mirror of
https://github.com/bec-project/ophyd_devices.git
synced 2025-05-28 15:40:42 +02:00
black; added push events to rt_lamni
This commit is contained in:
parent
069887c5cb
commit
98a1426a98
@ -1,5 +1,4 @@
|
||||
import functools
|
||||
import logging
|
||||
import threading
|
||||
import time
|
||||
from typing import List
|
||||
@ -12,9 +11,9 @@ from ophyd.utils import ReadOnlyError, LimitError
|
||||
from ophyd_devices.utils.controller import Controller, threadlocked
|
||||
from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
|
||||
from prettytable import PrettyTable
|
||||
from bec_utils import bec_logger
|
||||
|
||||
logger = logging.getLogger("galil")
|
||||
|
||||
logger = bec_logger.logger
|
||||
|
||||
class GalilCommunicationError(Exception):
|
||||
pass
|
||||
@ -546,7 +545,6 @@ class GalilMotor(Device, PositionerBase):
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
logging.basicConfig(level=logging.DEBUG)
|
||||
|
||||
mock = False
|
||||
if not mock:
|
||||
|
||||
@ -1,4 +1,3 @@
|
||||
import logging
|
||||
import threading
|
||||
import time
|
||||
from typing import List
|
||||
@ -10,8 +9,9 @@ from ophyd.utils import ReadOnlyError
|
||||
from ophyd_devices.utils.controller import Controller
|
||||
from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
|
||||
from prettytable import PrettyTable
|
||||
from bec_utils import bec_logger
|
||||
|
||||
logger = logging.getLogger("galil")
|
||||
logger = bec_logger.logger
|
||||
|
||||
|
||||
class GalilCommunicationError(Exception):
|
||||
@ -460,7 +460,6 @@ class GalilMotor(Device, PositionerBase):
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
logging.basicConfig(level=logging.DEBUG)
|
||||
|
||||
mock = True
|
||||
if not mock:
|
||||
|
||||
@ -1,24 +1,21 @@
|
||||
import functools
|
||||
import threading
|
||||
import time
|
||||
import numpy as np
|
||||
from typing import List
|
||||
from ophyd import PositionerBase, Device, Component as Cpt
|
||||
from prettytable import PrettyTable
|
||||
from ophyd_devices.utils.controller import Controller
|
||||
from ophyd_devices.utils.socket import (
|
||||
SocketIO,
|
||||
raise_if_disconnected,
|
||||
SocketSignal,
|
||||
)
|
||||
from bec_utils import bec_logger
|
||||
from ophyd.utils import ReadOnlyError,LimitError
|
||||
from ophyd.status import wait as status_wait
|
||||
from ophyd import Signal
|
||||
|
||||
import numpy as np
|
||||
from bec_utils import BECMessage, MessageEndpoints, 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
|
||||
from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
|
||||
from prettytable import PrettyTable
|
||||
|
||||
logger = bec_logger.logger
|
||||
|
||||
|
||||
def threadlocked(fcn):
|
||||
"""Ensure that thread acquires and releases the lock."""
|
||||
|
||||
@ -29,6 +26,7 @@ def threadlocked(fcn):
|
||||
|
||||
return wrapper
|
||||
|
||||
|
||||
class RtLamniCommunicationError(Exception):
|
||||
pass
|
||||
|
||||
@ -36,9 +34,11 @@ class RtLamniCommunicationError(Exception):
|
||||
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."""
|
||||
|
||||
@ -66,8 +66,9 @@ class RtLamniController(Controller):
|
||||
"_set_axis_velocity",
|
||||
"_set_axis_velocity_maximum_speed",
|
||||
"_position_sampling_single_read",
|
||||
"_position_sampling_single_reset_and_start_sampling"
|
||||
"_position_sampling_single_reset_and_start_sampling",
|
||||
]
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
*,
|
||||
@ -90,14 +91,14 @@ class RtLamniController(Controller):
|
||||
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
|
||||
# discuss - after disconnect takes a while for the server to be ready again
|
||||
welcome_message = self.sock.receive()
|
||||
self.connected = True
|
||||
except ConnectionRefusedError as conn_error:
|
||||
@ -140,22 +141,22 @@ class RtLamniController(Controller):
|
||||
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")))
|
||||
# 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 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 set_rotation_angle(self, val:float):
|
||||
def set_rotation_angle(self, val: float):
|
||||
self.socket_put(f"a{(val-300+30.538)/180*np.pi}")
|
||||
|
||||
def stop_all_axes(self):
|
||||
@ -164,11 +165,11 @@ class RtLamniController(Controller):
|
||||
def feedback_disable(self):
|
||||
self.socket_put("J0")
|
||||
logger.info("LamNI Feedback disabled.")
