_gate (int): Ignore gate from TTL signal; defaults to 0
"""
mapping = int(mapping_mode)
trigger = trigger_source
self.collect_mode.put(mapping)
self.pixel_advance_mode.put(trigger)
self.ignore_gate.put(ignore_gate)
def stage(self) -> list[object]:
"""Stage"""
rtr = super().stage()
self.custom_prepare.arm_acquisition()
return rtr
if __name__ == "__main__":
falcon = FalconcSAXS(name="falcon", prefix="X12SA-SITORO:", sim_mode=True)

116
ophyd_devices/epics/devices/flomni_sample_storage.py
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import time
from ophyd import Component as Cpt
from ophyd import Device
from ophyd import DynamicDeviceComponent as Dcpt
from ophyd import EpicsSignal
from prettytable import PrettyTable
class FlomniSampleStorageError(Exception):
pass
class FlomniSampleStorage(Device):
USER_ACCESS = [
"is_sample_slot_used",
"is_sample_in_gripper",
"set_sample_slot",
"unset_sample_slot",
"set_sample_in_gripper",
"unset_sample_in_gripper",
"show_all",
]
SUB_VALUE = "value"
_default_sub = SUB_VALUE
sample_placed = {
f"sample{i}": (EpicsSignal, f"XOMNY-SAMPLE_DB_flomni{i}:GET", {}) for i in range(21)
}
sample_placed = Dcpt(sample_placed)
sample_names = {
f"sample{i}": (EpicsSignal, f"XOMNY-SAMPLE_DB_flomni{i}:GET.DESC", {"string": True})
for i in range(21)
}
sample_names = Dcpt(sample_names)
sample_in_gripper = Cpt(
EpicsSignal, name="sample_in_gripper", read_pv="XOMNY-SAMPLE_DB_flomni100:GET"
)
sample_in_gripper_name = Cpt(
EpicsSignal,
name="sample_in_gripper_name",
read_pv="XOMNY-SAMPLE_DB_flomni100:GET.DESC",
string=True,
)
def __init__(self, prefix="", *, name, **kwargs):
super().__init__(prefix, name=name, **kwargs)
self.sample_placed.sample1.subscribe(self._emit_value)
def _emit_value(self, **kwargs):
timestamp = kwargs.pop("timestamp", time.time())
self.wait_for_connection()
self._run_subs(sub_type=self.SUB_VALUE, timestamp=timestamp, obj=self)
def set_sample_slot(self, slot_nr: int, name: str) -> bool:
if slot_nr > 20:
raise FlomniSampleStorageError(f"Invalid slot number {slot_nr}.")
getattr(self.sample_placed, f"sample{slot_nr}").set(1)
getattr(self.sample_names, f"sample{slot_nr}").set(name)
def unset_sample_slot(self, slot_nr: int) -> bool:
if slot_nr > 20:
raise FlomniSampleStorageError(f"Invalid slot number {slot_nr}.")
getattr(self.sample_placed, f"sample{slot_nr}").set(0)
getattr(self.sample_names, f"sample{slot_nr}").set("-")
def set_sample_in_gripper(self, name: str) -> bool:
self.sample_in_gripper.set(1)
self.sample_in_gripper_name.set(name)
def unset_sample_in_gripper(self) -> bool:
self.sample_in_gripper.set(0)
self.sample_in_gripper_name.set("-")
def is_sample_slot_used(self, slot_nr: int) -> bool:
val = getattr(self.sample_placed, f"sample{slot_nr}").get()
return bool(val)
def is_sample_in_gripper(self) -> bool:
val = self.sample_in_gripper.get()
return bool(val)
def get_sample_name(self, slot_nr) -> str:
val = getattr(self.sample_names, f"sample{slot_nr}").get()
return str(val)
def show_all(self):
t = PrettyTable()
t.title = "flOMNI sample storage"
field_names = [""]
field_names.extend(str(ax) for ax in range(1, 11))
for ct in range(0, 2):
t.field_names = field_names
row = ["Container " + str(ct)]
row.extend(
"used" if self.is_sample_slot_used(slot_nr) else "free"
for slot_nr in range((ct * 10) + 1, (ct * 10) + 11)
)
t.add_row(row)
print(t)
print("\n\nFollowing samples are currently loaded:\n")
for ct in range(1, 21):
if self.is_sample_slot_used(ct):
print(f" Position {ct:2.0f}: {self.get_sample_name(ct)}")
if self.sample_in_gripper.get():
print(f"\n Gripper: {self.sample_in_gripper_name.get()}\n")
else:
print(f"\n Gripper: no sample\n")
if self.is_sample_slot_used(0):
print(f" flOMNI stage: {self.get_sample_name(0)}\n")
else:
print(f" flOMNI stage: no sample\n")

311
ophyd_devices/epics/devices/mcs_csaxs.py
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import enum
import threading
from collections import defaultdict
import numpy as np
from bec_lib import MessageEndpoints, bec_logger, messages, threadlocked
from ophyd import Component as Cpt
from ophyd import Device, EpicsSignal, EpicsSignalRO
from ophyd_devices.epics.devices.psi_detector_base import CustomDetectorMixin, PSIDetectorBase
from ophyd_devices.utils import bec_utils
logger = bec_logger.logger
class MCSError(Exception):
"""Base class for exceptions in this module."""
class MCSTimeoutError(MCSError):
"""Raise when MCS card runs into a timeout"""
class TriggerSource(int, enum.Enum):
"""Trigger source for mcs card - see manual for more information"""
MODE0 = 0
MODE1 = 1
MODE2 = 2
MODE3 = 3
MODE4 = 4
MODE5 = 5
MODE6 = 6
class ChannelAdvance(int, enum.Enum):
"""Channel advance pixel mode for mcs card - see manual for more information"""
INTERNAL = 0
EXTERNAL = 1
class ReadoutMode(int, enum.Enum):
"""Readout mode for mcs card - see manual for more information"""
PASSIVE = 0
EVENT = 1
IO_INTR = 2
FREQ_0_1HZ = 3
FREQ_0_2HZ = 4
FREQ_0_5HZ = 5
FREQ_1HZ = 6
FREQ_2HZ = 7
FREQ_5HZ = 8
FREQ_10HZ = 9
FREQ_100HZ = 10
class MCSSetup(CustomDetectorMixin):
"""Setup mixin class for the MCS card"""
def __init__(self, *args, parent: Device = None, **kwargs) -> None:
super().__init__(*args, parent=parent, **kwargs)
self._lock = threading.RLock()
self._stream_ttl = 1800
self.acquisition_done = False
self.counter = 0
self.n_points = 0
self.mca_names = [
signal for signal in self.parent.component_names if signal.startswith("mca")
]
self.mca_data = defaultdict(lambda: [])
def initialize_detector(self) -> None:
"""Initialize detector"""
# External trigger for pixel advance
self.parent.channel_advance.set(ChannelAdvance.EXTERNAL)
# Use internal clock for channel 1
self.parent.channel1_source.set(ChannelAdvance.INTERNAL)
self.parent.user_led.set(0)
# Set number of channels to 5
self.parent.mux_output.set(5)
# Trigger Mode used for cSAXS
self.parent.set_trigger(TriggerSource.MODE3)
# specify polarity of trigger signals
self.parent.input_polarity.set(0)
self.parent.output_polarity.set(1)
# do not start counting on start
self.parent.count_on_start.set(0)
self.stop_detector()
def initialize_detector_backend(self) -> None:
"""Initialize detector backend"""
for mca in self.mca_names:
signal = getattr(self.parent, mca)
signal.subscribe(self._on_mca_data, run=False)
self.parent.current_channel.subscribe(self._progress_update, run=False)
def _progress_update(self, value, **kwargs) -> None:
"""Progress update on the scan"""
num_lines = self.parent.num_lines.get()
max_value = self.parent.scaninfo.num_points
# self.counter seems to be a deprecated variable from a former implementation of the mcs card
# pylint: disable=protected-access
self.parent._run_subs(
sub_type=self.parent.SUB_PROGRESS,
value=self.counter * int(self.parent.scaninfo.num_points / num_lines) + value,
max_value=max_value,
# TODO check if that is correct with
done=bool(max_value == value), # == self.counter),
)
@threadlocked
def _on_mca_data(self, *args, obj=None, value=None, **kwargs) -> None:
"""Callback function for scan progress"""
if not isinstance(value, (list, np.ndarray)):
return
self.mca_data[obj.attr_name] = value
if len(self.mca_names) != len(self.mca_data):
return
self.acquisition_done = True
self._send_data_to_bec()
self.mca_data = defaultdict(lambda: [])
def _send_data_to_bec(self) -> None:
"""Sends bundled data to BEC"""
if self.parent.scaninfo.scan_msg is None:
return
metadata = self.parent.scaninfo.scan_msg.metadata
metadata.update({"async_update": "append", "num_lines": self.parent.num_lines.get()})
msg = messages.DeviceMessage(
signals=dict(self.mca_data), metadata=self.parent.scaninfo.scan_msg.metadata
)
self.parent.connector.xadd(
topic=MessageEndpoints.device_async_readback(
scan_id=self.parent.scaninfo.scan_id, device=self.parent.name
),
msg={"data": msg},
expire=self._stream_ttl,
)
def prepare_detector(self) -> None:
"""Prepare detector for scan"""
self.set_acquisition_params()
self.parent.set_trigger(TriggerSource.MODE3)
def set_acquisition_params(self) -> None:
"""Set acquisition parameters for scan"""
if self.parent.scaninfo.scan_type == "step":
self.n_points = int(self.parent.scaninfo.frames_per_trigger) * int(
self.parent.scaninfo.num_points
)
elif self.parent.scaninfo.scan_type == "fly":
self.n_points = int(self.parent.scaninfo.num_points) # / int(self.num_lines.get()))
else:
raise MCSError(f"Scantype {self.parent.scaninfo} not implemented for MCS card")
if self.n_points > 10000:
raise MCSError(
f"Requested number of points N={self.n_points} exceeds hardware limit of mcs card"
" 10000 (N-1)"
)
self.parent.num_use_all.set(self.n_points)
self.parent.preset_real.set(0)
def prepare_detector_backend(self) -> None:
"""Prepare detector backend for scan"""
self.parent.erase_all.set(1)
self.parent.read_mode.set(ReadoutMode.EVENT)
def arm_acquisition(self) -> None:
"""Arm detector for acquisition"""
self.counter = 0
self.parent.erase_start.set(1)
def finished(self) -> None:
"""Check if acquisition is finished, if not successful, rais MCSTimeoutError"""
signal_conditions = [
(lambda: self.acquisition_done, True),
(self.parent.acquiring.get, 0), # Considering making a enum.Int class for this state
]
if not self.wait_for_signals(
signal_conditions=signal_conditions,
timeout=self.parent.timeout,
check_stopped=True,
all_signals=True,
):
total_frames = self.counter * int(
self.parent.scaninfo.num_points / self.parent.num_lines.get()
) + max(self.parent.current_channel.get(), 0)
raise MCSTimeoutError(
f"Reached timeout with mcs in state {self.parent.acquiring.get()} and"
f" {total_frames} frames arriving at the mcs card"
)
def stop_detector(self) -> None:
"""Stop detector"""
self.parent.stop_all.set(1)
return super().stop_detector()
def stop_detector_backend(self) -> None:
"""Stop acquisition of data"""
self.acquisition_done = True
class SIS38XX(Device):
"""SIS38XX card for access to EPICs PVs at cSAXS beamline"""
class MCScSAXS(PSIDetectorBase):
"""MCS card for cSAXS for implementation at cSAXS beamline"""
USER_ACCESS = ["describe", "_init_mcs"]
SUB_PROGRESS = "progress"
SUB_VALUE = "value"
_default_sub = SUB_VALUE
# specify Setup class
custom_prepare_cls = MCSSetup
# specify minimum readout time for detector
MIN_READOUT = 0
# PV access to SISS38XX card
# Acquisition
erase_all = Cpt(EpicsSignal, "EraseAll")
erase_start = Cpt(EpicsSignal, "EraseStart") # ,trigger_value=1
start_all = Cpt(EpicsSignal, "StartAll")
stop_all = Cpt(EpicsSignal, "StopAll")
acquiring = Cpt(EpicsSignal, "Acquiring")
preset_real = Cpt(EpicsSignal, "PresetReal")
elapsed_real = Cpt(EpicsSignal, "ElapsedReal")
read_mode = Cpt(EpicsSignal, "ReadAll.SCAN")
read_all = Cpt(EpicsSignal, "DoReadAll.VAL") # ,trigger_value=1
num_use_all = Cpt(EpicsSignal, "NuseAll")
current_channel = Cpt(EpicsSignal, "CurrentChannel")
dwell = Cpt(EpicsSignal, "Dwell")
channel_advance = Cpt(EpicsSignal, "ChannelAdvance")
count_on_start = Cpt(EpicsSignal, "CountOnStart")
software_channel_advance = Cpt(EpicsSignal, "SoftwareChannelAdvance")
channel1_source = Cpt(EpicsSignal, "Channel1Source")
prescale = Cpt(EpicsSignal, "Prescale")
enable_client_wait = Cpt(EpicsSignal, "EnableClientWait")
client_wait = Cpt(EpicsSignal, "ClientWait")
acquire_mode = Cpt(EpicsSignal, "AcquireMode")
mux_output = Cpt(EpicsSignal, "MUXOutput")
user_led = Cpt(EpicsSignal, "UserLED")
input_mode = Cpt(EpicsSignal, "InputMode")
input_polarity = Cpt(EpicsSignal, "InputPolarity")
output_mode = Cpt(EpicsSignal, "OutputMode")
output_polarity = Cpt(EpicsSignal, "OutputPolarity")
model = Cpt(EpicsSignalRO, "Model", string=True)
firmware = Cpt(EpicsSignalRO, "Firmware")
max_channels = Cpt(EpicsSignalRO, "MaxChannels")
# PV access to MCA signals
mca1 = Cpt(EpicsSignalRO, "mca1.VAL", auto_monitor=True)
mca3 = Cpt(EpicsSignalRO, "mca3.VAL", auto_monitor=True)
mca4 = Cpt(EpicsSignalRO, "mca4.VAL", auto_monitor=True)
current_channel = Cpt(EpicsSignalRO, "CurrentChannel", auto_monitor=True)
# Custom signal readout from device config
num_lines = Cpt(
bec_utils.ConfigSignal, name="num_lines", kind="config", config_storage_name="mcs_config"
)
def __init__(
self,
prefix="",
*,
name,
kind=None,
read_attrs=None,
configuration_attrs=None,
parent=None,
device_manager=None,
sim_mode=False,
mcs_config=None,
**kwargs,
):
self.mcs_config = {f"{name}_num_lines": 1}
if mcs_config is not None:
# pylint: disable=expression-not-assigned
[self.mcs_config.update({f"{name}_{key}": value}) for key, value in mcs_config.items()]
super().__init__(
prefix=prefix,
name=name,
kind=kind,
read_attrs=read_attrs,
configuration_attrs=configuration_attrs,
parent=parent,
device_manager=device_manager,
sim_mode=sim_mode,
**kwargs,
)
def set_trigger(self, trigger_source: TriggerSource) -> None:
"""Set trigger mode from TriggerSource"""
value = int(trigger_source)
self.input_mode.set(value)
def stage(self) -> list[object]:
"""stage the detector for upcoming acquisition"""
rtr = super().stage()
self.custom_prepare.arm_acquisition()
return rtr
# Automatically connect to test environmenr if directly invoked
if __name__ == "__main__":
mcs = MCScSAXS(name="mcs", prefix="X12SA-MCS:", sim_mode=True)

417
ophyd_devices/epics/devices/pilatus_csaxs.py
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@ -1,417 +0,0 @@
import enum
import json
import os
import time
import numpy as np
import requests
from bec_lib import MessageEndpoints, bec_logger, messages
from ophyd import ADComponent as ADCpt
from ophyd import Device, EpicsSignal, EpicsSignalRO, EpicsSignalWithRBV, Staged
from ophyd_devices.epics.devices.psi_detector_base import CustomDetectorMixin, PSIDetectorBase
logger = bec_logger.logger
MIN_READOUT = 3e-3
class PilatusError(Exception):
"""Base class for exceptions in this module."""
class PilatusTimeoutError(PilatusError):
"""Raised when the Pilatus does not respond in time during unstage."""
class TriggerSource(enum.IntEnum):
"""Trigger source options for the detector"""
INTERNAL = 0
EXT_ENABLE = 1
EXT_TRIGGER = 2
MULTI_TRIGGER = 3
ALGINMENT = 4
class SLSDetectorCam(Device):
"""SLS Detector Camera - Pilatus
Base class to map EPICS PVs to ophyd signals.
"""
num_images = ADCpt(EpicsSignalWithRBV, "NumImages")
num_frames = ADCpt(EpicsSignalWithRBV, "NumExposures")
delay_time = ADCpt(EpicsSignalWithRBV, "NumExposures")
trigger_mode = ADCpt(EpicsSignalWithRBV, "TriggerMode")
acquire = ADCpt(EpicsSignal, "Acquire")
armed = ADCpt(EpicsSignalRO, "Armed")
read_file_timeout = ADCpt(EpicsSignal, "ImageFileTmot")
detector_state = ADCpt(EpicsSignalRO, "StatusMessage_RBV")
status_message_camserver = ADCpt(EpicsSignalRO, "StringFromServer_RBV", string=True)
acquire_time = ADCpt(EpicsSignal, "AcquireTime")
acquire_period = ADCpt(EpicsSignal, "AcquirePeriod")
threshold_energy = ADCpt(EpicsSignalWithRBV, "ThresholdEnergy")
file_path = ADCpt(EpicsSignalWithRBV, "FilePath")
file_name = ADCpt(EpicsSignalWithRBV, "FileName")
file_number = ADCpt(EpicsSignalWithRBV, "FileNumber")
auto_increment = ADCpt(EpicsSignalWithRBV, "AutoIncrement")
file_template = ADCpt(EpicsSignalWithRBV, "FileTemplate")
file_format = ADCpt(EpicsSignalWithRBV, "FileNumber")
gap_fill = ADCpt(EpicsSignalWithRBV, "GapFill")
class PilatusSetup(CustomDetectorMixin):
"""Pilatus setup class for cSAXS
Parent class: CustomDetectorMixin
"""
def initialize_default_parameter(self) -> None:
"""Set default parameters for Eiger9M detector"""
self.update_readout_time()
def update_readout_time(self) -> None:
"""Set readout time for Eiger9M detector"""
readout_time = (
self.parent.scaninfo.readout_time
if hasattr(self.parent.scaninfo, "readout_time")
else self.parent.MIN_READOUT
)
self.parent.readout_time = max(readout_time, self.parent.MIN_READOUT)
def initialize_detector(self) -> None:
"""Initialize detector"""
# Stops the detector
self.stop_detector()
# Sets the trigger source to GATING
self.parent.set_trigger(TriggerSource.EXT_ENABLE)
def prepare_detector(self) -> None:
"""
Prepare detector for scan.
Includes checking the detector threshold,
setting the acquisition parameters and setting the trigger source
"""
self.set_detector_threshold()
self.set_acquisition_params()
self.parent.set_trigger(TriggerSource.EXT_ENABLE)
def set_detector_threshold(self) -> None:
"""
Set correct detector threshold to 1/2 of current X-ray energy, allow 5% tolerance
Threshold might be in ev or keV
"""
# get current beam energy from device manageer
mokev = self.parent.device_manager.devices.mokev.obj.read()[
self.parent.device_manager.devices.mokev.name
]["value"]
factor = 1
# Check if energies are eV or keV, assume keV as the default
unit = getattr(self.parent.cam.threshold_energy, "units", None)
if unit is not None and unit == "eV":
factor = 1000
# set energy on detector
setpoint = int(mokev * factor)
# set threshold on detector
threshold = self.parent.cam.threshold_energy.read()[self.parent.cam.threshold_energy.name][
"value"
]
if not np.isclose(setpoint / 2, threshold, rtol=0.05):
self.parent.cam.threshold_energy.set(setpoint / 2)
def set_acquisition_params(self) -> None:
"""Set acquisition parameters for the detector"""
# Set number of images and frames (frames is for internal burst of detector)
self.parent.cam.num_images.put(
int(self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger)
)
self.parent.cam.num_frames.put(1)
# Update the readout time of the detector
self.update_readout_time()
def create_directory(self, filepath: str) -> None:
"""Create directory if it does not exist"""
os.makedirs(filepath, exist_ok=True)
def stop_detector_backend(self) -> None:
"""Stop the file writer zmq service for pilatus_2"""
self.close_file_writer()
time.sleep(0.1)
self.stop_file_writer()
time.sleep(0.1)
def close_file_writer(self) -> None:
"""
Close the file writer for pilatus_2
Delete the data from x12sa-pd-2
"""
url = "http://x12sa-pd-2:8080/stream/pilatus_2"
try:
res = self.send_requests_delete(url=url)
if not res.ok:
res.raise_for_status()
except Exception as exc:
logger.info(f"Pilatus2 close threw Exception: {exc}")
def stop_file_writer(self) -> None:
"""
Stop the file writer for pilatus_2
Runs on xbl-daq-34
"""
url = "http://xbl-daq-34:8091/pilatus_2/stop"
res = self.send_requests_put(url=url)
if not res.ok:
res.raise_for_status()
def prepare_data_backend(self) -> None:
"""
Prepare the detector backend of pilatus for a scan
A zmq service is running on xbl-daq-34 that is waiting
for a zmq message to start the writer for the pilatus_2 x12sa-pd-2
"""
self.stop_detector_backend()
self.parent.filepath = self.parent.filewriter.compile_full_filename("pilatus_2.h5")
self.parent.cam.file_path.put("/dev/shm/zmq/")
self.parent.cam.file_name.put(
f"{self.parent.scaninfo.username}_2_{self.parent.scaninfo.scan_number:05d}"
)
self.parent.cam.auto_increment.put(1) # auto increment
self.parent.cam.file_number.put(0) # first iter
self.parent.cam.file_format.put(0) # 0: TIFF
self.parent.cam.file_template.put("%s%s_%5.5d.cbf")
# TODO better to remove hard coded path with link to home directory/pilatus_2
basepath = f"/sls/X12SA/data/{self.parent.scaninfo.username}/Data10/pilatus_2/"
self.parent.filepath_raw = os.path.join(
basepath,
self.parent.filewriter.get_scan_directory(self.parent.scaninfo.scan_number, 1000, 5),
)
# Make directory if needed
self.create_directory(self.parent.filepath_raw)
headers = {"Content-Type": "application/json", "Accept": "application/json"}
# start the stream on x12sa-pd-2
url = "http://x12sa-pd-2:8080/stream/pilatus_2"
data_msg = {
"source": [
{
"searchPath": "/",
"searchPattern": "glob:*.cbf",
"destinationPath": self.parent.filepath_raw,
}
]
}
res = self.send_requests_put(url=url, data=data_msg, headers=headers)
logger.info(f"{res.status_code} - {res.text} - {res.content}")
if not res.ok:
res.raise_for_status()
# start the data receiver on xbl-daq-34
url = "http://xbl-daq-34:8091/pilatus_2/run"
data_msg = [
"zmqWriter",
self.parent.scaninfo.username,
{
"addr": "tcp://x12sa-pd-2:8888",
"dst": ["file"],
"numFrm": int(
self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger
),
"timeout": 2000,
"ifType": "PULL",
"user": self.parent.scaninfo.username,
},
]
res = self.send_requests_put(url=url, data=data_msg, headers=headers)
logger.info(f"{res.status_code} - {res.text} - {res.content}")
if not res.ok:
res.raise_for_status()
# Wait for server to become available again
time.sleep(0.1)
logger.info(f"{res.status_code} -{res.text} - {res.content}")
# Send requests.put to xbl-daq-34 to wait for data
url = "http://xbl-daq-34:8091/pilatus_2/wait"
data_msg = [
"zmqWriter",
self.parent.scaninfo.username,
{
"frmCnt": int(
self.parent.scaninfo.num_points * self.parent.scaninfo.frames_per_trigger
),
"timeout": 2000,
},
]
try:
res = self.send_requests_put(url=url, data=data_msg, headers=headers)
logger.info(f"{res}")
if not res.ok:
res.raise_for_status()
except Exception as exc:
logger.info(f"Pilatus2 wait threw Exception: {exc}")
def send_requests_put(self, url: str, data: list = None, headers: dict = None) -> object:
"""
Send a put request to the given url
Args:
url (str): url to send the request to
data (dict): data to be sent with the request (optional)
headers (dict): headers to be sent with the request (optional)
Returns:
status code of the request
"""
return requests.put(url=url, data=json.dumps(data), headers=headers, timeout=5)
def send_requests_delete(self, url: str, headers: dict = None) -> object:
"""
Send a delete request to the given url
Args:
url (str): url to send the request to
headers (dict): headers to be sent with the request (optional)
Returns:
status code of the request
"""
return requests.delete(url=url, headers=headers, timeout=5)
def pre_scan(self) -> None:
"""
Pre_scan function call
This function is called just before the scan core.
Here it is used to arm the detector for the acquisition
"""
self.arm_acquisition()
def arm_acquisition(self) -> None:
"""Arms the detector for the acquisition"""
self.parent.cam.acquire.put(1)
# TODO is this sleep needed? to be tested with detector and for how long
time.sleep(0.5)
def publish_file_location(self, done: bool = False, successful: bool = None) -> None:
"""
Publish the filepath to REDIS and publish the event for the h5_converter
We publish two events here:
- file_event: event for the filewriter
- public_file: event for any secondary service (e.g. radial integ code)
Args:
done (bool): True if scan is finished
successful (bool): True if scan was successful
"""
pipe = self.parent.connector.pipeline()
if successful is None:
msg = messages.FileMessage(
file_path=self.parent.filepath,
done=done,
metadata={"input_path": self.parent.filepath_raw},
)
else:
msg = messages.FileMessage(
file_path=self.parent.filepath,
done=done,
successful=successful,
metadata={"input_path": self.parent.filepath_raw},
)
self.parent.connector.set_and_publish(
MessageEndpoints.public_file(self.parent.scaninfo.scan_id, self.parent.name),
msg,
pipe=pipe,
)
self.parent.connector.set_and_publish(
MessageEndpoints.file_event(self.parent.name), msg, pipe=pipe
)
pipe.execute()
def finished(self) -> None:
"""Check if acquisition is finished."""
# pylint: disable=protected-access
# TODO: at the moment this relies on device.mcs.obj._staged attribute
signal_conditions = [
(lambda: self.parent.device_manager.devices.mcs.obj._staged, Staged.no)
]
if not self.wait_for_signals(
signal_conditions=signal_conditions,
timeout=self.parent.timeout,
check_stopped=True,
all_signals=True,
):
raise PilatusTimeoutError(
f"Reached timeout with detector state {signal_conditions[0][0]}, std_daq state"
f" {signal_conditions[1][0]} and received frames of {signal_conditions[2][0]} for"
" the file writer"
)
self.stop_detector()
self.stop_detector_backend()
def stop_detector(self) -> None:
"""Stop detector"""
self.parent.cam.acquire.put(0)
def check_scan_id(self) -> None:
"""Checks if scan_id has changed and stops the scan if it has"""
old_scan_id = self.parent.scaninfo.scan_id
self.parent.scaninfo.load_scan_metadata()
if self.parent.scaninfo.scan_id != old_scan_id:
self.parent.stopped = True
class PilatuscSAXS(PSIDetectorBase):
"""Pilatus_2 300k detector for CSAXS
Parent class: PSIDetectorBase
class attributes:
custom_prepare_cls (Eiger9MSetup) : Custom detector setup class for cSAXS,
inherits from CustomDetectorMixin
cam (SLSDetectorCam) : Detector camera
MIN_READOUT (float) : Minimum readout time for the detector
"""
# Specify which functions are revealed to the user in BEC client
USER_ACCESS = ["describe"]
# specify Setup class
custom_prepare_cls = PilatusSetup
# specify minimum readout time for detector
MIN_READOUT = 3e-3
# specify class attributes
cam = ADCpt(SLSDetectorCam, "cam1:")
def set_trigger(self, trigger_source: TriggerSource) -> None:
"""Set trigger source for the detector"""
value = trigger_source
self.cam.trigger_mode.put(value)
if __name__ == "__main__":
pilatus_2 = PilatuscSAXS(name="pilatus_2", prefix="X12SA-ES-PILATUS300K:", sim_mode=True)

2
ophyd_devices/epics/devices/sequencer_x12sa.py
View File

@ -1,3 +1,5 @@
""" TODO This class was never properly tested, it is solely a first draft and should be tested and extended before use! """
from ophyd import Component as Cpt
from ophyd import Device, EpicsSignal, EpicsSignalRO

4
ophyd_devices/galil/__init__.py
View File

@ -1,4 +0,0 @@
from .fgalil_ophyd import FlomniGalilController, FlomniGalilMotor
from .fupr_ophyd import FuprGalilController, FuprGalilMotor
from .galil_ophyd import GalilController, GalilMotor
from .sgalil_ophyd import SGalilMotor

201
ophyd_devices/galil/csaxs_sgalil_triggering.drawio
View File

@ -1,201 +0,0 @@
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370
ophyd_devices/galil/fgalil_ophyd.py
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@ -1,370 +0,0 @@
import threading
import time
import numpy as np
from bec_lib import bec_logger
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
from ophyd_devices.galil.galil_ophyd import (
BECConfigError,
GalilAxesReferenced,
GalilController,
GalilError,
GalilMotorIsMoving,
GalilMotorResolution,
GalilSetpointSignal,
GalilSignalRO,
retry_once,
)
from ophyd_devices.utils.controller import threadlocked
from ophyd_devices.utils.socket import SocketIO, raise_if_disconnected
logger = bec_logger.logger
class FlomniGalilController(GalilController):
USER_ACCESS = [
"describe",
"show_running_threads",
"galil_show_all",
"socket_put_and_receive",
"socket_put_confirmed",
"drive_axis_to_limit",
"find_reference",
"get_motor_limit_switch",
"fosaz_light_curtain_is_triggered",
"is_motor_on",
"all_axes_referenced",
"lights_off",
"lights_on",
]
def is_axis_moving(self, axis_Id, axis_Id_numeric) -> bool:
if axis_Id is None and axis_Id_numeric is not None:
axis_Id = self.axis_Id_numeric_to_alpha(axis_Id_numeric)
active_thread = self.is_thread_active(0)
motor_is_on = self.is_motor_on(axis_Id)
return bool(active_thread or motor_is_on)
def all_axes_referenced(self) -> bool:
# TODO: check if all axes are referenced in all controllers
return super().all_axes_referenced()
def fosaz_light_curtain_is_triggered(self) -> bool:
"""
Check the light curtain status for fosaz
Returns:
bool: True if the light curtain is triggered
"""
return int(float(self.socket_put_and_receive("MG @IN[14]").strip())) == 1
def lights_off(self) -> None:
"""
Turn off the lights
"""
self.socket_put_confirmed("CB15")
def lights_on(self) -> None:
"""
Turn on the lights
"""
self.socket_put_confirmed("SB15")
class FlomniGalilReadbackSignal(GalilSignalRO):
@retry_once
@threadlocked
def _socket_get(self) -> float:
"""Get command for the readback signal
Returns:
float: Readback value after adjusting for sign and motor resolution.
"""
current_pos = float(self.controller.socket_put_and_receive(f"TD{self.parent.axis_Id}"))
current_pos *= self.parent.sign
step_mm = self.parent.motor_resolution.get()
return current_pos / step_mm
def read(self):
self._metadata["timestamp"] = time.time()
val = super().read()
return val
class FlomniGalilSetpointSignal(GalilSetpointSignal):
@retry_once
@threadlocked
def _socket_set(self, val: float) -> None:
"""Set a new target value / setpoint value. Before submission, the target value is adjusted for the axis' sign.
Furthermore, it is ensured that all axes are referenced before a new setpoint is submitted.
Args:
val (float): Target value / setpoint value
Raises:
GalilError: Raised if not all axes are referenced.
"""
target_val = val * self.parent.sign
self.setpoint = target_val
axes_referenced = self.controller.all_axes_referenced()
if axes_referenced:
while self.controller.is_thread_active(0):
time.sleep(0.1)
self.controller.socket_put_confirmed(f"naxis={self.parent.axis_Id_numeric}")
self.controller.socket_put_confirmed(f"ntarget={target_val:.3f}")
self.controller.socket_put_confirmed("movereq=1")
self.controller.socket_put_confirmed("XQ#NEWPAR")
while self.controller.is_thread_active(0):
time.sleep(0.005)
else:
raise GalilError("Not all axes are referenced.")
class FlomniGalilMotorResolution(GalilMotorResolution):
pass
class FlomniGalilMotorIsMoving(GalilMotorIsMoving):
pass
class FlomniGalilAxesReferenced(GalilAxesReferenced):
pass
class FlomniGalilMotor(Device, PositionerBase):
USER_ACCESS = ["controller"]
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")
all_axes_referenced = Cpt(
FlomniGalilAxesReferenced, signal_name="all_axes_referenced", kind="config"
)
high_limit_travel = Cpt(Signal, value=0, kind="omitted")
low_limit_travel = Cpt(Signal, value=0, kind="omitted")
SUB_READBACK = "readback"
SUB_CONNECTION_CHANGE = "connection_change"
_default_sub = SUB_READBACK
def __init__(
self,
axis_Id,
prefix="",
*,
name,
kind=None,
read_attrs=None,
configuration_attrs=None,
parent=None,
host="mpc2680.psi.ch",
port=8081,
limits=None,
sign=1,
socket_cls=SocketIO,
device_manager=None,
**kwargs,
):
self.controller = FlomniGalilController(
socket_cls=socket_cls, socket_host=host, socket_port=port
)
self.axis_Id = axis_Id
self.controller.set_axis(axis=self, axis_nr=self.axis_Id_numeric)
self.sign = sign
self.tolerance = kwargs.pop("tolerance", 0.5)
self.device_mapping = kwargs.pop("device_mapping", {})
self.device_manager = device_manager
if len(self.device_mapping) > 0 and self.device_manager is None:
raise BECConfigError(
"device_mapping has been specified but the device_manager cannot be accessed."
)
self.rt = self.device_mapping.get("rt")
self.pid_x_correction = 0
super().__init__(
prefix,
name=name,
kind=kind,
read_attrs=read_attrs,
configuration_attrs=configuration_attrs,
parent=parent,
**kwargs,
)
self.readback.name = self.name
self.controller.subscribe(
self._update_connection_state, event_type=self.SUB_CONNECTION_CHANGE
)
self._update_connection_state()
# self.readback.subscribe(self._forward_readback, event_type=self.readback.SUB_VALUE)
if limits is not None:
assert len(limits) == 2
self.low_limit_travel.put(limits[0])
self.high_limit_travel.put(limits[1])
@property
def limits(self):
return (self.low_limit_travel.get(), self.high_limit_travel.get())
@property
def low_limit(self):
return self.limits[0]
@property
def high_limit(self):
return self.limits[1]
def check_value(self, pos):
"""Check that the position is within the soft limits"""
low_limit, high_limit = self.limits
if low_limit < high_limit and not (low_limit <= pos <= high_limit):
raise LimitError(f"position={pos} not within limits {self.limits}")
def _update_connection_state(self, **kwargs):
for walk in self.walk_signals():
walk.item._metadata["connected"] = self.controller.connected
def _forward_readback(self, **kwargs):
kwargs.pop("sub_type")
self._run_subs(sub_type="readback", **kwargs)
@raise_if_disconnected
def move(self, position, wait=True, **kwargs):
"""Move to a specified position, optionally waiting for motion to
complete.
Parameters
----------
position
Position to move to
moved_cb : callable
Call this callback when movement has finished. This callback must
accept one keyword argument: 'obj' which will be set to this
positioner instance.
timeout : float, optional
Maximum time to wait for the motion. If None, the default timeout
for this positioner is used.
Returns
-------
status : MoveStatus
Raises
------
TimeoutError
When motion takes longer than `timeout`
ValueError
On invalid positions
RuntimeError
If motion fails other than timing out
"""
self._started_moving = False
timeout = kwargs.pop("timeout", 100)
status = super().move(position, timeout=timeout, **kwargs)
self.user_setpoint.put(position, wait=False)
def move_and_finish():
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())
time.sleep(0.1)
val = self.readback.read()
success = np.isclose(val[self.name]["value"], position, atol=self.tolerance)
if not success:
print(" stop")
self._done_moving(success=success)
logger.info("Move finished")
threading.Thread(target=move_and_finish, daemon=True).start()
try:
if wait:
status_wait(status)
except KeyboardInterrupt:
self.stop()
raise
return status
@property
def axis_Id(self):
return self._axis_Id_alpha
@axis_Id.setter
def axis_Id(self, val):
if isinstance(val, str):
if len(val) != 1:
raise ValueError("Only single-character axis_Ids are supported.")
self._axis_Id_alpha = val
self._axis_Id_numeric = ord(val.lower()) - 97
else:
raise TypeError(f"Expected value of type str but received {type(val)}")
@property
def axis_Id_numeric(self):
return self._axis_Id_numeric
@axis_Id_numeric.setter
def axis_Id_numeric(self, val):
if isinstance(val, int):
if val > 26:
raise ValueError("Numeric value exceeds supported range.")
self._axis_Id_alpha = val
self._axis_Id_numeric = (chr(val + 97)).capitalize()
else:
raise TypeError(f"Expected value of type int but received {type(val)}")
@property
def egu(self):
"""The engineering units (EGU) for positions"""
return "mm"
def stage(self) -> list[object]:
return super().stage()
def unstage(self) -> list[object]:
return super().unstage()
def stop(self, *, success=False):
self.controller.stop_all_axes()
return super().stop(success=success)
# if __name__ == "__main__":
# mock = False
# if not mock:
# leyey = GalilMotor("H", name="leyey", host="mpc2680.psi.ch", port=8081, sign=-1)
# leyey.stage()
# status = leyey.move(0, wait=True)
# status = leyey.move(10, wait=True)
# leyey.read()
# leyey.get()
# leyey.describe()
# leyey.unstage()
# else:
# from ophyd_devices.utils.socket import SocketMock
# leyex = GalilMotor(
# "G", name="leyex", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
# )
# leyey = GalilMotor(
# "H", name="leyey", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
# )
# leyex.stage()
# # leyey.stage()
# leyex.controller.galil_show_all()

