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fix: small fixes to fly_grid_scan

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This commit is contained in:
e21206
2023-07-31 17:29:01 +02:00
parent 6b5d829960
commit 87ac0edf99
1 changed files with 37 additions and 20 deletions
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57
ophyd_devices/galil/sgalil_ophyd.py
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@ -172,10 +172,10 @@ class GalilController(Controller):
def get_motor_limit_switch(self, axis_Id) -> list:
# SGalil specific
if axis_id == 2:
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 == 4:
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))]
@ -240,15 +240,15 @@ class GalilController(Controller):
break
time.sleep(0.5)
@threadlocked
# @threadlocked
def fly_grid_scan(
self,
start_y: float,
end_y: float,
y_interval: int,
interval_y: int,
start_x: float,
end_x: float,
x_interval: int,
interval_x: int,
exp_time: float,
readtime: float,
) -> None:
@ -257,29 +257,45 @@ class GalilController(Controller):
Args:
start_y (float): start position of y axis (fast axis)
end_y (float): end position of y axis (fast axis)
y_interval (int): number of points in y 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)
x_interval (int): number of points in x axis
interval_x (int): number of points in x axis
exp_time (float): exposure time in seconds
readtime (float): readout time in seconds, minimum of .5e-3s (0.5ms)
"""
# TODO Checks on limits, signs and offsets of motors, how much more is needed for acceleration?
# Compute speed for y axis
speed = np.abs(end_y - start_y) / (
y_interval * exp_time + (y_interval - 1) * readtime
) # max speed is 2mm/s for y axis
if speed > 2:
raise ValueError(f"Speed of {speed}mm/s is too high, maximum speed is 2mm/s")
# TODO Checks on limits of motors needs to happen in the scan definition
# Check for signs and signs/offsets of motors too
# Speed check can be done here, but is this relevant in this case
# Check speeds
speed = np.abs(end_y - start_y) / (interval_y * exp_time + (interval_y - 1) * readtime)
if speed > 2.00 or speed < 0.02:
# TODO raise proper warning/error
print(f"Speed of {speed}mm/s is either above (2mm/s) or below (.02mm/s) speed limits.")
return
# Compute step_grid for x axis
step_grid = (end_x - start_x) / x_interval
gridmax = int(interval_x - 1)
step_grid = (end_x - start_x) / interval_x
n_samples = int(interval_y * (interval_x - 1))
# Send commands to controller to start motion
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={x_interval:.04f};step={step_grid:.04f}"
# TODO rtr = return string required? good for debuggin but besides?
rtr = []
rtr.append(
self.socket_put_and_receive(
f"a_start={start_y:.04f};a_end={end_y:.04f};speed={speed:.04f}"
)
)
self.socket_put_and_receive("XQ#SAMPLE")
self.socket_put_and_receive("XQ#SCANG")
rtr.append(
self.socket_put_and_receive(
f"b_start={start_x:.04f};gridmax={gridmax:d};b_step={step_grid:.04f}"
)
)
rtr.append(self.socket_put_and_receive(f"nums={n_samples}"))
rtr.append(self.socket_put_and_receive("XQ#SAMPLE"))
# TODO remove this sleep, check if thread is still activ?
time.sleep(0.1)
print("Sleeping for .1 second")
rtr.append(self.socket_put_and_receive("XQ#SCANG"))
class GalilSignalBase(SocketSignal):
@ -534,6 +550,7 @@ class SGalilMotor(Device, PositionerBase):
status = super().move(position, timeout=timeout, **kwargs)
self.user_setpoint.put(position, wait=False)
# TODO include here soft limits for motions, otherwise there is the danger of crashing..
def move_and_finish():
while self.motor_is_moving.get():
logger.info("motor is moving")