|
||||
#motor_par("lsamx","disable",0)
|
||||
#motor_par("lsamy","disable",0)
|
||||
#motor_par("loptx","disable",0)
|
||||
#motor_par("lopty","disable",0)
|
||||
#motor_par("loptz","disable",0)
|
||||
# motor_par("lsamx","disable",0)
|
||||
# motor_par("lsamy","disable",0)
|
||||
# motor_par("loptx","disable",0)
|
||||
# motor_par("lopty","disable",0)
|
||||
# motor_par("loptz","disable",0)
|
||||
|
||||
def _set_axis_velocity(self, um_per_s):
|
||||
self.socket_put(f"V{um_per_s}")
|
||||
@ -176,57 +177,64 @@ class RtLamniController(Controller):
|
||||
def _set_axis_velocity_maximum_speed(self):
|
||||
self.socket_put(f"V0")
|
||||
|
||||
#for developement of soft continuous scanning
|
||||
# for developement of soft continuous scanning
|
||||
def _position_sampling_single_reset_and_start_sampling(self):
|
||||
self.socket_put(f"Ss")
|
||||
|
||||
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)
|
||||
|
||||
(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)
|
||||
|
||||
def feedback_enable_without_reset(self):
|
||||
#read current interferometer position
|
||||
# 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
|
||||
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.socket_put("J5")
|
||||
logger.info("LamNI Feedback enabled (without reset).")
|
||||
#motor_par("lsamx","disable",1)
|
||||
#motor_par("lsamy","disable",1)
|
||||
#motor_par("loptx","disable",1)
|
||||
#motor_par("lopty","disable",1)
|
||||
#motor_par("loptz","disable",1)
|
||||
#umv rtx x_curr rty y_curr
|
||||
# motor_par("lsamx","disable",1)
|
||||
# motor_par("lsamy","disable",1)
|
||||
# motor_par("loptx","disable",1)
|
||||
# motor_par("lopty","disable",1)
|
||||
# motor_par("loptz","disable",1)
|
||||
# umv rtx x_curr rty y_curr
|
||||
|
||||
def feedback_disable_and_even_reset_lamni_angle_interferometer(self):
|
||||
self.socket_put("J6")
|
||||
logger.info("LamNI Feedback disabled including the angular interferometer.")
|
||||
#motor_par("lsamx","disable",0)
|
||||
#motor_par("lsamy","disable",0)
|
||||
#motor_par("loptx","disable",0)
|
||||
#motor_par("lopty","disable",0)
|
||||
#motor_par("loptz","disable",0)
|
||||
# motor_par("lsamx","disable",0)
|
||||
# motor_par("lsamy","disable",0)
|
||||
# motor_par("loptx","disable",0)
|
||||
# motor_par("lopty","disable",0)
|
||||
# motor_par("loptz","disable",0)
|
||||
|
||||
def get_device_manager(self):
|
||||
for axis in self._axis:
|
||||
if hasattr(axis, 'device_manager') and axis.device_manager:
|
||||
if hasattr(axis, "device_manager") and axis.device_manager:
|
||||
return axis.device_manager
|
||||
raise BECConfigError('Could not access the 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}')
|
||||
raise RuntimeError(f"Could not find an axis with name {name}")
|
||||
|
||||
def clear_trajectory_generator(self):
|
||||
self.socket_put("sc")
|
||||
@ -240,35 +248,42 @@ class RtLamniController(Controller):
|
||||
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
|
||||
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)
|
||||
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)
|
||||
|
||||
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()
|
||||
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
|
||||
# hier exception
|
||||
# start a point-by-point scan (for cont scan in flomni it would be "sa")
|
||||
self.socket_put_and_receive("sd")
|
||||
|
||||
@ -276,18 +291,17 @@ class RtLamniController(Controller):
|
||||
readout = threading.Thread(target=self.read_positions_from_sampler)
|
||||
readout.start()
|
||||
|
||||
|
||||
def kickoff(self):
|
||||
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 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
|
||||
# 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
|
||||
@ -296,46 +310,70 @@ class RtLamniController(Controller):
|
||||
average_stdeviations_y_st_fzp = 0
|
||||
average_lamni_angle = 0
|
||||
|
||||
mode,number_of_positions_planned,current_position_in_scan = self.get_scan_status()
|
||||
mode, number_of_positions_planned, current_position_in_scan = self.get_scan_status()
|
||||
|
||||