318
ophyd_devices/galil/fupr_ophyd.py
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@ -1,318 +0,0 @@
import functools
import threading
import time
import numpy as np
from bec_lib import bec_logger
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,
GalilCommunicationError,
GalilController,
GalilError,
GalilMotorIsMoving,
GalilMotorResolution,
GalilReadbackSignal,
GalilSetpointSignal,
retry_once,
)
from ophyd_devices.utils.controller import Controller, threadlocked
from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
logger = bec_logger.logger
class FuprGalilController(GalilController):
_axes_per_controller = 1
def is_axis_moving(self, axis_Id, axis_Id_numeric) -> bool:
if axis_Id is None and axis_Id_numeric is not None:
axis_Id = self.axis_Id_numeric_to_alpha(axis_Id_numeric)
is_moving = bool(float(self.socket_put_and_receive(f"MG_BG{axis_Id}")) != 0)
return is_moving
def axis_is_referenced(self, axis_Id) -> bool:
return self.all_axes_referenced()
def all_axes_referenced(self) -> bool:
return bool(float(self.socket_put_and_receive("MG axisref").strip()))
def drive_axis_to_limit(self, axis_Id_numeric, direction: str) -> None:
raise NotImplementedError("This function is not implemented for the FuprGalilController.")
class FuprGalilReadbackSignal(GalilReadbackSignal):
@retry_once
@threadlocked
def _socket_get(self) -> float:
"""Get command for the readback signal
Returns:
float: Readback value after adjusting for sign and motor resolution.
"""
current_pos = float(self.controller.socket_put_and_receive(f"TP{self.parent.axis_Id}"))
current_pos *= self.parent.sign
step_mm = self.parent.motor_resolution.get()
return current_pos / step_mm
def read(self):
self._metadata["timestamp"] = time.time()
val = super().read()
if self.parent.axis_Id_numeric == 0:
try:
rt = self.parent.device_manager.devices[self.parent.rt]
if rt.enabled:
rt.obj.controller.set_rotation_angle(val[self.parent.name]["value"])
except KeyError:
logger.warning("Failed to set RT value during readback.")
return val
class FuprGalilSetpointSignal(GalilSetpointSignal):
@retry_once
@threadlocked
def _socket_set(self, val: float) -> None:
"""Set a new target value / setpoint value. Before submission, the target value is adjusted for the axis' sign.
Furthermore, it is ensured that all axes are referenced before a new setpoint is submitted.
Args:
val (float): Target value / setpoint value
Raises:
GalilError: Raised if not all axes are referenced.
"""
target_val = val * self.parent.sign
self.setpoint = target_val
axes_referenced = self.controller.all_axes_referenced()
if axes_referenced:
self.controller.socket_put_confirmed(
f"PA{self.parent.axis_Id}={int(self.setpoint*self.parent.MOTOR_RESOLUTION)}"
)
self.controller.socket_put_confirmed(f"BG{self.parent.axis_Id}")
else:
raise GalilError("Not all axes are referenced.")
class FuprGalilMotorResolution(GalilMotorResolution):
@retry_once
@threadlocked
def _socket_get(self):
return self.parent.MOTOR_RESOLUTION
class FuprGalilMotorIsMoving(GalilMotorIsMoving):
pass
class FuprGalilAxesReferenced(GalilAxesReferenced):
pass
class FuprGalilMotor(Device, PositionerBase):
USER_ACCESS = ["controller"]
MOTOR_RESOLUTION = 25600
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")
all_axes_referenced = Cpt(
FuprGalilAxesReferenced, signal_name="all_axes_referenced", kind="config"
)
high_limit_travel = Cpt(Signal, value=0, kind="omitted")
low_limit_travel = Cpt(Signal, value=0, kind="omitted")
SUB_READBACK = "readback"
SUB_CONNECTION_CHANGE = "connection_change"
_default_sub = SUB_READBACK
def __init__(
self,
axis_Id,
prefix="",
*,
name,
kind=None,
read_attrs=None,
configuration_attrs=None,
parent=None,
host="mpc2680.psi.ch",
port=8081,
limits=None,
sign=1,
socket_cls=SocketIO,
device_manager=None,
**kwargs,
):
self.controller = FuprGalilController(
socket_cls=socket_cls, socket_host=host, socket_port=port
)
self.axis_Id = axis_Id
self.controller.set_axis(axis=self, axis_nr=self.axis_Id_numeric)
self.sign = sign
self.tolerance = kwargs.pop("tolerance", 0.5)
self.device_mapping = kwargs.pop("device_mapping", {})
self.device_manager = device_manager
if len(self.device_mapping) > 0 and self.device_manager is None:
raise BECConfigError(
"device_mapping has been specified but the device_manager cannot be accessed."
)
self.rt = self.device_mapping.get("rt", "rtx")
super().__init__(
prefix,
name=name,
kind=kind,
read_attrs=read_attrs,
configuration_attrs=configuration_attrs,
parent=parent,
**kwargs,
)
self.readback.name = self.name
self.controller.subscribe(
self._update_connection_state, event_type=self.SUB_CONNECTION_CHANGE
)
self._update_connection_state()
# self.readback.subscribe(self._forward_readback, event_type=self.readback.SUB_VALUE)
if limits is not None:
assert len(limits) == 2
self.low_limit_travel.put(limits[0])
self.high_limit_travel.put(limits[1])
@property
def limits(self):
return (self.low_limit_travel.get(), self.high_limit_travel.get())
@property
def low_limit(self):
return self.limits[0]
@property
def high_limit(self):
return self.limits[1]
def check_value(self, pos):
"""Check that the position is within the soft limits"""
low_limit, high_limit = self.limits
if low_limit < high_limit and not (low_limit <= pos <= high_limit):
raise LimitError(f"position={pos} not within limits {self.limits}")
def _update_connection_state(self, **kwargs):
for walk in self.walk_signals():
walk.item._metadata["connected"] = self.controller.connected
def _forward_readback(self, **kwargs):
kwargs.pop("sub_type")
self._run_subs(sub_type="readback", **kwargs)
@raise_if_disconnected
def move(self, position, wait=True, **kwargs):
"""Move to a specified position, optionally waiting for motion to
complete.
Parameters
----------
position
Position to move to
moved_cb : callable
Call this callback when movement has finished. This callback must
accept one keyword argument: 'obj' which will be set to this
positioner instance.
timeout : float, optional
Maximum time to wait for the motion. If None, the default timeout
for this positioner is used.
Returns
-------
status : MoveStatus
Raises
------
TimeoutError
When motion takes longer than `timeout`
ValueError
On invalid positions
RuntimeError
If motion fails other than timing out
"""
self._started_moving = False
timeout = kwargs.pop("timeout", 100)
status = super().move(position, timeout=timeout, **kwargs)
self.user_setpoint.put(position, wait=False)
def move_and_finish():
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())
time.sleep(0.1)
val = self.readback.read()
success = np.isclose(val[self.name]["value"], position, atol=self.tolerance)
if not success:
print(" stop")
self._done_moving(success=success)
logger.info("Move finished")
threading.Thread(target=move_and_finish, daemon=True).start()
try:
if wait:
status_wait(status)
except KeyboardInterrupt:
self.stop()
raise
return status
@property
def axis_Id(self):
return self._axis_Id_alpha
@axis_Id.setter
def axis_Id(self, val):
if isinstance(val, str):
if len(val) != 1:
raise ValueError(f"Only single-character axis_Ids are supported.")
self._axis_Id_alpha = val
self._axis_Id_numeric = ord(val.lower()) - 97
else:
raise TypeError(f"Expected value of type str but received {type(val)}")
@property
def axis_Id_numeric(self):
return self._axis_Id_numeric
@axis_Id_numeric.setter
def axis_Id_numeric(self, val):
if isinstance(val, int):
if val > 26:
raise ValueError(f"Numeric value exceeds supported range.")
self._axis_Id_alpha = val
self._axis_Id_numeric = (chr(val + 97)).capitalize()
else:
raise TypeError(f"Expected value of type int but received {type(val)}")
@property
def egu(self):
"""The engineering units (EGU) for positions"""
return "mm"
def stage(self) -> list[object]:
return super().stage()
def unstage(self) -> list[object]:
return super().unstage()
def stop(self, *, success=False):
self.controller.stop_all_axes()
return super().stop(success=success)

605
ophyd_devices/galil/galil_ophyd.py
View File

@ -1,605 +0,0 @@
import functools
import threading
import time
import numpy as np
from bec_lib import bec_logger
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.utils.controller import Controller, threadlocked
from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
logger = bec_logger.logger
class GalilCommunicationError(Exception):
pass
class GalilError(Exception):
pass
class BECConfigError(Exception):
pass
def retry_once(fcn):
"""Decorator to rerun a function in case a Galil communication error was raised. This may happen if the buffer was not empty."""
@functools.wraps(fcn)
def wrapper(self, *args, **kwargs):
try:
val = fcn(self, *args, **kwargs)
except (GalilCommunicationError, GalilError):
val = fcn(self, *args, **kwargs)
return val
return wrapper
class GalilController(Controller):
_axes_per_controller = 8
USER_ACCESS = [
"describe",
"show_running_threads",
"galil_show_all",
"socket_put_and_receive",
"socket_put_confirmed",
"lgalil_is_air_off_and_orchestra_enabled",
"drive_axis_to_limit",
"find_reference",
"get_motor_limit_switch",
"is_motor_on",
"all_axes_referenced",
]
@threadlocked
def socket_put(self, val: str) -> None:
self.sock.put(f"{val}\r".encode())
@threadlocked
def socket_get(self) -> str:
return self.sock.receive().decode()
@retry_once
@threadlocked
def socket_put_and_receive(self, val: str, remove_trailing_chars=True) -> str:
self.socket_put(val)
if remove_trailing_chars:
return self._remove_trailing_characters(self.sock.receive().decode())
return self.socket_get()
@retry_once
def socket_put_confirmed(self, val: str) -> None:
"""Send message to controller and ensure that it is received by checking that the socket receives a colon.
Args:
val (str): Message that should be sent to the socket
Raises:
GalilCommunicationError: Raised if the return value is not a colon.
"""
return_val = self.socket_put_and_receive(val)
if return_val != ":":
raise GalilCommunicationError(
f"Expected return value of ':' but instead received {return_val}"
)
def is_axis_moving(self, axis_Id, axis_Id_numeric) -> bool:
if axis_Id is None and axis_Id_numeric is not None:
axis_Id = self.axis_Id_numeric_to_alpha(axis_Id_numeric)
is_moving = bool(float(self.socket_put_and_receive(f"MG_BG{axis_Id}")) != 0)
backlash_is_active = bool(float(self.socket_put_and_receive(f"MGbcklact[axis]")) != 0)
return bool(
is_moving or backlash_is_active or self.is_thread_active(0) or self.is_thread_active(2)
)
def is_thread_active(self, thread_id: int) -> bool:
val = float(self.socket_put_and_receive(f"MG_XQ{thread_id}"))
if val == -1:
return False
return True
def _remove_trailing_characters(self, var) -> str:
if len(var) > 1:
return var.split("\r\n")[0]
return var
def stop_all_axes(self) -> str:
return self.socket_put_and_receive(f"XQ#STOP,1")
def lgalil_is_air_off_and_orchestra_enabled(self) -> bool:
# TODO: move this to the LamNI-specific controller
rt_not_blocked_by_galil = bool(self.socket_put_and_receive(f"MG@OUT[9]"))
air_off = bool(self.socket_put_and_receive(f"MG@OUT[13]"))
return rt_not_blocked_by_galil and air_off
def axis_is_referenced(self, axis_Id_numeric) -> bool:
return bool(float(self.socket_put_and_receive(f"MG axisref[{axis_Id_numeric}]").strip()))
def all_axes_referenced(self) -> bool:
"""
Check if all axes are referenced.
"""
return bool(float(self.socket_put_and_receive("MG allaxref").strip()))
def drive_axis_to_limit(self, axis_Id_numeric: int, direction: str) -> None:
"""
Drive an axis to the limit in a specified direction.
Args:
axis_Id_numeric (int): Axis number
direction (str): Direction in which the axis should be driven to the limit. Either 'forward' or 'reverse'.
"""
if direction == "forward":
direction_flag = 1
elif direction == "reverse":
direction_flag = -1
else:
raise ValueError(f"Invalid direction {direction}")
self.socket_put_confirmed(f"naxis={axis_Id_numeric}")
self.socket_put_confirmed(f"ndir={direction_flag}")
self.socket_put_confirmed("XQ#NEWPAR")
time.sleep(0.005)
self.socket_put_confirmed("XQ#FES")
time.sleep(0.01)
while self.is_axis_moving(None, axis_Id_numeric):
time.sleep(0.01)
axis_Id = self.axis_Id_numeric_to_alpha(axis_Id_numeric)
# check if we actually hit the limit
if direction == "forward":
limit = self.get_motor_limit_switch(axis_Id)[1]
elif direction == "reverse":
limit = self.get_motor_limit_switch(axis_Id)[0]
if not limit:
raise GalilError(f"Failed to drive axis {axis_Id}/{axis_Id_numeric} to limit.")
def find_reference(self, axis_Id_numeric: int) -> None:
"""
Find the reference of an axis.
Args:
axis_Id_numeric (int): Axis number
"""
self.socket_put_confirmed(f"naxis={axis_Id_numeric}")
self.socket_put_and_receive("XQ#NEWPAR")
self.socket_put_confirmed("XQ#FRM")
time.sleep(0.1)
while self.is_axis_moving(None, axis_Id_numeric):
time.sleep(0.1)
if not self.axis_is_referenced(axis_Id_numeric):
raise GalilError(f"Failed to find reference of axis {axis_Id_numeric}.")
logger.info(f"Successfully found reference of axis {axis_Id_numeric}.")
def show_running_threads(self) -> None:
t = PrettyTable()
t.title = f"Threads on {self.sock.host}:{self.sock.port}"
t.field_names = [str(ax) for ax in range(self._axes_per_controller)]
t.add_row(
[
"active" if self.is_thread_active(t) else "inactive"
for t in range(self._axes_per_controller)
]
)
print(t)
def is_motor_on(self, axis_Id) -> bool:
return not bool(float(self.socket_put_and_receive(f"MG _MO{axis_Id}").strip()))
def get_motor_limit_switch(self, axis_Id) -> list:
"""
Get the status of the motor limit switches.
Args:
axis_Id (str): Axis identifier (e.g. 'A', 'B', 'C', ...)
Returns:
list: List of two booleans indicating if the low and high limit switch is active, respectively.
"""
ret = self.socket_put_and_receive(f"MG _LR{axis_Id}, _LF{axis_Id}")
low, high = ret.strip().split(" ")
return [not bool(float(low)), not bool(float(high))]
def describe(self) -> None:
t = PrettyTable()
t.title = f"{self.__class__.__name__} on {self.sock.host}:{self.sock.port}"
t.field_names = [
"Axis",
"Name",
"Connected",
"Referenced",
"Motor On",
"Limits",
"Position",
]
for ax in range(self._axes_per_controller):
axis = self._axis[ax]
if axis is not None:
t.add_row(
[
f"{axis.axis_Id_numeric}/{axis.axis_Id}",
axis.name,
axis.connected,
self.axis_is_referenced(axis.axis_Id_numeric),
self.is_motor_on(axis.axis_Id),
self.get_motor_limit_switch(axis.axis_Id),
axis.readback.read().get(axis.name).get("value"),
]
)
else:
t.add_row([None for t in t.field_names])
print(t)
self.show_running_threads()
def galil_show_all(self) -> None:
for controller in self._controller_instances.values():
if isinstance(controller, GalilController):
controller.describe()
@staticmethod
def axis_Id_to_numeric(axis_Id: str) -> int:
return ord(axis_Id.lower()) - 97
@staticmethod
def axis_Id_numeric_to_alpha(axis_Id_numeric: int) -> str:
return (chr(axis_Id_numeric + 97)).capitalize()
class GalilSignalBase(SocketSignal):
def __init__(self, signal_name, **kwargs):
self.signal_name = signal_name
super().__init__(**kwargs)
self.controller = self.parent.controller
self.sock = self.parent.controller.sock
class GalilSignalRO(GalilSignalBase):
def __init__(self, signal_name, **kwargs):
super().__init__(signal_name, **kwargs)
self._metadata["write_access"] = False
def _socket_set(self, val):
raise ReadOnlyError("Read-only signals cannot be set")
class GalilReadbackSignal(GalilSignalRO):
@retry_once
@threadlocked
def _socket_get(self) -> float:
"""Get command for the readback signal
Returns:
float: Readback value after adjusting for sign and motor resolution.
"""
current_pos = float(self.controller.socket_put_and_receive(f"TD{self.parent.axis_Id}"))
current_pos *= self.parent.sign
step_mm = self.parent.motor_resolution.get()
return current_pos / step_mm
def read(self):
self._metadata["timestamp"] = time.time()
val = super().read()
if self.parent.axis_Id_numeric == 2:
try:
rt = self.parent.device_manager.devices[self.parent.rt]
if rt.enabled:
rt.obj.controller.set_rotation_angle(val[self.parent.name]["value"])
except KeyError:
logger.warning("Failed to set RT value during readback.")
return val
class GalilSetpointSignal(GalilSignalBase):
setpoint = 0
def _socket_get(self) -> float:
"""Get command for receiving the setpoint / target value.
The value is not pulled from the controller but instead just the last setpoint used.
Returns:
float: setpoint / target value
"""
return self.setpoint * self.parent.sign
@retry_once
@threadlocked
def _socket_set(self, val: float) -> None:
"""Set a new target value / setpoint value. Before submission, the target value is adjusted for the axis' sign.
Furthermore, it is ensured that all axes are referenced before a new setpoint is submitted.
Args:
val (float): Target value / setpoint value
Raises:
GalilError: Raised if not all axes are referenced.
"""
target_val = val * self.parent.sign
self.setpoint = target_val
axes_referenced = self.controller.all_axes_referenced()
if axes_referenced:
while self.controller.is_thread_active(0):
time.sleep(0.1)
if self.parent.axis_Id_numeric == 2:
angle_status = self.parent.device_manager.devices[
self.parent.rt
].obj.controller.feedback_status_angle_lamni()
if angle_status:
self.controller.socket_put_confirmed("angintf=1")
self.controller.socket_put_confirmed(f"naxis={self.parent.axis_Id_numeric}")
self.controller.socket_put_confirmed(f"ntarget={target_val:.3f}")
self.controller.socket_put_confirmed("movereq=1")
self.controller.socket_put_confirmed("XQ#NEWPAR")
while self.controller.is_thread_active(0):
time.sleep(0.005)
else:
raise GalilError("Not all axes are referenced.")
class GalilMotorResolution(GalilSignalRO):
@retry_once
@threadlocked
def _socket_get(self):
return float(
self.controller.socket_put_and_receive(f"MG stppermm[{self.parent.axis_Id_numeric}]")
)
class GalilMotorIsMoving(GalilSignalRO):
@threadlocked
def _socket_get(self):
return self.controller.is_axis_moving(self.parent.axis_Id, self.parent.axis_Id_numeric)
def get(self):
val = super().get()
if val is not None:
self._run_subs(sub_type=self.SUB_VALUE, value=val, timestamp=time.time())
return val
class GalilAxesReferenced(GalilSignalRO):
@threadlocked
def _socket_get(self):
return self.controller.all_axes_referenced()
class GalilMotor(Device, PositionerBase):
USER_ACCESS = ["controller"]
readback = Cpt(GalilReadbackSignal, signal_name="readback", kind="hinted")
user_setpoint = Cpt(GalilSetpointSignal, signal_name="setpoint")
motor_resolution = Cpt(GalilMotorResolution, signal_name="resolution", kind="config")
motor_is_moving = Cpt(GalilMotorIsMoving, signal_name="motor_is_moving", kind="normal")
all_axes_referenced = Cpt(GalilAxesReferenced, signal_name="all_axes_referenced", kind="config")
high_limit_travel = Cpt(Signal, value=0, kind="omitted")
low_limit_travel = Cpt(Signal, value=0, kind="omitted")
SUB_READBACK = "readback"
SUB_CONNECTION_CHANGE = "connection_change"
_default_sub = SUB_READBACK
def __init__(
self,
axis_Id,
prefix="",
*,
name,
kind=None,
read_attrs=None,
configuration_attrs=None,
parent=None,
host="mpc2680.psi.ch",
port=8081,
limits=None,
sign=1,
socket_cls=SocketIO,
device_manager=None,
**kwargs,
):
self.controller = GalilController(socket_cls=socket_cls, socket_host=host, socket_port=port)
self.axis_Id = axis_Id
self.controller.set_axis(axis=self, axis_nr=self.axis_Id_numeric)
self.sign = sign
self.tolerance = kwargs.pop("tolerance", 0.5)
self.device_mapping = kwargs.pop("device_mapping", {})
self.device_manager = device_manager
if len(self.device_mapping) > 0 and self.device_manager is None:
raise BECConfigError(
"device_mapping has been specified but the device_manager cannot be accessed."
)
self.rt = self.device_mapping.get("rt")
super().__init__(
prefix,
name=name,
kind=kind,
read_attrs=read_attrs,
configuration_attrs=configuration_attrs,
parent=parent,
**kwargs,
)
self.readback.name = self.name
self.controller.subscribe(
self._update_connection_state, event_type=self.SUB_CONNECTION_CHANGE
)
self._update_connection_state()
# self.readback.subscribe(self._forward_readback, event_type=self.readback.SUB_VALUE)
if limits is not None:
assert len(limits) == 2
self.low_limit_travel.put(limits[0])
self.high_limit_travel.put(limits[1])
@property
def limits(self):
return (self.low_limit_travel.get(), self.high_limit_travel.get())
@property
def low_limit(self):
return self.limits[0]
@property
def high_limit(self):
return self.limits[1]
def check_value(self, pos):
"""Check that the position is within the soft limits"""
low_limit, high_limit = self.limits
if low_limit < high_limit and not (low_limit <= pos <= high_limit):
raise LimitError(f"position={pos} not within limits {self.limits}")
def _update_connection_state(self, **kwargs):
for walk in self.walk_signals():
walk.item._metadata["connected"] = self.controller.connected
def _forward_readback(self, **kwargs):
kwargs.pop("sub_type")
self._run_subs(sub_type="readback", **kwargs)
@raise_if_disconnected
def move(self, position, wait=True, **kwargs):
"""Move to a specified position, optionally waiting for motion to
complete.
Parameters
----------
position
Position to move to
moved_cb : callable
Call this callback when movement has finished. This callback must
accept one keyword argument: 'obj' which will be set to this
positioner instance.
timeout : float, optional
Maximum time to wait for the motion. If None, the default timeout
for this positioner is used.
Returns
-------
status : MoveStatus
Raises
------
TimeoutError
When motion takes longer than `timeout`
ValueError
On invalid positions
RuntimeError
If motion fails other than timing out
"""
self._started_moving = False
timeout = kwargs.pop("timeout", 100)
status = super().move(position, timeout=timeout, **kwargs)
self.user_setpoint.put(position, wait=False)
def move_and_finish():
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())
time.sleep(0.1)
val = self.readback.read()
success = np.isclose(val[self.name]["value"], position, atol=self.tolerance)
if not success:
print(" stop")
self._done_moving(success=success)
logger.info("Move finished")
threading.Thread(target=move_and_finish, daemon=True).start()
try:
if wait:
status_wait(status)
except KeyboardInterrupt:
self.stop()
raise
return status
@property
def axis_Id(self):
return self._axis_Id_alpha
@axis_Id.setter
def axis_Id(self, val):
if isinstance(val, str):
if len(val) != 1:
raise ValueError(f"Only single-character axis_Ids are supported.")
self._axis_Id_alpha = val
self._axis_Id_numeric = self.controller.axis_Id_to_numeric(val)
else:
raise TypeError(f"Expected value of type str but received {type(val)}")
@property
def axis_Id_numeric(self):
return self._axis_Id_numeric
@axis_Id_numeric.setter
def axis_Id_numeric(self, val):
if isinstance(val, int):
if val > 26:
raise ValueError(f"Numeric value exceeds supported range.")
self._axis_Id_alpha = self.controller.axis_Id_numeric_to_alpha(val)
self._axis_Id_numeric = val
else:
raise TypeError(f"Expected value of type int but received {type(val)}")
@property
def egu(self):
"""The engineering units (EGU) for positions"""
return "mm"
def stage(self) -> list[object]:
return super().stage()
def unstage(self) -> list[object]:
return super().unstage()
def stop(self, *, success=False):
self.controller.stop_all_axes()
return super().stop(success=success)
if __name__ == "__main__":
# pytest: skip-file
mock = False
if not mock:
leyey = GalilMotor("H", name="leyey", host="mpc2680.psi.ch", port=8081, sign=-1)
leyey.stage()
status = leyey.move(0, wait=True)
status = leyey.move(10, wait=True)
leyey.read()
leyey.get()
leyey.describe()
leyey.unstage()
else:
from ophyd_devices.utils.socket import SocketMock
leyex = GalilMotor(
"G", name="leyex", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
)
leyey = GalilMotor(
"H", name="leyey", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
)
leyex.stage()
# leyey.stage()
leyex.controller.galil_show_all()

415
ophyd_devices/galil/sgalil.dmc
View File

@ -1,415 +0,0 @@
'******************************************************************************
' scanning saxs stages controller code
' version 0.1 20160113, holler, based on example code
' version 0.2 20160321, holler, small adjustments
' version 0.3 20160323, position sampling
' version 0.4 grid scan implemented
' version 0.5 20160426, shutter control from controller
' version 0.6 20160614, code for manual stage tuning added
' version 0.7 20170609, prefact added
' version 0.8 20190327, stepper motor x axis E, encoder axis A
' DC motor y axis C
' version 0.9 20190403, Pos sampling averaging and ring buffered
' internal grid scan updated
' 20190507 various fixes during comm. at beamline
' off now in microns for higher resolution
' version 1.1 20191021, position samples were off compared to xrays
' use AL and RL commands for position latch
' to reduce delay for axis C (continuous)
' switch to DI3 required, averaging removed
' version 1.2 20200500, switch stepper motor to axis F
' because motor driver axis E defective
' version 2.0 20230816, adjustments in premove with BEC
' DO8 controls the shutter
' DI1 1 during exposure for pos sampling
' Thread overview
'******************************************************************************
#AUTO
DA*,*[];'DEALLOCATE ARRAYS
ssaxs_v=1.3
IA129,129,122,26
'acctim determines pre motion
acctim=2.5
prvspeed=0
posest=0
'prefact increases the distance for pre acceleration
'if in acctim limits
prefact=2.5
off=0
DM aposavg[2000]
DM cposavg[2000]
nums=1
JS#INIT
JS#SETPLAT
EN
#CALIBC
'ACC=1000000
'DCC=1000000
'SPC=1*mm
PAC=2*mm
BGC;AMC
WT 1000
PAC=5*mm
BGC;AMC
WT 1000
JP#CALIBC
EN
'default settings
#SETTOMO
IF(allaxref=1)
EN
ENDIF
KPC=100
PLC=0.3
KIC=10
KDC=30
ILC=9
FAC=10
FVC=240
EN
'set tuning parameters for scanning saxs plate
#SETPLAT
IF(allaxref=1)
EN
ENDIF
KPC=100
PLC=0.3
KIC=10
KDC=30
ILC=9
FAC=10
FVC=240
EN
'called with AB before execution
#SAMPLE
posct=0
sposct=0
IF(_XQ2=-1)
'arm position latch rising axis C
'set latch direction rising
'we do this prior the loop, to do the switching later asap
CN ,,1
ALC
XQ#SAMPLEL,2
ELSE
runerr=1
ENDIF
EN
#SAMPLEL
'wait for latch
AI3
'WT1
''#WAITLT1
''JP#WAITLT1,(_ALC=1);'WAIT UNTIL CAPTURED'
'write encoder position to a array
aposstrt=_TPA
'write latched position to c array
cposstrt=_RLC
'change latch direction falling axis C
CN ,,-1
ALC
'wait for latch
AI-3
'WT1
''#WAITLT2
''JP#WAITLT2,(_ALC=1);'WAIT UNTIL CAPTURED
'write encoder position to a array
aposend=_TPA
'write latched position to c array
cposend=_RLC
'arm position latch rising axis C for next cycle
'set latch direction rising
CN ,,1
ALC
aposavg[posct]=((aposstrt+aposend)/2)
cposavg[posct]=((cposstrt+cposend)/2)
posct=posct+1
sposct=sposct+1
IF(posct>1999)
posct=0
ENDIF
JP #SAMPLEL,(posct<nums)
EN
#SCANG
'a_start, a_end, speed is line axis
'b_start, gridmax, b_step is grid axis
gridct=0
'nums=1000
'wait for detector
WT350
IF(_XQ3=(-1))
XQ#SCANGL,3
ENDIF
EN
#SCANGL
gridpos=b_start+(gridct*b_step)
targE=gridpos
JS#POSE
WT10
IF(@INT[(gridct/2)]<>(gridct/2))
start=a_start
end=a_end
ELSE
start=a_end
end=a_start
ENDIF
'XQ#SCANL,5
'scanstat=-1
'#lineact
'WT2
'JP#lineact,(scanstat<>0)
JS#SCANL
gridct=gridct+1
JP #SCANGL,(gridct<=gridmax)
'close shutter
CB8
EN
#TEMP1
EN
'
#SCANL
'based on acceleration of 500 mm/s^2
'and a max speed of 2 mm/s
'the max distance needed for acceleration is 4 microns
'so we pre-move 10 microns
'variables to set in mm, mm/s
'start = start position
'end = end position
'speed = velocity
'the scan axis is defined in the init section
IF(allaxref=0)
EN
ENDIF
'
IF(end>start)
dir=1
ELSE
dir=-1
ENDIF
'measure required premove
IF((@ABS[(prvspeed-speed)])>0.001)
premv=speed*mm*5
IF(premv>(3*mm))
premv=3*mm
ENDIF
measpre=1
ELSE
measpre=0
ENDIF
'for internal grid scans reduce overshoot
'IF(_XQ3<>-1)
'redpremv=0.1 ;'case for int grid scan
'ELSE
'redpremv=1 ;'case for line based scans
'ENDIF
'we are doing an internal grid
'reduce overshoot
prepos=(start*mm)-(dir*redpremv*(premv+(off/1000*mm)))
'move to pre-start position if needed
'prepos=(start*mm)-(dir*speed*acctim*mm)
'IF(@ABS[(speed*acctim)]<0.01)
'prepos=(start*mm)-(dir*0.01*mm*prefact)
'ENDIF
'IF(@ABS[(speed*acctim)]>0.1)
'ENDIF
IF((@ABS[(_TDC-prepos)])>(0.002*mm))
scanstat=1
SPC=2*mm
PAC=prepos
BGC
AMC
'open the shutter
SB8
WT10
ENDIF
IF((_LFC<>0)&(_LRC=<>0))
scanstat=2
SPC=@RND[speed*mm]
'arm trigger
trigpos=(start*mm)+(dir*off/1000*mm)
IF(dir=1)
OCC=trigpos,0
ENDIF
IF(dir=-1)
OCC=trigpos,-65536;
ENDIF
'PAC=((end*mm)+(dir*premv))
PAC=((end*mm)+(dir*redpremv*(premv+(off/1000*mm))))
BGC
IF(measpre=1)
calstart=_TDC
WT25
#CALIBV
prevvel=_TVC
WT10
JP#CALIBV,((@ABS[(prevvel-(_TVC/mm))])<15)
calend=_TDC
premv=((@ABS[(calend-calstart)])*3)
'case of grid scan
prvspeed=speed
ENDIF
'
AMC
ENDIF
scanstat=0
'close the shutter
'#SHUTWT
'JP#SHUTWT,(@IN[1]=1)
'WT10
'JP#SHUTWT,(@IN[1]=1)
'
'we are doing an internal grid
IF(_XQ3=-1)
CB8
ENDIF
EN
'
#POSE
posctr=0
posest=1
sttime=TIME
PTF=1;' Position Tracking aktiv
errE=(targE-(_TPA/mm));' Fehler in mm
IF((@ABS[errE])>0.2)
SPF=12*stpmm
ENDIF
#CORRE
posest=2
errE=(targE-(_TPA/mm));' Fehler in mm
PAF=_TDF+(errE*stpmm)
IF((@ABS[errE])<0.1)
SPF=5*stpmm
ENDIF
IF((@ABS[errE])<0.0001)
posctr=posctr+1
IF(posctr>5)
STF
'MG TIME-sttime, (targE-(_TPA/mm))*1000
EN
ENDIF
ELSE
posctr=0
ENDIF
WT5
JP#CORRE
posest=3
MCF
EN
'
#ZZ
targE=120;XQ#POSE
WT12000
targE=20;XQ#POSE
WT12000
JP#ZZ
EN
#FINDREF
SB1;' Bremse C-Achse loesen (nur in Verbindung mit SHC)
SHC
SHF
JS#LIMSWI
JS#REFE
JS#REFC
allaxref=1
targE=0
EN
'
#REFE
SHF
JGF=-2*stpmm
BGF
'MG "suche negativen Endschalter E"
AMF
WT100
'step counter zero
DPF=0
'encoder zero
DPA=0
EN
'
#REFC
SB1;' Bremse loesen (nur in Verbindung mit SHC)
SHC
JGC=-2*mm
BGC
'MG "suche negativen Endschalter C"
AMC
WT100
DPC=0
EN
'
#LIMSWI
scanstat=0
JS#LFF,_LFF=0;' +LIMIT E
JS#LRF,_LRF=0;' -LIMIT E
JS#LFC,_LFC=0;' +LIMIT C
JS#LRC,_LRC=0;' -LIMIT C
RE;' RETURN FROM ERROR INTERUPT
'
#LRF
'MG "- LIMIT E-ACHSE "
STF
AMF
JGF=stpmm
BGF
#LOOPA1
JP#LOOPA1,_LRF=0
STF
MCF
EN
'
#LFF
'MG "+ LIMIT E-ACHSE "
STF
AMF
JGF=-stpmm
BGF
#LOOPA2
JP#LOOPA2,_LFF=0
STF
MCF
EN
'
#LRC
'MG "- LIMIT C-ACHSE "
STC
AMC
JGC=mm
BGC
#LOOPC1
JP#LOOPC1,_LRC=0
STC
AMC
EN
'
#LFC
'MG "- LIMIT C-ACHSE "
STC
AMC
JGC=-mm
BGC
#LOOPC2
JP#LOOPC2,_LFC=0
STC
AMC
EN
'
#INIT
'define fast scan axis redefined by spec
scanstat=0
mm=10000;' 100nm Aufloesung im encoder
stpmm=50000;' microsteps axis E/mm
ratio=5;'
allaxref=0
'acceleration rates
ACF=3000000
DCF=3000000
SPF=2*mm
OEF=0;' OF ON ERROR axis E ausgeschaltet
MTF=2
KSF=0.5;' Smoothing ausgeschaltet
ACC=10*mm
DCC=10*mm
DVC=1;' Dual loop deaktiviert
EN
'

