SGalil ophyd device, samx integration still pending

ophyd_devices/__init__.py

@@ -1,6 +1,7 @@
 from .eiger1p5m_csaxs.eiger1p5m import Eiger1p5MDetector
 from .epics import *
 from .galil.galil_ophyd import GalilMotor
+from .galil.sgalil_ophyd import SGalilMotor
 from .npoint.npoint import NPointAxis
 from .rt_lamni import RtLamniMotor
 from .sim.sim import (

ophyd_devices/galil/__init__.py

@@ -1 +1,2 @@
 from .galil_ophyd import GalilMotor, GalilController
+from .sgalil_ophyd import SGalilMotor

ophyd_devices/galil/galil_ophyd.py

@@ -556,32 +556,4 @@ class GalilMotor(Device, PositionerBase):
 
     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()
+        return super().stop(success=success)

ophyd_devices/galil/readme.md

@@ -0,0 +1,22 @@
+# Summary on communication commands for SGalilMotor
+## sgalil_y - vertical axis (samy)
+- 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
+## sgalil_y - horizontal axis (samx) - due to hardware modifications a bit more complicated
+- 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"

ophyd_devices/galil/sgalil_ophyd.py

@@ -0,0 +1,558 @@
+import functools
+import threading
+import time
+from typing import List
+
+import numpy as np
+from bec_utils 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.utils.controller import Controller, threadlocked
+from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
+from prettytable import PrettyTable
+
+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",
+        "lgalil_is_air_off_and_orchestra_enabled",
+    ]
+
+    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:
+        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:
+        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")
+
+    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 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 == 2:
+            ret = self.socket_put_and_receive(f"MG _LF{axis_Id}, _LR{axis_Id}")
+            high, low = ret.strip().split(" ")
+        elif axis_id ==4:
+            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(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()
+
+
+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
+
+    @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 = float(self.controller.socket_put_and_receive("MG allaxref"))
+        if axes_referenced:
+            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)
+        else:
+            raise GalilError("Not all axes are referenced.")
+
+
+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)
+        elif 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(0)
+            or self.controller.is_thread_active(2)
+        )
+
+    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(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.")
+            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()
+        return super().stop(success=success)
+
+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()