#if not (mode==2 or mode==3):
|
||||
# if not (mode==2 or mode==3):
|
||||
# error
|
||||
|
||||
#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(.01)
|
||||
if (current_position_in_scan>5):
|
||||
# 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:
|
||||
return_table = (self.socket_put_and_receive(f"r{read_counter}")).split(",")
|
||||
#logger.info(f"{return_table}")
|
||||
# logger.info(f"{return_table}")
|
||||
logger.info(f"Read {read_counter} out of {number_of_positions_planned}")
|
||||
|
||||
read_counter = read_counter+1
|
||||
average_stdeviations_x_st_fzp=average_stdeviations_x_st_fzp+float(return_table[5])
|
||||
average_stdeviations_y_st_fzp=average_stdeviations_y_st_fzp+float(return_table[8])
|
||||
average_lamni_angle = average_lamni_angle+float(return_table[19])
|
||||
|
||||
time.sleep(.05)
|
||||
read_counter = read_counter + 1
|
||||
average_stdeviations_x_st_fzp = average_stdeviations_x_st_fzp + float(
|
||||
return_table[5]
|
||||
)
|
||||
average_stdeviations_y_st_fzp = average_stdeviations_y_st_fzp + float(
|
||||
return_table[8]
|
||||
)
|
||||
average_lamni_angle = average_lamni_angle + float(return_table[19])
|
||||
#DataPoint TotalPoints Target_x Average_x_st_fzp Stdev_x_st_fzp Target_y Average_y_st_fzp Stdev_y_st_fzp Average_cap1 Stdev_cap1 Average_cap2 Stdev_cap2 Average_cap3 Stdev_cap3 Average_cap4 Stdev_cap4 Average_cap5 Stdev_cap5 Average_angle_interf_ST Stdev_angle_interf_ST
|
||||
# TODO!!
|
||||
signals = {
|
||||
"target_x":
|
||||
"average_stdeviations_x_st_fzp": {"value": average_stdeviations_x_st_fzp},
|
||||
"average_stdeviations_y_st_fzp": {"value": average_stdeviations_y_st_fzp},
|
||||
"average_lamni_angle": {"value": average_lamni_angle},
|
||||
}
|
||||
self.publish_device_data(signals=signals, pointID=current_position_in_scan)
|
||||
|
||||
#read the last samples even though scan is finished already
|
||||
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
|
||||
average_stdeviations_x_st_fzp=average_stdeviations_x_st_fzp+float(return_table[5])
|
||||
average_stdeviations_y_st_fzp=average_stdeviations_y_st_fzp+float(return_table[8])
|
||||
average_lamni_angle = average_lamni_angle+float(return_table[19])
|
||||
# logger.info(f"{return_table}")
|
||||
read_counter = read_counter + 1
|
||||
average_stdeviations_x_st_fzp = average_stdeviations_x_st_fzp + float(return_table[5])
|
||||
average_stdeviations_y_st_fzp = average_stdeviations_y_st_fzp + float(return_table[8])
|
||||
average_lamni_angle = average_lamni_angle + float(return_table[19])
|
||||
|
||||
logger.info(f"LamNI statistics: Average of all standard deviations: x {average_stdeviations_x_st_fzp/number_of_samples_to_read}, y {average_stdeviations_y_st_fzp/number_of_samples_to_read}, angle {average_lamni_angle/number_of_samples_to_read}.")
|
||||
|
||||
|
||||
logger.info(
|
||||
f"LamNI statistics: Average of all standard deviations: x {average_stdeviations_x_st_fzp/number_of_samples_to_read}, y {average_stdeviations_y_st_fzp/number_of_samples_to_read}, angle {average_lamni_angle/number_of_samples_to_read}."
|
||||
)
|
||||
|
||||
def publish_device_data(self, signals, pointID):
|
||||
self.get_device_manager().producer.send(
|
||||
MessageEndpoints.device_read("rt_lamni"),
|
||||
BECMessage.DeviceMessage(
|
||||
signals=signals,
|
||||
metadata={"pointID": pointID, **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])}")
|
||||
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):
|
||||
@ -344,39 +382,51 @@ class RtLamniController(Controller):
|
||||
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.")
|
||||
logger.info(
|
||||
f"LamNI resetting interferomter except angular interferometer which is already running."
|
||||
)
|
||||
|
||||
#set these as closed loop target position
|
||||
# set these as closed loop target position
|
||||
|
||||
self.socket_put(f"pa0,0")
|
||||
self.get_axis_by_name('rtx').user_setpoint.setpoint = 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.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()
|
||||
|
||||
|
||||
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.")