714
ophyd_devices/galil/sgalil_ophyd.py
View File

@ -1,714 +0,0 @@
import functools
import threading
import time
import numpy as np
from bec_lib import bec_logger
from ophyd import Component as Cpt
from ophyd import Device, DeviceStatus, PositionerBase, Signal
from ophyd.status import wait as status_wait
from ophyd.utils import LimitError, ReadOnlyError
from prettytable import PrettyTable
from ophyd_devices.utils.controller import Controller, threadlocked
from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
logger = bec_logger.logger
class GalilCommunicationError(Exception):
pass
class GalilError(Exception):
pass
class BECConfigError(Exception):
pass
def retry_once(fcn):
"""Decorator to rerun a function in case a Galil communication error was raised. This may happen if the buffer was not empty."""
@functools.wraps(fcn)
def wrapper(self, *args, **kwargs):
try:
val = fcn(self, *args, **kwargs)
except (GalilCommunicationError, GalilError):
val = fcn(self, *args, **kwargs)
return val
return wrapper
class GalilController(Controller):
USER_ACCESS = [
"describe",
"show_running_threads",
"galil_show_all",
"socket_put_and_receive",
"socket_put_confirmed",
"sgalil_reference",
"fly_grid_scan",
"read_encoder_position",
]
def __init__(
self,
*,
name="GalilController",
kind=None,
parent=None,
socket=None,
attr_name="",
labels=None,
):
if not hasattr(self, "_initialized") or not self._initialized:
self._galil_axis_per_controller = 8
self._axis = [None for axis_num in range(self._galil_axis_per_controller)]
super().__init__(
name=name,
socket=socket,
attr_name=attr_name,
parent=parent,
labels=labels,
kind=kind,
)
def on(self, controller_num=0) -> None:
"""Open a new socket connection to the controller"""
if not self.connected:
self.sock.open()
self.connected = True
else:
logger.info("The connection has already been established.")
# warnings.warn(f"The connection has already been established.", stacklevel=2)
def off(self) -> None:
"""Close the socket connection to the controller"""
if self.connected:
self.sock.close()
self.connected = False
else:
logger.info("The connection is already closed.")
def set_axis(self, axis: Device, axis_nr: int) -> None:
"""Assign an axis to a device instance.
Args:
axis (Device): Device instance (e.g. GalilMotor)
axis_nr (int): Controller axis number
"""
self._axis[axis_nr] = axis
@threadlocked
def socket_put(self, val: str) -> None:
time.sleep(0.01)
self.sock.put(f"{val}\r".encode())
@threadlocked
def socket_get(self) -> str:
time.sleep(0.01)
return self.sock.receive().decode()
@retry_once
@threadlocked
def socket_put_and_receive(self, val: str, remove_trailing_chars=True) -> str:
self.socket_put(val)
if remove_trailing_chars:
return self._remove_trailing_characters(self.sock.receive().decode())
return self.socket_get()
@retry_once
def socket_put_confirmed(self, val: str) -> None:
"""Send message to controller and ensure that it is received by checking that the socket receives a colon.
Args:
val (str): Message that should be sent to the socket
Raises:
GalilCommunicationError: Raised if the return value is not a colon.
"""
return_val = self.socket_put_and_receive(val)
if return_val != ":":
raise GalilCommunicationError(
f"Expected return value of ':' but instead received {return_val}"
)
def is_axis_moving(self, axis_Id, axis_Id_numeric) -> bool:
is_moving = bool(float(self.socket_put_and_receive(f"MG_BG{axis_Id}")) != 0)
# backlash_is_active = bool(float(self.socket_put_and_receive(f"MGbcklact[axis]")) != 0)
return bool(is_moving) # bool(is_moving or backlash_is_active)
def is_thread_active(self, thread_id: int) -> bool:
val = float(self.socket_put_and_receive(f"MG_XQ{thread_id}"))
if val == -1:
return False
return True
def _remove_trailing_characters(self, var) -> str:
if len(var) > 1:
return var.split("\r\n")[0]
return var
def stop_all_axes(self) -> str:
# return self.socket_put_and_receive(f"XQ#STOP,1")
# Command stops all threads and motors!
self.socket_put_and_receive(f"CB8")
return self.socket_put_and_receive(f"ST")
def axis_is_referenced(self) -> bool:
return bool(float(self.socket_put_and_receive(f"MG allaxref").strip()))
def show_running_threads(self) -> None:
t = PrettyTable()
t.title = f"Threads on {self.sock.host}:{self.sock.port}"
t.field_names = [str(ax) for ax in range(self._galil_axis_per_controller)]
t.add_row(
[
"active" if self.is_thread_active(t) else "inactive"
for t in range(self._galil_axis_per_controller)
]
)
print(t)
def is_motor_on(self, axis_Id) -> bool:
return not bool(float(self.socket_put_and_receive(f"MG _MO{axis_Id}").strip()))
def get_motor_limit_switch(self, axis_Id) -> list:
# SGalil specific
if axis_Id == "C":
ret = self.socket_put_and_receive(f"MG _LF{axis_Id}, _LR{axis_Id}")
high, low = ret.strip().split(" ")
elif axis_Id == "E":
ret = self.socket_put_and_receive(f"MG _LF{'F'}, _LR{'F'}")
high, low = ret.strip().split(" ")
return [not bool(float(low)), not bool(float(high))]
def describe(self) -> None:
t = PrettyTable()
t.title = f"{self.__class__.__name__} on {self.sock.host}:{self.sock.port}"
t.field_names = [
"Axis",
"Name",
"Connected",
"Referenced",
"Motor On",
"Limits",
"Position",
]
for ax in range(self._galil_axis_per_controller):
axis = self._axis[ax]
if axis is not None:
t.add_row(
[
f"{axis.axis_Id_numeric}/{axis.axis_Id}",
axis.name,
axis.connected,
self.axis_is_referenced(),
self.is_motor_on(axis.axis_Id),
self.get_motor_limit_switch(axis.axis_Id),
axis.readback.read().get(axis.name).get("value"),
]
)
else:
t.add_row([None for t in t.field_names])
print(t)
self.show_running_threads()
def galil_show_all(self) -> None:
for controller in self._controller_instances.values():
if isinstance(controller, GalilController):
controller.describe()
def sgalil_reference(self) -> None:
"""Reference all axes of the controller"""
if self.axis_is_referenced():
print("All axes are already referenced.\n")
return
# Make sure no axes are moving, is this necessary?
self.stop_all_axes()
self.socket_put_and_receive(f"XQ#FINDREF")
print("Referencing. Please wait, timeout after 100s...\n")
timeout = time.time() + 100
while not self.axis_is_referenced():
if time.time() > timeout:
print("Abort reference sequence, timeout reached\n")
break
time.sleep(0.5)
# @threadlocked
def fly_grid_scan(
self,
status: DeviceStatus,
start_y: float,
end_y: float,
interval_y: int,
start_x: float,
end_x: float,
interval_x: int,
exp_time: float,
readout_time: float,
**kwargs,
) -> tuple:
"""_summary_
Args:
start_y (float): start position of y axis (fast axis)
end_y (float): end position of y axis (fast axis)
interval_y (int): number of points in y axis
start_x (float): start position of x axis (slow axis)
end_x (float): end position of x axis (slow axis)
interval_x (int): number of points in x axis
exp_time (float): exposure time in seconds
readout_time (float): readout time in seconds, minimum of .5e-3s (0.5ms)
Raises:
LimitError: Raised if any position of motion is outside of the limits
LimitError: Raised if the speed is above 2mm/s or below 0.02mm/s
"""
#
if not self.axis_is_referenced():
raise GalilError("Axis are not referenced")
sign_y = self._axis[ord("c") - 97].sign
sign_x = self._axis[ord("e") - 97].sign
# Check limits
# TODO check sign of stage, or not necessary
check_values = [start_y, end_y, start_x, end_x]
for val in check_values:
self.check_value(val)
start_x *= sign_x
end_x *= sign_x
start_y *= sign_y
end_y *= sign_y
speed = np.abs(end_y - start_y) / (
(interval_y) * exp_time + (interval_y - 1) * readout_time
)
if speed > 2.00 or speed < 0.02:
raise LimitError(
f"Speed of {speed:.03f}mm/s is outside of acceptable range of 0.02 to 2 mm/s"
)
gridmax = int(interval_x - 1)
step_grid = (end_x - start_x) / 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):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"b_start={start_x:.04f};gridmax={gridmax:d};b_step={step_grid:.04f}"
)
self.socket_put_and_receive(f"nums={n_samples}")
self.socket_put_and_receive("XQ#SAMPLE")
# sleep 50ms to avoid controller running into
time.sleep(0.1)
self.socket_put_and_receive("XQ#SCANG")
# self._block_while_active(3)
# time.sleep(0.1)
threading.Thread(target=self._block_while_active, args=(3, status), daemon=True).start()
# self._while_in_motion(3, n_samples)
def _block_while_active(self, thread_id: int, status) -> None:
while self.is_thread_active(thread_id):
time.sleep(1)
time.sleep(1)
while self.is_thread_active(thread_id):
time.sleep(1)
status.set_finished()
# TODO this is for reading out positions, readout is limited by stage triggering
def _while_in_motion(self, thread_id: int, n_samples: int) -> tuple:
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])
return val_axis4, val_axis2
def read_encoder_position(self, fromval: int, toval: int) -> tuple:
val_axis2 = [] # y axis
val_axis4 = [] # x axis
for ii in range(fromval, toval + 1):
rts = self.socket_put_and_receive(f"MGaposavg[{ii%2000}]*10,cposavg[{ii%2000}]*10")
if rts == ":":
val_axis4.append(rts)
val_axis2.append(rts)
continue
val_axis4.append(float(rts.strip().split(" ")[0]) / 100000)
val_axis2.append(float(rts.strip().split(" ")[1]) / 100000)
return val_axis4, val_axis2
class GalilSignalBase(SocketSignal):
def __init__(self, signal_name, **kwargs):
self.signal_name = signal_name
super().__init__(**kwargs)
self.controller = self.parent.controller
self.sock = self.parent.controller.sock
class GalilSignalRO(GalilSignalBase):
def __init__(self, signal_name, **kwargs):
super().__init__(signal_name, **kwargs)
self._metadata["write_access"] = False
def _socket_set(self, val):
raise ReadOnlyError("Read-only signals cannot be set")
class GalilReadbackSignal(GalilSignalRO):
@retry_once
@threadlocked
def _socket_get(self) -> float:
"""Get command for the readback signal
Returns:
float: Readback value after adjusting for sign and motor resolution.
"""
if self.parent.axis_Id_numeric == 2:
current_pos = float(
self.controller.socket_put_and_receive(f"MG _TP{self.parent.axis_Id}/mm")
)
elif self.parent.axis_Id_numeric == 4:
# hardware controller readback from axis 4 is on axis 0, A instead of E
current_pos = float(self.controller.socket_put_and_receive(f"MG _TP{'A'}/mm"))
current_pos *= self.parent.sign
return current_pos
def read(self):
self._metadata["timestamp"] = time.time()
val = super().read()
return val
class GalilSetpointSignal(GalilSignalBase):
setpoint = 0
def _socket_get(self) -> float:
"""Get command for receiving the setpoint / target value.
The value is not pulled from the controller but instead just the last setpoint used.
Returns:
float: setpoint / target value
"""
return self.setpoint * self.parent.sign
@retry_once
@threadlocked
def _socket_set(self, val: float) -> None:
"""Set a new target value / setpoint value. Before submission, the target value is adjusted for the axis' sign.
Furthermore, it is ensured that all axes are referenced before a new setpoint is submitted.
Args:
val (float): Target value / setpoint value
Raises:
GalilError: Raised if not all axes are referenced.
"""
target_val = val * self.parent.sign
self.setpoint = target_val
axes_referenced = self.controller.axis_is_referenced()
if not axes_referenced:
raise GalilError(
"Not all axes are referenced. Please use controller.sgalil_reference(). BE AWARE that axes start moving, potentially beyond limits, make sure full range of motion is safe"
)
while self.controller.is_thread_active(0):
time.sleep(0.1)
if self.parent.axis_Id_numeric == 2:
self.controller.socket_put_confirmed(f"PA{self.parent.axis_Id}={target_val:.4f}*mm")
self.controller.socket_put_and_receive(f"BG{self.parent.axis_Id}")
elif self.parent.axis_Id_numeric == 4:
self.controller.socket_put_confirmed(f"targ{self.parent.axis_Id}={target_val:.4f}")
self.controller.socket_put_and_receive(f"XQ#POSE,{self.parent.axis_Id_numeric}")
while self.controller.is_thread_active(0):
time.sleep(0.005)
class GalilMotorIsMoving(GalilSignalRO):
@threadlocked
def _socket_get(self):
if self.parent.axis_Id_numeric == 2:
ret = self.controller.is_axis_moving(self.parent.axis_Id, self.parent.axis_Id_numeric)
return ret
if self.parent.axis_Id_numeric == 4:
# Motion signal from axis 4 is mapped to axis 5
ret = self.controller.is_axis_moving("F", 5)
return ret or self.controller.is_thread_active(4)
def get(self):
val = super().get()
if val is not None:
self._run_subs(sub_type=self.SUB_VALUE, value=val, timestamp=time.time())
return val
class GalilAxesReferenced(GalilSignalRO):
@threadlocked
def _socket_get(self):
return self.controller.socket_put_and_receive("MG allaxref")
class SGalilMotor(Device, PositionerBase):
""" "SGalil Motors at cSAXS have a
DC motor (y axis - vertical) - implemented as C
and a step motor (x-axis horizontal) - implemented as E
that require different communication for control
"""
USER_ACCESS = ["controller"]
readback = Cpt(GalilReadbackSignal, signal_name="readback", kind="hinted")
user_setpoint = Cpt(GalilSetpointSignal, signal_name="setpoint")
motor_is_moving = Cpt(GalilMotorIsMoving, signal_name="motor_is_moving", kind="normal")
all_axes_referenced = Cpt(GalilAxesReferenced, signal_name="all_axes_referenced", kind="config")
high_limit_travel = Cpt(Signal, value=0, kind="omitted")
low_limit_travel = Cpt(Signal, value=0, kind="omitted")
SUB_READBACK = "readback"
SUB_CONNECTION_CHANGE = "connection_change"
_default_sub = SUB_READBACK
def __init__(
self,
axis_Id,
prefix="",
*,
name,
kind=None,
read_attrs=None,
configuration_attrs=None,
parent=None,
host="129.129.122.26",
port=23,
limits=None,
sign=1,
socket_cls=SocketIO,
device_manager=None,
**kwargs,
):
self.axis_Id = axis_Id
self.sign = sign
self.controller = GalilController(socket=socket_cls(host=host, port=port))
self.controller.set_axis(axis=self, axis_nr=self.axis_Id_numeric)
self.tolerance = kwargs.pop("tolerance", 0.5)
self.device_mapping = kwargs.pop("device_mapping", {})
self.device_manager = device_manager
if len(self.device_mapping) > 0 and self.device_manager is None:
raise BECConfigError(
"device_mapping has been specified but the device_manager cannot be accessed."
)
self.rt = self.device_mapping.get("rt")
super().__init__(
prefix,
name=name,
kind=kind,
read_attrs=read_attrs,
configuration_attrs=configuration_attrs,
parent=parent,
**kwargs,
)
self.readback.name = self.name
self.controller.subscribe(
self._update_connection_state, event_type=self.SUB_CONNECTION_CHANGE
)
self._update_connection_state()
# self.readback.subscribe(self._forward_readback, event_type=self.readback.SUB_VALUE)
if limits is not None:
assert len(limits) == 2
self.low_limit_travel.put(limits[0])
self.high_limit_travel.put(limits[1])
@property
def limits(self):
return (self.low_limit_travel.get(), self.high_limit_travel.get())
@property
def low_limit(self):
return self.limits[0]
@property
def high_limit(self):
return self.limits[1]
def check_value(self, pos):
"""Check that the position is within the soft limits"""
low_limit, high_limit = self.limits
if low_limit < high_limit and not (low_limit <= pos <= high_limit):
raise LimitError(f"position={pos} not within limits {self.limits}")
def _update_connection_state(self, **kwargs):
for walk in self.walk_signals():
walk.item._metadata["connected"] = self.controller.connected
def _forward_readback(self, **kwargs):
kwargs.pop("sub_type")
self._run_subs(sub_type="readback", **kwargs)
@raise_if_disconnected
def move(self, position, wait=True, **kwargs):
"""Move to a specified position, optionally waiting for motion to
complete.
Parameters
----------
position
Position to move to
moved_cb : callable
Call this callback when movement has finished. This callback must
accept one keyword argument: 'obj' which will be set to this
positioner instance.
timeout : float, optional
Maximum time to wait for the motion. If None, the default timeout
for this positioner is used.
Returns
-------
status : MoveStatus
Raises
------
TimeoutError
When motion takes longer than `timeout`
ValueError
On invalid positions
RuntimeError
If motion fails other than timing out
"""
self._started_moving = False
timeout = kwargs.pop("timeout", 100)
status = super().move(position, timeout=timeout, **kwargs)
self.user_setpoint.put(position, wait=False)
def move_and_finish():
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())
time.sleep(1.5)
val = self.readback.read()
success = np.isclose(val[self.name]["value"], position, atol=self.tolerance)
if not success:
print(" stop")
self._done_moving(success=success)
logger.info("Move finished")
threading.Thread(target=move_and_finish, daemon=True).start()
try:
if wait:
status_wait(status)
except KeyboardInterrupt:
self.stop()
raise
return status
@property
def axis_Id(self):
return self._axis_Id_alpha
@axis_Id.setter
def axis_Id(self, val):
if isinstance(val, str):
if len(val) != 1:
raise ValueError(f"Only single-character axis_Ids are supported.")
if val not in ["C", "E"]:
raise ValueError(
f"axis_id {val} is currently not supported, please use either 'C' or 'E'."
)
self._axis_Id_alpha = val
self._axis_Id_numeric = ord(val.lower()) - 97
else:
raise TypeError(f"Expected value of type str but received {type(val)}")
@property
def axis_Id_numeric(self):
return self._axis_Id_numeric
@axis_Id_numeric.setter
def axis_Id_numeric(self, val):
if isinstance(val, int):
if val not in [2, 4]:
raise ValueError(f"Numeric value {val} is not supported, it must be either 2 or 4.")
self._axis_Id_alpha = val
self._axis_Id_numeric = (chr(val + 97)).capitalize()
else:
raise TypeError(f"Expected value of type int but received {type(val)}.")
@property
def egu(self):
"""The engineering units (EGU) for positions"""
return "mm"
def stop(self, *, success=False):
self.controller.stop_all_axes()
# last_speed = self.controller.socket_put_and_receive("MG")
rtr = self.controller.socket_put_and_receive(f"SPC={2*10000}")
logger.info(f"{rtr}")
# logger.info(f'Motor stopped, restored speed for samy from {last_speed}mm/s to 2mm/s')
return super().stop(success=success)
def kickoff(self) -> DeviceStatus:
status = DeviceStatus(self)
self.controller.fly_grid_scan(
status,
self._kickoff_params.get("start_y"),
self._kickoff_params.get("end_y"),
self._kickoff_params.get("interval_y"),
self._kickoff_params.get("start_x"),
self._kickoff_params.get("end_x"),
self._kickoff_params.get("interval_x"),
self._kickoff_params.get("exp_time"),
self._kickoff_params.get("readout_time"),
)
return status
def configure(self, parameter: dict, **kwargs) -> None:
self._kickoff_params = parameter
if __name__ == "__main__":
mock = False
if not mock:
samy = SGalilMotor("C", name="samy", host="129.129.122.26", port=23, sign=-1)
samx = SGalilMotor("E", name="samx", host="129.129.122.26", port=23, sign=-1)
else:
from ophyd_devices.utils.socket import SocketMock
samx = SGalilMotor("E", name="samx", host="129.129.122.26", port=23, socket_cls=SocketMock)
samy = SGalilMotor("C", name="samy", host="129.129.122.26", port=23, socket_cls=SocketMock)
samx.controller.galil_show_all()

79
ophyd_devices/galil/sgalil_readme.md
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@ -1,79 +0,0 @@
# Documentation SGalil ophyd wrapper
Ophyd wrapper for the SGalil controller and stages.
## TODO tests and evaluate whether its good to combine common functionaltiy with galil lamni/omny/flomni controller
## Integration of the device in IPython kernel
BEC needs to be able to reach the host TCP to initiate a connection to the device.
```Python
from ophyd_devices.galil.sgalil_ophyd import SGalilMotor
samx = SGalilMotor("E", name="samx", host="129.129.122.26", port=23, sign=-1)
samy = SGalilMotor("C", name="samy", host="129.129.122.26", port=23, sign=-1)
# connect to the controller
samx.controller.on()
samx.read()
samx.move(5)
dir(samx)# for full printout of commands
# useful for development, check below socket communication with sgalil controller
samx.controller.socket_put_and_receive('#string: message_to_controller')
```
## TODO Integration of device in BEC device config!
to be tested too
## Fly scans
2D grid fly scan as implemented on the controller.
TTL triggers are sent for the start of each line.
The scan on the controller needs to be matched with an appropriate triggering scheme, as for instance shown in the attached scheme together with the Stanford Research DG645 device at cSAXS.
![image info](./csaxs_sgalil_triggering.png)
```Python
samx.controller.(start_y, end_y, interval_y, start_x, end_x, interval_x, exp_time, readtime)
# for example
samx.controller.fly_grid_scan(start_y= 16, end_y= 24, interval_y= 100, start_x= 18, end_x= 17.6, interval_x= 2, exp_time= 0.08, readtime= 0.005)
```
## TODO implement line scan
Check SPEC implementation for line scans with sgalil controller, and complement it with a suitable triggering scheme of the DG645.
## TODO readout of positions in encoder
Should this be integrated in the flyscan or not.
To be explored where this is most suitable.
## Socket communication with sgalil controller
### vertical axis (samy)
- initiate with axis 2, C
- in motion: "MG _BG{axis_char}", e.g. "MG _BGC" , 0 or 1
- limit switch not pressed: "MG _LR{axis_char}, _LF{axis_char}" , 0 or 1
- position: "MG _TP{axis_char}/mm" , position in mm
- Axis referenced: "MG allaxref", 0 or 1
- stop all axis: "XQ#STOP,1"
- is motor on: "MG _MO{axis_char}", 0 or 1
- is thread active: "MG _XQ{thread_id}", 0 or 1
**Specific for sgalil_y**
- set_motion_speed: "SP{axis_char}=2*mm", 2mm/s is max speed
- set_final_pos: "PA{axis_char}={val:04f}*mm", target pos in mm
- start motion: "BG{axis_char}", start motion
### horizontal axis (samx)
note: some hardware modifications were done that require access to different channels in the encoder. Encoder, motor and limit switches are not controlled by the same endpoint/axis of the controller... see below
- initiate with axis 4, E
**Specific for sgalil_x**
- set_final_pos: "targ{axis_char}={val:04f}", e.g. "targE=2.0000"
- start motion: "XQ#POSE,{axis_char}"
- For *in motion* and *limit switch not pressed* commands,
the key changes to AXIS 5 || F, e.g. "MG _BGF"
- For *position* switch to Axis 0 || A, e.g. "MG _TPA/mm"
### flyscan 2D grid commanes:
Last command ('XQ#SCANG') has to come with sufficient delay, important for setting up dedicated scans
f***ast axis***
- self.socket_put_and_receive(f'a_start={start_y:.04f};a_end={end_y:.04f};speed={speed:.04f}')
***slow axis***
- self.socket_put_and_receive(f'b_start={start_x:.04f};gridmax={gridmax:d};b_step={step_grid:.04f}')
- self.socket_put_and_receive(f'nums={n_samples}') # Declare number of triggers for encoder
- self.socket_put_and_receive('XQ#SAMPLE') # Reset encoder counting --> sampling starts with 0
Start scan (be aware, needs some waiting from before)
- self.socket_put_and_receive('XQ#SCANG')
### Encoder readings!
The encoder readout is triggered by an TTL pulse.
Unfortunately, TTL triggers to the encoder can only be accepted with at least 12.5ms time between rising/falling edges. Therefore, maximum readout has to be ~25Hz, rather 30Hz (experimentally determined).
Socket commands for the readout:
- self.socket_put_and_receive('MGsposct') # get current position counter
- self.socket_put_and_receive('MGaposavg[{ii%2000}]*10, cposavg[{ii%2000}]*10,') # loop over ii

1
ophyd_devices/npoint/__init__.py
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@ -1 +0,0 @@
from .npoint import NPointAxis, NPointController

546
ophyd_devices/npoint/npoint.py
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@ -1,546 +0,0 @@
import functools
import socket
import threading
import time
from prettytable import PrettyTable
from typeguard import typechecked
from ophyd_devices.utils.controller import threadlocked
from ophyd_devices.utils.socket import raise_if_disconnected
def channel_checked(fcn):
"""Decorator to catch attempted access to channels that are not available."""
@functools.wraps(fcn)
def wrapper(self, *args, **kwargs):
self._check_channel(args[0])
return fcn(self, *args, **kwargs)
return wrapper
class SocketIO:
"""SocketIO helper class for TCP IP connections"""
def __init__(self, sock=None):
self.is_open = False
if sock is None:
self.open()
else:
self.sock = sock
def connect(self, host, port):
print(f"connecting to {host} port {port}")
# self.sock.create_connection((host, port))
self.sock.connect((host, port))
def _put(self, msg_bytes):
return self.sock.send(msg_bytes)
def _recv(self, buffer_length=1024):
return self.sock.recv(buffer_length)
def _initialize_socket(self):
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.sock.settimeout(5)
def put(self, msg):
return self._put(msg)
def receive(self, buffer_length=1024):
return self._recv(buffer_length=buffer_length)
def open(self):
self._initialize_socket()
self.is_open = True
def close(self):
self.sock.close()
self.sock = None
self.is_open = False
class NPointController:
_controller_instance = None
NUM_CHANNELS = 3
_read_single_loc_bit = "A0"
_write_single_loc_bit = "A2"
_trailing_bit = "55"
_range_offset = "78"
_channel_base = ["11", "83"]
def __init__(
self, comm_socket: SocketIO, server_ip: str = "129.129.99.87", server_port: int = 23
) -> None:
self._lock = threading.RLock()
super().__init__()
self._server_and_port_name = (server_ip, server_port)
self.socket = comm_socket
self.connected = False
def __new__(cls, *args, **kwargs):
if not NPointController._controller_instance:
NPointController._controller_instance = object.__new__(cls)
return NPointController._controller_instance
@classmethod
def create(cls):
return cls(SocketIO())
def show_all(self) -> None:
"""Display current status of all channels
Returns:
None
"""
if not self.connected:
print("npoint controller is currently disabled.")
return
print(f"Connected to controller at {self._server_and_port_name}")
t = PrettyTable()
t.field_names = ["Channel", "Range", "Position", "Target"]
for ii in range(self.NUM_CHANNELS):
t.add_row(
[ii, self._get_range(ii), self._get_current_pos(ii), self._get_target_pos(ii)]
)
print(t)
@threadlocked
def on(self) -> None:
"""Enable the NPoint controller and open a new socket.
Raises:
TimeoutError: Raised if the socket connection raises a timeout.
Returns:
None
"""
if self.connected:
print("You are already connected to the NPoint controller.")
return
if not self.socket.is_open:
self.socket.open()
try:
self.socket.connect(self._server_and_port_name[0], self._server_and_port_name[1])
except socket.timeout:
raise TimeoutError(
f"Failed to connect to the specified server and port {self._server_and_port_name}."
)
except OSError:
print("ERROR while connecting. Let's try again")
self.socket.close()
time.sleep(0.5)
self.socket.open()
self.socket.connect(self._server_and_port_name[0], self._server_and_port_name[1])
self.connected = True
@threadlocked
def off(self) -> None:
"""Disable the controller and close the socket.
Returns:
None
"""
self.socket.close()
self.connected = False
@channel_checked
def _get_range(self, channel: int) -> int:
"""Get the range of the specified channel axis.
Args:
channel (int): Channel for which the range should be requested.
Raises:
RuntimeError: Raised if the received message doesn't have the expected number of bytes (10).
Returns:
int: Range
"""
# for first channel: 0x11 83 10 78
addr = self._channel_base.copy()
addr.extend([f"{16 + 16 * channel:x}", self._range_offset])
send_buffer = self.__read_single_location_buffer(addr)
recvd = self._put_and_receive(send_buffer)
if len(recvd) != 10:
raise RuntimeError(
f"Received buffer is corrupted. Expected 10 bytes and instead got {len(recvd)}"
)
device_range = self._hex_list_to_int(recvd[5:-1], signed=False)
return device_range
@channel_checked
def _get_current_pos(self, channel: int) -> float:
# for first channel: 0x11 83 13 34
addr = self._channel_base.copy()
addr.extend([f"{19 + 16 * channel:x}", "34"])
send_buffer = self.__read_single_location_buffer(addr)
recvd = self._put_and_receive(send_buffer)
pos_buffer = recvd[5:-1]
pos = self._hex_list_to_int(pos_buffer) / 1048574 * 100
return pos
@channel_checked
def _set_target_pos(self, channel: int, pos: float) -> None:
# for first channel: 0x11 83 12 18 00 00 00 00
addr = self._channel_base.copy()
addr.extend([f"{18 + channel * 16:x}", "18"])
target = int(round(1048574 / 100 * pos))
data = [f"{m:02x}" for m in target.to_bytes(4, byteorder="big", signed=True)]
send_buffer = self.__write_single_location_buffer(addr, data)
self._put(send_buffer)
@channel_checked
def _get_target_pos(self, channel: int) -> float:
# for first channel: 0x11 83 12 18
addr = self._channel_base.copy()
addr.extend([f"{18 + channel * 16:x}", "18"])
send_buffer = self.__read_single_location_buffer(addr)
recvd = self._put_and_receive(send_buffer)
pos_buffer = recvd[5:-1]
pos = self._hex_list_to_int(pos_buffer) / 1048574 * 100
return pos
@channel_checked
def _set_servo(self, channel: int, enable: bool) -> None:
print("Not tested")
return
# for first channel: 0x11 83 10 84 00 00 00 00
addr = self._channel_base.copy()
addr.extend([f"{16 + channel * 16:x}", "84"])
if enable:
data = ["00"] * 3 + ["01"]
else:
data = ["00"] * 4
send_buffer = self.__write_single_location_buffer(addr, data)
self._put(send_buffer)
@channel_checked
def _get_servo(self, channel: int) -> int:
# for first channel: 0x11 83 10 84 00 00 00 00
addr = self._channel_base.copy()
addr.extend([f"{16 + channel * 16:x}", "84"])
send_buffer = self.__read_single_location_buffer(addr)
recvd = self._put_and_receive(send_buffer)
buffer = recvd[5:-1]
status = self._hex_list_to_int(buffer)
return status
@threadlocked
def _put(self, buffer: list) -> None:
"""Translates a list of hex values to bytes and sends them to the socket.
Args:
buffer (list): List of hex values without leading 0x
Returns:
None
"""
buffer = b"".join([bytes.fromhex(m) for m in buffer])
self.socket.put(buffer)
@threadlocked
def _put_and_receive(self, msg_hex_list: list) -> list:
"""Send msg to socket and wait for a reply.
Args:
msg_hex_list (list): List of hex values without leading 0x.
Returns:
list: Received message as a list of hex values
"""
buffer = b"".join([bytes.fromhex(m) for m in msg_hex_list])
self.socket.put(buffer)
recv_msg = self.socket.receive()
recv_hex_list = [hex(m) for m in recv_msg]
self._verify_received_msg(msg_hex_list, recv_hex_list)
return recv_hex_list
def _verify_received_msg(self, in_list: list, out_list: list) -> None:
"""Ensure that the first address bits of sent and received messages are the same.
Args:
in_list (list): list containing the sent message
out_list (list): list containing the received message
Raises:
RuntimeError: Raised if first two address bits of 'in' and 'out' are not identical
Returns:
None
"""
# first, translate hex (str) values to int
in_list_int = [int(val, 16) for val in in_list]
out_list_int = [int(val, 16) for val in out_list]
# first ints of the reply should be the same. Otherwise something went wrong
if not in_list_int[:2] == out_list_int[:2]:
raise RuntimeError("Connection failure. Please restart the controller.")
def _check_channel(self, channel: int) -> None:
if channel >= self.NUM_CHANNELS:
raise ValueError(
f"Channel {channel+1} exceeds the available number of channels ({self.NUM_CHANNELS})"
)
@staticmethod
def _hex_list_to_int(in_buffer: list, byteorder="little", signed=True) -> int:
"""Translate hex list to int.
Args:
in_buffer (list): Input buffer; received as list of hex values
byteorder (str, optional): Byteorder of in_buffer. Defaults to "little".
signed (bool, optional): Whether the hex list represents a signed int. Defaults to True.
Returns:
int: Translated integer.
"""
if byteorder == "little":
in_buffer.reverse()
# make sure that all hex strings have the same format ("FF")
val_hex = [f"{int(m, 16):02x}" for m in in_buffer]
val_bytes = [bytes.fromhex(m) for m in val_hex]
val = int.from_bytes(b"".join(val_bytes), byteorder="big", signed=signed)
return val
@staticmethod
def __read_single_location_buffer(addr) -> list:
"""Prepare buffer for reading from a single memory location (hex address).
Number of bytes: 6
Format: 0xA0 [addr] 0x55
Return Value: 0xA0 [addr] [data] 0x55
Sample Hex Transmission from PC to LC.400: A0 18 12 83 11 55
Sample Hex Return Transmission from LC.400 to PC: A0 18 12 83 11 64 00 00 00 55
Args:
addr (list): Hex address to read from
Returns:
list: List of hex values representing the read instruction.
"""
buffer = []
buffer.append(NPointController._read_single_loc_bit)
if isinstance(addr, list):
addr.reverse()
buffer.extend(addr)
else:
buffer.append(addr)
buffer.append(NPointController._trailing_bit)
return buffer
@staticmethod
def __write_single_location_buffer(addr: list, data: list) -> list:
"""Prepare buffer for writing to a single memory location (hex address).
Number of bytes: 10
Format: 0xA2 [addr] [data] 0x55
Return Value: none
Sample Hex Transmission from PC to C.400: A2 18 12 83 11 E8 03 00 00 55
Args:
addr (list): List of hex values representing the address to write to.
data (list): List of hex values representing the data that should be written.
Returns:
list: List of hex values representing the write instruction.
"""
buffer = []
buffer.append(NPointController._write_single_loc_bit)
if isinstance(addr, list):
addr.reverse()
buffer.extend(addr)
else:
buffer.append(addr)
if isinstance(data, list):
data.reverse()
buffer.extend(data)
else:
buffer.append(data)
buffer.append(NPointController._trailing_bit)
return buffer
@staticmethod
def __read_array():
raise NotImplementedError
@staticmethod
def __write_next_command():
raise NotImplementedError
def __del__(self):
if self.connected:
print("Closing npoint socket")
self.off()
class NPointAxis:
def __init__(self, controller: NPointController, channel: int, name: str) -> None:
super().__init__()
self._axis_range = 100
self.controller = controller
self.channel = channel
self.name = name
self.controller._check_channel(channel)
self._settling_time = 0.1
if self.settling_time == 0:
self.settling_time = 0.1
print(f"Setting the npoint settling time to {self.settling_time:.2f} s.")
print(
"You can set the settling time depending on the stage tuning\nusing the settling_time property."
)
print("This is the waiting time before the counting is done.")
def show_all(self) -> None:
self.controller.show_all()
@raise_if_disconnected
def get(self) -> float:
"""Get current position for this channel.
Raises:
RuntimeError: Raised if channel is not connected.
Returns:
float: position
"""
return self.controller._get_current_pos(self.channel)
@raise_if_disconnected
def get_target_pos(self) -> float:
"""Get target position for this channel.
Raises:
RuntimeError: Raised if channel is not connected.
Returns:
float: position
"""
return self.controller._get_target_pos(self.channel)
@raise_if_disconnected
@typechecked
def set(self, pos: float) -> None:
"""Set a new target position and wait until settled (settling_time).
Args:
pos (float): New target position
Raises:
RuntimeError: Raised if channel is not connected.
Returns:
None
"""
self.controller._set_target_pos(self.channel, pos)
time.sleep(self.settling_time)
@property
def connected(self) -> bool:
return self.controller.connected
@property
@raise_if_disconnected
def servo(self) -> int:
"""Get servo status
Raises:
RuntimeError: Raised if channel is not connected.
Returns:
int: Servo status
"""
return self.controller._get_servo(self.channel)
@servo.setter
@raise_if_disconnected
@typechecked
def servo(self, val: bool) -> None:
"""Set servo status
Args:
val (bool): Servo status
Raises:
RuntimeError: Raised if channel is not connected.
Returns:
None
"""
self.controller._set_servo(self.channel, val)
@property
def settling_time(self) -> float:
return self._settling_time
@settling_time.setter
@typechecked
def settling_time(self, val: float) -> None:
self._settling_time = val
print(f"Setting the npoint settling time to {val:.2f} s.")
class NPointEpics(NPointAxis):
def __init__(self, controller: NPointController, channel: int, name: str) -> None:
super().__init__(controller, channel, name)
self.low_limit = -50
self.high_limit = 50
self._prefix = name
def get_pv(self) -> str:
return self.name
def get_position(self, readback=True) -> float:
if readback:
return self.get()
else:
return self.get_target_pos()
def within_limits(self, pos: float) -> bool:
return pos > self.low_limit and pos < self.high_limit
def move(self, position: float, wait=True) -> None:
self.set(position)
if __name__ == "__main__":
## EXAMPLES ##
#
# Create controller and socket instance explicitly:
# controller = NPointController(SocketIO())
# npointx = NPointAxis(controller, 0, "nx")
# npointy = NPointAxis(controller, 1, "ny")
# Create controller instance explicitly
# controller = NPointController.create()
# npointx = NPointAxis(controller, 0, "nx")
# npointy = NPointAxis(controller, 1, "ny")
# Single-line axis:
# npointx = NPointAxis(NPointController.create(), 0, "nx")
#
# EPICS wrapper:
# nx = NPointEpics(NPointController.create(), 0, "nx")
controller = NPointController.create()
npointx = NPointAxis(NPointController.create(), 0, "nx")
npointy = NPointAxis(NPointController.create(), 0, "ny")

2
ophyd_devices/rt_lamni/__init__.py
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@ -1,2 +0,0 @@
from .rt_flomni_ophyd import RtFlomniController, RtFlomniMotor
from .rt_lamni_ophyd import RtLamniController, RtLamniMotor

807
ophyd_devices/rt_lamni/rt_flomni_ophyd.py
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@ -1,807 +0,0 @@
import threading
import time
from typing import List
import numpy as np
from bec_lib import MessageEndpoints, bec_logger, messages
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
from prettytable import PrettyTable
from ophyd_devices.rt_lamni.rt_ophyd import (
BECConfigError,
RtCommunicationError,
RtController,
RtError,
RtReadbackSignal,
RtSetpointSignal,
RtSignalRO,
retry_once,
)
from ophyd_devices.utils.controller import threadlocked
from ophyd_devices.utils.socket import SocketIO, raise_if_disconnected
logger = bec_logger.logger
class RtFlomniController(RtController):
USER_ACCESS = [
"socket_put_and_receive",
"set_rotation_angle",
"feedback_disable",
"feedback_enable_without_reset",
"feedback_enable_with_reset",
"feedback_is_running",
"add_pos_to_scan",
"get_pid_x",
"move_samx_to_scan_region",
"clear_trajectory_generator",
"show_cyclic_error_compensation",
"laser_tracker_on",
"laser_tracker_off",
"laser_tracker_show_all",
"show_signal_strength_interferometer",
"read_ssi_interferometer",
"laser_tracker_check_signalstrength",
"laser_tracker_check_enabled",
]
def __init__(
self,
*,
name=None,
socket_cls=None,
socket_host=None,
socket_port=None,
attr_name="",
parent=None,
labels=None,
kind=None,
):
super().__init__(
name=name,
socket_cls=socket_cls,
socket_host=socket_host,
socket_port=socket_port,
attr_name=attr_name,
parent=parent,
labels=labels,
kind=kind,
)
self.tracker_info = {}
self._min_scan_buffer_reached = False
self.rt_pid_voltage = None
def add_pos_to_scan(self, positions) -> None:
def send_positions(parent, positions):
parent._min_scan_buffer_reached = False
start_time = time.time()
for pos_index, pos in enumerate(positions):
parent.socket_put_and_receive(f"s{pos[0]:.05f},{pos[1]:.05f},{pos[2]:.05f}")
if pos_index > 100:
parent._min_scan_buffer_reached = True
parent._min_scan_buffer_reached = True
logger.info(
f"Sending {len(positions)} positions took {time.time()-start_time} seconds."
)
threading.Thread(target=send_positions, args=(self, positions), daemon=True).start()
def move_to_zero(self):
self.socket_put("pa0,0")
self.get_axis_by_name("rtx").user_setpoint.setpoint = 0
self.socket_put("pa1,0")
self.get_axis_by_name("rty").user_setpoint.setpoint = 0
self.socket_put("pa2,0")
self.get_axis_by_name("rtz").user_setpoint.setpoint = 0
time.sleep(0.05)
def feedback_is_running(self) -> bool:
status = int(float(self.socket_put_and_receive("l2").strip()))
if status == 1:
return False
return True
def feedback_enable_with_reset(self):
self.socket_put("l0") # disable feedback
self.move_to_zero()
if not self.slew_rate_limiters_on_target() or np.abs(self.pid_y()) > 0.1:
print("Please wait, slew rate limiters not on target.")
logger.info("Please wait, slew rate limiters not on target.")
while not self.slew_rate_limiters_on_target() or np.abs(self.pid_y()) > 0.1:
time.sleep(0.05)
self.get_device_manager().devices.rty.update_user_parameter({"tomo_additional_offsety": 0})
self.clear_trajectory_generator()
self.laser_tracker_on()
# move to 0. FUPR will set the rotation angle during readout
self.get_device_manager().devices.fsamroy.obj.move(0, wait=True)
fsamx = self.get_device_manager().devices.fsamx
fsamx.obj.pid_x_correction = 0
fsamx.obj.controller.socket_put_confirmed("axspeed[4]=0.1*stppermm[4]")
fsamx_in = fsamx.user_parameter.get("in")
if not np.isclose(fsamx.obj.readback.get(), fsamx_in, atol=0.3):
print(
"Something is wrong. fsamx is very far from the samx_in position. Don't dare correct automatically."
)
raise RtError(
"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):
fsamx.read_only = False
fsamx.obj.move(fsamx_in, wait=True)
fsamx.read_only = True
time.sleep(1)
self.socket_put("l1")
time.sleep(0.4)
if not self.feedback_is_running():
print("Feedback is not running; likely an error in the interferometer.")
raise RtError("Feedback is not running; likely an error in the interferometer.")
time.sleep(1.5)
self.show_cyclic_error_compensation()
self.rt_pid_voltage = self.get_pid_x()
rtx = self.get_device_manager().devices.rtx
rtx.update_user_parameter({"rt_pid_voltage": self.rt_pid_voltage})
self.set_device_enabled("fsamx", False)
self.set_device_enabled("fsamy", False)
self.set_device_enabled("foptx", False)
self.set_device_enabled("fopty", False)
def move_samx_to_scan_region(self, fovx: float, cenx: float):
time.sleep(0.05)
if self.rt_pid_voltage is None:
rtx = self.get_device_manager().devices.rtx
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."
)
logger.info(f"Using PID voltage from rtx user parameter: {self.rt_pid_voltage}")
expected_voltage = self.rt_pid_voltage + fovx / 2 * 7 / 100
logger.info(f"Expected PID voltage: {expected_voltage}")
logger.info(f"Current PID voltage: {self.get_pid_x()}")
wait_on_exit = False
while True:
if np.abs(self.get_pid_x() - expected_voltage) < 1:
break
wait_on_exit = True
self.socket_put("v0")
fsamx = self.get_device_manager().devices.fsamx
fsamx.read_only = False
fsamx.obj.controller.socket_put_confirmed("axspeed[4]=0.1*stppermm[4]")
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)
fsamx.read_only = True
time.sleep(0.1)
self.laser_tracker_on()
time.sleep(0.01)
if wait_on_exit:
time.sleep(1)
self.socket_put("v1")
@threadlocked
def clear_trajectory_generator(self):
self.socket_put("sc")
logger.info("flomni scan stopped and deleted, moving to start position")
def feedback_enable_without_reset(self):
self.laser_tracker_on()
self.socket_put("l3")
time.sleep(0.01)
if not self.feedback_is_running():
print("Feedback is not running; likely an error in the interferometer.")
raise RtError("Feedback is not running; likely an error in the interferometer.")
self.set_device_enabled("fsamx", False)
self.set_device_enabled("fsamy", False)
self.set_device_enabled("foptx", False)
self.set_device_enabled("fopty", False)
def feedback_disable(self):
self.clear_trajectory_generator()
self.move_to_zero()
self.socket_put("l0")
self.set_device_enabled("fsamx", True)
self.set_device_enabled("fsamy", True)
self.set_device_enabled("foptx", True)
self.set_device_enabled("fopty", True)
fsamx = self.get_device_manager().devices.fsamx
fsamx.obj.controller.socket_put_confirmed("axspeed[4]=025*stppermm[4]")
print("rt feedback is now disalbed.")
def get_pid_x(self) -> float:
voltage = float(self.socket_put_and_receive("g").strip())
return voltage
def show_cyclic_error_compensation(self):
cec0 = int(float(self.socket_put_and_receive("w0").strip()))
cec1 = int(float(self.socket_put_and_receive("w1").strip()))
if cec0 == 32:
logger.info("Cyclic Error Compensation: y-axis is initialized")
else:
logger.info("Cyclic Error Compensation: y-axis is NOT initialized")
print("Cyclic Error Compensation: y-axis is NOT initialized")
if cec1 == 32:
logger.info("Cyclic Error Compensation: x-axis is initialized")
else:
logger.info("Cyclic Error Compensation: x-axis is NOT initialized")
print("Cyclic Error Compensation: x-axis is NOT initialized")
def set_rotation_angle(self, val: float) -> None:
self.socket_put(f"a{val/180*np.pi}")
def laser_tracker_check_enabled(self) -> bool:
self.laser_update_tracker_info()
if self.tracker_info["enabled_z"] and self.tracker_info["enabled_y"]:
return True
else:
return False
def laser_tracker_on(self):
if not self.laser_tracker_check_enabled():
logger.info("Enabling the laser tracker. Please wait...")
print("Enabling the laser tracker. Please wait...")
tracker_intensity = self.tracker_info["tracker_intensity"]
if (
tracker_intensity < self.tracker_info["threshold_intensity_y"]
or tracker_intensity < self.tracker_info["threshold_intensity_z"]
):
logger.info(self.tracker_info)
print("The tracker cannot be enabled because the beam intensity it low.")
raise RtError("The tracker cannot be enabled because the beam intensity it low.")
self.move_to_zero()
self.socket_put("T1")
time.sleep(0.5)
self.get_device_manager().devices.ftrackz.obj.controller.socket_put_confirmed(
"trackyct=0"
)
self.get_device_manager().devices.ftrackz.obj.controller.socket_put_confirmed(
"trackzct=0"
)
self.laser_tracker_wait_on_target()
logger.info("Laser tracker running!")
print("Laser tracker running!")
def laser_tracker_off(self):
self.socket_put("T0")
logger.info("Disabled the laser tracker")
print("Disabled the laser tracker")
def laser_tracker_show_all(self):
self.laser_update_tracker_info()
t = PrettyTable()
t.title = f"Laser Tracker Info"
t.field_names = ["Name", "Value"]
for key, val in self.tracker_info.items():
t.add_row([key, val])
print(t)
def laser_update_tracker_info(self):
ret = self.socket_put_and_receive("Ts")
# remove trailing \n
ret = ret.split("\n")[0]
tracker_values = [float(val) for val in ret.split(",")]
self.tracker_info = {
"tracker_intensity": tracker_values[2],
"threshold_intensity_y": tracker_values[8],
"enabled_y": bool(tracker_values[10]),
"beampos_y": tracker_values[5],
"target_y": tracker_values[6],
"piezo_voltage_y": tracker_values[9],
"threshold_intensity_z": tracker_values[3],
"enabled_z": bool(tracker_values[10]),
"beampos_z": tracker_values[0],
"target_z": tracker_values[1],
"piezo_voltage_z": tracker_values[4],
}
def laser_tracker_galil_enable(self):
ftrackz_con = self.get_device_manager().devices.ftrackz.obj.controller
ftrackz_con.socket_put_confirmed("tracken=1")
ftrackz_con.socket_put_confirmed("trackyct=0")
ftrackz_con.socket_put_confirmed("trackzct=0")
ftrackz_con.socket_put_confirmed("XQ#Tracker")
def laser_tracker_on_target(self) -> bool:
self.laser_update_tracker_info()
if np.isclose(
self.tracker_info["beampos_y"], self.tracker_info["target_y"], atol=0.02
) and np.isclose(self.tracker_info["beampos_z"], self.tracker_info["target_z"], atol=0.02):
return True
return False
def laser_tracker_wait_on_target(self):
max_repeat = 25
count = 0
while not self.laser_tracker_on_target():
self.laser_tracker_galil_enable()
logger.info("Waiting for laser tracker to reach target.")
time.sleep(0.5)
count += 1
if count > max_repeat:
print("Failed to reach laser target position.")
raise RtError("Failed to reach laser target position.")
def slew_rate_limiters_on_target(self) -> bool:
ret = int(float(self.socket_put_and_receive("y").strip()))
if ret == 3:
return True
return False
def pid_y(self) -> float:
ret = float(self.socket_put_and_receive("G").strip())
return ret
def read_ssi_interferometer(self, axis_number):
val = float(self.socket_put_and_receive(f"j{axis_number}").strip())
return val
def laser_tracker_check_signalstrength(self):
if not self.laser_tracker_check_enabled():
returnval = "disabled"
else:
returnval = "ok"
self.laser_tracker_wait_on_target()
signal = self.read_ssi_interferometer(1)
rtx = self.get_device_manager().devices.rtx
min_signal = rtx.user_parameter.get("min_signal")
low_signal = rtx.user_parameter.get("low_signal")
if signal < min_signal:
time.sleep(1)
if signal < min_signal:
print(
f"\x1b[91mThe signal of the tracker {signal} is below the minimum required signal of {min_signal}. Readjustment requred!\x1b[0m"
)
returnval = "toolow"
# raise RtError("The interferometer signal of tracker is too low.")
elif signal < low_signal:
print(
f"\x1b[91mThe signal of the tracker {signal} is below the warning limit of {low_signal}. Readjustment recommended!\x1b[0m"
)
returnval = "low"
return returnval
def show_signal_strength_interferometer(self):
t = PrettyTable()
t.title = f"Interferometer signal strength"
t.field_names = ["Axis", "Value"]
for i in range(4):
t.add_row([i, self.read_ssi_interferometer(i)])
print(t)
def _get_signals_from_table(self, return_table) -> dict:
self.average_stdeviations_x_st_fzp += float(return_table[4])
self.average_stdeviations_y_st_fzp += float(return_table[7])
signals = {
"target_x": {"value": float(return_table[2])},
"average_x_st_fzp": {"value": float(return_table[3])},
"stdev_x_st_fzp": {"value": float(return_table[4])},
"target_y": {"value": float(return_table[5])},
"average_y_st_fzp": {"value": float(return_table[6])},
"stdev_y_st_fzp": {"value": float(return_table[7])},
"average_rotz": {"value": float(return_table[8])},
"stdev_rotz": {"value": float(return_table[9])},
"average_stdeviations_x_st_fzp": {
"value": self.average_stdeviations_x_st_fzp / (int(return_table[0]) + 1)
},
"average_stdeviations_y_st_fzp": {
"value": self.average_stdeviations_y_st_fzp / (int(return_table[0]) + 1)
},
}
return signals
@threadlocked
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."
)
raise RtError(
"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()
if number_of_positions_planned == 0:
logger.error("Cannot start scan because no target positions are planned.")
raise RtError("Cannot start scan because no target positions are planned.")
# hier exception
# start a point-by-point scan (for cont scan in flomni it would be "sa")
self.socket_put_and_receive("sd")
@retry_once
@threadlocked
def get_scan_status(self):
return_table = (self.socket_put_and_receive("sr")).split(",")
if len(return_table) != 3:
raise RtCommunicationError(
f"Expected to receive 3 return values. Instead received {return_table}"
)
mode = int(float(return_table[0]))
# mode 0: direct positioning
# mode 1: running internal timer (not tested/used anymore)
# mode 2: rt point scan running
# mode 3: rt point scan starting
# mode 5/6: rt continuous scanning (not available in LamNI)
number_of_positions_planned = int(float(return_table[1]))
current_position_in_scan = int(float(return_table[2]))
return (mode, number_of_positions_planned, current_position_in_scan)
def get_device_manager(self):
for axis in self._axis:
if hasattr(axis, "device_manager") and axis.device_manager:
return axis.device_manager
raise BECConfigError("Could not access the device_manager")
def read_positions_from_sampler(self):
# this was for reading after the scan completed
number_of_samples_to_read = 1 # self.get_scan_status()[1] #number of valid samples, will be updated upon first data read
read_counter = 0
self.average_stdeviations_x_st_fzp = 0
self.average_stdeviations_y_st_fzp = 0
self.average_lamni_angle = 0
mode, number_of_positions_planned, current_position_in_scan = self.get_scan_status()
# if not (mode==2 or mode==3):
# error
self.get_device_manager().connector.set(
MessageEndpoints.device_status("rt_scan"),
messages.DeviceStatusMessage(
device="rt_scan", status=1, metadata=self.readout_metadata
).dumps(),
)
# while scan is running
while mode > 0:
# logger.info(f"Current scan position {current_position_in_scan} out of {number_of_positions_planned}")
mode, number_of_positions_planned, current_position_in_scan = self.get_scan_status()
time.sleep(0.01)
if current_position_in_scan > 5:
while current_position_in_scan > read_counter + 1:
return_table = (self.socket_put_and_receive(f"r{read_counter}")).split(",")
# logger.info(f"{return_table}")
logger.info(f"Read {read_counter} out of {number_of_positions_planned}")
read_counter = read_counter + 1
signals = self._get_signals_from_table(return_table)
self.publish_device_data(signals=signals, point_id=int(return_table[0]))
time.sleep(0.05)
# read the last samples even though scan is finished already
while number_of_positions_planned > read_counter:
return_table = (self.socket_put_and_receive(f"r{read_counter}")).split(",")
logger.info(f"Read {read_counter} out of {number_of_positions_planned}")
# logger.info(f"{return_table}")
read_counter = read_counter + 1
signals = self._get_signals_from_table(return_table)
self.publish_device_data(signals=signals, point_id=int(return_table[0]))
self.get_device_manager().connector.set(
MessageEndpoints.device_status("rt_scan"),
messages.DeviceStatusMessage(
device="rt_scan", status=0, metadata=self.readout_metadata
).dumps(),
)
logger.info(
"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, point_id):
self.get_device_manager().connector.set_and_publish(
MessageEndpoints.device_read("rt_flomni"),
messages.DeviceMessage(
signals=signals, metadata={"point_id": point_id, **self.readout_metadata}
).dumps(),
)
def start_readout(self):
readout = threading.Thread(target=self.read_positions_from_sampler)
readout.start()
def kickoff(self, metadata):
self.readout_metadata = metadata
while not self._min_scan_buffer_reached:
time.sleep(0.001)
self.start_scan()
time.sleep(0.1)
self.start_readout()
class RtFlomniReadbackSignal(RtReadbackSignal):
@retry_once
@threadlocked
def _socket_get(self) -> float:
"""Get command for the readback signal
Returns:
float: Readback value after adjusting for sign and motor resolution.
"""
time.sleep(0.1)
return_table = (self.controller.socket_put_and_receive(f"pr")).split(",")
current_pos = float(return_table[self.parent.axis_Id_numeric])
current_pos *= self.parent.sign
self.parent.user_setpoint.setpoint = current_pos
return current_pos
class RtFlomniSetpointSignal(RtSetpointSignal):
setpoint = 0
@retry_once
@threadlocked
def _socket_set(self, val: float) -> None:
"""Set a new target value / setpoint value. Before submission, the target value is adjusted for the axis' sign.
Furthermore, it is ensured that all axes are referenced before a new setpoint is submitted.
Args:
val (float): Target value / setpoint value
Raises:
RtError: Raised if interferometer feedback is disabled.
"""
if not self.parent.controller.feedback_is_running():
print(
"The interferometer feedback is not running. Either it is turned off or and"
" interferometer error occured."
)
raise RtError(
"The interferometer feedback is not running. Either it is turned off or and"
" interferometer error occured."
)
self.set_with_feedback_disabled(val)
def set_with_feedback_disabled(self, val):
target_val = val * self.parent.sign
self.setpoint = target_val
self.controller.socket_put(f"pa{self.parent.axis_Id_numeric},{target_val:.4f}")
class RtFlomniFeedbackRunning(RtSignalRO):
@threadlocked
def _socket_get(self):
return int(self.parent.controller.feedback_is_running())
class RtFlomniMotor(Device, PositionerBase):
USER_ACCESS = ["controller"]
readback = Cpt(RtFlomniReadbackSignal, signal_name="readback", kind="hinted")
user_setpoint = Cpt(RtFlomniSetpointSignal, signal_name="setpoint")
high_limit_travel = Cpt(Signal, value=0, kind="omitted")
low_limit_travel = Cpt(Signal, value=0, kind="omitted")
SUB_READBACK = "readback"
SUB_CONNECTION_CHANGE = "connection_change"
_default_sub = SUB_READBACK
def __init__(
self,
axis_Id,
prefix="",
*,
name,
kind=None,
read_attrs=None,
configuration_attrs=None,
parent=None,
host="mpc2844.psi.ch",
port=2222,
sign=1,
socket_cls=SocketIO,
device_manager=None,
limits=None,
**kwargs,
):
self.axis_Id = axis_Id
self.sign = sign
self.controller = RtFlomniController(
socket_cls=socket_cls, socket_host=host, socket_port=port
)
self.controller.set_axis(axis=self, axis_nr=self.axis_Id_numeric)
self.device_manager = device_manager
self.tolerance = kwargs.pop("tolerance", 0.5)
super().__init__(
prefix,
name=name,
kind=kind,
read_attrs=read_attrs,
configuration_attrs=configuration_attrs,
parent=parent,
**kwargs,
)
self.readback.name = self.name
self.controller.subscribe(
self._update_connection_state, event_type=self.SUB_CONNECTION_CHANGE
)
self._update_connection_state()
self._stopped = False
# self.readback.subscribe(self._forward_readback, event_type=self.readback.SUB_VALUE)
if limits is not None:
assert len(limits) == 2
self.low_limit_travel.put(limits[0])
self.high_limit_travel.put(limits[1])
@property
def limits(self):
return (self.low_limit_travel.get(), self.high_limit_travel.get())
@property
def low_limit(self):
return self.limits[0]
@property
def high_limit(self):
return self.limits[1]
def check_value(self, pos):
"""Check that the position is within the soft limits"""
low_limit, high_limit = self.limits
if low_limit < high_limit and not (low_limit <= pos <= high_limit):
raise LimitError(f"position={pos} not within limits {self.limits}")
def _update_connection_state(self, **kwargs):
for walk in self.walk_signals():
walk.item._metadata["connected"] = self.controller.connected
def _forward_readback(self, **kwargs):
kwargs.pop("sub_type")
self._run_subs(sub_type="readback", **kwargs)
@raise_if_disconnected
def move(self, position, wait=True, **kwargs):
"""Move to a specified position, optionally waiting for motion to
complete.
Parameters
----------
position
Position to move to
moved_cb : callable
Call this callback when movement has finished. This callback must
accept one keyword argument: 'obj' which will be set to this
positioner instance.
timeout : float, optional
Maximum time to wait for the motion. If None, the default timeout
for this positioner is used.
Returns
-------
status : MoveStatus
Raises
------
TimeoutError
When motion takes longer than `timeout`
ValueError
On invalid positions
RuntimeError
If motion fails other than timing out
"""
self._started_moving = False
timeout = kwargs.pop("timeout", 100)
status = super().move(position, timeout=timeout, **kwargs)
self.user_setpoint.put(position, wait=False)
def move_and_finish():
while not self.controller.slew_rate_limiters_on_target() and not self._stopped:
print("motor is moving")
val = self.readback.read()
self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
time.sleep(0.01)
print("Move finished")
self._done_moving(success=(not self._stopped))
self._stopped = False
threading.Thread(target=move_and_finish, daemon=True).start()
try:
if wait:
status_wait(status)
except KeyboardInterrupt:
self.stop()
raise
return status
@property
def axis_Id(self):
return self._axis_Id_alpha
@axis_Id.setter
def axis_Id(self, val):
if isinstance(val, str):
if len(val) != 1:
raise ValueError(f"Only single-character axis_Ids are supported.")
self._axis_Id_alpha = val
self._axis_Id_numeric = ord(val.lower()) - 97
else:
raise TypeError(f"Expected value of type str but received {type(val)}")
@property
def axis_Id_numeric(self):
return self._axis_Id_numeric
@axis_Id_numeric.setter
def axis_Id_numeric(self, val):
if isinstance(val, int):
if val > 26:
raise ValueError(f"Numeric value exceeds supported range.")
self._axis_Id_alpha = val
self._axis_Id_numeric = (chr(val + 97)).capitalize()
else:
raise TypeError(f"Expected value of type int but received {type(val)}")
def kickoff(self, metadata, **kwargs) -> None:
self.controller.kickoff(metadata)
@property
def egu(self):
"""The engineering units (EGU) for positions"""
return "um"
# how is this used later?
def stage(self) -> List[object]:
return super().stage()
def unstage(self) -> List[object]:
return super().unstage()
def stop(self, *, success=False):
self.controller.stop_all_axes()
self._stopped = True
return super().stop(success=success)
if __name__ == "__main__":
rtcontroller = RtFlomniController(
socket_cls=SocketIO, socket_host="mpc2844.psi.ch", socket_port=2222
)
rtcontroller.on()
rtcontroller.laser_tracker_on()

848
ophyd_devices/rt_lamni/rt_lamni_ophyd.py
View File

@ -1,848 +0,0 @@
import functools
import threading
import time
import numpy as np
from bec_lib import MessageEndpoints, bec_logger, messages
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 ophyd_devices.utils.controller import Controller, threadlocked
from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
logger = bec_logger.logger
class RtLamniCommunicationError(Exception):
pass
class RtLamniError(Exception):
pass
class BECConfigError(Exception):
pass
def retry_once(fcn):
"""Decorator to rerun a function in case a CommunicationError was raised. This may happen if the buffer was not empty."""
@functools.wraps(fcn)
def wrapper(self, *args, **kwargs):
try:
val = fcn(self, *args, **kwargs)
except (RtLamniCommunicationError, RtLamniError):
val = fcn(self, *args, **kwargs)
return val
return wrapper
class RtLamniController(Controller):
USER_ACCESS = [
"socket_put_and_receive",
"set_rotation_angle",
"feedback_disable",
"feedback_enable_without_reset",
"feedback_disable_and_even_reset_lamni_angle_interferometer",
"feedback_enable_with_reset",
"add_pos_to_scan",
"clear_trajectory_generator",
"_set_axis_velocity",
"_set_axis_velocity_maximum_speed",
"_position_sampling_single_read",
"_position_sampling_single_reset_and_start_sampling",
]
def __init__(
self,
*,
name="RtLamniController",
kind=None,
parent=None,
socket=None,
attr_name="",
labels=None,
):
if not hasattr(self, "_initialized") or not self._initialized:
self._rtlamni_axis_per_controller = 3
self._axis = [None for axis_num in range(self._rtlamni_axis_per_controller)]
self._min_scan_buffer_reached = False
super().__init__(
name=name,
socket=socket,
attr_name=attr_name,
parent=parent,
labels=labels,
kind=kind,
)
self.readout_metadata = {}
def on(self, controller_num=0) -> None:
"""Open a new socket connection to the controller"""
if not self.connected:
try:
self.sock.open()
# discuss - after disconnect takes a while for the server to be ready again
max_retries = 10
tries = 0
while not self.connected:
try:
welcome_message = self.sock.receive()
self.connected = True
except ConnectionResetError as conn_reset:
if tries > max_retries:
raise conn_reset
tries += 1
time.sleep(2)
except ConnectionRefusedError as conn_error:
logger.error("Failed to open a connection to RTLamNI.")
raise RtLamniCommunicationError from conn_error
else:
logger.info("The connection has already been established.")
# warnings.warn(f"The connection has already been established.", stacklevel=2)
self._update_flyer_device_info()
def off(self) -> None:
"""Close the socket connection to the controller"""
if self.connected:
self.sock.close()
self.connected = False
else:
logger.info("The connection is already closed.")
def set_axis(self, axis: Device, axis_nr: int) -> None:
"""Assign an axis to a device instance.
Args:
axis (Device): Device instance (e.g. GalilMotor)
axis_nr (int): Controller axis number
"""
self._axis[axis_nr] = axis
@threadlocked
def socket_put(self, val: str) -> None:
self.sock.put(f"{val}\n".encode())
@threadlocked
def socket_get(self) -> str:
return self.sock.receive().decode()
@retry_once
@threadlocked
def socket_put_and_receive(self, val: str, remove_trailing_chars=True) -> str:
self.socket_put(val)
if remove_trailing_chars:
return self._remove_trailing_characters(self.sock.receive().decode())
return self.socket_get()
def is_axis_moving(self, axis_Id) -> bool:
# this checks that axis is on target
axis_is_on_target = bool(float(self.socket_put_and_receive(f"o")))
return not axis_is_on_target
# def is_thread_active(self, thread_id: int) -> bool:
# val = float(self.socket_put_and_receive(f"MG_XQ{thread_id}"))
# if val == -1:
# return False
# return True
def _remove_trailing_characters(self, var) -> str:
if len(var) > 1:
return var.split("\r\n")[0]
return var
@threadlocked
def set_rotation_angle(self, val: float):
self.socket_put(f"a{(val-300+30.538)/180*np.pi}")
@threadlocked
def stop_all_axes(self):
self.socket_put("sc")
@threadlocked
def feedback_disable(self):
self.socket_put("J0")
logger.info("LamNI Feedback disabled.")
self.set_device_enabled("lsamx", True)
self.set_device_enabled("lsamy", True)
self.set_device_enabled("loptx", True)
self.set_device_enabled("lopty", True)
self.set_device_enabled("loptz", True)
@threadlocked
def _set_axis_velocity(self, um_per_s):
self.socket_put(f"V{um_per_s}")
@threadlocked
def _set_axis_velocity_maximum_speed(self):
self.socket_put(f"V0")
# for developement of soft continuous scanning
@threadlocked
def _position_sampling_single_reset_and_start_sampling(self):
self.socket_put(f"Ss")
@threadlocked
def _position_sampling_single_read(self):
(number_of_samples, sum0, sum0_2, sum1, sum1_2, sum2, sum2_2) = self.socket_put_and_receive(
f"Sr"
).split(",")
avg_x = float(sum1) / int(number_of_samples)
avg_y = float(sum0) / int(number_of_samples)
stdev_x = np.sqrt(
float(sum1_2) / int(number_of_samples)
- np.power(float(sum1) / int(number_of_samples), 2)
)
stdev_y = np.sqrt(
float(sum0_2) / int(number_of_samples)
- np.power(float(sum0) / int(number_of_samples), 2)
)
return (avg_x, avg_y, stdev_x, stdev_y)
@threadlocked
def feedback_enable_without_reset(self):
# read current interferometer position
return_table = (self.socket_put_and_receive(f"J4")).split(",")
x_curr = float(return_table[2])
y_curr = float(return_table[1])
# set these as closed loop target position
self.socket_put(f"pa0,{x_curr:.4f}")
self.socket_put(f"pa1,{y_curr:.4f}")
self.get_device_manager().devices.rtx.obj.user_setpoint.set_with_feedback_disabled(x_curr)
self.get_device_manager().devices.rty.obj.user_setpoint.set_with_feedback_disabled(y_curr)
self.socket_put("J5")
logger.info("LamNI Feedback enabled (without reset).")
self.set_device_enabled("lsamx", False)
self.set_device_enabled("lsamy", False)
self.set_device_enabled("loptx", False)
self.set_device_enabled("lopty", False)
self.set_device_enabled("loptz", False)
@threadlocked
def feedback_disable_and_even_reset_lamni_angle_interferometer(self):
self.socket_put("J6")
logger.info("LamNI Feedback disabled including the angular interferometer.")
self.set_device_enabled("lsamx", True)
self.set_device_enabled("lsamy", True)
self.set_device_enabled("loptx", True)
self.set_device_enabled("lopty", True)
self.set_device_enabled("loptz", True)
def get_device_manager(self):
for axis in self._axis:
if hasattr(axis, "device_manager") and axis.device_manager:
return axis.device_manager
raise BECConfigError("Could not access the device_manager")
def get_axis_by_name(self, name):
for axis in self._axis:
if axis:
if axis.name == name:
return axis
raise RuntimeError(f"Could not find an axis with name {name}")
@threadlocked
def clear_trajectory_generator(self):
self.socket_put("sc")
logger.info("LamNI scan stopped and deleted, moving to start position")
def add_pos_to_scan(self, positions) -> None:
def send_positions(parent, positions):
parent._min_scan_buffer_reached = False
for pos_index, pos in enumerate(positions):
parent.socket_put_and_receive(f"s{pos[0]:.05f},{pos[1]:05f},0")
if pos_index > 100:
parent._min_scan_buffer_reached = True
parent._min_scan_buffer_reached = True
threading.Thread(target=send_positions, args=(self, positions), daemon=True).start()
@retry_once
@threadlocked
def get_scan_status(self):
return_table = (self.socket_put_and_receive(f"sr")).split(",")
if len(return_table) != 3:
raise RtLamniCommunicationError(
f"Expected to receive 3 return values. Instead received {return_table}"
)
mode = int(return_table[0])
# mode 0: direct positioning
# mode 1: running internal timer (not tested/used anymore)
# mode 2: rt point scan running
# mode 3: rt point scan starting
# mode 5/6: rt continuous scanning (not available in LamNI)
number_of_positions_planned = int(return_table[1])
current_position_in_scan = int(return_table[2])
return (mode, number_of_positions_planned, current_position_in_scan)
@threadlocked
def start_scan(self):
interferometer_feedback_not_running = int((self.socket_put_and_receive("J2")).split(",")[0])
if interferometer_feedback_not_running == 1:
logger.error(
"Cannot start scan because feedback loop is not running or there is an interferometer error."
)
raise RtLamniError(
"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()
if number_of_positions_planned == 0:
logger.error("Cannot start scan because no target positions are planned.")
raise RtLamniError("Cannot start scan because no target positions are planned.")
# hier exception
# start a point-by-point scan (for cont scan in flomni it would be "sa")
self.socket_put_and_receive("sd")
def start_readout(self):
readout = threading.Thread(target=self.read_positions_from_sampler)
readout.start()
def _update_flyer_device_info(self):
flyer_info = self._get_flyer_device_info()
self.get_device_manager().connector.set(
MessageEndpoints.device_info("rt_scan"),
messages.DeviceInfoMessage(device="rt_scan", info=flyer_info),
)
def _get_flyer_device_info(self) -> dict:
return {
"device_name": self.name,
"device_attr_name": getattr(self, "attr_name", ""),
"device_dotted_name": getattr(self, "dotted_name", ""),
"device_info": {
"device_base_class": "ophydobject",
"signals": [],
"hints": {"fields": ["average_x_st_fzp", "average_y_st_fzp"]},
"describe": {},
"describe_configuration": {},
"sub_devices": [],
"custom_user_access": [],
},
}
def kickoff(self, metadata):
self.readout_metadata = metadata
while not self._min_scan_buffer_reached:
time.sleep(0.001)
self.start_scan()
time.sleep(0.1)
self.start_readout()
def _get_signals_from_table(self, return_table) -> dict:
self.average_stdeviations_x_st_fzp += float(return_table[5])
self.average_stdeviations_y_st_fzp += float(return_table[8])
self.average_lamni_angle += float(return_table[19])
signals = {
"target_x": {"value": float(return_table[3])},
"average_x_st_fzp": {"value": float(return_table[4])},
"stdev_x_st_fzp": {"value": float(return_table[5])},
"target_y": {"value": float(return_table[6])},
"average_y_st_fzp": {"value": float(return_table[7])},
"stdev_y_st_fzp": {"value": float(return_table[8])},
"average_cap1": {"value": float(return_table[9])},
"stdev_cap1": {"value": float(return_table[10])},
"average_cap2": {"value": float(return_table[11])},
"stdev_cap2": {"value": float(return_table[12])},
"average_cap3": {"value": float(return_table[13])},
"stdev_cap3": {"value": float(return_table[14])},
"average_cap4": {"value": float(return_table[15])},
"stdev_cap4": {"value": float(return_table[16])},
"average_cap5": {"value": float(return_table[17])},
"stdev_cap5": {"value": float(return_table[18])},
"average_angle_interf_ST": {"value": float(return_table[19])},
"stdev_angle_interf_ST": {"value": float(return_table[20])},
"average_stdeviations_x_st_fzp": {
"value": self.average_stdeviations_x_st_fzp / (int(return_table[0]) + 1)
},
"average_stdeviations_y_st_fzp": {
"value": self.average_stdeviations_y_st_fzp / (int(return_table[0]) + 1)
},
"average_lamni_angle": {"value": self.average_lamni_angle / (int(return_table[0]) + 1)},
}
return signals
def read_positions_from_sampler(self):
# this was for reading after the scan completed
number_of_samples_to_read = 1 # self.get_scan_status()[1] #number of valid samples, will be updated upon first data read
read_counter = 0
previous_point_in_scan = 0
self.average_stdeviations_x_st_fzp = 0
self.average_stdeviations_y_st_fzp = 0
self.average_lamni_angle = 0
mode, number_of_positions_planned, current_position_in_scan = self.get_scan_status()
# if not (mode==2 or mode==3):
# error
self.get_device_manager().connector.set(
MessageEndpoints.device_status("rt_scan"),
messages.DeviceStatusMessage(
device="rt_scan", status=1, metadata=self.readout_metadata
),
)
# while scan is running
while mode > 0:
# logger.info(f"Current scan position {current_position_in_scan} out of {number_of_positions_planned}")
mode, number_of_positions_planned, current_position_in_scan = self.get_scan_status()
time.sleep(0.01)
if current_position_in_scan > 5:
while current_position_in_scan > read_counter + 1:
return_table = (self.socket_put_and_receive(f"r{read_counter}")).split(",")
# logger.info(f"{return_table}")
logger.info(f"Read {read_counter} out of {number_of_positions_planned}")
read_counter = read_counter + 1
signals = self._get_signals_from_table(return_table)
self.publish_device_data(signals=signals, point_id=int(return_table[0]))
time.sleep(0.05)
# read the last samples even though scan is finished already
while number_of_positions_planned > read_counter:
return_table = (self.socket_put_and_receive(f"r{read_counter}")).split(",")
logger.info(f"Read {read_counter} out of {number_of_positions_planned}")
# logger.info(f"{return_table}")
read_counter = read_counter + 1
signals = self._get_signals_from_table(return_table)
self.publish_device_data(signals=signals, point_id=int(return_table[0]))
self.get_device_manager().connector.set(
MessageEndpoints.device_status("rt_scan"),
messages.DeviceStatusMessage(
device="rt_scan", status=0, metadata=self.readout_metadata
),
)
logger.info(
f"LamNI 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}, angle {self.average_lamni_angle/number_of_samples_to_read}."
)
def publish_device_data(self, signals, point_id):
self.get_device_manager().connector.set_and_publish(
MessageEndpoints.device_read("rt_lamni"),
messages.DeviceMessage(
signals=signals, metadata={"point_id": point_id, **self.readout_metadata}
),
)
def feedback_status_angle_lamni(self) -> bool:
return_table = (self.socket_put_and_receive(f"J7")).split(",")
logger.debug(
f"LamNI angle interferomter status {bool(return_table[0])}, position {float(return_table[1])}, signal {float(return_table[2])}"
)
return bool(return_table[0])
def feedback_enable_with_reset(self):
if not self.feedback_status_angle_lamni():
self.feedback_disable_and_even_reset_lamni_angle_interferometer()
logger.info(f"LamNI resetting interferometer inclusive angular interferomter.")
else:
self.feedback_disable()
logger.info(
f"LamNI resetting interferomter except angular interferometer which is already running."
)
# set these as closed loop target position
self.socket_put(f"pa0,0")
self.get_axis_by_name("rtx").user_setpoint.setpoint = 0
self.socket_put(f"pa1,0")
self.get_axis_by_name("rty").user_setpoint.setpoint = 0
self.socket_put(
f"pa2,0"
) # we set all three outputs of the traj. gen. although in LamNI case only 0,1 are used
self.clear_trajectory_generator()
self.get_device_manager().devices.lsamrot.obj.move(0, wait=True)
galil_controller_rt_status = (
self.get_device_manager().devices.lsamx.obj.controller.lgalil_is_air_off_and_orchestra_enabled()
)
if galil_controller_rt_status == 0:
logger.error(
"Cannot enable feedback. The small rotation air is on and/or orchestra disabled by the motor controller."
)
raise RtLamniError(
"Cannot enable feedback. The small rotation air is on and/or orchestra disabled by the motor controller."
)
time.sleep(0.03)
lsamx_user_params = self.get_device_manager().devices.lsamx.user_parameter
if lsamx_user_params is None or lsamx_user_params.get("center") is None:
raise RuntimeError("lsamx center is not defined")
lsamy_user_params = self.get_device_manager().devices.lsamy.user_parameter
if lsamy_user_params is None or lsamy_user_params.get("center") is None:
raise RuntimeError("lsamy center is not defined")
lsamx_center = lsamx_user_params.get("center")
lsamy_center = lsamy_user_params.get("center")
self.get_device_manager().devices.lsamx.obj.move(lsamx_center, wait=True)
self.get_device_manager().devices.lsamy.obj.move(lsamy_center, wait=True)
self.socket_put("J1")
_waitforfeedbackctr = 0
interferometer_feedback_not_running = int((self.socket_put_and_receive("J2")).split(",")[0])
while interferometer_feedback_not_running == 1 and _waitforfeedbackctr < 100:
time.sleep(0.01)
_waitforfeedbackctr = _waitforfeedbackctr + 1
interferometer_feedback_not_running = int(
(self.socket_put_and_receive("J2")).split(",")[0]
)
self.set_device_enabled("lsamx", False)
self.set_device_enabled("lsamy", False)
self.set_device_enabled("loptx", False)
self.set_device_enabled("lopty", False)
self.set_device_enabled("loptz", False)
if interferometer_feedback_not_running == 1:
logger.error(
"Cannot start scan because feedback loop is not running or there is an interferometer error."
)
raise RtLamniError(
"Cannot start scan because feedback loop is not running or there is an interferometer error."
)
time.sleep(0.01)
# ptychography_alignment_done = 0
def set_device_enabled(self, device_name: str, enabled: bool) -> None:
"""enable / disable a device"""
if device_name not in self.get_device_manager().devices:
logger.warning(
f"Device {device_name} is not configured and cannot be enabled/disabled."
)
return
self.get_device_manager().devices[device_name].read_only = not enabled
class RtLamniSignalBase(SocketSignal):
def __init__(self, signal_name, **kwargs):
self.signal_name = signal_name
super().__init__(**kwargs)
self.controller = self.parent.controller
self.sock = self.parent.controller.sock
class RtLamniSignalRO(RtLamniSignalBase):
def __init__(self, signal_name, **kwargs):
super().__init__(signal_name, **kwargs)
self._metadata["write_access"] = False
def _socket_set(self, val):
raise ReadOnlyError("Read-only signals cannot be set")
class RtLamniReadbackSignal(RtLamniSignalRO):
@retry_once
@threadlocked
def _socket_get(self) -> float:
"""Get command for the readback signal
Returns:
float: Readback value after adjusting for sign and motor resolution.
"""
return_table = (self.controller.socket_put_and_receive(f"J4")).split(",")
print(return_table)
if self.parent.axis_Id_numeric == 0:
readback_index = 2
elif self.parent.axis_Id_numeric == 1:
readback_index = 1
else:
raise RtLamniError("Currently, only two axes are supported.")
current_pos = float(return_table[readback_index])
current_pos *= self.parent.sign
return current_pos
class RtLamniSetpointSignal(RtLamniSignalBase):
setpoint = 0
def _socket_get(self) -> float:
"""Get command for receiving the setpoint / target value.
The value is not pulled from the controller but instead just the last setpoint used.
Returns:
float: setpoint / target value
"""
return self.setpoint
@retry_once
@threadlocked
def _socket_set(self, val: float) -> None:
"""Set a new target value / setpoint value. Before submission, the target value is adjusted for the axis' sign.
Furthermore, it is ensured that all axes are referenced before a new setpoint is submitted.
Args:
val (float): Target value / setpoint value
Raises:
RtLamniError: Raised if interferometer feedback is disabled.
"""
interferometer_feedback_not_running = int(
(self.controller.socket_put_and_receive("J2")).split(",")[0]
)
if interferometer_feedback_not_running != 0:
raise RtLamniError(
"The interferometer feedback is not running. Either it is turned off or and interferometer error occured."
)
self.set_with_feedback_disabled(val)
def set_with_feedback_disabled(self, val):
target_val = val * self.parent.sign
self.setpoint = target_val
self.controller.socket_put(f"pa{self.parent.axis_Id_numeric},{target_val:.4f}")
class RtLamniMotorIsMoving(RtLamniSignalRO):
def _socket_get(self):
return self.controller.is_axis_moving(self.parent.axis_Id_numeric)
def get(self):
val = super().get()
if val is not None:
self._run_subs(sub_type=self.SUB_VALUE, value=val, timestamp=time.time())
return val
class RtLamniFeedbackRunning(RtLamniSignalRO):
@threadlocked
def _socket_get(self):
if int((self.controller.socket_put_and_receive("J2")).split(",")[0]) == 0:
return 1
else:
return 0
class RtLamniMotor(Device, PositionerBase):
USER_ACCESS = ["controller"]
readback = Cpt(RtLamniReadbackSignal, signal_name="readback", kind="hinted")
user_setpoint = Cpt(RtLamniSetpointSignal, signal_name="setpoint")
motor_is_moving = Cpt(RtLamniMotorIsMoving, signal_name="motor_is_moving", kind="normal")
high_limit_travel = Cpt(Signal, value=0, kind="omitted")
low_limit_travel = Cpt(Signal, value=0, kind="omitted")
SUB_READBACK = "readback"
SUB_CONNECTION_CHANGE = "connection_change"
_default_sub = SUB_READBACK
def __init__(
self,
axis_Id,
prefix="",
*,
name,
kind=None,
read_attrs=None,
configuration_attrs=None,
parent=None,
host="mpc2680.psi.ch",
port=3333,
sign=1,
socket_cls=SocketIO,
device_manager=None,
limits=None,
**kwargs,
):
self.axis_Id = axis_Id
self.sign = sign
self.controller = RtLamniController(socket=socket_cls(host=host, port=port))
self.controller.set_axis(axis=self, axis_nr=self.axis_Id_numeric)
self.device_manager = device_manager
self.tolerance = kwargs.pop("tolerance", 0.5)
super().__init__(
prefix,
name=name,
kind=kind,
read_attrs=read_attrs,
configuration_attrs=configuration_attrs,
parent=parent,
**kwargs,
)
self.readback.name = self.name
self.controller.subscribe(
self._update_connection_state, event_type=self.SUB_CONNECTION_CHANGE
)
self._update_connection_state()
# self.readback.subscribe(self._forward_readback, event_type=self.readback.SUB_VALUE)
if limits is not None:
assert len(limits) == 2
self.low_limit_travel.put(limits[0])
self.high_limit_travel.put(limits[1])
@property
def limits(self):
return (self.low_limit_travel.get(), self.high_limit_travel.get())
@property
def low_limit(self):
return self.limits[0]
@property
def high_limit(self):
return self.limits[1]
def check_value(self, pos):
"""Check that the position is within the soft limits"""
low_limit, high_limit = self.limits
if low_limit < high_limit and not (low_limit <= pos <= high_limit):
raise LimitError(f"position={pos} not within limits {self.limits}")
def _update_connection_state(self, **kwargs):
for walk in self.walk_signals():
walk.item._metadata["connected"] = self.controller.connected
def _forward_readback(self, **kwargs):
kwargs.pop("sub_type")
self._run_subs(sub_type="readback", **kwargs)
@raise_if_disconnected
def move(self, position, wait=True, **kwargs):
"""Move to a specified position, optionally waiting for motion to
complete.
Parameters
----------
position
Position to move to
moved_cb : callable
Call this callback when movement has finished. This callback must
accept one keyword argument: 'obj' which will be set to this
positioner instance.
timeout : float, optional
Maximum time to wait for the motion. If None, the default timeout
for this positioner is used.
Returns
-------
status : MoveStatus
Raises
------
TimeoutError
When motion takes longer than `timeout`
ValueError
On invalid positions
RuntimeError
If motion fails other than timing out
"""
self._started_moving = False
timeout = kwargs.pop("timeout", 100)
status = super().move(position, timeout=timeout, **kwargs)
self.user_setpoint.put(position, wait=False)
def move_and_finish():
while self.motor_is_moving.get():
print("motor is moving")
val = self.readback.read()
self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
time.sleep(0.01)
print("Move finished")
self._done_moving()
threading.Thread(target=move_and_finish, daemon=True).start()
try:
if wait:
status_wait(status)
except KeyboardInterrupt:
self.stop()
raise
return status
@property
def axis_Id(self):
return self._axis_Id_alpha
@axis_Id.setter
def axis_Id(self, val):
if isinstance(val, str):
if len(val) != 1:
raise ValueError(f"Only single-character axis_Ids are supported.")
self._axis_Id_alpha = val
self._axis_Id_numeric = ord(val.lower()) - 97
else:
raise TypeError(f"Expected value of type str but received {type(val)}")
@property
def axis_Id_numeric(self):
return self._axis_Id_numeric
@axis_Id_numeric.setter
def axis_Id_numeric(self, val):
if isinstance(val, int):
if val > 26:
raise ValueError(f"Numeric value exceeds supported range.")
self._axis_Id_alpha = val
self._axis_Id_numeric = (chr(val + 97)).capitalize()
else:
raise TypeError(f"Expected value of type int but received {type(val)}")
def kickoff(self, metadata, **kwargs) -> None:
self.controller.kickoff(metadata)
@property
def egu(self):
"""The engineering units (EGU) for positions"""
return "um"
# how is this used later?
def stage(self) -> list[object]:
return super().stage()
def unstage(self) -> list[object]:
return super().unstage()
def stop(self, *, success=False):
self.controller.stop_all_axes()
return super().stop(success=success)
if __name__ == "__main__":
logging.basicConfig(level=logging.DEBUG)
mock = False
if not mock:
rty = RtLamniMotor("B", name="rty", host="mpc2680.psi.ch", port=3333, sign=1)
rty.stage()
status = rty.move(0, wait=True)
status = rty.move(10, wait=True)
rty.read()
rty.get()
rty.describe()
rty.unstage()
else:
from ophyd_devices.utils.socket import SocketMock
rtx = RtLamniMotor("A", name="rtx", host="mpc2680.psi.ch", port=3333, socket_cls=SocketMock)
rty = RtLamniMotor("B", name="rty", host="mpc2680.psi.ch", port=3333, socket_cls=SocketMock)
rtx.stage()
# rty.stage()

818
ophyd_devices/rt_lamni/rt_ophyd.py
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@ -1,818 +0,0 @@
import functools
import threading
import time
from typing import List
import numpy as np
from bec_lib import MessageEndpoints, bec_logger, messages
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 ophyd_devices.utils.controller import Controller, threadlocked
from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
logger = bec_logger.logger
class RtCommunicationError(Exception):
pass
class RtError(Exception):
pass
class BECConfigError(Exception):
pass
def retry_once(fcn):
"""Decorator to rerun a function in case a CommunicationError was raised. This may happen if the buffer was not empty."""
@functools.wraps(fcn)
def wrapper(self, *args, **kwargs):
try:
val = fcn(self, *args, **kwargs)
except (RtCommunicationError, RtError):
val = fcn(self, *args, **kwargs)
return val
return wrapper
class RtController(Controller):
_axes_per_controller = 3
USER_ACCESS = [
"socket_put_and_receive",
"set_rotation_angle",
"feedback_disable",
"feedback_enable_without_reset",
"feedback_disable_and_even_reset_lamni_angle_interferometer",
"feedback_enable_with_reset",
"add_pos_to_scan",
"clear_trajectory_generator",
"_set_axis_velocity",
"_set_axis_velocity_maximum_speed",
"_position_sampling_single_read",
"_position_sampling_single_reset_and_start_sampling",
]
def on(self, controller_num=0) -> None:
"""Open a new socket connection to the controller"""
# if not self.connected:
# try:
# self.sock.open()
# # discuss - after disconnect takes a while for the server to be ready again
# max_retries = 10
# tries = 0
# while not self.connected:
# try:
# welcome_message = self.sock.receive()
# self.connected = True
# except ConnectionResetError as conn_reset:
# if tries > max_retries:
# raise conn_reset
# tries += 1
# time.sleep(2)
# except ConnectionRefusedError as conn_error:
# logger.error("Failed to open a connection to RTLamNI.")
# raise RtCommunicationError from conn_error
# else:
# logger.info("The connection has already been established.")
# # warnings.warn(f"The connection has already been established.", stacklevel=2)
super().on()
# self._update_flyer_device_info()
def set_axis(self, axis: Device, axis_nr: int) -> None:
"""Assign an axis to a device instance.
Args:
axis (Device): Device instance (e.g. GalilMotor)
axis_nr (int): Controller axis number
"""
self._axis[axis_nr] = axis
@threadlocked
def socket_put(self, val: str) -> None:
self.sock.put(f"{val}\n".encode())
@threadlocked
def socket_get(self) -> str:
return self.sock.receive().decode()
@retry_once
@threadlocked
def socket_put_and_receive(self, val: str, remove_trailing_chars=True) -> str:
self.socket_put(val)
if remove_trailing_chars:
return self._remove_trailing_characters(self.sock.receive().decode())
return self.socket_get()
def is_axis_moving(self, axis_Id) -> bool:
# this checks that axis is on target
axis_is_on_target = bool(float(self.socket_put_and_receive(f"o")))
return not axis_is_on_target
# def is_thread_active(self, thread_id: int) -> bool:
# val = float(self.socket_put_and_receive(f"MG_XQ{thread_id}"))
# if val == -1:
# return False
# return True
def _remove_trailing_characters(self, var) -> str:
if len(var) > 1:
return var.split("\r\n")[0]
return var
@threadlocked
def set_rotation_angle(self, val: float):
self.socket_put(f"a{(val-300+30.538)/180*np.pi}")
@threadlocked
def stop_all_axes(self):
self.socket_put("sc")
@threadlocked
def feedback_disable(self):
self.socket_put("J0")
logger.info("LamNI Feedback disabled.")
self.set_device_enabled("lsamx", True)
self.set_device_enabled("lsamy", True)
self.set_device_enabled("loptx", True)
self.set_device_enabled("lopty", True)
self.set_device_enabled("loptz", True)
@threadlocked
def _set_axis_velocity(self, um_per_s):
self.socket_put(f"V{um_per_s}")
@threadlocked
def _set_axis_velocity_maximum_speed(self):
self.socket_put(f"V0")
# for developement of soft continuous scanning
@threadlocked
def _position_sampling_single_reset_and_start_sampling(self):
self.socket_put(f"Ss")
@threadlocked
def _position_sampling_single_read(self):
(number_of_samples, sum0, sum0_2, sum1, sum1_2, sum2, sum2_2) = self.socket_put_and_receive(
f"Sr"
).split(",")
avg_x = float(sum1) / int(number_of_samples)
avg_y = float(sum0) / int(number_of_samples)
stdev_x = np.sqrt(
float(sum1_2) / int(number_of_samples)
- np.power(float(sum1) / int(number_of_samples), 2)
)
stdev_y = np.sqrt(
float(sum0_2) / int(number_of_samples)
- np.power(float(sum0) / int(number_of_samples), 2)
)
return (avg_x, avg_y, stdev_x, stdev_y)
@threadlocked
def feedback_enable_without_reset(self):
# read current interferometer position
return_table = (self.socket_put_and_receive(f"J4")).split(",")
x_curr = float(return_table[2])
y_curr = float(return_table[1])
# set these as closed loop target position
self.socket_put(f"pa0,{x_curr:.4f}")
self.socket_put(f"pa1,{y_curr:.4f}")
self.get_device_manager().devices.rtx.obj.user_setpoint.set_with_feedback_disabled(x_curr)
self.get_device_manager().devices.rty.obj.user_setpoint.set_with_feedback_disabled(y_curr)
self.socket_put("J5")
logger.info("LamNI Feedback enabled (without reset).")
self.set_device_enabled("lsamx", False)
self.set_device_enabled("lsamy", False)
self.set_device_enabled("loptx", False)
self.set_device_enabled("lopty", False)
self.set_device_enabled("loptz", False)
@threadlocked
def feedback_disable_and_even_reset_lamni_angle_interferometer(self):
self.socket_put("J6")
logger.info("LamNI Feedback disabled including the angular interferometer.")
self.set_device_enabled("lsamx", True)
self.set_device_enabled("lsamy", True)
self.set_device_enabled("loptx", True)
self.set_device_enabled("lopty", True)
self.set_device_enabled("loptz", True)
def get_device_manager(self):
for axis in self._axis:
if hasattr(axis, "device_manager") and axis.device_manager:
return axis.device_manager
raise BECConfigError("Could not access the device_manager")
def get_axis_by_name(self, name):
for axis in self._axis:
if axis:
if axis.name == name:
return axis
raise RuntimeError(f"Could not find an axis with name {name}")
@threadlocked
def clear_trajectory_generator(self):
self.socket_put("sc")
logger.info("LamNI scan stopped and deleted, moving to start position")
def add_pos_to_scan(self, positions) -> None:
def send_positions(parent, positions):
parent._min_scan_buffer_reached = False
for pos_index, pos in enumerate(positions):
parent.socket_put_and_receive(f"s{pos[0]},{pos[1]},0")
if pos_index > 100:
parent._min_scan_buffer_reached = True
parent._min_scan_buffer_reached = True
threading.Thread(target=send_positions, args=(self, positions), daemon=True).start()
@retry_once
@threadlocked
def get_scan_status(self):
return_table = (self.socket_put_and_receive(f"sr")).split(",")
if len(return_table) != 3:
raise RtCommunicationError(
f"Expected to receive 3 return values. Instead received {return_table}"
)
mode = int(return_table[0])
# mode 0: direct positioning
# mode 1: running internal timer (not tested/used anymore)
# mode 2: rt point scan running
# mode 3: rt point scan starting
# mode 5/6: rt continuous scanning (not available in LamNI)
number_of_positions_planned = int(return_table[1])
current_position_in_scan = int(return_table[2])
return (mode, number_of_positions_planned, current_position_in_scan)
@threadlocked
def start_scan(self):
interferometer_feedback_not_running = int((self.socket_put_and_receive("J2")).split(",")[0])
if interferometer_feedback_not_running == 1:
logger.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."
)
# here exception
(mode, number_of_positions_planned, current_position_in_scan) = self.get_scan_status()
if number_of_positions_planned == 0:
logger.error("Cannot start scan because no target positions are planned.")
raise RtError("Cannot start scan because no target positions are planned.")
# hier exception
# start a point-by-point scan (for cont scan in flomni it would be "sa")
self.socket_put_and_receive("sd")
def start_readout(self):
readout = threading.Thread(target=self.read_positions_from_sampler)
readout.start()
def _update_flyer_device_info(self):
flyer_info = self._get_flyer_device_info()
self.get_device_manager().connector.set(
MessageEndpoints.device_info("rt_scan"),
messages.DeviceInfoMessage(device="rt_scan", info=flyer_info).dumps(),
)
def _get_flyer_device_info(self) -> dict:
return {
"device_name": self.name,
"device_attr_name": getattr(self, "attr_name", ""),
"device_dotted_name": getattr(self, "dotted_name", ""),
"device_info": {
"device_base_class": "ophydobject",
"signals": [],
"hints": {"fields": ["average_x_st_fzp", "average_y_st_fzp"]},
"describe": {},
"describe_configuration": {},
"sub_devices": [],
"custom_user_access": [],
},
}
def kickoff(self, metadata):
self.readout_metadata = metadata
while not self._min_scan_buffer_reached:
time.sleep(0.001)
self.start_scan()
time.sleep(0.1)
self.start_readout()
def _get_signals_from_table(self, return_table) -> dict:
self.average_stdeviations_x_st_fzp += float(return_table[5])
self.average_stdeviations_y_st_fzp += float(return_table[8])
self.average_lamni_angle += float(return_table[19])
signals = {
"target_x": {"value": float(return_table[3])},
"average_x_st_fzp": {"value": float(return_table[4])},
"stdev_x_st_fzp": {"value": float(return_table[5])},
"target_y": {"value": float(return_table[6])},
"average_y_st_fzp": {"value": float(return_table[7])},
"stdev_y_st_fzp": {"value": float(return_table[8])},
"average_cap1": {"value": float(return_table[9])},
"stdev_cap1": {"value": float(return_table[10])},
"average_cap2": {"value": float(return_table[11])},
"stdev_cap2": {"value": float(return_table[12])},
"average_cap3": {"value": float(return_table[13])},
"stdev_cap3": {"value": float(return_table[14])},
"average_cap4": {"value": float(return_table[15])},
"stdev_cap4": {"value": float(return_table[16])},
"average_cap5": {"value": float(return_table[17])},
"stdev_cap5": {"value": float(return_table[18])},
"average_angle_interf_ST": {"value": float(return_table[19])},
"stdev_angle_interf_ST": {"value": float(return_table[20])},
"average_stdeviations_x_st_fzp": {
"value": self.average_stdeviations_x_st_fzp / (int(return_table[0]) + 1)
},
"average_stdeviations_y_st_fzp": {
"value": self.average_stdeviations_y_st_fzp / (int(return_table[0]) + 1)
},
"average_lamni_angle": {"value": self.average_lamni_angle / (int(return_table[0]) + 1)},
}
return signals
def read_positions_from_sampler(self):
# this was for reading after the scan completed
number_of_samples_to_read = 1 # self.get_scan_status()[1] #number of valid samples, will be updated upon first data read
read_counter = 0
previous_point_in_scan = 0
self.average_stdeviations_x_st_fzp = 0
self.average_stdeviations_y_st_fzp = 0
self.average_lamni_angle = 0
mode, number_of_positions_planned, current_position_in_scan = self.get_scan_status()
# if not (mode==2 or mode==3):
# error
self.get_device_manager().connector.set(
MessageEndpoints.device_status("rt_scan"),
messages.DeviceStatusMessage(
device="rt_scan", status=1, metadata=self.readout_metadata
).dumps(),
)
# while scan is running
while mode > 0:
# logger.info(f"Current scan position {current_position_in_scan} out of {number_of_positions_planned}")
mode, number_of_positions_planned, current_position_in_scan = self.get_scan_status()
time.sleep(0.01)
if current_position_in_scan > 5:
while current_position_in_scan > read_counter + 1:
return_table = (self.socket_put_and_receive(f"r{read_counter}")).split(",")
# logger.info(f"{return_table}")
logger.info(f"Read {read_counter} out of {number_of_positions_planned}")
read_counter = read_counter + 1
signals = self._get_signals_from_table(return_table)
self.publish_device_data(signals=signals, point_id=int(return_table[0]))
time.sleep(0.05)
# read the last samples even though scan is finished already
while number_of_positions_planned > read_counter:
return_table = (self.socket_put_and_receive(f"r{read_counter}")).split(",")
logger.info(f"Read {read_counter} out of {number_of_positions_planned}")
# logger.info(f"{return_table}")
read_counter = read_counter + 1
signals = self._get_signals_from_table(return_table)
self.publish_device_data(signals=signals, point_id=int(return_table[0]))
self.get_device_manager().connector.set(
MessageEndpoints.device_status("rt_scan"),
messages.DeviceStatusMessage(
device="rt_scan", status=0, metadata=self.readout_metadata
).dumps(),
)
logger.info(
f"LamNI 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}, angle {self.average_lamni_angle/number_of_samples_to_read}."
)
def publish_device_data(self, signals, point_id):
self.get_device_manager().connector.set_and_publish(
MessageEndpoints.device_read("rt_lamni"),
messages.DeviceMessage(
signals=signals, metadata={"point_id": point_id, **self.readout_metadata}
).dumps(),
)
def feedback_status_angle_lamni(self) -> bool:
return_table = (self.socket_put_and_receive(f"J7")).split(",")
logger.debug(
f"LamNI angle interferomter status {bool(return_table[0])}, position {float(return_table[1])}, signal {float(return_table[2])}"
)
return bool(return_table[0])
def feedback_enable_with_reset(self):
if not self.feedback_status_angle_lamni():
self.feedback_disable_and_even_reset_lamni_angle_interferometer()
logger.info(f"LamNI resetting interferometer inclusive angular interferomter.")
else:
self.feedback_disable()
logger.info(
f"LamNI resetting interferomter except angular interferometer which is already running."
)
# set these as closed loop target position
self.socket_put(f"pa0,0")
self.get_axis_by_name("rtx").user_setpoint.setpoint = 0
self.socket_put(f"pa1,0")
self.get_axis_by_name("rty").user_setpoint.setpoint = 0
self.socket_put(
f"pa2,0"
) # we set all three outputs of the traj. gen. although in LamNI case only 0,1 are used
self.clear_trajectory_generator()
self.get_device_manager().devices.lsamrot.obj.move(0, wait=True)
galil_controller_rt_status = (
self.get_device_manager().devices.lsamx.obj.controller.lgalil_is_air_off_and_orchestra_enabled()
)
if galil_controller_rt_status == 0:
logger.error(
"Cannot enable feedback. The small rotation air is on and/or orchestra disabled by the motor controller."
)
raise RtError(
"Cannot enable feedback. The small rotation air is on and/or orchestra disabled by the motor controller."
)
time.sleep(0.03)
lsamx_user_params = self.get_device_manager().devices.lsamx.user_parameter
if lsamx_user_params is None or lsamx_user_params.get("center") is None:
raise RuntimeError("lsamx center is not defined")
lsamy_user_params = self.get_device_manager().devices.lsamy.user_parameter
if lsamy_user_params is None or lsamy_user_params.get("center") is None:
raise RuntimeError("lsamy center is not defined")
lsamx_center = lsamx_user_params.get("center")
lsamy_center = lsamy_user_params.get("center")
self.get_device_manager().devices.lsamx.obj.move(lsamx_center, wait=True)
self.get_device_manager().devices.lsamy.obj.move(lsamy_center, wait=True)
self.socket_put("J1")
_waitforfeedbackctr = 0
interferometer_feedback_not_running = int((self.socket_put_and_receive("J2")).split(",")[0])
while interferometer_feedback_not_running == 1 and _waitforfeedbackctr < 100:
time.sleep(0.01)
_waitforfeedbackctr = _waitforfeedbackctr + 1
interferometer_feedback_not_running = int(
(self.socket_put_and_receive("J2")).split(",")[0]
)
self.set_device_enabled("lsamx", False)
self.set_device_enabled("lsamy", False)
self.set_device_enabled("loptx", False)
self.set_device_enabled("lopty", False)
self.set_device_enabled("loptz", False)
if interferometer_feedback_not_running == 1:
logger.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."
)
time.sleep(0.01)
# ptychography_alignment_done = 0
def set_device_enabled(self, device_name: str, enabled: bool) -> None:
"""enable / disable a device"""
if device_name not in self.get_device_manager().devices:
logger.warning(
f"Device {device_name} is not configured and cannot be enabled/disabled."
)
return
self.get_device_manager().devices[device_name].read_only = not enabled
class RtSignalBase(SocketSignal):
def __init__(self, signal_name, **kwargs):
self.signal_name = signal_name
super().__init__(**kwargs)
self.controller = self.parent.controller
self.sock = self.parent.controller.sock
class RtSignalRO(RtSignalBase):
def __init__(self, signal_name, **kwargs):
super().__init__(signal_name, **kwargs)
self._metadata["write_access"] = False
def _socket_set(self, val):
raise ReadOnlyError("Read-only signals cannot be set")
class RtReadbackSignal(RtSignalRO):
@retry_once
@threadlocked
def _socket_get(self) -> float:
"""Get command for the readback signal
Returns:
float: Readback value after adjusting for sign and motor resolution.
"""
return_table = (self.controller.socket_put_and_receive(f"J4")).split(",")
print(return_table)
if self.parent.axis_Id_numeric == 0:
readback_index = 2
elif self.parent.axis_Id_numeric == 1:
readback_index = 1
else:
raise RtError("Currently, only two axes are supported.")
current_pos = float(return_table[readback_index])
current_pos *= self.parent.sign
return current_pos
class RtSetpointSignal(RtSignalBase):
setpoint = 0
def _socket_get(self) -> float:
"""Get command for receiving the setpoint / target value.
The value is not pulled from the controller but instead just the last setpoint used.
Returns:
float: setpoint / target value
"""
return self.setpoint
@retry_once
@threadlocked
def _socket_set(self, val: float) -> None:
"""Set a new target value / setpoint value. Before submission, the target value is adjusted for the axis' sign.
Furthermore, it is ensured that all axes are referenced before a new setpoint is submitted.
Args:
val (float): Target value / setpoint value
Raises:
RtError: Raised if interferometer feedback is disabled.
"""
interferometer_feedback_not_running = int(
(self.controller.socket_put_and_receive("J2")).split(",")[0]
)
if interferometer_feedback_not_running != 0:
raise RtError(
"The interferometer feedback is not running. Either it is turned off or and interferometer error occured."
)
self.set_with_feedback_disabled(val)
def set_with_feedback_disabled(self, val):
target_val = val * self.parent.sign
self.setpoint = target_val
self.controller.socket_put(f"pa{self.parent.axis_Id_numeric},{target_val:.4f}")
class RtMotorIsMoving(RtSignalRO):
def _socket_get(self):
return self.controller.is_axis_moving(self.parent.axis_Id_numeric)
def get(self):
val = super().get()
if val is not None:
self._run_subs(sub_type=self.SUB_VALUE, value=val, timestamp=time.time())
return val
class RtFeedbackRunning(RtSignalRO):
@threadlocked
def _socket_get(self):
if int((self.controller.socket_put_and_receive("J2")).split(",")[0]) == 0:
return 1
else:
return 0
class RtMotor(Device, PositionerBase):
USER_ACCESS = ["controller"]
readback = Cpt(RtReadbackSignal, signal_name="readback", kind="hinted")
user_setpoint = Cpt(RtSetpointSignal, signal_name="setpoint")
motor_is_moving = Cpt(RtMotorIsMoving, signal_name="motor_is_moving", kind="normal")
high_limit_travel = Cpt(Signal, value=0, kind="omitted")
low_limit_travel = Cpt(Signal, value=0, kind="omitted")
SUB_READBACK = "readback"
SUB_CONNECTION_CHANGE = "connection_change"
_default_sub = SUB_READBACK
def __init__(
self,
axis_Id,
prefix="",
*,
name,
kind=None,
read_attrs=None,
configuration_attrs=None,
parent=None,
host="mpc2680.psi.ch",
port=3333,
sign=1,
socket_cls=SocketIO,
device_manager=None,
limits=None,
**kwargs,
):
self.axis_Id = axis_Id
self.sign = sign
self.controller = RtController(socket=socket_cls(host=host, port=port))
self.controller.set_axis(axis=self, axis_nr=self.axis_Id_numeric)
self.device_manager = device_manager
self.tolerance = kwargs.pop("tolerance", 0.5)
super().__init__(
prefix,
name=name,
kind=kind,
read_attrs=read_attrs,
configuration_attrs=configuration_attrs,
parent=parent,
**kwargs,
)
self.readback.name = self.name
self.controller.subscribe(
self._update_connection_state, event_type=self.SUB_CONNECTION_CHANGE
)
self._update_connection_state()
# self.readback.subscribe(self._forward_readback, event_type=self.readback.SUB_VALUE)
if limits is not None:
assert len(limits) == 2
self.low_limit_travel.put(limits[0])
self.high_limit_travel.put(limits[1])
@property
def limits(self):
return (self.low_limit_travel.get(), self.high_limit_travel.get())
@property
def low_limit(self):
return self.limits[0]
@property
def high_limit(self):
return self.limits[1]
def check_value(self, pos):
"""Check that the position is within the soft limits"""
low_limit, high_limit = self.limits
if low_limit < high_limit and not (low_limit <= pos <= high_limit):
raise LimitError(f"position={pos} not within limits {self.limits}")
def _update_connection_state(self, **kwargs):
for walk in self.walk_signals():
walk.item._metadata["connected"] = self.controller.connected
def _forward_readback(self, **kwargs):
kwargs.pop("sub_type")
self._run_subs(sub_type="readback", **kwargs)
@raise_if_disconnected
def move(self, position, wait=True, **kwargs):
"""Move to a specified position, optionally waiting for motion to
complete.
Parameters
----------
position
Position to move to
moved_cb : callable
Call this callback when movement has finished. This callback must
accept one keyword argument: 'obj' which will be set to this
positioner instance.
timeout : float, optional
Maximum time to wait for the motion. If None, the default timeout
for this positioner is used.
Returns
-------
status : MoveStatus
Raises
------
TimeoutError
When motion takes longer than `timeout`
ValueError
On invalid positions
RuntimeError
If motion fails other than timing out
"""
self._started_moving = False
timeout = kwargs.pop("timeout", 100)
status = super().move(position, timeout=timeout, **kwargs)
self.user_setpoint.put(position, wait=False)
def move_and_finish():
while self.motor_is_moving.get():
print("motor is moving")
val = self.readback.read()
self._run_subs(sub_type=self.SUB_READBACK, value=val, timestamp=time.time())
time.sleep(0.01)
print("Move finished")
self._done_moving()
threading.Thread(target=move_and_finish, daemon=True).start()
try:
if wait:
status_wait(status)
except KeyboardInterrupt:
self.stop()
raise
return status
@property
def axis_Id(self):
return self._axis_Id_alpha
@axis_Id.setter
def axis_Id(self, val):
if isinstance(val, str):
if len(val) != 1:
raise ValueError(f"Only single-character axis_Ids are supported.")
self._axis_Id_alpha = val
self._axis_Id_numeric = ord(val.lower()) - 97
else:
raise TypeError(f"Expected value of type str but received {type(val)}")
@property
def axis_Id_numeric(self):
return self._axis_Id_numeric
@axis_Id_numeric.setter
def axis_Id_numeric(self, val):
if isinstance(val, int):
if val > 26:
raise ValueError(f"Numeric value exceeds supported range.")
self._axis_Id_alpha = val
self._axis_Id_numeric = (chr(val + 97)).capitalize()
else:
raise TypeError(f"Expected value of type int but received {type(val)}")
def kickoff(self, metadata, **kwargs) -> None:
self.controller.kickoff(metadata)
@property
def egu(self):
"""The engineering units (EGU) for positions"""
return "um"
# how is this used later?
def stage(self) -> List[object]:
return super().stage()
def unstage(self) -> List[object]:
return super().unstage()
def stop(self, *, success=False):
self.controller.stop_all_axes()
return super().stop(success=success)
if __name__ == "__main__":
logging.basicConfig(level=logging.DEBUG)
mock = False
if not mock:
rty = RtLamniMotor("B", name="rty", host="mpc2680.psi.ch", port=3333, sign=1)
rty.stage()
status = rty.move(0, wait=True)
status = rty.move(10, wait=True)
rty.read()
rty.get()
rty.describe()
rty.unstage()
else:
from ophyd_devices.utils.socket import SocketMock
rtx = RtLamniMotor("A", name="rtx", host="mpc2680.psi.ch", port=3333, socket_cls=SocketMock)
rty = RtLamniMotor("B", name="rty", host="mpc2680.psi.ch", port=3333, socket_cls=SocketMock)
rtx.stage()
# rty.stage()

0
ophyd_devices/sls_devices/cSAXS/__init__.py
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9
ophyd_devices/sls_devices/cSAXS/xeye.py
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@ -1,9 +0,0 @@
from ophyd import Component as Cpt
from ophyd import Device, EpicsSignal
class Xeye(Device):
save_frame = Cpt(EpicsSignal, "XOMNY-XEYE-SAVEFRAME:0")
acquisition_done = Cpt(EpicsSignal, "XOMNY-XEYE-ACQDONE:0")
acquisition = Cpt(EpicsSignal, "XOMNY-XEYE-ACQ:0")
x_width = Cpt(EpicsSignal, "XOMNY-XEYE-XWIDTH_X:0")

2
ophyd_devices/smaract/__init__.py
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@ -1,2 +0,0 @@
from .smaract_controller import SmaractController
from .smaract_ophyd import SmaractMotor

45
ophyd_devices/smaract/serializer.py
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@ -1,45 +0,0 @@
import json
from ophyd import Component as Cpt
from ophyd import Device, PositionerBase, Signal
from ophyd.ophydobj import OphydObject
from ophyd_devices.utils.socket import SocketMock
def get_user_functions(obj) -> list:
exclude_list = ["log", "SUB_CONNECTION_CHANGE"]
exclude_classes = [Device, OphydObject, PositionerBase, Signal, Cpt]
for cls in exclude_classes:
exclude_list.extend(dir(cls))
access_list = [
func for func in dir(obj) if not func.startswith("_") and func not in exclude_list
]
return access_list
def is_serializable(f) -> bool:
try:
json.dumps(f)
return True
except (TypeError, OverflowError):
return False
def get_user_interface(obj, obj_interface):
# user_funcs = get_user_functions(obj)
for f in [f for f in dir(obj) if f in obj.USER_ACCESS]:
if f == "controller" or f == "on":
print(f)
m = getattr(obj, f)
if not callable(m):
if is_serializable(m):
obj_interface[f] = {"type": type(m).__name__}
elif isinstance(m, SocketMock):
pass
else:
obj_interface[f] = get_user_interface(m, {})
else:
obj_interface[f] = {"type": "func"}
return obj_interface

507
ophyd_devices/smaract/smaract_controller.py
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@ -1,507 +0,0 @@
import enum
import functools
import json
import logging
import os
import time
import numpy as np
from prettytable import PrettyTable
from typeguard import typechecked
from ophyd_devices.smaract.smaract_errors import SmaractCommunicationError, SmaractErrorCode
from ophyd_devices.utils.controller import Controller, axis_checked, threadlocked
logger = logging.getLogger("smaract_controller")
class SmaractCommunicationMode(enum.Enum):
SYNC = 0
ASYNC = 1
def retry_once(fcn):
"""Decorator to rerun a function in case a SmaractCommunicationError was raised. This may happen if the buffer was not empty."""
@functools.wraps(fcn)
def wrapper(self, *args, **kwargs):
try:
val = fcn(self, *args, **kwargs)
except (SmaractCommunicationError, SmaractErrorCode):
val = fcn(self, *args, **kwargs)
return val
return wrapper
class SmaractChannelStatus(enum.Enum):
STOPPED = 0
STEPPING = 1
SCANNING = 2
HOLDING = 3
TARGETING = 4
MOVE_DELAY = 5
CALIBRATING = 6
FINDING_REFERENCE_MARK = 7
LOCKED = 9
class SmaractSensorDefinition:
def __init__(self, symbol, type_code, positioner_series, comment, reference_type) -> None:
self.symbol = symbol
self.type_code = type_code
self.comment = comment
self.positioner_series = positioner_series
self.reference_type = reference_type
class SmaractSensors:
smaract_sensor_definition_file = os.path.join(
os.path.dirname(os.path.abspath(__file__)), "smaract_sensors.json"
)
def __init__(self) -> None:
self.avail_sensors = {}
with open(self.smaract_sensor_definition_file) as json_file:
sensor_list = json.load(json_file)
for sensor in sensor_list:
self.avail_sensors[sensor["type_code"]] = SmaractSensorDefinition(**sensor)
class SmaractController(Controller):
_axes_per_controller = 6
_initialized = False
USER_ACCESS = [
"socket_put_and_receive",
"smaract_show_all",
"move_open_loop_steps",
"find_reference_mark",
"describe",
"axis_is_referenced",
"all_axes_referenced",
]
def __init__(
self,
*,
name="SmaractController",
kind=None,
parent=None,
socket_cls=None,
socket_host=None,
socket_port=None,
attr_name="",
labels=None,
):
if not self._initialized:
super().__init__(
name=name,
socket_cls=socket_cls,
socket_host=socket_host,
socket_port=socket_port,
attr_name=attr_name,
parent=parent,
labels=labels,
kind=kind,
)
self._sensors = SmaractSensors()
@threadlocked
def socket_put(self, val: str):
self.sock.put(f":{val}\n".encode())
@threadlocked
def socket_get(self):
return self.sock.receive().decode()
@threadlocked
def socket_put_and_receive(
self, val: str, remove_trailing_chars=True, check_for_errors=True, raise_if_not_status=False
) -> str:
self.socket_put(val)
return_val = ""
max_wait_time = 1
elapsed_time = 0
sleep_time = 0.01
while True:
ret = self.socket_get()
return_val += ret
if ret.endswith("\n"):
break
time.sleep(sleep_time)
elapsed_time += sleep_time
if elapsed_time > max_wait_time:
break
if remove_trailing_chars:
return_val = self._remove_trailing_characters(return_val)
logger.debug(f"Sending {val}; Returned {return_val}")
if check_for_errors:
self._check_for_error(return_val, raise_if_not_status=raise_if_not_status)
return return_val
@retry_once
@axis_checked
def get_status(self, axis_Id_numeric: int) -> SmaractChannelStatus:
"""Returns the current movement status code of a positioner or end effector.This command can be used to check whether a previously issued movement command has been completed.
Args:
axis_Id_numeric (int): Axis number
Returns:
SmaractChannelStatus: Channel status
"""
return_val = self.socket_put_and_receive(f"GS{axis_Id_numeric}")
if self._message_starts_with(return_val, f":S{axis_Id_numeric}"):
return SmaractChannelStatus(int(return_val.split(",")[1]))
@retry_once
@axis_checked
def is_axis_moving(self, axis_Id_numeric: int) -> bool:
"""Check if axis is moving. Returns true upon open loop move, scanning, closed loop move or reference mark search.
Args:
axis_Id_numeric (int): Axis number.
Returns:
bool: True if axis is moving.
"""
axis_status = self.get_status(axis_Id_numeric)
return axis_status in [
SmaractChannelStatus.STEPPING,
SmaractChannelStatus.SCANNING,
SmaractChannelStatus.TARGETING,
SmaractChannelStatus.FINDING_REFERENCE_MARK,
]
@retry_once
def stop_all_axes(self):
return [
self.socket_put_and_receive(f"S{ax.axis_Id_numeric}", raise_if_not_status=True)
for ax in self._axis
if ax is not None
]
@retry_once
@axis_checked
def axis_is_referenced(self, axis_Id_numeric: int) -> bool:
return_val = self.socket_put_and_receive(f"GPPK{axis_Id_numeric}")
if self._message_starts_with(return_val, f":PPK{axis_Id_numeric}"):
return bool(int(return_val.split(",")[1]))
def all_axes_referenced(self) -> bool:
return all(
self.axis_is_referenced(ax.axis_Id_numeric) for ax in self._axis if ax is not None
)
@retry_once
@axis_checked
def get_position(self, axis_Id_numeric: int) -> float:
"""Returns the current position of a positioner.
Args:
axis_Id_numeric (int): Axis number.
Returns:
float: Position in mm
"""
return_val = self.socket_put_and_receive(f"GP{axis_Id_numeric}")
if self._message_starts_with(return_val, f":P{axis_Id_numeric}"):
return float(return_val.split(",")[1]) / 1e6
@retry_once
@axis_checked
@typechecked
def move_axis_to_absolute_position(
self, axis_Id_numeric: int, target_val: float, hold_time: int = 1000
) -> None:
"""Instructs a positioner to move to a specific position.
Args:
axis_Id_numeric (int): Axis number.
target_val (float): Target position in mm.
hold_time (int, optional): Specifies how long (in milliseconds) the position is actively held after reaching the target. The valid range is 0..60,000. A 0 deactivates this feature, a value of 60,000 is infinite (until manually stopped, see S command). Defaults to 1000.
"""
self.socket_put_and_receive(
f"MPA{axis_Id_numeric},{int(np.round(target_val*1e6))},{hold_time}",
raise_if_not_status=True,
)
@retry_once
@axis_checked
@typechecked
def move_axis_to_relative_position(
self, axis_Id_numeric: int, target_val: float, hold_time: int = 1000
) -> None:
"""Instructs a positioner to move to a position relative to its current position.
Args:
axis_Id_numeric (int): Axis number.
target_val (float): Relative position to move to in mm.
hold_time (int, optional): Specifies how long (in milliseconds) the position is actively held after reaching the target. The valid range is 0..60,000. A 0 deactivates this feature, a value of 60,000 is infinite (until manually stopped, see S command). Defaults to 1000.
"""
self.socket_put_and_receive(
f"MPR{axis_Id_numeric},{int(np.round(target_val*1e6))},{hold_time}",
raise_if_not_status=True,
)
@retry_once
@axis_checked
@typechecked
def move_open_loop_steps(
self, axis_Id_numeric: int, steps: int, amplitude: int = 4000, frequency: int = 2000
) -> None:
"""Move open loop steps. It performs a burst of steps with the given parameters.
Args:
axis_Id_numeric (int): Axis number.
steps (int): Number and direction of steps to perform. The valid range is -30,000..30,000. A value of 0 stops the positioner, but see S command. A value of 30,000 or -30,000 performs an unbounded move. This should be used with caution since the positioner will only stop on an S command.
amplitude (int): Amplitude that the steps are performed with. Lower amplitude values result in a smaller step width. The parameter must be given as a 12bit value (range 0..4,095). 0 corresponds to 0V, 4,095 to 100V. Default: 4000
frequency (int): Frequency in Hz that the steps are performed with. The valid range is 1..18,500. Default: 2000.
"""
self.socket_put_and_receive(
f"MST{axis_Id_numeric},{steps},{amplitude},{frequency}", raise_if_not_status=True
)
@retry_once
def get_communication_mode(self) -> SmaractCommunicationMode:
return_val = self.socket_put_and_receive("GCM")
if self._message_starts_with(return_val, f":CM"):
return SmaractCommunicationMode(int(return_val.strip(":CM")))
@retry_once
@axis_checked
def get_channel_type(self, axis_Id_numeric) -> str:
return_val = self.socket_put_and_receive(f"GCT{axis_Id_numeric}")
if self._message_starts_with(return_val, f":CT{axis_Id_numeric}"):
return return_val.split(",")[1]
@retry_once
def get_interface_version(self) -> str:
"""This command may be used to retrieve the interface version of the system. It is useful to check if changes
have been made to the software interface. An application may check the version in order to ensure that the
system behaves as the application expects it to do.
Returns:
str: interface version
"""
return_val = self.socket_put_and_receive("GIV")
if self._message_starts_with(return_val, f":IV"):
return return_val.strip(":IV")
@retry_once
def get_number_of_channels(self) -> int:
"""This command may be used to determine how many control channels are available on a system. This
includes positioner channels and end effector channels. Each channel is of a specific type. Use the GCT
command to determine the types of the channels.
Note that the number of channels does not represent the number positioners and/or end effectors that are
currently connected to the system.
The channel indexes throughout the interface are zero based. If your system has N channels then the valid
range for a channel index is 0.. N-1.
Returns:
int: number of channels
"""
return_val = self.socket_put_and_receive("GNC")
if self._message_starts_with(return_val, f":N"):
return int(return_val.strip(":N"))
@retry_once
def get_system_id(self) -> str:
"""This command may be used to physically identify a system connected to the PC. Each system has a unique
ID which makes it possible to distinguish one from another.
The ID returned is a generic decimal number that uniquely identifies the system.
"""
return_val = self.socket_put_and_receive("GSI")
if self._message_starts_with(return_val, f":ID"):
return return_val.strip(":ID")
@retry_once
def reset(self) -> None:
"""When this command is sent the system will perform a reset. It has the same effect as a power down/power
up cycle. The system replies with an acknowledge string before resetting itself.
"""
self.socket_put_and_receive("R", raise_if_not_status=True)
@retry_once
def set_hcm_mode(self, mode: int):
"""If a Hand Control Module (HCM) is connected to the system, this command may be used to enable or
disable it in order to avoid interference while the software is in control of the system. There are three possible
modes to set:
0: In this mode the Hand Control Module is disabled. It may not be used to control positioners.
1: This is the default setting where the Hand Control Module may be used to control the positioners.
2: In this mode the Hand Control Module cannot be used to control the positioners. However, if there
are positioners with sensors attached, their position data will still be displayed.
Args:
mode (int): HCM mode
"""
if mode not in range(3):
raise ValueError(f"HCM mode must be 0, 1 or 2. Received: {mode}.")
self.socket_put_and_receive(f"SHE{mode}", raise_if_not_status=True)
@retry_once
@axis_checked
def get_position_limits(self, axis_Id_numeric: int) -> list:
"""May be used to read out the travel range limit that is currently
configured for a linear channel.
Args:
axis_Id_numeric (int): Axis
Returns:
list: [low_limit, high_limit] in mm
"""
return_val = self.socket_put_and_receive(f"GPL{axis_Id_numeric}")
if self._message_starts_with(return_val, f":GPL{axis_Id_numeric}"):
return [
float(limit) / 1e6
for limit in return_val.strip(f":GPL{axis_Id_numeric},").split(",")
]
@retry_once
@axis_checked
def set_position_limits(
self, axis_Id_numeric: int, low_limit: float, high_limit: float
) -> None:
"""For positioners with integrated sensors this command may be used to limit the travel range of a linear
positioner by software. By default there is no limit set. If defined the
positioner will not move beyond the limit. This affects open-loop as well as closed-loop movements.
Args:
axis_Id_numeric (int): Axis
low_limit (float): low limit in mm
high_limit (float): high limit in mm
"""
self.socket_put_and_receive(
f"SPL{axis_Id_numeric},{np.round(low_limit*1e6)},{np.round(high_limit*1e6)}",
raise_if_not_status=True,
)
@retry_once
@axis_checked
def get_sensor_type(self, axis_Id_numeric: int) -> SmaractSensorDefinition:
return_val = self.socket_put_and_receive(f"GST{axis_Id_numeric}")
if self._message_starts_with(return_val, f":ST{axis_Id_numeric}"):
return self._sensors.avail_sensors.get(int(return_val.strip(f":ST{axis_Id_numeric},")))
@retry_once
@axis_checked
def find_reference_mark(
self, axis_Id_numeric: int, direction: int, holdTime: int, autoZero: int
) -> None:
return_val = self.socket_put_and_receive(
f"FRM{axis_Id_numeric},{direction},{holdTime},{autoZero}"
)
@retry_once
@axis_checked
def set_closed_loop_move_speed(self, axis_Id_numeric: int, move_speed: float) -> None:
"""This command configures the speed control feature of a channel for closed-loop commands move_axis_to_absolute_position. By default the speed control is inactive. In this state the behavior of closed-loop commands is influenced by the maximum driving frequency. If a movement speed is configured, all following closed-loop commands will be executed with the new speed.
Args:
axis_Id_numeric (int): Axis number.
move_speed (float): Movement speed given in mm/s for linear positioners. The valid range is 0 .. 100. A value of 0 (default) deactivates the speed control feature.
"""
move_speed_in_nm_per_s = int(round(move_speed * 1e6))
if move_speed_in_nm_per_s > 100e6 or move_speed_in_nm_per_s < 0:
raise ValueError("Move speed must be within 0 to 100 mm/s.")
self.socket_put_and_receive(
f"SCLS{axis_Id_numeric},{move_speed_in_nm_per_s}", raise_if_not_status=True
)
@retry_once
@axis_checked
def get_closed_loop_move_speed(self, axis_Id_numeric: int) -> float:
"""Returns the currently configured movement speed that is used for closed-loop commands for a channel.
Args:
axis_Id_numeric (int): Axis number.
Returns:
float: move speed in mm/s. A return value of 0 means that the speed control feature is disabled.
"""
return_val = self.socket_put_and_receive(f"GCLS{axis_Id_numeric}")
if self._message_starts_with(return_val, f":CLS{axis_Id_numeric}"):
return float(return_val.strip(f":CLS{axis_Id_numeric},")) * 1e6
def describe(self) -> None:
t = PrettyTable()
t.title = f"{self.__class__.__name__} on {self.sock.host}:{self.sock.port}"
t.field_names = ["Axis", "Name", "Connected", "Referenced", "Closed Loop Speed", "Position"]
for ax in range(self._axes_per_controller):
axis = self._axis[ax]
if axis is not None:
t.add_row(
[
f"{axis.axis_Id_numeric}/{axis.axis_Id}",
axis.name,
axis.connected,
self.axis_is_referenced(axis.axis_Id_numeric),
self.get_closed_loop_move_speed(axis.axis_Id_numeric),
axis.readback.read().get(axis.name).get("value"),
]
)
else:
t.add_row([None for t in t.field_names])
print(t)
@axis_checked
def _error_str(self, axis_Id_numeric: int, error_number: int):
return f":E{axis_Id_numeric},{error_number}"
def _get_error_code_from_msg(self, msg: str) -> int:
if msg.startswith(":E"):
return int(msg.split(",")[-1])
else:
return -1
def _get_axis_from_error_code(self, msg: str) -> int:
if msg.startswith(":E"):
try:
return int(msg.strip(":E").split(",")[0])
except ValueError:
return None
else:
return None
def _check_for_error(self, msg: str, axis_Id_numeric: int = None, raise_if_not_status=False):
if msg.startswith(":E"):
if axis_Id_numeric is None:
axis_Id_numeric = self._get_axis_from_error_code(msg)
if axis_Id_numeric is None:
raise SmaractCommunicationError(
"Could not retrieve axis number from error message."
)
if msg != self._error_str(axis_Id_numeric, 0):
error_code = self._get_error_code_from_msg(msg)
if error_code != 0:
raise SmaractErrorCode(error_code)
else:
if raise_if_not_status:
raise SmaractCommunicationError(
"Expected error / status message but failed to parse it."
)
def _remove_trailing_characters(self, var: str) -> str:
if len(var) > 1:
return var.split("\n")[0]
return var
def _message_starts_with(self, msg: str, leading_chars: str) -> bool:
if msg.startswith(leading_chars):
return True
raise SmaractCommunicationError(
f"Expected to receive a return message starting with {leading_chars} but instead"
f" received '{msg}'"
)

47
ophyd_devices/smaract/smaract_errors.py
View File

@ -1,47 +0,0 @@
SMARACT_ERRORS = {
1: "Syntax Error: The command could not be processed due to a syntactical error.",
2: "Invalid Command Error: The command given is not known to the system.",
3: "Overflow Error: This error occurs if a parameter given is too large and therefore cannot be processed.",
4: "Parse Error: The command could not be processed due to a parse error.",
5: "Too Few Parameters Error: The specified command requires more parameters in order to be executed.",
6: "Too Many Parameters Error: There were too many parameters given for the specified command.",
7: "Invalid Parameter Error: A parameter given exceeds the valid range. Please see the command description for valid ranges of the parameters.",
8: "Wrong Mode Error: This error is generated if the specified command is not available in the current communication mode. For example, the SRC command is not executable in synchronous mode.",
129: "No Sensor Present Error: This error occurs if a command was given that requires sensor feedback, but the addressed positioner has none attached.",
140: "Sensor Disabled Error: This error occurs if a command was given that requires sensor feedback, but the sensor of the addressed positioner is disabled (see SSE command).",
141: "Command Overridden Error: This error is only generated in the asynchronous communication mode. When the software commands a movement which is then interrupted by the Hand Control Module, an error of this type is generated.",
142: "End Stop Reached Error: This error is generated in asynchronous mode if the target position of a closed-loop command could not be reached, because a mechanical end stop was detected. After this error the positioner will have a movement status code of 0 (stopped).",
143: "Wrong Sensor Type Error: This error occurs if a closed-loop command does not match the sensor type that is currently configured for the addressed channel. For example, issuing a GP command while the targeted channel is configured as rotary will lead to this error.",
144: "Could Not Find Reference Mark Error: This error is generated in asynchronous mode (see SCM) if the search for a reference mark was aborted.",
145: "Wrong End Effector Type Error: This error occurs if a command does not match the end effector type that is currently configured for the addressed channel. For example, sending GF while the targeted channel is configured for a gripper will lead to this error.",
146: "Movement Locked Error: This error occurs if a movement command is issued while the system is in the locked state. ",
147: "Range Limit Reached Error: If a range limit is defined (SPL or SAL) and the positioner is about to move beyond this limit, then the positioner will stop and report this error (only in asynchronous mode, see SCM). After this error the positioner will have status code of 0 (stopped).",
148: "Physical Position Unknown Error: A range limit is only allowed to be defined if the positioner “knows” its physical position. If this is not the case, the commands SPL and SAL will return this error code.",
150: "Command Not Processable Error: This error is generated if a command is sent to a channel when it is in a state where the command cannot be processed. For example, to change the sensor type of a channel the addressed channel must be completely stopped. In this case send a stop command before changing the type.",
151: "Waiting For Trigger Error: If there is at least one command queued in the command queue then you may only append more commands (if the queue is not full), but you may not issue movement commands for immediate execution. Doing so will generate this error. See section 2.4.5 “Command Queues“.",
152: "Command Not Triggerable Error: After sending a ATC command you are required to issue a movement command that is to be triggered by the given event source. Commands that cannot be triggered will generate this error.",
153: "Command Queue Full Error: This error is generated if you attempt to append more commands to the command queue, but the queue cannot hold anymore commands. The queue capacity may be read out with a get channel property command (GCP on p.30).",
154: "Invalid Component Error: Indicates that a component (e.g. SCP) was selected that does not exist.",
155: "Invalid Sub Component Error: Indicates that a sub component (e.g. SCP) was selected that does not exist.",
156: "Invalid Property Error: Indicates that a property (e.g. SCP) was selected that does not exist.",
157: "Permission Denied Error: This error is generated when you call a functionality which is not unlocked for the system (e.g. Low Vibration Mode).",
}
class SmaractError(Exception):
pass
class SmaractCommunicationError(SmaractError):
pass
class SmaractErrorCode(SmaractError):
def __init__(self, error_code: int, message=""):
self.error_code = error_code
self.error_code_message = SMARACT_ERRORS.get(error_code, "UNKNOWN ERROR")
self.message = message
super().__init__(self.message)
def __str__(self):
return f"{self.error_code} / {self.error_code_message}. {self.message}"

321
ophyd_devices/smaract/smaract_ophyd.py
View File

@ -1,321 +0,0 @@
import logging
import threading
import time
import numpy as np
from bec_lib import bec_logger
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 ophyd_devices.smaract.smaract_controller import SmaractController
from ophyd_devices.smaract.smaract_errors import SmaractCommunicationError, SmaractError
from ophyd_devices.utils.controller import threadlocked
from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
logger = bec_logger.logger
class SmaractSignalBase(SocketSignal):
def __init__(self, signal_name, **kwargs):
self.signal_name = signal_name
super().__init__(**kwargs)
self.controller = self.parent.controller
self.sock = self.parent.controller.sock
class SmaractSignalRO(SmaractSignalBase):
def __init__(self, signal_name, **kwargs):
super().__init__(signal_name, **kwargs)
self._metadata["write_access"] = False
@threadlocked
def _socket_set(self, val):
raise ReadOnlyError("Read-only signals cannot be set")
class SmaractReadbackSignal(SmaractSignalRO):
@threadlocked
def _socket_get(self):
return self.controller.get_position(self.parent.axis_Id_numeric) * self.parent.sign
class SmaractSetpointSignal(SmaractSignalBase):
setpoint = 0
@threadlocked
def _socket_get(self):
return self.setpoint
@threadlocked
def _socket_set(self, val):
target_val = val * self.parent.sign
self.setpoint = target_val
if self.controller.axis_is_referenced(self.parent.axis_Id_numeric):
self.controller.move_axis_to_absolute_position(self.parent.axis_Id_numeric, target_val)
# parameters are axis_no,pos_mm*1e6, hold_time_sec*1e3
else:
raise SmaractError(f"Axis {self.parent.axis_Id_numeric} is not referenced.")
class SmaractMotorIsMoving(SmaractSignalRO):
@threadlocked
def _socket_get(self):
return self.controller.is_axis_moving(self.parent.axis_Id_numeric)
class SmaractAxisReferenced(SmaractSignalRO):
@threadlocked
def _socket_get(self):
return self.parent.controller.axis_is_referenced(self.parent.axis_Id_numeric)
class SmaractAxisLimits(SmaractSignalBase):
@threadlocked
def _socket_get(self):
limits_msg = self.controller.socket_put_and_receive(f"GPL{self.parent.axis_Id_numeric}")
if limits_msg.startswith(":PL"):
limits = [
float(limit)
for limit in limits_msg.strip(f":PL{self.parent.axis_Id_numeric},").split(",")
]
else:
raise SmaractCommunicationError("Expected to receive message starting with :PL.")
return limits
# def _socket_set(self, val):
class SmaractMotor(Device, PositionerBase):
USER_ACCESS = ["controller"]
readback = Cpt(SmaractReadbackSignal, signal_name="readback", kind="hinted")
user_setpoint = Cpt(SmaractSetpointSignal, signal_name="setpoint")
# motor_resolution = Cpt(
# SmaractMotorResolution, signal_name="resolution", kind="config"
# )
motor_is_moving = Cpt(SmaractMotorIsMoving, signal_name="motor_is_moving", kind="normal")
high_limit_travel = Cpt(Signal, value=0, kind="omitted")
low_limit_travel = Cpt(Signal, value=0, kind="omitted")
# all_axes_referenced = Cpt(
# SmaractAxesReferenced, signal_name="all_axes_referenced", kind="config"
# )
SUB_READBACK = "readback"
SUB_CONNECTION_CHANGE = "connection_change"
_default_sub = SUB_READBACK
def __init__(
self,
axis_Id,
prefix="",
*,
name,
kind=None,
read_attrs=None,
configuration_attrs=None,
parent=None,
host="mpc2680.psi.ch",
port=8085,
limits=None,
sign=1,
socket_cls=SocketIO,
**kwargs,
):
self.controller = SmaractController(
socket_cls=socket_cls, socket_host=host, socket_port=port
)
self.axis_Id = axis_Id
self.sign = sign
self.controller.set_axis(axis=self, axis_nr=self.axis_Id_numeric)
self.tolerance = kwargs.pop("tolerance", 0.5)
super().__init__(
prefix,
name=name,
kind=kind,
read_attrs=read_attrs,
configuration_attrs=configuration_attrs,
parent=parent,
**kwargs,
)
self.readback.name = self.name
self.controller.subscribe(
self._update_connection_state, event_type=self.SUB_CONNECTION_CHANGE
)
self._update_connection_state()
if limits is not None:
assert len(limits) == 2
self.low_limit_travel.put(limits[0])
self.high_limit_travel.put(limits[1])
@property
def limits(self):
return (self.low_limit_travel.get(), self.high_limit_travel.get())
@property
def low_limit(self):
return self.limits[0]
@property
def high_limit(self):
return self.limits[1]
def check_value(self, pos):
"""Check that the position is within the soft limits"""
low_limit, high_limit = self.limits
if low_limit < high_limit and not (low_limit <= pos <= high_limit):
raise LimitError(f"position={pos} not within limits {self.limits}")
def _update_connection_state(self, **kwargs):
for walk in self.walk_signals():
walk.item._metadata["connected"] = self.controller.connected
@raise_if_disconnected
def move(self, position, wait=True, **kwargs):
"""Move to a specified position, optionally waiting for motion to
complete.
Parameters
----------
position
Position to move to
moved_cb : callable
Call this callback when movement has finished. This callback must
accept one keyword argument: 'obj' which will be set to this
positioner instance.
timeout : float, optional
Maximum time to wait for the motion. If None, the default timeout
for this positioner is used.
Returns
-------
status : MoveStatus
Raises
------
TimeoutError
When motion takes longer than `timeout`
ValueError
On invalid positions
RuntimeError
If motion fails other than timing out
"""
self._started_moving = False
timeout = kwargs.pop("timeout", 4)
status = super().move(position, timeout=timeout, **kwargs)
self.user_setpoint.put(position, wait=False)
def move_and_finish():
while self.motor_is_moving.get():
val = self.readback.read()
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)
self._done_moving(success=success)
threading.Thread(target=move_and_finish, daemon=True).start()
try:
if wait:
status_wait(status)
except KeyboardInterrupt:
self.stop()
raise
return status
@property
def axis_Id(self):
return self._axis_Id_alpha
@axis_Id.setter
def axis_Id(self, val):
if isinstance(val, str):
if len(val) != 1:
raise ValueError(f"Only single-character axis_Ids are supported.")
self._axis_Id_alpha = val
self._axis_Id_numeric = ord(val.lower()) - 97
else:
raise TypeError(f"Expected value of type str but received {type(val)}")
@property
def axis_Id_numeric(self):
return self._axis_Id_numeric
@axis_Id_numeric.setter
def axis_Id_numeric(self, val):
if isinstance(val, int):
if val > 26:
raise ValueError(f"Numeric value exceeds supported range.")
self._axis_Id_alpha = val
self._axis_Id_numeric = (chr(val + 97)).capitalize()
else:
raise TypeError(f"Expected value of type int but received {type(val)}")
@property
def egu(self):
"""The engineering units (EGU) for positions"""
return "mm"
def stage(self) -> list[object]:
return super().stage()
def unstage(self) -> list[object]:
return super().unstage()
def stop(self, *, success=False):
self.controller.stop_all_axes()
return super().stop(success=success)
if __name__ == "__main__":
logging.basicConfig(level=logging.DEBUG)
mock = False
if not mock:
lsmarA = SmaractMotor("A", name="lsmarA", host="mpc2680.psi.ch", port=8085, sign=1)
lsmarB = SmaractMotor("B", name="lsmarB", host="mpc2680.psi.ch", port=8085, sign=1)
lsmarA.stage()
lsmarB.stage()
# status = leyey.move(2, wait=True)
# status = leyey.move(2, wait=True)
lsmarA.read()
lsmarB.read()
lsmarA.get()
lsmarB.get()
lsmarA.describe()
lsmarA.unstage()
lsmarA.controller.off()
# status = leyey.move(10, wait=False)
# print(lSmaract_controller)
else:
from ophyd_devices.utils.socket import SocketMock
lsmarA = SmaractMotor(
"A", name="lsmarA", host="mpc2680.psi.ch", port=8085, sign=1, socket_cls=SocketMock
)
lsmarB = SmaractMotor(
"B", name="lsmarB", host="mpc2680.psi.ch", port=8085, sign=1, socket_cls=SocketMock
)
lsmarA.stage()
lsmarB.stage()
lsmarA.read()
lsmarB.read()
lsmarA.get()
lsmarB.get()
lsmarA.describe()
lsmarA.unstage()
lsmarA.controller.off()
# status = leyey.move(10, wait=False)
# print(lSmaract_controller)

303
ophyd_devices/smaract/smaract_sensors.json
View File

@ -1,303 +0,0 @@
[
{
"symbol": "S",
"type_code": 1,
"positioner_series": "SLCxxxxs",
"comment": "linear positioner with nano sensor",
"reference_type": "mark"
},
{
"symbol": "SR",
"type_code": 2,
"positioner_series": "SR36xxs, SR3511s, SR5714s, SR7021s, SR2812s, SR7012s, SR4513s, SR5018s",
"comment": "rotary positioner with nano sensor",
"reference_type": "mark"
},
{
"symbol": "SP",
"type_code": 5,
"positioner_series": "SLCxxxxrs",
"comment": "linear positioner with nano sensor, large actuator",
"reference_type": "mark"
},
{
"symbol": "SC",
"type_code": 6,
"positioner_series": "SLCxxxxsc",
"comment": "linear positioner with nano sensor, distance coded reference marks",
"reference_type": "mark*"
},
{
"symbol": "SR20",
"type_code": 8,
"positioner_series": "SR2013s, SR1612s",
"comment": "rotary positioner with nano sensor",
"reference_type": "mark"
},
{
"symbol": "M",
"type_code": 9,
"positioner_series": "SLCxxxxm",
"comment": "linear positioner with micro sensor",
"reference_type": "end stop"
},
{
"symbol": "GD",
"type_code": 11,
"positioner_series": "SGO60.5m",
"comment": "goniometer with micro sensor (60.5mm radius)",
"reference_type": "end stop"
},
{
"symbol": "GE",
"type_code": 12,
"positioner_series": "SGO77.5m",
"comment": "goniometer with micro sensor (77.5mm radius)",
"reference_type": "end stop"
},
{
"symbol": "GF",
"type_code": 14,
"positioner_series": "SR1209m",
"comment": "rotary positioner with micro sensor",
"reference_type": "end stop"
},
{
"symbol": "G605S",
"type_code": 16,
"positioner_series": "SGO60.5s",
"comment": "goniometer with nano sensor (60.5mm radius)",
"reference_type": "mark"
},
{
"symbol": "G775S",
"type_code": 17,
"positioner_series": "SGO77.5s",
"comment": "goniometer with nano sensor (77.5mm radius)",
"reference_type": "mark"
},
{
"symbol": "SC500",
"type_code": 18,
"positioner_series": "SLLxxsc",
"comment": "linear positioner with nano sensor, distance coded reference marks",
"reference_type": "mark*"
},
{
"symbol": "G955S",
"type_code": 19,
"positioner_series": "SGO95.5s",
"comment": "goniometer with nano sensor (95.5mm radius)",
"reference_type": "mark"
},
{
"symbol": "SR77",
"type_code": 20,
"positioner_series": "SR77xxs",
"comment": "rotary positioner with nano sensor",
"reference_type": "mark"
},
{
"symbol": "SD",
"type_code": 21,
"positioner_series": "SLCxxxxds, SLLxxs",
"comment": "like S, but with extended scanning Range",
"reference_type": "mark"
},
{
"symbol": "R20ME",
"type_code": 22,
"positioner_series": "SR2013sx, SR1410sx",
"comment": "rotary positioner with MicroE sensor",
"reference_type": "mark"
},
{
"symbol": "SR2",
"type_code": 23,
"positioner_series": "SR36xxs, SR3511s, SR5714s, SR7021s, SR2812s",
"comment": "like SR, for high applied masses",
"reference_type": "mark"
},
{
"symbol": "SCD",
"type_code": 24,
"positioner_series": "SLCxxxxdsc",
"comment": "like SP, but with distance coded reference marks",
"reference_type": "mark*"
},
{
"symbol": "SRC",
"type_code": 25,
"positioner_series": "SR7021sc",
"comment": "like SR, but with distance coded reference marks",
"reference_type": "mark*"
},
{
"symbol": "SR36M",
"type_code": 26,
"positioner_series": "SR3610m",
"comment": "rotary positioner, no end stops",
"reference_type": "none"
},
{
"symbol": "SR36ME",
"type_code": 27,
"positioner_series": "SR3610m",
"comment": "rotary positioner with end stops",
"reference_type": "end stop"
},
{
"symbol": "SR50M",
"type_code": 28,
"positioner_series": "SR5018m",
"comment": "rotary positioner, no end stops",
"reference_type": "none"
},
{
"symbol": "SR50ME",
"type_code": 29,
"positioner_series": "SR5018m",
"comment": "rotary positioner with end stops",
"reference_type": "end stop"
},
{
"symbol": "G1045S",
"type_code": 30,
"positioner_series": "SGO104.5s",
"comment": "goniometer with nano sensor (104.5mm radius)",
"reference_type": "mark"
},
{
"symbol": "G1395S",
"type_code": 31,
"positioner_series": "SGO139.5s",
"comment": "goniometer with nano sensor (139.5mm radius)",
"reference_type": "mark"
},
{
"symbol": "MD",
"type_code": 32,
"positioner_series": "SLCxxxxdme",
"comment": "like M, but with large actuator",
"reference_type": "end stop"
},
{
"symbol": "G935M",
"type_code": 33,
"positioner_series": "SGO93.5me",
"comment": "goniometer with micro sensor (93.5mm radius)",
"reference_type": "end stop"
},
{
"symbol": "SHL20",
"type_code": 34,
"positioner_series": "SHL-20",
"comment": "high load vertical positioner",
"reference_type": "mark"
},
{
"symbol": "SCT",
"type_code": 35,
"positioner_series": "SLCxxxxscu",
"comment": "like SCD, but with even larger actuator",
"reference_type": "mark*"
},
{
"symbol": "SR77T",
"type_code": 36,
"positioner_series": "SR7021s",
"comment": "like SR77, but with larger actuator",
"reference_type": "mark"
},
{
"symbol": "SR120",
"type_code": 37,
"positioner_series": "SR120xxs",
"comment": "large rotary positioner",
"reference_type": "mark"
},
{
"symbol": "LC",
"type_code": 38,
"positioner_series": "SLCxxxxl",
"comment": "linear positioner with improved micro sensor",
"reference_type": "mark*"
},
{
"symbol": "LR",
"type_code": 39,
"positioner_series": "SRxxxxl",
"comment": "rotary positioner with improved micro sensor",
"reference_type": "mark"
},
{
"symbol": "LCD",
"type_code": 40,
"positioner_series": "SLCxxxxdl",
"comment": "like LC, but with large actuator",
"reference_type": "mark*"
},
{
"symbol": "L",
"type_code": 41,
"positioner_series": "SLCxxxxl",
"comment": "linear positioner with improved micro sensor",
"reference_type": "mark"
},
{
"symbol": "LD",
"type_code": 42,
"positioner_series": "SLCxxxxdl",
"comment": "like L, but with large actuator",
"reference_type": "mark"
},
{
"symbol": "LE",
"type_code": 43,
"positioner_series": "SLCxxxxl",
"comment": "Linear positioner with improved micro sensor",
"reference_type": "end stop"
},
{
"symbol": "LED",
"type_code": 44,
"positioner_series": "SLCxxxxdl",
"comment": "Like L, but with large actuator",
"reference_type": "end stop"
},
{
"symbol": "GDD",
"type_code": 45,
"positioner_series": "SGO60.5md",
"comment": "goniometer with micro sensor (60.5mm radius), large actuator",
"reference_type": "end stop"
},
{
"symbol": "GED",
"type_code": 46,
"positioner_series": "SGO77.5md",
"comment": "goniometer with micro sensor (77.5mm radius), large actuator",
"reference_type": "end stop"
},
{
"symbol": "G935S",
"type_code": 47,
"positioner_series": "SGO96.5s",
"comment": "goniometer with nano sensor (93.5mm radius)",
"reference_type": "mark"
},
{
"symbol": "G605DS",
"type_code": 48,
"positioner_series": "SGO60.5ds",
"comment": "goniometer with nano sensor (60.5mm radius), large actuator",
"reference_type": "mark"
},
{
"symbol": "G775DS",
"type_code": 49,
"positioner_series": "SGO77.5ds",
"comment": "goniometer with nano sensor (77.5mm radius), large actuator",
"reference_type": "mark"
}
]

96
tests/utils.py → ophyd_devices/tests/utils.py
View File

@ -234,99 +234,3 @@ class MockPV:
use_monitor=use_monitor,
)
return data["value"] if data is not None else None
class DeviceMock:
"""Device Mock. Used for testing in combination with the DeviceManagerMock
Args:
name (str): name of the device
value (float, optional): initial value of the device. Defaults to 0.0.
Returns:
DeviceMock: DeviceMock object
"""
def __init__(self, name: str, value: float = 0.0):
self.name = name
self.read_buffer = value
self._config = {"deviceConfig": {"limits": [-50, 50]}, "userParameter": None}
self._read_only = False
self._enabled = True
def read(self):
"""Read method for DeviceMock"""
return {self.name: {"value": self.read_buffer}}
def readback(self):
"""Readback method for DeviceMock"""
return self.read_buffer
@property
def read_only(self) -> bool:
"""read only property"""
return self._read_only
@read_only.setter
def read_only(self, val: bool):
"""read only setter"""
self._read_only = val
@property
def enabled(self) -> bool:
"""enabled property"""
return self._enabled
@enabled.setter
def enabled(self, val: bool):
"""enabled setter"""
self._enabled = val
@property
def user_parameter(self):
"""user_parameter property"""
return self._config["userParameter"]
@property
def obj(self):
"""obj property"""
return self
class DMMock:
"""Mock for DeviceManager
The mocked DeviceManager creates a device containert and a connector.
"""
def __init__(self):
self.devices = DeviceContainer()
self.connector = ConnectorMock()
def add_device(self, name: str, value: float = 0.0):
"""Add device to the DeviceManagerMock"""
self.devices[name] = DeviceMock(name, value)
# #TODO check what is the difference to SynSignal!
# class MockSignal(Signal):
# """Can mock an OphydSignal"""
# def __init__(self, read_pv, *, string=False, name=None, parent=None, **kwargs):
# self.read_pv = read_pv
# self._string = bool(string)
# super().__init__(name=name, parent=parent, **kwargs)
# self._waited_for_connection = False
# self._subscriptions = []
# def wait_for_connection(self):
# self._waited_for_connection = True
# def subscribe(self, method, event_type, **kw):
# self._subscriptions.append((method, event_type, kw))
# def describe_configuration(self):
# return {self.name + "_conf": {"source": "SIM:test"}}
# def read_configuration(self):
# return {self.name + "_conf": {"value": 0}}

1
ophyd_devices/utils/socket.py
View File

@ -1,6 +1,5 @@
import abc
import functools
import logging
import socket
import time
import typing

22
pyproject.toml
View File

@ -13,17 +13,17 @@ classifiers = [
"Topic :: Scientific/Engineering",
]
dependencies = [
"ophyd~=1.9",
"typeguard~=4.0",
"prettytable~=3.9",
"bec_lib~=2.0",
"numpy~=1.24",
"pyyaml~=6.0",
"std_daq_client~=1.3",
"pyepics~=3.5",
"pytest~=8.0",
"h5py~=3.10",
"hdf5plugin~=4.3",
"ophyd ~= 1.9, <= 1.9.5",
"typeguard ~= 4.0",
"prettytable ~= 3.9",
"bec_lib ~= 2.0",
"numpy ~= 1.24",
"pyyaml ~= 6.0",
"std_daq_client ~= 1.3",
"pyepics ~= 3.5",
"pytest ~= 8.0",
"h5py ~= 3.10",
"hdf5plugin ~= 4.3",
]
[project.optional-dependencies]

298
tests/test_delay_generator_csaxs.py
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@ -1,298 +0,0 @@
# pylint: skip-file
from unittest import mock
import pytest
from ophyd_devices.epics.devices.delay_generator_csaxs import DDGSetup
from ophyd_devices.epics.devices.psi_delay_generator_base import TriggerSource
def patch_dual_pvs(device):
for walk in device.walk_signals():
if not hasattr(walk.item, "_read_pv"):
continue
if not hasattr(walk.item, "_write_pv"):
continue
if walk.item._read_pv.pvname.endswith("_RBV"):
walk.item._read_pv = walk.item._write_pv
@pytest.fixture(scope="function")
def mock_DDGSetup():
mock_ddg = mock.MagicMock()
yield DDGSetup(parent=mock_ddg)
# Fixture for scaninfo
@pytest.fixture(
params=[
{
"scan_id": "1234",
"scan_type": "step",
"num_points": 500,
"frames_per_trigger": 1,
"exp_time": 0.1,
"readout_time": 0.1,
},
{
"scan_id": "1234",
"scan_type": "step",
"num_points": 500,
"frames_per_trigger": 5,
"exp_time": 0.01,
"readout_time": 0,
},
{
"scan_id": "1234",
"scan_type": "fly",
"num_points": 500,
"frames_per_trigger": 1,
"exp_time": 1,
"readout_time": 0.2,
},
{
"scan_id": "1234",
"scan_type": "fly",
"num_points": 500,
"frames_per_trigger": 5,
"exp_time": 0.1,
"readout_time": 0.4,
},
]
)
def scaninfo(request):
return request.param
# Fixture for DDG config default values
@pytest.fixture(
params=[
{
"delay_burst": 0.0,
"delta_width": 0.0,
"additional_triggers": 0,
"polarity": [0, 0, 0, 0, 0],
"amplitude": 0.0,
"offset": 0.0,
"thres_trig_level": 0.0,
},
{
"delay_burst": 0.1,
"delta_width": 0.1,
"additional_triggers": 1,
"polarity": [0, 0, 1, 0, 0],
"amplitude": 5,
"offset": 0.0,
"thres_trig_level": 2.5,
},
]
)
def ddg_config_defaults(request):
return request.param
# Fixture for DDG config scan values
@pytest.fixture(
params=[
{
"fixed_ttl_width": [0, 0, 0, 0, 0],
"trigger_width": None,
"set_high_on_exposure": False,
"set_high_on_stage": False,
"set_trigger_source": "SINGLE_SHOT",
"premove_trigger": False,
},
{
"fixed_ttl_width": [0, 0, 0, 0, 0],
"trigger_width": 0.1,
"set_high_on_exposure": True,
"set_high_on_stage": False,
"set_trigger_source": "SINGLE_SHOT",
"premove_trigger": True,
},
{
"fixed_ttl_width": [0, 0, 0, 0, 0],
"trigger_width": 0.1,
"set_high_on_exposure": False,
"set_high_on_stage": False,
"set_trigger_source": "EXT_RISING_EDGE",
"premove_trigger": False,
},
]
)
def ddg_config_scan(request):
return request.param
# Fixture for delay pairs
@pytest.fixture(
params=[
{"all_channels": ["channelAB", "channelCD"], "all_delay_pairs": ["AB", "CD"]},
{"all_channels": [], "all_delay_pairs": []},
{"all_channels": ["channelT0", "channelAB", "channelCD"], "all_delay_pairs": ["AB", "CD"]},
]
)
def channel_pairs(request):
return request.param
def test_check_scan_id(mock_DDGSetup, scaninfo, ddg_config_defaults, ddg_config_scan):
"""Test the check_scan_id method."""
# Set first attributes of parent class
for k, v in scaninfo.items():
setattr(mock_DDGSetup.parent.scaninfo, k, v)
for k, v in ddg_config_defaults.items():
getattr(mock_DDGSetup.parent, k).get.return_value = v
for k, v in ddg_config_scan.items():
getattr(mock_DDGSetup.parent, k).get.return_value = v
# Call the function you want to test
mock_DDGSetup.check_scan_id()
mock_DDGSetup.parent.scaninfo.load_scan_metadata.assert_called_once()
def test_on_pre_scan(mock_DDGSetup, scaninfo, ddg_config_defaults, ddg_config_scan):
"""Test the check_scan_id method."""
# Set first attributes of parent class
for k, v in scaninfo.items():
setattr(mock_DDGSetup.parent.scaninfo, k, v)
for k, v in ddg_config_defaults.items():
getattr(mock_DDGSetup.parent, k).get.return_value = v
for k, v in ddg_config_scan.items():
getattr(mock_DDGSetup.parent, k).get.return_value = v
# Call the function you want to test
mock_DDGSetup.on_pre_scan()
if ddg_config_scan["premove_trigger"]:
mock_DDGSetup.parent.trigger_shot.put.assert_called_once_with(1)
@pytest.mark.parametrize("source", ["SINGLE_SHOT", "EXT_RISING_EDGE"])
def test_on_trigger(mock_DDGSetup, scaninfo, ddg_config_defaults, ddg_config_scan, source):
"""Test the on_trigger method."""
# Set first attributes of parent class
for k, v in scaninfo.items():
setattr(mock_DDGSetup.parent.scaninfo, k, v)
for k, v in ddg_config_defaults.items():
getattr(mock_DDGSetup.parent, k).get.return_value = v
for k, v in ddg_config_scan.items():
getattr(mock_DDGSetup.parent, k).get.return_value = v
# Call the function you want to test
mock_DDGSetup.parent.source.name = "source"
mock_DDGSetup.parent.source.read.return_value = {
mock_DDGSetup.parent.source.name: {"value": getattr(TriggerSource, source)}
}
mock_DDGSetup.on_trigger()
if source == "SINGLE_SHOT":
mock_DDGSetup.parent.trigger_shot.put.assert_called_once_with(1)
def test_initialize_default_parameter(
mock_DDGSetup, scaninfo, ddg_config_defaults, ddg_config_scan, channel_pairs
):
"""Test the initialize_default_parameter method."""
# Set first attributes of parent class
for k, v in scaninfo.items():
setattr(mock_DDGSetup.parent.scaninfo, k, v)
for k, v in ddg_config_defaults.items():
getattr(mock_DDGSetup.parent, k).get.return_value = v
for k, v in ddg_config_scan.items():
getattr(mock_DDGSetup.parent, k).get.return_value = v
# Call the function you want to test
mock_DDGSetup.parent.all_channels = channel_pairs["all_channels"]
mock_DDGSetup.parent.all_delay_pairs = channel_pairs["all_delay_pairs"]
calls = []
calls.extend(
[
mock.call("polarity", ddg_config_defaults["polarity"][ii], [channel])
for ii, channel in enumerate(channel_pairs["all_channels"])
]
)
calls.extend([mock.call("amplitude", ddg_config_defaults["amplitude"])])
calls.extend([mock.call("offset", ddg_config_defaults["offset"])])
calls.extend(
[
mock.call(
"reference", 0, [f"channel{pair}.ch1" for pair in channel_pairs["all_delay_pairs"]]
)
]
)
calls.extend(
[
mock.call(
"reference", 0, [f"channel{pair}.ch2" for pair in channel_pairs["all_delay_pairs"]]
)
]
)
mock_DDGSetup.initialize_default_parameter()
mock_DDGSetup.parent.set_channels.assert_has_calls(calls)
def test_prepare_ddg(mock_DDGSetup, scaninfo, ddg_config_defaults, ddg_config_scan, channel_pairs):
"""Test the prepare_ddg method."""
# Set first attributes of parent class
for k, v in scaninfo.items():
setattr(mock_DDGSetup.parent.scaninfo, k, v)
for k, v in ddg_config_defaults.items():
getattr(mock_DDGSetup.parent, k).get.return_value = v
for k, v in ddg_config_scan.items():
getattr(mock_DDGSetup.parent, k).get.return_value = v
# Call the function you want to test
mock_DDGSetup.parent.all_channels = channel_pairs["all_channels"]
mock_DDGSetup.parent.all_delay_pairs = channel_pairs["all_delay_pairs"]
mock_DDGSetup.prepare_ddg()
mock_DDGSetup.parent.set_trigger.assert_called_once_with(
getattr(TriggerSource, ddg_config_scan["set_trigger_source"])
)
if scaninfo["scan_type"] == "step":
if ddg_config_scan["set_high_on_exposure"]:
num_burst_cycle = 1 + ddg_config_defaults["additional_triggers"]
exp_time = ddg_config_defaults["delta_width"] + scaninfo["frames_per_trigger"] * (
scaninfo["exp_time"] + scaninfo["readout_time"]
)
total_exposure = exp_time
delay_burst = ddg_config_defaults["delay_burst"]
else:
exp_time = ddg_config_defaults["delta_width"] + scaninfo["exp_time"]
total_exposure = exp_time + scaninfo["readout_time"]
delay_burst = ddg_config_defaults["delay_burst"]
num_burst_cycle = (
scaninfo["frames_per_trigger"] + ddg_config_defaults["additional_triggers"]
)
elif scaninfo["scan_type"] == "fly":
if ddg_config_scan["set_high_on_exposure"]:
num_burst_cycle = 1 + ddg_config_defaults["additional_triggers"]
exp_time = (
ddg_config_defaults["delta_width"]
+ scaninfo["num_points"] * scaninfo["exp_time"]
+ (scaninfo["num_points"] - 1) * scaninfo["readout_time"]
)
total_exposure = exp_time
delay_burst = ddg_config_defaults["delay_burst"]
else:
exp_time = ddg_config_defaults["delta_width"] + scaninfo["exp_time"]
total_exposure = exp_time + scaninfo["readout_time"]
delay_burst = ddg_config_defaults["delay_burst"]
num_burst_cycle = scaninfo["num_points"] + ddg_config_defaults["additional_triggers"]
# mock_DDGSetup.parent.burst_enable.assert_called_once_with(
# mock.call(num_burst_cycle, delay_burst, total_exposure, config="first")
# )
mock_DDGSetup.parent.burst_enable.assert_called_once_with(
num_burst_cycle, delay_burst, total_exposure, config="first"
)
if not ddg_config_scan["trigger_width"]:
call = mock.call("width", exp_time)
assert call in mock_DDGSetup.parent.set_channels.mock_calls
else:
call = mock.call("width", ddg_config_scan["trigger_width"])
assert call in mock_DDGSetup.parent.set_channels.mock_calls
if ddg_config_scan["set_high_on_exposure"]:
calls = [
mock.call("width", value, channels=[channel])
for value, channel in zip(
ddg_config_scan["fixed_ttl_width"], channel_pairs["all_channels"]
)
if value != 0
]
if calls:
assert all(calls in mock_DDGSetup.parent.set_channels.mock_calls)

2
tests/test_dynamic_pseudo.py
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@ -1,9 +1,9 @@
from unittest import mock
import pytest
from bec_server.device_server.tests.utils import DMMock
from ophyd_devices.utils.dynamic_pseudo import ComputedSignal
from tests.utils import DMMock
@pytest.fixture

455
tests/test_eiger9m_csaxs.py
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@ -1,455 +0,0 @@
# pylint: skip-file
import threading
from unittest import mock
import ophyd
import pytest
from bec_lib import MessageEndpoints, messages
from ophyd_devices.epics.devices.eiger9m_csaxs import Eiger9McSAXS
from tests.utils import DMMock, MockPV
def patch_dual_pvs(device):
for walk in device.walk_signals():
if not hasattr(walk.item, "_read_pv"):
continue
if not hasattr(walk.item, "_write_pv"):
continue
if walk.item._read_pv.pvname.endswith("_RBV"):
walk.item._read_pv = walk.item._write_pv
@pytest.fixture(scope="function")
def mock_det():
name = "eiger"
prefix = "X12SA-ES-EIGER9M:"
sim_mode = False
dm = DMMock()
with mock.patch.object(dm, "connector"):
with (
mock.patch("ophyd_devices.epics.devices.psi_detector_base.FileWriter"),
mock.patch(
"ophyd_devices.epics.devices.psi_detector_base.PSIDetectorBase._update_service_config"
),
):
with mock.patch.object(ophyd, "cl") as mock_cl:
mock_cl.get_pv = MockPV
mock_cl.thread_class = threading.Thread
with mock.patch.object(Eiger9McSAXS, "_init"):
det = Eiger9McSAXS(
name=name, prefix=prefix, device_manager=dm, sim_mode=sim_mode
)
patch_dual_pvs(det)
yield det
def test_init():
"""Test the _init function:"""
name = "eiger"
prefix = "X12SA-ES-EIGER9M:"
sim_mode = False
dm = DMMock()
with mock.patch.object(dm, "connector"):
with (
mock.patch("ophyd_devices.epics.devices.psi_detector_base.FileWriter"),
mock.patch(
"ophyd_devices.epics.devices.psi_detector_base.PSIDetectorBase._update_service_config"
),
):
with mock.patch.object(ophyd, "cl") as mock_cl:
mock_cl.get_pv = MockPV
with (
mock.patch(
"ophyd_devices.epics.devices.eiger9m_csaxs.Eiger9MSetup.initialize_default_parameter"
) as mock_default,
mock.patch(
"ophyd_devices.epics.devices.eiger9m_csaxs.Eiger9MSetup.initialize_detector"
) as mock_init_det,
mock.patch(
"ophyd_devices.epics.devices.eiger9m_csaxs.Eiger9MSetup.initialize_detector_backend"
) as mock_init_backend,
):
Eiger9McSAXS(name=name, prefix=prefix, device_manager=dm, sim_mode=sim_mode)
mock_default.assert_called_once()
mock_init_det.assert_called_once()
mock_init_backend.assert_called_once()
@pytest.mark.parametrize(
"trigger_source, detector_state, expected_exception", [(2, 1, True), (2, 0, False)]
)
def test_initialize_detector(mock_det, trigger_source, detector_state, expected_exception):
"""Test the _init function:
This includes testing the functions:
- _init_detector
- _stop_det
- _set_trigger
--> Testing the filewriter is done in test_init_filewriter
Validation upon setting the correct PVs
"""
mock_det.cam.detector_state._read_pv.mock_data = detector_state
if expected_exception:
with pytest.raises(Exception):
mock_det.timeout = 0.1
mock_det.custom_prepare.initialize_detector()
else:
mock_det.custom_prepare.initialize_detector() # call the method you want to test
assert mock_det.cam.acquire.get() == 0
assert mock_det.cam.detector_state.get() == detector_state
assert mock_det.cam.trigger_mode.get() == trigger_source
def test_trigger(mock_det):
"""Test the trigger function:
Validate that trigger calls the custom_prepare.on_trigger() function
"""
with mock.patch.object(mock_det.custom_prepare, "on_trigger") as mock_on_trigger:
mock_det.trigger()
mock_on_trigger.assert_called_once()
@pytest.mark.parametrize(
"readout_time, expected_value", [(1e-3, 3e-3), (3e-3, 3e-3), (5e-3, 5e-3), (None, 3e-3)]
)
def test_update_readout_time(mock_det, readout_time, expected_value):
if readout_time is None:
mock_det.custom_prepare.update_readout_time()
assert mock_det.readout_time == expected_value
else:
mock_det.scaninfo.readout_time = readout_time
mock_det.custom_prepare.update_readout_time()
assert mock_det.readout_time == expected_value
@pytest.mark.parametrize(
"eacc, exp_url, daq_status, daq_cfg, expected_exception",
[
("e12345", "http://xbl-daq-29:5000", {"state": "READY"}, {"writer_user_id": 12543}, False),
("e12345", "http://xbl-daq-29:5000", {"state": "READY"}, {"writer_user_id": 15421}, False),
("e12345", "http://xbl-daq-29:5000", {"state": "BUSY"}, {"writer_user_id": 15421}, True),
("e12345", "http://xbl-daq-29:5000", {"state": "READY"}, {"writer_ud": 12345}, True),
],
)
def test_initialize_detector_backend(
mock_det, eacc, exp_url, daq_status, daq_cfg, expected_exception
):
"""Test self.custom_prepare.initialize_detector_backend (std daq in this case)
This includes testing the functions:
- _update_service_config
Validation upon checking set values in mocked std_daq instance
"""
with mock.patch("ophyd_devices.epics.devices.eiger9m_csaxs.StdDaqClient") as mock_std_daq:
instance = mock_std_daq.return_value
instance.stop_writer.return_value = None
instance.get_status.return_value = daq_status
instance.get_config.return_value = daq_cfg
mock_det.scaninfo.username = eacc
# scaninfo.username.return_value = eacc
if expected_exception:
with pytest.raises(Exception):
mock_det.timeout = 0.1
mock_det.custom_prepare.initialize_detector_backend()
else:
mock_det.custom_prepare.initialize_detector_backend()
instance.stop_writer.assert_called_once()
instance.get_status.assert_called()
instance.set_config.assert_called_once_with(daq_cfg)
@pytest.mark.parametrize(
"scaninfo, daq_status, daq_cfg, detector_state, stopped, expected_exception",
[
(
{
"eacc": "e12345",
"num_points": 500,
"frames_per_trigger": 1,
"filepath": "test.h5",
"scan_id": "123",
"mokev": 12.4,
},
{"state": "READY"},
{"writer_user_id": 12543},
5,
False,
False,
),
(
{
"eacc": "e12345",
"num_points": 500,
"frames_per_trigger": 1,
"filepath": "test.h5",
"scan_id": "123",
"mokev": 12.4,
},
{"state": "BUSY"},
{"writer_user_id": 15421},
5,
False,
False,
),
(
{
"eacc": "e12345",
"num_points": 500,
"frames_per_trigger": 1,
"filepath": "test.h5",
"scan_id": "123",
"mokev": 18.4,
},
{"state": "READY"},
{"writer_user_id": 12345},
4,
False,
True,
),
],
)
def test_stage(
mock_det, scaninfo, daq_status, daq_cfg, detector_state, stopped, expected_exception
):
with (
mock.patch.object(mock_det.custom_prepare, "std_client") as mock_std_daq,
mock.patch.object(
mock_det.custom_prepare, "publish_file_location"
) as mock_publish_file_location,
):
mock_std_daq.stop_writer.return_value = None
mock_std_daq.get_status.return_value = daq_status
mock_std_daq.get_config.return_value = daq_cfg
mock_det.scaninfo.num_points = scaninfo["num_points"]
mock_det.scaninfo.frames_per_trigger = scaninfo["frames_per_trigger"]
mock_det.filewriter.compile_full_filename.return_value = scaninfo["filepath"]
# TODO consider putting energy as variable in scaninfo
mock_det.device_manager.add_device("mokev", value=12.4)
mock_det.cam.beam_energy.put(scaninfo["mokev"])
mock_det.stopped = stopped
mock_det.cam.detector_state._read_pv.mock_data = detector_state
with mock.patch.object(mock_det.custom_prepare, "prepare_detector_backend") as mock_prep_fw:
mock_det.filepath = scaninfo["filepath"]
if expected_exception:
with pytest.raises(Exception):
mock_det.timeout = 0.1
mock_det.stage()
else:
mock_det.stage()
mock_prep_fw.assert_called_once()
# Check _prep_det
assert mock_det.cam.num_images.get() == int(
scaninfo["num_points"] * scaninfo["frames_per_trigger"]
)
assert mock_det.cam.num_frames.get() == 1
mock_publish_file_location.assert_called_with(done=False)
assert mock_det.cam.acquire.get() == 1
@pytest.mark.parametrize(
"scaninfo, daq_status, expected_exception",
[
(
{
"eacc": "e12345",
"num_points": 500,
"frames_per_trigger": 1,
"filepath": "test.h5",
"scan_id": "123",
},
{"state": "BUSY", "acquisition": {"state": "WAITING_IMAGES"}},
False,
),
(
{
"eacc": "e12345",
"num_points": 500,
"frames_per_trigger": 1,
"filepath": "test.h5",
"scan_id": "123",
},
{"state": "BUSY", "acquisition": {"state": "WAITING_IMAGES"}},
False,
),
(
{
"eacc": "e12345",
"num_points": 500,
"frames_per_trigger": 1,
"filepath": "test.h5",
"scan_id": "123",
},
{"state": "BUSY", "acquisition": {"state": "ERROR"}},
True,
),
],
)
def test_prepare_detector_backend(mock_det, scaninfo, daq_status, expected_exception):
with (
mock.patch.object(mock_det.custom_prepare, "std_client") as mock_std_daq,
mock.patch.object(mock_det.custom_prepare, "filepath_exists") as mock_file_path_exists,
mock.patch.object(mock_det.custom_prepare, "stop_detector_backend") as mock_stop_backend,
mock.patch.object(mock_det, "scaninfo"),
):
mock_std_daq.start_writer_async.return_value = None
mock_std_daq.get_status.return_value = daq_status
mock_det.filewriter.compile_full_filename.return_value = scaninfo["filepath"]
mock_det.scaninfo.num_points = scaninfo["num_points"]
mock_det.scaninfo.frames_per_trigger = scaninfo["frames_per_trigger"]
if expected_exception:
with pytest.raises(Exception):
mock_det.timeout = 0.1
mock_det.custom_prepare.prepare_data_backend()
mock_file_path_exists.assert_called_once()
assert mock_stop_backend.call_count == 2
else:
mock_det.custom_prepare.prepare_data_backend()
mock_file_path_exists.assert_called_once()
mock_stop_backend.assert_called_once()
daq_writer_call = {
"output_file": scaninfo["filepath"],
"n_images": int(scaninfo["num_points"] * scaninfo["frames_per_trigger"]),
}
mock_std_daq.start_writer_async.assert_called_with(daq_writer_call)
@pytest.mark.parametrize("stopped, expected_exception", [(False, False), (True, True)])
def test_unstage(mock_det, stopped, expected_exception):
with (
mock.patch.object(mock_det.custom_prepare, "finished") as mock_finished,
mock.patch.object(
mock_det.custom_prepare, "publish_file_location"
) as mock_publish_file_location,
):
mock_det.stopped = stopped
if expected_exception:
mock_det.unstage()
assert mock_det.stopped is True
else:
mock_det.unstage()
mock_finished.assert_called_once()
mock_publish_file_location.assert_called_with(done=True, successful=True)
assert mock_det.stopped is False
def test_stop_detector_backend(mock_det):
with mock.patch.object(mock_det.custom_prepare, "std_client") as mock_std_daq:
mock_std_daq.stop_writer.return_value = None
mock_det.std_client = mock_std_daq
mock_det.custom_prepare.stop_detector_backend()
mock_std_daq.stop_writer.assert_called_once()
@pytest.mark.parametrize(
"scaninfo",
[
({"filepath": "test.h5", "successful": True, "done": False, "scan_id": "123"}),
({"filepath": "test.h5", "successful": False, "done": True, "scan_id": "123"}),
({"filepath": "test.h5", "successful": None, "done": True, "scan_id": "123"}),
],
)
def test_publish_file_location(mock_det, scaninfo):
mock_det.scaninfo.scan_id = scaninfo["scan_id"]
mock_det.filepath = scaninfo["filepath"]
mock_det.custom_prepare.publish_file_location(
done=scaninfo["done"], successful=scaninfo["successful"]
)
if scaninfo["successful"] is None:
msg = messages.FileMessage(file_path=scaninfo["filepath"], done=scaninfo["done"])
else:
msg = messages.FileMessage(
file_path=scaninfo["filepath"], done=scaninfo["done"], successful=scaninfo["successful"]
)
expected_calls = [
mock.call(
MessageEndpoints.public_file(scaninfo["scan_id"], mock_det.name),
msg,
pipe=mock_det.connector.pipeline.return_value,
),
mock.call(
MessageEndpoints.file_event(mock_det.name),
msg,
pipe=mock_det.connector.pipeline.return_value,
),
]
assert mock_det.connector.set_and_publish.call_args_list == expected_calls
def test_stop(mock_det):
with (
mock.patch.object(mock_det.custom_prepare, "stop_detector") as mock_stop_det,
mock.patch.object(
mock_det.custom_prepare, "stop_detector_backend"
) as mock_stop_detector_backend,
):
mock_det.stop()
mock_stop_det.assert_called_once()
mock_stop_detector_backend.assert_called_once()
assert mock_det.stopped is True
@pytest.mark.parametrize(
"stopped, scaninfo, cam_state, daq_status, expected_exception",
[
(
False,
{"num_points": 500, "frames_per_trigger": 4},
0,
{"acquisition": {"state": "FINISHED", "stats": {"n_write_completed": 2000}}},
False,
),
(
False,
{"num_points": 500, "frames_per_trigger": 4},
0,
{"acquisition": {"state": "FINISHED", "stats": {"n_write_completed": 1999}}},
True,
),
(
False,
{"num_points": 500, "frames_per_trigger": 1},
1,
{"acquisition": {"state": "READY", "stats": {"n_write_completed": 500}}},
True,
),
(
False,
{"num_points": 500, "frames_per_trigger": 1},
0,
{"acquisition": {"state": "FINISHED", "stats": {"n_write_completed": 500}}},
False,
),
],
)
def test_finished(mock_det, stopped, cam_state, daq_status, scaninfo, expected_exception):
with (
mock.patch.object(mock_det.custom_prepare, "std_client") as mock_std_daq,
mock.patch.object(mock_det.custom_prepare, "stop_detector_backend") as mock_stop_backend,
mock.patch.object(mock_det.custom_prepare, "stop_detector") as mock_stop_det,
):
mock_std_daq.get_status.return_value = daq_status
mock_det.cam.acquire._read_pv.mock_state = cam_state
mock_det.scaninfo.num_points = scaninfo["num_points"]
mock_det.scaninfo.frames_per_trigger = scaninfo["frames_per_trigger"]
if expected_exception:
with pytest.raises(Exception):
mock_det.timeout = 0.1
mock_det.custom_prepare.finished()
assert mock_det.stopped is stopped
else:
mock_det.custom_prepare.finished()
if stopped:
assert mock_det.stopped is stopped
mock_stop_backend.assert_called()
mock_stop_det.assert_called_once()

312
tests/test_falcon_csaxs.py
View File

@ -1,312 +0,0 @@
# pylint: skip-file
import os
import threading
from unittest import mock
import ophyd
import pytest
from bec_lib import MessageEndpoints, messages
from ophyd_devices.epics.devices.falcon_csaxs import FalconcSAXS, FalconTimeoutError
from tests.utils import DMMock, MockPV
def patch_dual_pvs(device):
for walk in device.walk_signals():
if not hasattr(walk.item, "_read_pv"):
continue
if not hasattr(walk.item, "_write_pv"):
continue
if walk.item._read_pv.pvname.endswith("_RBV"):
walk.item._read_pv = walk.item._write_pv
@pytest.fixture(scope="function")
def mock_det():
name = "falcon"
prefix = "X12SA-SITORO:"
sim_mode = False
dm = DMMock()
with mock.patch.object(dm, "connector"):
with (
mock.patch("ophyd_devices.epics.devices.psi_detector_base.FileWriter") as filemixin,
mock.patch(
"ophyd_devices.epics.devices.psi_detector_base.PSIDetectorBase._update_service_config"
) as mock_service_config,
):
with mock.patch.object(ophyd, "cl") as mock_cl:
mock_cl.get_pv = MockPV
mock_cl.thread_class = threading.Thread
with mock.patch.object(FalconcSAXS, "_init"):
det = FalconcSAXS(
name=name, prefix=prefix, device_manager=dm, sim_mode=sim_mode
)
patch_dual_pvs(det)
yield det
@pytest.mark.parametrize(
"trigger_source, mapping_source, ignore_gate, pixels_per_buffer, detector_state,"
" expected_exception",
[(1, 1, 0, 20, 0, False), (1, 1, 0, 20, 1, True)],
)
# TODO rewrite this one, write test for init_detector, init_filewriter is tested
def test_init_detector(
mock_det,
trigger_source,
mapping_source,
ignore_gate,
pixels_per_buffer,
detector_state,
expected_exception,
):
"""Test the _init function:
This includes testing the functions:
- _init_detector
- _stop_det
- _set_trigger
--> Testing the filewriter is done in test_init_filewriter
Validation upon setting the correct PVs
"""
mock_det.value_pixel_per_buffer = pixels_per_buffer
mock_det.state._read_pv.mock_data = detector_state
if expected_exception:
with pytest.raises(FalconTimeoutError):
mock_det.timeout = 0.1
mock_det.custom_prepare.initialize_detector()
else:
mock_det.custom_prepare.initialize_detector()
assert mock_det.state.get() == detector_state
assert mock_det.collect_mode.get() == mapping_source
assert mock_det.pixel_advance_mode.get() == trigger_source
assert mock_det.ignore_gate.get() == ignore_gate
assert mock_det.preset_mode.get() == 1
assert mock_det.erase_all.get() == 1
assert mock_det.input_logic_polarity.get() == 0
assert mock_det.auto_pixels_per_buffer.get() == 0
assert mock_det.pixels_per_buffer.get() == pixels_per_buffer
@pytest.mark.parametrize(
"readout_time, expected_value", [(1e-3, 3e-3), (3e-3, 3e-3), (5e-3, 5e-3), (None, 3e-3)]
)
def test_update_readout_time(mock_det, readout_time, expected_value):
if readout_time is None:
mock_det.custom_prepare.update_readout_time()
assert mock_det.readout_time == expected_value
else:
mock_det.scaninfo.readout_time = readout_time
mock_det.custom_prepare.update_readout_time()
assert mock_det.readout_time == expected_value
def test_initialize_default_parameter(mock_det):
with mock.patch.object(
mock_det.custom_prepare, "update_readout_time"
) as mock_update_readout_time:
mock_det.custom_prepare.initialize_default_parameter()
assert mock_det.value_pixel_per_buffer == 20
mock_update_readout_time.assert_called_once()
@pytest.mark.parametrize(
"scaninfo",
[
(
{
"eacc": "e12345",
"num_points": 500,
"frames_per_trigger": 1,
"exp_time": 0.1,
"filepath": "test.h5",
"scan_id": "123",
"mokev": 12.4,
}
)
],
)
def test_stage(mock_det, scaninfo):
"""Test the stage function:
This includes testing _prep_det
"""
with (
mock.patch.object(mock_det, "set_trigger") as mock_set_trigger,
mock.patch.object(
mock_det.custom_prepare, "prepare_detector_backend"
) as mock_prep_data_backend,
mock.patch.object(
mock_det.custom_prepare, "publish_file_location"
) as mock_publish_file_location,
mock.patch.object(mock_det.custom_prepare, "arm_acquisition") as mock_arm_acquisition,
):
mock_det.scaninfo.exp_time = scaninfo["exp_time"]
mock_det.scaninfo.num_points = scaninfo["num_points"]
mock_det.scaninfo.frames_per_trigger = scaninfo["frames_per_trigger"]
mock_det.stage()
mock_set_trigger.assert_called_once()
assert mock_det.preset_real.get() == scaninfo["exp_time"]
assert mock_det.pixels_per_run.get() == int(
scaninfo["num_points"] * scaninfo["frames_per_trigger"]
)
mock_prep_data_backend.assert_called_once()
mock_publish_file_location.assert_called_once_with(done=False)
mock_arm_acquisition.assert_called_once()
@pytest.mark.parametrize(
"scaninfo",
[
(
{
"filepath": "/das/work/p18/p18533/data/S00000-S00999/S00001/data.h5",
"num_points": 500,
"frames_per_trigger": 1,
}
),
(
{
"filepath": "/das/work/p18/p18533/data/S00000-S00999/S00001/data1234.h5",
"num_points": 500,
"frames_per_trigger": 1,
}
),
],
)
def test_prepare_data_backend(mock_det, scaninfo):
mock_det.filewriter.compile_full_filename.return_value = scaninfo["filepath"]
mock_det.scaninfo.num_points = scaninfo["num_points"]
mock_det.scaninfo.frames_per_trigger = scaninfo["frames_per_trigger"]
mock_det.scaninfo.scan_number = 1
mock_det.custom_prepare.prepare_data_backend()
file_path, file_name = os.path.split(scaninfo["filepath"])
assert mock_det.hdf5.file_path.get() == file_path
assert mock_det.hdf5.file_name.get() == file_name
assert mock_det.hdf5.file_template.get() == "%s%s"
assert mock_det.hdf5.num_capture.get() == int(
scaninfo["num_points"] * scaninfo["frames_per_trigger"]
)
assert mock_det.hdf5.file_write_mode.get() == 2
assert mock_det.hdf5.array_counter.get() == 0
assert mock_det.hdf5.capture.get() == 1
@pytest.mark.parametrize(
"scaninfo",
[
({"filepath": "test.h5", "successful": True, "done": False, "scan_id": "123"}),
({"filepath": "test.h5", "successful": False, "done": True, "scan_id": "123"}),
({"filepath": "test.h5", "successful": None, "done": True, "scan_id": "123"}),
],
)
def test_publish_file_location(mock_det, scaninfo):
mock_det.scaninfo.scan_id = scaninfo["scan_id"]
mock_det.filepath = scaninfo["filepath"]
mock_det.custom_prepare.publish_file_location(
done=scaninfo["done"], successful=scaninfo["successful"]
)
if scaninfo["successful"] is None:
msg = messages.FileMessage(file_path=scaninfo["filepath"], done=scaninfo["done"])
else:
msg = messages.FileMessage(
file_path=scaninfo["filepath"], done=scaninfo["done"], successful=scaninfo["successful"]
)
expected_calls = [
mock.call(
MessageEndpoints.public_file(scaninfo["scan_id"], mock_det.name),
msg,
pipe=mock_det.connector.pipeline.return_value,
),
mock.call(
MessageEndpoints.file_event(mock_det.name),
msg,
pipe=mock_det.connector.pipeline.return_value,
),
]
assert mock_det.connector.set_and_publish.call_args_list == expected_calls
@pytest.mark.parametrize("detector_state, expected_exception", [(1, False), (0, True)])
def test_arm_acquisition(mock_det, detector_state, expected_exception):
with mock.patch.object(mock_det, "stop") as mock_stop:
mock_det.state._read_pv.mock_data = detector_state
if expected_exception:
with pytest.raises(FalconTimeoutError):
mock_det.timeout = 0.1
mock_det.custom_prepare.arm_acquisition()
mock_stop.assert_called_once()
else:
mock_det.custom_prepare.arm_acquisition()
assert mock_det.start_all.get() == 1
def test_trigger(mock_det):
with mock.patch.object(mock_det.custom_prepare, "on_trigger") as mock_on_trigger:
mock_det.trigger()
mock_on_trigger.assert_called_once()
@pytest.mark.parametrize("stopped, expected_abort", [(False, False), (True, True)])
def test_unstage(mock_det, stopped, expected_abort):
with (
mock.patch.object(mock_det.custom_prepare, "finished") as mock_finished,
mock.patch.object(
mock_det.custom_prepare, "publish_file_location"
) as mock_publish_file_location,
):
mock_det.stopped = stopped
if expected_abort:
mock_det.unstage()
assert mock_det.stopped is stopped
assert mock_publish_file_location.call_count == 0
else:
mock_det.unstage()
mock_finished.assert_called_once()
mock_publish_file_location.assert_called_with(done=True, successful=True)
assert mock_det.stopped is stopped
def test_stop(mock_det):
with (
mock.patch.object(mock_det.custom_prepare, "stop_detector") as mock_stop_det,
mock.patch.object(
mock_det.custom_prepare, "stop_detector_backend"
) as mock_stop_detector_backend,
):
mock_det.stop()
mock_stop_det.assert_called_once()
mock_stop_detector_backend.assert_called_once()
assert mock_det.stopped is True
@pytest.mark.parametrize(
"stopped, scaninfo",
[
(False, {"num_points": 500, "frames_per_trigger": 1}),
(True, {"num_points": 500, "frames_per_trigger": 1}),
],
)
def test_finished(mock_det, stopped, scaninfo):
with (
mock.patch.object(mock_det.custom_prepare, "stop_detector") as mock_stop_det,
mock.patch.object(
mock_det.custom_prepare, "stop_detector_backend"
) as mock_stop_file_writer,
):
mock_det.stopped = stopped
mock_det.dxp.current_pixel._read_pv.mock_data = int(
scaninfo["num_points"] * scaninfo["frames_per_trigger"]
)
mock_det.hdf5.array_counter._read_pv.mock_data = int(
scaninfo["num_points"] * scaninfo["frames_per_trigger"]
)
mock_det.scaninfo.frames_per_trigger = scaninfo["frames_per_trigger"]
mock_det.scaninfo.num_points = scaninfo["num_points"]
mock_det.custom_prepare.finished()
assert mock_det.stopped is stopped
mock_stop_det.assert_called_once()
mock_stop_file_writer.assert_called_once()

60
tests/test_fupr_ophyd.py
View File

@ -1,60 +0,0 @@
from unittest import mock
import pytest
from utils import SocketMock
from ophyd_devices.galil.fupr_ophyd import FuprGalilController, FuprGalilMotor
@pytest.fixture
def fsamroy():
FuprGalilController._reset_controller()
fsamroy_motor = FuprGalilMotor(
"A", name="fsamroy", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
)
fsamroy_motor.controller.on()
assert isinstance(fsamroy_motor.controller, FuprGalilController)
yield fsamroy_motor
fsamroy_motor.controller.off()
fsamroy_motor.controller._reset_controller()
@pytest.mark.parametrize(
"pos,msg_received,msg_put,sign",
[
(-0.5, b" -12800\n\r", [b"TPA\r", b"MG_BGA\r", b"TPA\r"], 1),
(-0.5, b" 12800\n\r", [b"TPA\r", b"MG_BGA\r", b"TPA\r"], -1),
],
)
def test_axis_get(fsamroy, pos, msg_received, msg_put, sign):
fsamroy.sign = sign
fsamroy.device_manager = mock.MagicMock()
fsamroy.controller.sock.flush_buffer()
fsamroy.controller.sock.buffer_recv = msg_received
val = fsamroy.read()
assert val["fsamroy"]["value"] == pos
assert fsamroy.readback.get() == pos
assert fsamroy.controller.sock.buffer_put == msg_put
@pytest.mark.parametrize(
"target_pos,socket_put_messages,socket_get_messages",
[
(
0,
[b"MG axisref\r", b"PAA=0\r", b"PAA=0\r", b"BGA\r"],
[b"1.00", b"-1", b":", b":", b":", b":", b"-1"],
)
],
)
def test_axis_put(fsamroy, target_pos, socket_put_messages, socket_get_messages):
fsamroy.controller.sock.flush_buffer()
fsamroy.controller.sock.buffer_recv = socket_get_messages
fsamroy.user_setpoint.put(target_pos)
assert fsamroy.controller.sock.buffer_put == socket_put_messages
def test_drive_axis_to_limit(fsamroy):
fsamroy.controller.sock.flush_buffer()
with pytest.raises(NotImplementedError):
fsamroy.controller.drive_axis_to_limit(0, "forward")

149
tests/test_galil.py
View File

@ -1,149 +0,0 @@
from unittest import mock
import pytest
from utils import SocketMock
from ophyd_devices.galil.galil_ophyd import GalilController, GalilMotor
@pytest.fixture(scope="function")
def leyey():
GalilController._reset_controller()
leyey_motor = GalilMotor(
"H", name="leyey", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
)
leyey_motor.controller.on()
yield leyey_motor
leyey_motor.controller.off()
leyey_motor.controller._reset_controller()
@pytest.fixture(scope="function")
def leyex():
GalilController._reset_controller()
leyex_motor = GalilMotor(
"A", name="leyey", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
)
leyex_motor.controller.on()
yield leyex_motor
leyex_motor.controller.off()
leyex_motor.controller._reset_controller()
@pytest.mark.parametrize("pos,msg,sign", [(1, b" -12800\n\r", 1), (-1, b" -12800\n\r", -1)])
def test_axis_get(leyey, pos, msg, sign):
leyey.sign = sign
leyey.controller.sock.flush_buffer()
leyey.controller.sock.buffer_recv = msg
val = leyey.read()
assert val["leyey"]["value"] == pos
assert leyey.readback.get() == pos
@pytest.mark.parametrize(
"target_pos,socket_put_messages,socket_get_messages",
[
(
0,
[
b"MG allaxref\r",
b"MG_XQ0\r",
b"naxis=7\r",
b"ntarget=0.000\r",
b"movereq=1\r",
b"XQ#NEWPAR\r",
b"MG_XQ0\r",
],
[b"1.00", b"-1", b":", b":", b":", b":", b"-1"],
)
],
)
def test_axis_put(leyey, target_pos, socket_put_messages, socket_get_messages):
leyey.controller.sock.flush_buffer()
leyey.controller.sock.buffer_recv = socket_get_messages
leyey.user_setpoint.put(target_pos)
assert leyey.controller.sock.buffer_put == socket_put_messages
@pytest.mark.parametrize(
"axis_nr,direction,socket_put_messages,socket_get_messages",
[
(
0,
"forward",
[
b"naxis=0\r",
b"ndir=1\r",
b"XQ#NEWPAR\r",
b"XQ#FES\r",
b"MG_BGA\r",
b"MGbcklact[axis]\r",
b"MG_XQ0\r",
b"MG_XQ2\r",
b"MG _LRA, _LFA\r",
],
[b":", b":", b":", b":", b"0", b"0", b"-1", b"-1", b"1.000 0.000"],
),
(
1,
"reverse",
[
b"naxis=1\r",
b"ndir=-1\r",
b"XQ#NEWPAR\r",
b"XQ#FES\r",
b"MG_BGB\r",
b"MGbcklact[axis]\r",
b"MG_XQ0\r",
b"MG_XQ2\r",
b"MG _LRB, _LFB\r",
],
[b":", b":", b":", b":", b"0", b"0", b"-1", b"-1", b"0.000 1.000"],
),
],
)
def test_drive_axis_to_limit(leyex, axis_nr, direction, socket_put_messages, socket_get_messages):
leyex.controller.sock.flush_buffer()
leyex.controller.sock.buffer_recv = socket_get_messages
leyex.controller.drive_axis_to_limit(axis_nr, direction)
assert leyex.controller.sock.buffer_put == socket_put_messages
@pytest.mark.parametrize(
"axis_nr,socket_put_messages,socket_get_messages",
[
(
0,
[
b"naxis=0\r",
b"XQ#NEWPAR\r",
b"XQ#FRM\r",
b"MG_BGA\r",
b"MGbcklact[axis]\r",
b"MG_XQ0\r",
b"MG_XQ2\r",
b"MG axisref[0]\r",
],
[b":", b":", b":", b"0", b"0", b"-1", b"-1", b"1.00"],
),
(
1,
[
b"naxis=1\r",
b"XQ#NEWPAR\r",
b"XQ#FRM\r",
b"MG_BGB\r",
b"MGbcklact[axis]\r",
b"MG_XQ0\r",
b"MG_XQ2\r",
b"MG axisref[1]\r",
],
[b":", b":", b":", b"0", b"0", b"-1", b"-1", b"1.00"],
),
],
)
def test_find_reference(leyex, axis_nr, socket_put_messages, socket_get_messages):
leyex.controller.sock.flush_buffer()
leyex.controller.sock.buffer_recv = socket_get_messages
leyex.controller.find_reference(axis_nr)
assert leyex.controller.sock.buffer_put == socket_put_messages

172
tests/test_galil_flomni.py
View File

@ -1,172 +0,0 @@
from unittest import mock
import pytest
from utils import SocketMock
from ophyd_devices.galil.fgalil_ophyd import FlomniGalilController, FlomniGalilMotor
@pytest.fixture(scope="function")
def leyey():
FlomniGalilController._reset_controller()
leyey_motor = FlomniGalilMotor(
"H", name="leyey", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
)
leyey_motor.controller.on()
yield leyey_motor
leyey_motor.controller.off()
leyey_motor.controller._reset_controller()
@pytest.fixture(scope="function")
def leyex():
FlomniGalilController._reset_controller()
leyex_motor = FlomniGalilMotor(
"H", name="leyey", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
)
leyex_motor.controller.on()
yield leyex_motor
leyex_motor.controller.off()
leyex_motor.controller._reset_controller()
@pytest.mark.parametrize("pos,msg,sign", [(1, b" -12800\n\r", 1), (-1, b" -12800\n\r", -1)])
def test_axis_get(leyey, pos, msg, sign):
leyey.sign = sign
leyey.controller.sock.flush_buffer()
leyey.controller.sock.buffer_recv = msg
val = leyey.read()
assert val["leyey"]["value"] == pos
assert leyey.readback.get() == pos
@pytest.mark.parametrize(
"target_pos,socket_put_messages,socket_get_messages",
[
(
0,
[
b"MG allaxref\r",
b"MG_XQ0\r",
b"naxis=7\r",
b"ntarget=0.000\r",
b"movereq=1\r",
b"XQ#NEWPAR\r",
b"MG_XQ0\r",
],
[b"1.00", b"-1", b":", b":", b":", b":", b"-1"],
)
],
)
def test_axis_put(leyey, target_pos, socket_put_messages, socket_get_messages):
leyey.controller.sock.flush_buffer()
leyey.controller.sock.buffer_recv = socket_get_messages
leyey.user_setpoint.put(target_pos)
assert leyey.controller.sock.buffer_put == socket_put_messages
@pytest.mark.parametrize(
"axis_nr,direction,socket_put_messages,socket_get_messages",
[
(
0,
"forward",
[
b"naxis=0\r",
b"ndir=1\r",
b"XQ#NEWPAR\r",
b"XQ#FES\r",
b"MG_XQ0\r",
b"MG _MOA\r",
b"MG_XQ0\r",
b"MG _MOA\r",
b"MG _LRA, _LFA\r",
],
[b":", b":", b":", b":", b"0", b"0", b"-1", b"-1", b"1.000 0.000"],
),
(
1,
"reverse",
[
b"naxis=1\r",
b"ndir=-1\r",
b"XQ#NEWPAR\r",
b"XQ#FES\r",
b"MG_XQ0\r",
b"MG _MOB\r",
b"MG_XQ0\r",
b"MG _MOB\r",
b"MG _LRB, _LFB\r",
],
[b":", b":", b":", b":", b"0", b"0", b"-1", b"-1", b"0.000 1.000"],
),
],
)
def test_drive_axis_to_limit(leyex, axis_nr, direction, socket_put_messages, socket_get_messages):
leyex.controller.sock.flush_buffer()
leyex.controller.sock.buffer_recv = socket_get_messages
leyex.controller.drive_axis_to_limit(axis_nr, direction)
assert leyex.controller.sock.buffer_put == socket_put_messages
@pytest.mark.parametrize(
"axis_nr,socket_put_messages,socket_get_messages",
[
(
0,
[
b"naxis=0\r",
b"XQ#NEWPAR\r",
b"XQ#FRM\r",
b"MG_XQ0\r",
b"MG _MOA\r",
b"MG_XQ0\r",
b"MG _MOA\r",
b"MG axisref[0]\r",
],
[b":", b":", b":", b"0", b"0", b"-1", b"-1", b"1.00"],
),
(
1,
[
b"naxis=1\r",
b"XQ#NEWPAR\r",
b"XQ#FRM\r",
b"MG_XQ0\r",
b"MG _MOB\r",
b"MG_XQ0\r",
b"MG _MOB\r",
b"MG axisref[1]\r",
],
[b":", b":", b":", b"0", b"0", b"-1", b"-1", b"1.00"],
),
],
)
def test_find_reference(leyex, axis_nr, socket_put_messages, socket_get_messages):
leyex.controller.sock.flush_buffer()
leyex.controller.sock.buffer_recv = socket_get_messages
leyex.controller.find_reference(axis_nr)
assert leyex.controller.sock.buffer_put == socket_put_messages
@pytest.mark.parametrize(
"axis_Id,socket_put_messages,socket_get_messages,triggered",
[
("A", [b"MG @IN[14]\r"], [b" 1.0000\n"], True),
("B", [b"MG @IN[14]\r"], [b" 0.0000\n"], False),
],
)
def test_fosaz_light_curtain_is_triggered(
axis_Id, socket_put_messages, socket_get_messages, triggered
):
"""test that the light curtain is triggered"""
fosaz = FlomniGalilMotor(
axis_Id, name="fosaz", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
)
fosaz.controller.on()
fosaz.controller.sock.flush_buffer()
fosaz.controller.sock.buffer_recv = socket_get_messages
assert fosaz.controller.fosaz_light_curtain_is_triggered() == triggered
assert fosaz.controller.sock.buffer_put == socket_put_messages
fosaz.controller.off()
fosaz.controller._reset_controller()

331
tests/test_mcs_card.py
View File

@ -1,331 +0,0 @@
# pylint: skip-file
import threading
from unittest import mock
import ophyd
import pytest
from bec_lib import MessageEndpoints, messages
from ophyd_devices.epics.devices.mcs_csaxs import (
MCScSAXS,
MCSError,
MCSTimeoutError,
ReadoutMode,
TriggerSource,
)
from tests.utils import DMMock, MockPV
def patch_dual_pvs(device):
for walk in device.walk_signals():
if not hasattr(walk.item, "_read_pv"):
continue
if not hasattr(walk.item, "_write_pv"):
continue
if walk.item._read_pv.pvname.endswith("_RBV"):
walk.item._read_pv = walk.item._write_pv
@pytest.fixture(scope="function")
def mock_det():
name = "mcs"
prefix = "X12SA-MCS:"
sim_mode = False
dm = DMMock()
with mock.patch.object(dm, "connector"):
with (
mock.patch("ophyd_devices.epics.devices.psi_detector_base.FileWriter") as filemixin,
mock.patch(
"ophyd_devices.epics.devices.psi_detector_base.PSIDetectorBase._update_service_config"
) as mock_service_config,
):
with mock.patch.object(ophyd, "cl") as mock_cl:
mock_cl.get_pv = MockPV
mock_cl.thread_class = threading.Thread
with mock.patch.object(MCScSAXS, "_init"):
det = MCScSAXS(name=name, prefix=prefix, device_manager=dm, sim_mode=sim_mode)
patch_dual_pvs(det)
yield det
def test_init():
"""Test the _init function:"""
name = "eiger"
prefix = "X12SA-ES-EIGER9M:"
sim_mode = False
dm = DMMock()
with mock.patch.object(dm, "connector"):
with (
mock.patch("ophyd_devices.epics.devices.psi_detector_base.FileWriter"),
mock.patch(
"ophyd_devices.epics.devices.psi_detector_base.PSIDetectorBase._update_service_config"
),
):
with mock.patch.object(ophyd, "cl") as mock_cl:
mock_cl.get_pv = MockPV
with (
mock.patch(
"ophyd_devices.epics.devices.mcs_csaxs.MCSSetup.initialize_default_parameter"
) as mock_default,
mock.patch(
"ophyd_devices.epics.devices.mcs_csaxs.MCSSetup.initialize_detector"
) as mock_init_det,
mock.patch(
"ophyd_devices.epics.devices.mcs_csaxs.MCSSetup.initialize_detector_backend"
) as mock_init_backend,
):
MCScSAXS(name=name, prefix=prefix, device_manager=dm, sim_mode=sim_mode)
mock_default.assert_called_once()
mock_init_det.assert_called_once()
mock_init_backend.assert_called_once()
@pytest.mark.parametrize(
"trigger_source, channel_advance, channel_source1, pv_channels",
[
(
3,
1,
0,
{
"user_led": 0,
"mux_output": 5,
"input_pol": 0,
"output_pol": 1,
"count_on_start": 0,
"stop_all": 1,
},
)
],
)
def test_initialize_detector(
mock_det, trigger_source, channel_advance, channel_source1, pv_channels
):
"""Test the _init function:
This includes testing the functions:
- initialize_detector
- stop_det
- parent.set_trigger
--> Testing the filewriter is done in test_init_filewriter
Validation upon setting the correct PVs
"""
mock_det.custom_prepare.initialize_detector() # call the method you want to test
assert mock_det.channel_advance.get() == channel_advance
assert mock_det.channel1_source.get() == channel_source1
assert mock_det.user_led.get() == pv_channels["user_led"]
assert mock_det.mux_output.get() == pv_channels["mux_output"]
assert mock_det.input_polarity.get() == pv_channels["input_pol"]
assert mock_det.output_polarity.get() == pv_channels["output_pol"]
assert mock_det.count_on_start.get() == pv_channels["count_on_start"]
assert mock_det.input_mode.get() == trigger_source
def test_trigger(mock_det):
"""Test the trigger function:
Validate that trigger calls the custom_prepare.on_trigger() function
"""
with mock.patch.object(mock_det.custom_prepare, "on_trigger") as mock_on_trigger:
mock_det.trigger()
mock_on_trigger.assert_called_once()
@pytest.mark.parametrize(
"value, num_lines, num_points, done", [(100, 5, 500, False), (500, 5, 500, True)]
)
def test_progress_update(mock_det, value, num_lines, num_points, done):
mock_det.num_lines.set(num_lines)
mock_det.scaninfo.num_points = num_points
calls = mock.call(sub_type="progress", value=value, max_value=num_points, done=done)
with mock.patch.object(mock_det, "_run_subs") as mock_run_subs:
mock_det.custom_prepare._progress_update(value=value)
mock_run_subs.assert_called_once()
assert mock_run_subs.call_args == calls
@pytest.mark.parametrize(
"values, expected_nothing",
[([[100, 120, 140], [200, 220, 240], [300, 320, 340]], False), ([100, 200, 300], True)],
)
def test_on_mca_data(mock_det, values, expected_nothing):
"""Test the on_mca_data function:
Validate that on_mca_data calls the custom_prepare.on_mca_data() function
"""
with mock.patch.object(mock_det.custom_prepare, "_send_data_to_bec") as mock_send_data:
mock_object = mock.MagicMock()
for ii, name in enumerate(mock_det.custom_prepare.mca_names):
mock_object.attr_name = name
mock_det.custom_prepare._on_mca_data(obj=mock_object, value=values[ii])
if not expected_nothing and ii < (len(values) - 1):
assert mock_det.custom_prepare.mca_data[name] == values[ii]
if not expected_nothing:
mock_send_data.assert_called_once()
assert mock_det.custom_prepare.acquisition_done is True
@pytest.mark.parametrize(
"metadata, mca_data",
[
(
{"scan_id": 123},
{"mca1": [100, 120, 140], "mca3": [200, 220, 240], "mca4": [300, 320, 340]},
)
],
)
def test_send_data_to_bec(mock_det, metadata, mca_data):
mock_det.scaninfo.scan_msg = mock.MagicMock()
mock_det.scaninfo.scan_msg.metadata = metadata
mock_det.scaninfo.scan_id = metadata["scan_id"]
mock_det.custom_prepare.mca_data = mca_data
mock_det.custom_prepare._send_data_to_bec()
device_metadata = mock_det.scaninfo.scan_msg.metadata
metadata.update({"async_update": "append", "num_lines": mock_det.num_lines.get()})
data = messages.DeviceMessage(signals=dict(mca_data), metadata=device_metadata)
calls = mock.call(
topic=MessageEndpoints.device_async_readback(
scan_id=metadata["scan_id"], device=mock_det.name
),
msg={"data": data},
expire=1800,
)
assert mock_det.connector.xadd.call_args == calls
@pytest.mark.parametrize(
"scaninfo, triggersource, stopped, expected_exception",
[
(
{"num_points": 500, "frames_per_trigger": 1, "scan_type": "step"},
TriggerSource.MODE3,
False,
False,
),
(
{"num_points": 500, "frames_per_trigger": 1, "scan_type": "fly"},
TriggerSource.MODE3,
False,
False,
),
(
{"num_points": 5001, "frames_per_trigger": 2, "scan_type": "step"},
TriggerSource.MODE3,
False,
True,
),
(
{"num_points": 500, "frames_per_trigger": 2, "scan_type": "random"},
TriggerSource.MODE3,
False,
True,
),
],
)
def test_stage(mock_det, scaninfo, triggersource, stopped, expected_exception):
mock_det.scaninfo.num_points = scaninfo["num_points"]
mock_det.scaninfo.frames_per_trigger = scaninfo["frames_per_trigger"]
mock_det.scaninfo.scan_type = scaninfo["scan_type"]
mock_det.stopped = stopped
with mock.patch.object(mock_det.custom_prepare, "prepare_detector_backend") as mock_prep_fw:
if expected_exception:
with pytest.raises(MCSError):
mock_det.stage()
mock_prep_fw.assert_called_once()
else:
mock_det.stage()
mock_prep_fw.assert_called_once()
# Check set_trigger
mock_det.input_mode.get() == triggersource
if scaninfo["scan_type"] == "step":
assert mock_det.num_use_all.get() == int(scaninfo["frames_per_trigger"]) * int(
scaninfo["num_points"]
)
elif scaninfo["scan_type"] == "fly":
assert mock_det.num_use_all.get() == int(scaninfo["num_points"])
mock_det.preset_real.get() == 0
# # CHeck custom_prepare.arm_acquisition
# assert mock_det.custom_prepare.counter == 0
# assert mock_det.erase_start.get() == 1
# mock_prep_fw.assert_called_once()
# # Check _prep_det
# assert mock_det.cam.num_images.get() == int(
# scaninfo["num_points"] * scaninfo["frames_per_trigger"]
# )
# assert mock_det.cam.num_frames.get() == 1
# mock_publish_file_location.assert_called_with(done=False)
# assert mock_det.cam.acquire.get() == 1
def test_prepare_detector_backend(mock_det):
mock_det.custom_prepare.prepare_detector_backend()
assert mock_det.erase_all.get() == 1
assert mock_det.read_mode.get() == ReadoutMode.EVENT
@pytest.mark.parametrize("stopped, expected_exception", [(False, False), (True, True)])
def test_unstage(mock_det, stopped, expected_exception):
with (
mock.patch.object(mock_det.custom_prepare, "finished") as mock_finished,
mock.patch.object(
mock_det.custom_prepare, "publish_file_location"
) as mock_publish_file_location,
):
mock_det.stopped = stopped
if expected_exception:
mock_det.unstage()
assert mock_det.stopped is True
else:
mock_det.unstage()
mock_finished.assert_called_once()
mock_publish_file_location.assert_called_with(done=True, successful=True)
assert mock_det.stopped is False
def test_stop_detector_backend(mock_det):
mock_det.custom_prepare.stop_detector_backend()
assert mock_det.custom_prepare.acquisition_done is True
def test_stop(mock_det):
with (
mock.patch.object(mock_det.custom_prepare, "stop_detector") as mock_stop_det,
mock.patch.object(
mock_det.custom_prepare, "stop_detector_backend"
) as mock_stop_detector_backend,
):
mock_det.stop()
mock_stop_det.assert_called_once()
mock_stop_detector_backend.assert_called_once()
assert mock_det.stopped is True
@pytest.mark.parametrize(
"stopped, acquisition_done, acquiring_state, expected_exception",
[
(False, True, 0, False),
(False, False, 0, True),
(False, True, 1, True),
(True, True, 0, True),
],
)
def test_finished(mock_det, stopped, acquisition_done, acquiring_state, expected_exception):
mock_det.custom_prepare.acquisition_done = acquisition_done
mock_det.acquiring._read_pv.mock_data = acquiring_state
mock_det.scaninfo.num_points = 500
mock_det.num_lines.put(500)
mock_det.current_channel._read_pv.mock_data = 1
mock_det.stopped = stopped
if expected_exception:
with pytest.raises(MCSTimeoutError):
mock_det.timeout = 0.1
mock_det.custom_prepare.finished()
else:
mock_det.custom_prepare.finished()
if stopped:
assert mock_det.stopped is stopped

141
tests/test_npoint_piezo.py
View File

@ -1,141 +0,0 @@
import pytest
from ophyd_devices.npoint import NPointAxis, NPointController
class SocketMock:
def __init__(self, sock=None):
self.buffer_put = ""
self.buffer_recv = ""
self.is_open = False
if sock is None:
self.open()
else:
self.sock = sock
def connect(self, host, port):
print(f"connecting to {host} port {port}")
# self.sock.create_connection((host, port))
# self.sock.connect((host, port))
def _put(self, msg_bytes):
self.buffer_put = msg_bytes
print(self.buffer_put)
def _recv(self, buffer_length=1024):
print(self.buffer_recv)
return self.buffer_recv
def _initialize_socket(self):
pass
def put(self, msg):
return self._put(msg)
def receive(self, buffer_length=1024):
return self._recv(buffer_length=buffer_length)
def open(self):
self._initialize_socket()
self.is_open = True
def close(self):
self.sock = None
self.is_open = False
@pytest.mark.parametrize(
"pos,msg",
[
(5, b"\xa2\x18\x12\x83\x11\xcd\xcc\x00\x00U"),
(0, b"\xa2\x18\x12\x83\x11\x00\x00\x00\x00U"),
(-5, b"\xa2\x18\x12\x83\x1133\xff\xffU"),
],
)
def test_axis_put(pos, msg):
controller = NPointController(SocketMock())
npointx = NPointAxis(controller, 0, "nx")
controller.on()
npointx.set(pos)
assert npointx.controller.socket.buffer_put == msg
@pytest.mark.parametrize(
"pos, msg_in, msg_out",
[
(5.0, b"\xa04\x13\x83\x11U", b"\xa0\x34\x13\x83\x11\xcd\xcc\x00\x00U"),
(0, b"\xa04\x13\x83\x11U", b"\xa0\x34\x13\x83\x11\x00\x00\x00\x00U"),
(-5, b"\xa04\x13\x83\x11U", b"\xa0\x34\x13\x83\x1133\xff\xffU"),
],
)
def test_axis_get_out(pos, msg_in, msg_out):
controller = NPointController(SocketMock())
npointx = NPointAxis(controller, 0, "nx")
controller.on()
npointx.controller.socket.buffer_recv = msg_out
assert pytest.approx(npointx.get(), rel=0.01) == pos
# assert controller.socket.buffer_put == msg_in
@pytest.mark.parametrize(
"axis, msg_in, msg_out",
[
(0, b"\xa04\x13\x83\x11U", b"\xa0\x34\x13\x83\x11\xcd\xcc\x00\x00U"),
(1, b"\xa04#\x83\x11U", b"\xa0\x34\x13\x83\x11\x00\x00\x00\x00U"),
(2, b"\xa043\x83\x11U", b"\xa0\x34\x13\x83\x1133\xff\xffU"),
],
)
def test_axis_get_in(axis, msg_in, msg_out):
controller = NPointController(SocketMock())
npointx = NPointAxis(controller, 0, "nx")
controller.on()
controller.socket.buffer_recv = msg_out
controller._get_current_pos(axis)
assert controller.socket.buffer_put == msg_in
def test_axis_out_of_range():
controller = NPointController(SocketMock())
with pytest.raises(ValueError):
npointx = NPointAxis(controller, 3, "nx")
def test_get_axis_out_of_range():
controller = NPointController(SocketMock())
with pytest.raises(ValueError):
controller._get_current_pos(3)
def test_set_axis_out_of_range():
controller = NPointController(SocketMock())
with pytest.raises(ValueError):
controller._set_target_pos(3, 5)
@pytest.mark.parametrize(
"in_buffer, byteorder, signed, val",
[
(["0x0", "0x0", "0xcc", "0xcd"], "big", True, 52429),
(["0xcd", "0xcc", "0x0", "0x0"], "little", True, 52429),
(["cd", "cc", "00", "00"], "little", True, 52429),
],
)
def test_hex_list_to_int(in_buffer, byteorder, signed, val):
assert NPointController._hex_list_to_int(in_buffer, byteorder=byteorder, signed=signed) == val
@pytest.mark.parametrize(
"axis, msg_in, msg_out",
[
(0, b"\xa0x\x10\x83\x11U", b"\xa0\x78\x13\x83\x11\x64\x00\x00\x00U"),
(1, b"\xa0x \x83\x11U", b"\xa0\x78\x13\x83\x11\x64\x00\x00\x00U"),
(2, b"\xa0x0\x83\x11U", b"\xa0\x78\x13\x83\x11\x64\x00\x00\x00U"),
],
)
def test_get_range(axis, msg_in, msg_out):
controller = NPointController(SocketMock())
npointx = NPointAxis(controller, 0, "nx")
controller.on()
controller.socket.buffer_recv = msg_out
val = controller._get_range(axis)
assert controller.socket.buffer_put == msg_in and val == 100

468
tests/test_pilatus_csaxs.py
View File

@ -1,468 +0,0 @@
# pylint: skip-file
import os
import threading
from unittest import mock
import ophyd
import pytest
from bec_lib import MessageEndpoints, messages
from ophyd_devices.epics.devices.pilatus_csaxs import PilatuscSAXS
from tests.utils import DMMock, MockPV
def patch_dual_pvs(device):
for walk in device.walk_signals():
if not hasattr(walk.item, "_read_pv"):
continue
if not hasattr(walk.item, "_write_pv"):
continue
if walk.item._read_pv.pvname.endswith("_RBV"):
walk.item._read_pv = walk.item._write_pv
@pytest.fixture(scope="function")
def mock_det():
name = "pilatus"
prefix = "X12SA-ES-PILATUS300K:"
sim_mode = False
dm = DMMock()
with mock.patch.object(dm, "connector"):
with (
mock.patch("ophyd_devices.epics.devices.psi_detector_base.FileWriter"),
mock.patch(
"ophyd_devices.epics.devices.psi_detector_base.PSIDetectorBase._update_service_config"
),
):
with mock.patch.object(ophyd, "cl") as mock_cl:
mock_cl.get_pv = MockPV
mock_cl.thread_class = threading.Thread
with mock.patch.object(PilatuscSAXS, "_init"):
det = PilatuscSAXS(
name=name, prefix=prefix, device_manager=dm, sim_mode=sim_mode
)
patch_dual_pvs(det)
yield det
@pytest.mark.parametrize("trigger_source, detector_state", [(1, 0)])
# TODO rewrite this one, write test for init_detector, init_filewriter is tested
def test_init_detector(mock_det, trigger_source, detector_state):
"""Test the _init function:
This includes testing the functions:
- _init_detector
- _stop_det
- _set_trigger
--> Testing the filewriter is done in test_init_filewriter
Validation upon setting the correct PVs
"""
mock_det.custom_prepare.initialize_detector() # call the method you want to test
assert mock_det.cam.acquire.get() == detector_state
assert mock_det.cam.trigger_mode.get() == trigger_source
@pytest.mark.parametrize(
"scaninfo, stopped, expected_exception",
[
(
{
"eacc": "e12345",
"num_points": 500,
"frames_per_trigger": 1,
"filepath": "test.h5",
"scan_id": "123",
"mokev": 12.4,
},
False,
False,
),
(
{
"eacc": "e12345",
"num_points": 500,
"frames_per_trigger": 1,
"filepath": "test.h5",
"scan_id": "123",
"mokev": 12.4,
},
True,
False,
),
],
)
def test_stage(mock_det, scaninfo, stopped, expected_exception):
with mock.patch.object(
mock_det.custom_prepare, "publish_file_location"
) as mock_publish_file_location:
mock_det.scaninfo.num_points = scaninfo["num_points"]
mock_det.scaninfo.frames_per_trigger = scaninfo["frames_per_trigger"]
mock_det.filewriter.compile_full_filename.return_value = scaninfo["filepath"]
mock_det.device_manager.add_device("mokev", value=12.4)
mock_det.stopped = stopped
with (
mock.patch.object(
mock_det.custom_prepare, "prepare_detector_backend"
) as mock_data_backend,
mock.patch.object(
mock_det.custom_prepare, "update_readout_time"
) as mock_update_readout_time,
):
mock_det.filepath = scaninfo["filepath"]
if expected_exception:
with pytest.raises(Exception):
mock_det.timeout = 0.1
mock_det.stage()
else:
mock_det.stage()
mock_data_backend.assert_called_once()
mock_update_readout_time.assert_called()
# Check _prep_det
assert mock_det.cam.num_images.get() == int(
scaninfo["num_points"] * scaninfo["frames_per_trigger"]
)
assert mock_det.cam.num_frames.get() == 1
mock_publish_file_location.assert_called_with(done=False)
def test_pre_scan(mock_det):
mock_det.custom_prepare.pre_scan()
assert mock_det.cam.acquire.get() == 1
@pytest.mark.parametrize(
"readout_time, expected_value", [(1e-3, 3e-3), (3e-3, 3e-3), (5e-3, 5e-3), (None, 3e-3)]
)
def test_update_readout_time(mock_det, readout_time, expected_value):
if readout_time is None:
mock_det.custom_prepare.update_readout_time()
assert mock_det.readout_time == expected_value
else:
mock_det.scaninfo.readout_time = readout_time
mock_det.custom_prepare.update_readout_time()
assert mock_det.readout_time == expected_value
@pytest.mark.parametrize(
"scaninfo",
[
(
{
"filepath": "test.h5",
"filepath_raw": "test5_raw.h5",
"successful": True,
"done": False,
"scan_id": "123",
}
),
(
{
"filepath": "test.h5",
"filepath_raw": "test5_raw.h5",
"successful": False,
"done": True,
"scan_id": "123",
}
),
(
{
"filepath": "test.h5",
"filepath_raw": "test5_raw.h5",
"successful": None,
"done": True,
"scan_id": "123",
}
),
],
)
def test_publish_file_location(mock_det, scaninfo):
mock_det.scaninfo.scan_id = scaninfo["scan_id"]
mock_det.filepath = scaninfo["filepath"]
mock_det.filepath_raw = scaninfo["filepath_raw"]
mock_det.custom_prepare.publish_file_location(
done=scaninfo["done"], successful=scaninfo["successful"]
)
if scaninfo["successful"] is None:
msg = messages.FileMessage(
file_path=scaninfo["filepath"],
done=scaninfo["done"],
metadata={"input_path": scaninfo["filepath_raw"]},
)
else:
msg = messages.FileMessage(
file_path=scaninfo["filepath"],
done=scaninfo["done"],
metadata={"input_path": scaninfo["filepath_raw"]},
successful=scaninfo["successful"],
)
expected_calls = [
mock.call(
MessageEndpoints.public_file(scaninfo["scan_id"], mock_det.name),
msg,
pipe=mock_det.connector.pipeline.return_value,
),
mock.call(
MessageEndpoints.file_event(mock_det.name),
msg,
pipe=mock_det.connector.pipeline.return_value,
),
]
assert mock_det.connector.set_and_publish.call_args_list == expected_calls
@pytest.mark.parametrize(
"requests_state, expected_exception, url_delete, url_put",
[
(
True,
False,
"http://x12sa-pd-2:8080/stream/pilatus_2",
"http://xbl-daq-34:8091/pilatus_2/stop",
),
(
False,
False,
"http://x12sa-pd-2:8080/stream/pilatus_2",
"http://xbl-daq-34:8091/pilatus_2/stop",
),
],
)
def test_stop_detector_backend(mock_det, requests_state, expected_exception, url_delete, url_put):
with (
mock.patch.object(
mock_det.custom_prepare, "send_requests_delete"
) as mock_send_requests_delete,
mock.patch.object(mock_det.custom_prepare, "send_requests_put") as mock_send_requests_put,
):
instance_delete = mock_send_requests_delete.return_value
instance_delete.ok = requests_state
instance_put = mock_send_requests_put.return_value
instance_put.ok = requests_state
if expected_exception:
mock_det.custom_prepare.stop_detector_backend()
mock_send_requests_delete.assert_called_once_with(url=url_delete)
mock_send_requests_put.assert_called_once_with(url=url_put)
instance_delete.raise_for_status.called_once()
instance_put.raise_for_status.called_once()
else:
mock_det.custom_prepare.stop_detector_backend()
mock_send_requests_delete.assert_called_once_with(url=url_delete)
mock_send_requests_put.assert_called_once_with(url=url_put)
@pytest.mark.parametrize(
"scaninfo, data_msgs, urls, requests_state, expected_exception",
[
(
{
"filepath_raw": "pilatus_2.h5",
"eacc": "e12345",
"scan_number": 1000,
"scan_directory": "S00000_00999",
"num_points": 500,
"frames_per_trigger": 1,
"headers": {"Content-Type": "application/json", "Accept": "application/json"},
},
[
{
"source": [
{
"searchPath": "/",
"searchPattern": "glob:*.cbf",
"destinationPath": (
"/sls/X12SA/data/e12345/Data10/pilatus_2/S00000_00999"
),
}
]
},
[
"zmqWriter",
"e12345",
{
"addr": "tcp://x12sa-pd-2:8888",
"dst": ["file"],
"numFrm": 500,
"timeout": 2000,
"ifType": "PULL",
"user": "e12345",
},
],
["zmqWriter", "e12345", {"frmCnt": 500, "timeout": 2000}],
],
[
"http://x12sa-pd-2:8080/stream/pilatus_2",
"http://xbl-daq-34:8091/pilatus_2/run",
"http://xbl-daq-34:8091/pilatus_2/wait",
],
True,
False,
),
(
{
"filepath_raw": "pilatus_2.h5",
"eacc": "e12345",
"scan_number": 1000,
"scan_directory": "S00000_00999",
"num_points": 500,
"frames_per_trigger": 1,
"headers": {"Content-Type": "application/json", "Accept": "application/json"},
},
[
{
"source": [
{
"searchPath": "/",
"searchPattern": "glob:*.cbf",
"destinationPath": (
"/sls/X12SA/data/e12345/Data10/pilatus_2/S00000_00999"
),
}
]
},
[
"zmqWriter",
"e12345",
{
"addr": "tcp://x12sa-pd-2:8888",
"dst": ["file"],
"numFrm": 500,
"timeout": 2000,
"ifType": "PULL",
"user": "e12345",
},
],
["zmqWriter", "e12345", {"frmCnt": 500, "timeout": 2000}],
],
[
"http://x12sa-pd-2:8080/stream/pilatus_2",
"http://xbl-daq-34:8091/pilatus_2/run",
"http://xbl-daq-34:8091/pilatus_2/wait",
],
False, # return of res.ok is False!
True,
),
],
)
def test_prep_file_writer(mock_det, scaninfo, data_msgs, urls, requests_state, expected_exception):
with (
mock.patch.object(mock_det.custom_prepare, "close_file_writer") as mock_close_file_writer,
mock.patch.object(mock_det.custom_prepare, "stop_file_writer") as mock_stop_file_writer,
mock.patch.object(mock_det, "filewriter") as mock_filewriter,
mock.patch.object(mock_det.custom_prepare, "create_directory") as mock_create_directory,
mock.patch.object(mock_det.custom_prepare, "send_requests_put") as mock_send_requests_put,
):
mock_det.scaninfo.scan_number = scaninfo["scan_number"]
mock_det.scaninfo.num_points = scaninfo["num_points"]
mock_det.scaninfo.frames_per_trigger = scaninfo["frames_per_trigger"]
mock_det.scaninfo.username = scaninfo["eacc"]
mock_filewriter.compile_full_filename.return_value = scaninfo["filepath_raw"]
mock_filewriter.get_scan_directory.return_value = scaninfo["scan_directory"]
instance = mock_send_requests_put.return_value
instance.ok = requests_state
instance.raise_for_status.side_effect = Exception
if expected_exception:
with pytest.raises(Exception):
mock_det.timeout = 0.1
mock_det.custom_prepare.prepare_data_backend()
mock_close_file_writer.assert_called_once()
mock_stop_file_writer.assert_called_once()
instance.raise_for_status.assert_called_once()
else:
mock_det.custom_prepare.prepare_data_backend()
mock_close_file_writer.assert_called_once()
mock_stop_file_writer.assert_called_once()
# Assert values set on detector
assert mock_det.cam.file_path.get() == "/dev/shm/zmq/"
assert (
mock_det.cam.file_name.get()
== f"{scaninfo['eacc']}_2_{scaninfo['scan_number']:05d}"
)
assert mock_det.cam.auto_increment.get() == 1
assert mock_det.cam.file_number.get() == 0
assert mock_det.cam.file_format.get() == 0
assert mock_det.cam.file_template.get() == "%s%s_%5.5d.cbf"
# Remove last / from destinationPath
mock_create_directory.assert_called_once_with(
os.path.join(data_msgs[0]["source"][0]["destinationPath"])
)
assert mock_send_requests_put.call_count == 3
calls = [
mock.call(url=url, data=data_msg, headers=scaninfo["headers"])
for url, data_msg in zip(urls, data_msgs)
]
for call, mock_call in zip(calls, mock_send_requests_put.call_args_list):
assert call == mock_call
@pytest.mark.parametrize("stopped, expected_exception", [(False, False), (True, True)])
def test_unstage(mock_det, stopped, expected_exception):
with (
mock.patch.object(mock_det.custom_prepare, "finished") as mock_finished,
mock.patch.object(
mock_det.custom_prepare, "publish_file_location"
) as mock_publish_file_location,
):
mock_det.stopped = stopped
if expected_exception:
mock_det.unstage()
assert mock_det.stopped is True
else:
mock_det.unstage()
mock_finished.assert_called_once()
mock_publish_file_location.assert_called_with(done=True, successful=True)
assert mock_det.stopped is False
def test_stop(mock_det):
with (
mock.patch.object(mock_det.custom_prepare, "stop_detector") as mock_stop_det,
mock.patch.object(mock_det.custom_prepare, "stop_file_writer") as mock_stop_file_writer,
mock.patch.object(mock_det.custom_prepare, "close_file_writer") as mock_close_file_writer,
):
mock_det.stop()
mock_stop_det.assert_called_once()
mock_stop_file_writer.assert_called_once()
mock_close_file_writer.assert_called_once()
assert mock_det.stopped is True
@pytest.mark.parametrize(
"stopped, mcs_stage_state, expected_exception",
[
(False, ophyd.Staged.no, False),
(True, ophyd.Staged.no, True),
(False, ophyd.Staged.yes, True),
],
)
def test_finished(mock_det, stopped, mcs_stage_state, expected_exception):
with (
mock.patch.object(mock_det, "device_manager") as mock_dm,
mock.patch.object(mock_det.custom_prepare, "stop_file_writer") as mock_stop_file_friter,
mock.patch.object(mock_det.custom_prepare, "stop_detector") as mock_stop_det,
mock.patch.object(mock_det.custom_prepare, "close_file_writer") as mock_close_file_writer,
):
mock_dm.devices.mcs.obj._staged = mcs_stage_state
mock_det.stopped = stopped
if expected_exception:
with pytest.raises(Exception):
mock_det.timeout = 0.1
mock_det.custom_prepare.finished()
assert mock_det.stopped is stopped
mock_stop_file_friter.assert_called()
mock_stop_det.assert_called_once()
mock_close_file_writer.assert_called_once()
else:
mock_det.custom_prepare.finished()
if stopped:
assert mock_det.stopped is stopped
mock_stop_file_friter.assert_called()
mock_stop_det.assert_called_once()
mock_close_file_writer.assert_called_once()

89
tests/test_rt_flomni.py
View File

@ -1,89 +0,0 @@
from unittest import mock
import pytest
from utils import SocketMock
from ophyd_devices.rt_lamni import RtFlomniController, RtFlomniMotor
from ophyd_devices.rt_lamni.rt_ophyd import RtError
@pytest.fixture()
def rt_flomni():
rt_flomni = RtFlomniController(
name="rt_flomni", socket_cls=SocketMock, socket_host="localhost", socket_port=8081
)
with mock.patch.object(rt_flomni, "get_device_manager"):
with mock.patch.object(rt_flomni, "sock"):
rtx = mock.MagicMock(spec=RtFlomniMotor)
rtx.name = "rtx"
rty = mock.MagicMock(spec=RtFlomniMotor)
rty.name = "rty"
rtz = mock.MagicMock(spec=RtFlomniMotor)
rtz.name = "rtz"
rt_flomni.set_axis(rtx, 0)
rt_flomni.set_axis(rty, 1)
rt_flomni.set_axis(rtz, 2)
yield rt_flomni
def test_rt_flomni_move_to_zero(rt_flomni):
rt_flomni.move_to_zero()
assert rt_flomni.sock.mock_calls == [
mock.call.put(b"pa0,0\n"),
mock.call.put(b"pa1,0\n"),
mock.call.put(b"pa2,0\n"),
]
@pytest.mark.parametrize("return_value,is_running", [(b"1.00\n", False), (b"0.00\n", True)])
def test_rt_flomni_feedback_is_running(rt_flomni, return_value, is_running):
rt_flomni.sock.receive.return_value = return_value
assert rt_flomni.feedback_is_running() == is_running
assert mock.call.put(b"l2\n") in rt_flomni.sock.mock_calls
def test_feedback_enable_with_reset(rt_flomni):
device_manager = rt_flomni.get_device_manager()
device_manager.devices.fsamx.user_parameter.get.return_value = 0.05
device_manager.devices.fsamx.obj.readback.get.return_value = 0.05
with mock.patch.object(rt_flomni, "feedback_is_running", return_value=True):
with mock.patch.object(rt_flomni, "laser_tracker_on") as laser_tracker_on:
with mock.patch.object(rt_flomni, "pid_y", return_value=0.05):
with mock.patch.object(
rt_flomni, "slew_rate_limiters_on_target", return_value=True
) as slew_rate_limiters_on_target:
rt_flomni.feedback_enable_with_reset()
laser_tracker_on.assert_called_once()
def test_move_samx_to_scan_region(rt_flomni):
device_manager = rt_flomni.get_device_manager()
device_manager.devices.rtx.user_parameter.get.return_value = 1
rt_flomni.move_samx_to_scan_region(20, 2)
assert mock.call(b"v0\n") not in rt_flomni.sock.put.mock_calls
assert mock.call(b"v1\n") in rt_flomni.sock.put.mock_calls
def test_feedback_enable_without_reset(rt_flomni):
with mock.patch.object(rt_flomni, "set_device_enabled") as set_device_enabled:
with mock.patch.object(rt_flomni, "feedback_is_running", return_value=True):
with mock.patch.object(rt_flomni, "laser_tracker_on") as laser_tracker_on:
rt_flomni.feedback_enable_without_reset()
laser_tracker_on.assert_called_once()
assert mock.call(b"l3\n") in rt_flomni.sock.put.mock_calls
assert mock.call("fsamx", False) in set_device_enabled.mock_calls
assert mock.call("fsamy", False) in set_device_enabled.mock_calls
assert mock.call("foptx", False) in set_device_enabled.mock_calls
assert mock.call("fopty", False) in set_device_enabled.mock_calls
def test_feedback_enable_without_reset_raises(rt_flomni):
with mock.patch.object(rt_flomni, "feedback_is_running", return_value=False):
with mock.patch.object(rt_flomni, "laser_tracker_on") as laser_tracker_on:
with pytest.raises(RtError):
rt_flomni.feedback_enable_without_reset()
laser_tracker_on.assert_called_once()
assert mock.call(b"l3\n") in rt_flomni.sock.put.mock_calls

7
tests/test_simulation.py
View File

@ -7,6 +7,7 @@ from unittest import mock
import h5py
import numpy as np
import pytest
from bec_server.device_server.tests.utils import DMMock
from ophyd import Device, Signal
from ophyd_devices.ophyd_base_devices.bec_protocols import (
@ -20,7 +21,6 @@ from ophyd_devices.sim.sim import SimCamera, SimFlyer, SimMonitor, SimPositioner
from ophyd_devices.sim.sim_frameworks import H5ImageReplayProxy, SlitProxy
from ophyd_devices.sim.sim_signals import ReadOnlySignal
from ophyd_devices.utils.bec_device_base import BECDevice, BECDeviceBase
from tests.utils import DMMock
@pytest.fixture(scope="function")
@ -120,15 +120,18 @@ def test_flyer__init__(flyer):
@pytest.mark.parametrize("center", [-10, 0, 10])
def test_monitor_readback(monitor, center):
"""Test the readback method of SimMonitor."""
motor_pos = 0
monitor.sim.device_manager.add_device("samx", value=motor_pos)
for model_name in monitor.sim.sim_get_models():
monitor.sim.sim_select_model(model_name)
monitor.sim.sim_params["noise_multipler"] = 10
monitor.sim.sim_params["ref_motor"] = "samx"
if "c" in monitor.sim.sim_params:
monitor.sim.sim_params["c"] = center
elif "center" in monitor.sim.sim_params:
monitor.sim.sim_params["center"] = center
assert isinstance(monitor.read()[monitor.name]["value"], monitor.BIT_DEPTH)
expected_value = monitor.sim._model.eval(monitor.sim._model_params, x=0)
expected_value = monitor.sim._model.eval(monitor.sim._model_params, x=motor_pos)
print(expected_value, monitor.read()[monitor.name]["value"])
tolerance = (
monitor.sim.sim_params["noise_multipler"] + 1

217
tests/test_smaract.py
View File

@ -1,217 +0,0 @@
from unittest import mock
import pytest
from utils import SocketMock
from ophyd_devices.smaract import SmaractController
from ophyd_devices.smaract.smaract_controller import SmaractCommunicationMode
from ophyd_devices.smaract.smaract_errors import SmaractCommunicationError, SmaractErrorCode
from ophyd_devices.smaract.smaract_ophyd import SmaractMotor
@pytest.fixture
def controller():
SmaractController._reset_controller()
controller = SmaractController(socket_cls=SocketMock, socket_host="dummy", socket_port=123)
controller.on()
controller.sock.flush_buffer()
yield controller
@pytest.fixture
def lsmarA():
SmaractController._reset_controller()
motor_a = SmaractMotor(
"A", name="lsmarA", host="mpc2680.psi.ch", port=8085, sign=1, socket_cls=SocketMock
)
motor_a.controller.on()
motor_a.controller.sock.flush_buffer()
motor_a.stage()
yield motor_a
@pytest.mark.parametrize(
"axis,position,get_message,return_msg",
[
(0, 50, b":GP0\n", b":P0,50000000\n"),
(1, 0, b":GP1\n", b":P1,0\n"),
(0, -50, b":GP0\n", b":P0,-50000000\n"),
(0, -50.23, b":GP0\n", b":P0,-50230000\n"),
],
)
def test_get_position(controller, axis, position, get_message, return_msg):
controller.sock.buffer_recv = return_msg
val = controller.get_position(axis)
assert val == position
assert controller.sock.buffer_put[0] == get_message
@pytest.mark.parametrize(
"axis,is_referenced,get_message,return_msg,exception",
[
(0, True, b":GPPK0\n", b":PPK0,1\n", None),
(1, True, b":GPPK1\n", b":PPK1,1\n", None),
(0, False, b":GPPK0\n", b":PPK0,0\n", None),
(200, False, b":GPPK0\n", b":PPK0,0\n", ValueError),
],
)
def test_axis_is_referenced(controller, axis, is_referenced, get_message, return_msg, exception):
controller.sock.buffer_recv = return_msg
if exception is not None:
with pytest.raises(exception):
val = controller.axis_is_referenced(axis)
else:
val = controller.axis_is_referenced(axis)
assert val == is_referenced
assert controller.sock.buffer_put[0] == get_message
@pytest.mark.parametrize(
"return_msg,exception,raised",
[
(b"false\n", SmaractCommunicationError, False),
(b":E0,1", SmaractErrorCode, True),
(b":E,1", SmaractCommunicationError, True),
(b":E,-1", SmaractCommunicationError, True),
],
)
def test_socket_put_and_receive_raises_exception(controller, return_msg, exception, raised):
controller.sock.buffer_recv = return_msg
with pytest.raises(exception):
controller.socket_put_and_receive(b"test", raise_if_not_status=True)
controller.sock.flush_buffer()
controller.sock.buffer_recv = return_msg
if raised:
with pytest.raises(exception):
controller.socket_put_and_receive(b"test")
else:
assert controller.socket_put_and_receive(b"test") == return_msg.split(b"\n")[0].decode()
@pytest.mark.parametrize(
"mode,get_message,return_msg", [(0, b":GCM\n", b":CM0\n"), (1, b":GCM\n", b":CM1\n")]
)
def test_communication_mode(controller, mode, get_message, return_msg):
controller.sock.buffer_recv = return_msg
val = controller.get_communication_mode()
assert controller.sock.buffer_put[0] == get_message
assert val == SmaractCommunicationMode(mode)
@pytest.mark.parametrize(
"is_moving,get_message,return_msg",
[
(0, b":GS0\n", b":S0,0\n"),
(1, b":GS0\n", b":S0,1\n"),
(1, b":GS0\n", b":S0,2\n"),
(0, b":GS0\n", b":S0,3\n"),
(1, b":GS0\n", b":S0,4\n"),
(0, b":GS0\n", b":S0,5\n"),
(0, b":GS0\n", b":S0,6\n"),
(1, b":GS0\n", b":S0,7\n"),
(0, b":GS0\n", b":S0,9\n"),
(0, [b":GS0\n", b":GS0\n"], [b":E0,0\n", b":S0,9"]),
],
)
def test_axis_is_moving(controller, is_moving, get_message, return_msg):
controller.sock.buffer_recv = return_msg
val = controller.is_axis_moving(0)
assert val == is_moving
if isinstance(controller.sock.buffer_put, list) and len(controller.sock.buffer_put) == 1:
controller.sock.buffer_put = controller.sock.buffer_put[0]
assert controller.sock.buffer_put == get_message
@pytest.mark.parametrize(
"sensor_id,axis,get_msg,return_msg",
[
(1, 0, b":GST0\n", b":ST0,1\n"),
(6, 0, b":GST0\n", b":ST0,6\n"),
(6, 1, b":GST1\n", b":ST1,6\n"),
],
)
def test_get_sensor_definition(controller, sensor_id, axis, get_msg, return_msg):
controller.sock.buffer_recv = return_msg
sensor = controller.get_sensor_type(axis)
assert sensor.type_code == sensor_id
@pytest.mark.parametrize(
"move_speed,axis,get_msg,return_msg",
[
(50, 0, b":SCLS0,50000000\n", b":E-1,0"),
(0, 0, b":SCLS0,0\n", b":E-1,0"),
(20.23, 1, b":SCLS1,20230000\n", b":E-1,0"),
],
)
def test_set_move_speed(controller, move_speed, axis, get_msg, return_msg):
controller.sock.buffer_recv = return_msg
controller.set_closed_loop_move_speed(axis, move_speed)
assert controller.sock.buffer_put[0] == get_msg
@pytest.mark.parametrize(
"pos,axis,hold_time,get_msg,return_msg",
[
(50, 0, None, b":MPA0,50000000,1000\n", b":E0,0"),
(0, 0, 800, b":MPA0,0,800\n", b":E0,0"),
(20.23, 1, None, b":MPA1,20230000,1000\n", b":E0,0"),
],
)
def test_move_axis_to_absolute_position(controller, pos, axis, hold_time, get_msg, return_msg):
controller.sock.buffer_recv = return_msg
if hold_time is not None:
controller.move_axis_to_absolute_position(axis, pos, hold_time=hold_time)
else:
controller.move_axis_to_absolute_position(axis, pos)
assert controller.sock.buffer_put[0] == get_msg
@pytest.mark.parametrize(
"pos,get_msg,return_msg",
[
(
50,
[b":GPPK0\n", b":MPA0,50000000,1000\n", b":GS0\n", b":GP0\n"],
[b":PPK0,1\n", b":E0,0\n", b":S0,0\n", b":P0,50000000\n"],
),
(
0,
[b":GPPK0\n", b":MPA0,0,1000\n", b":GS0\n", b":GP0\n"],
[b":PPK0,1\n", b":E0,0\n", b":S0,0\n", b":P0,0000000\n"],
),
(
20.23,
[b":GPPK0\n", b":MPA0,20230000,1000\n", b":GS0\n", b":GP0\n"],
[b":PPK0,1\n", b":E0,0\n", b":S0,0\n", b":P0,20230000\n"],
),
(
20.23,
[b":GPPK0\n", b":GPPK0\n", b":MPA0,20230000,1000\n", b":GS0\n", b":GP0\n"],
[b":S0,0\n", b":PPK0,1\n", b":E0,0\n", b":S0,0\n", b":P0,20230000\n"],
),
],
)
def test_move_axis(lsmarA, pos, get_msg, return_msg):
controller = lsmarA.controller
controller.sock.buffer_recv = return_msg
lsmarA.move(pos)
assert controller.sock.buffer_put == get_msg
@pytest.mark.parametrize("num_axes,get_msg,return_msg", [(1, [b":S0\n"], [b":E0,0"])])
def test_stop_axis(lsmarA, num_axes, get_msg, return_msg):
controller = lsmarA.controller
controller.sock.buffer_recv = return_msg
controller.stop_all_axes()
assert controller.sock.buffer_put == get_msg
def test_all_axes_referenced(lsmarA):
controller = lsmarA.controller
with mock.patch.object(controller, "axis_is_referenced", return_value=True) as mock_is_ref:
val = controller.all_axes_referenced()
assert val
mock_is_ref.assert_called_once_with(0)