|
||||
|
||||
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)
|
||||
#needs to be changed to configurable center psoition
|
||||
# needs to be changed to configurable center psoition
|
||||
self.get_device_manager().devices.lsamx.obj.move(8.866, wait=True)
|
||||
self.get_device_manager().devices.lsamy.obj.move(10.18, wait=True)
|
||||
self.socket_put("J1")
|
||||
|
||||
_waitforfeedbackctr=0
|
||||
_waitforfeedbackctr = 0
|
||||
|
||||
interferometer_feedback_not_running = int((self.socket_put_and_receive("J2")).split(",")[0])
|
||||
|
||||
while interferometer_feedback_not_running == 1 and _waitforfeedbackctr<100:
|
||||
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])
|
||||
interferometer_feedback_not_running = int(
|
||||
(self.socket_put_and_receive("J2")).split(",")[0]
|
||||
)
|
||||
|
||||
# motor_par("lsamx","disable",1)
|
||||
# motor_par("lsamy","disable",1)
|
||||
@ -384,13 +434,16 @@ class RtLamniController(Controller):
|
||||
# motor_par("lopty","disable",1)
|
||||
# motor_par("loptz","disable",1)
|
||||
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.")
|
||||
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
|
||||
|
||||
# ptychography_alignment_done = 0
|
||||
|
||||
|
||||
class RtLamniSignalBase(SocketSignal):
|
||||
@ -442,10 +495,6 @@ class RtLamniSetpointSignal(RtLamniSignalBase):
|
||||
|
||||
Returns:
|
||||
float: setpoint / target value
|
||||
|
||||
|
||||
|
||||
|
||||
"""
|
||||
return self.setpoint
|
||||
|
||||
@ -463,11 +512,15 @@ class RtLamniSetpointSignal(RtLamniSignalBase):
|
||||
"""
|
||||
target_val = val * self.parent.sign
|
||||
self.setpoint = target_val
|
||||
interferometer_feedback_not_running = int((self.controller.socket_put_and_receive("J2")).split(",")[0])
|
||||
interferometer_feedback_not_running = int(
|
||||
(self.controller.socket_put_and_receive("J2")).split(",")[0]
|
||||
)
|
||||
if interferometer_feedback_not_running == 0:
|
||||
self.controller.socket_put(f"pa{self.parent.axis_Id_numeric},{target_val:.4f}")
|
||||
else:
|
||||
raise RtLamniError("The interferometer feedback is not running. Either it is turned off or and interferometer error occured.")
|
||||
raise RtLamniError(
|
||||
"The interferometer feedback is not running. Either it is turned off or and interferometer error occured."
|
||||
)
|
||||
|
||||
|
||||
class RtLamniMotorIsMoving(RtLamniSignalRO):
|
||||
@ -477,7 +530,8 @@ class RtLamniMotorIsMoving(RtLamniSignalRO):
|
||||
def get(self):
|
||||
val = super().get()
|
||||
if val is not None:
|
||||
self._run_subs(sub_type=self.SUB_VALUE,
|
||||
self._run_subs(
|
||||
sub_type=self.SUB_VALUE,
|
||||
value=val,
|
||||
timestamp=time.time(),
|
||||
)
|
||||
@ -489,22 +543,19 @@ class RtLamniFeedbackRunning(RtLamniSignalRO):
|
||||
if int((self.controller.socket_put_and_receive("J2")).split(",")[0]) == 0:
|
||||
return 1
|
||||
else:
|
||||
return 0
|
||||
return 0
|
||||
|
||||
|
||||
class RtLamniMotor(Device, PositionerBase):
|
||||
USER_ACCESS = [
|
||||
"controller"
|
||||
]
|
||||
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"
|
||||
)
|
||||
|
||||
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")
|
||||
|
||||
@ -527,7 +578,7 @@ class RtLamniMotor(Device, PositionerBase):
|
||||
sign=1,
|
||||
socket_cls=SocketIO,
|
||||
device_manager=None,
|
||||
limits = None,
|
||||
limits=None,
|
||||
**kwargs,
|
||||
):
|
||||
self.axis_Id = axis_Id
|
||||
@ -581,12 +632,10 @@ class RtLamniMotor(Device, PositionerBase):
|
||||
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
|
||||
@ -626,7 +675,8 @@ class RtLamniMotor(Device, PositionerBase):
|
||||
while self.motor_is_moving.get():
|
||||
print("motor is moving")
|
||||
val = self.readback.read()
|
||||
self._run_subs(sub_type=self.SUB_READBACK,
|
||||
self._run_subs(
|
||||
sub_type=self.SUB_READBACK,
|
||||
value=val,
|
||||
timestamp=time.time(),
|
||||
)
|
||||
@ -672,12 +722,15 @@ class RtLamniMotor(Device, PositionerBase):
|
||||
else:
|
||||
raise TypeError(f"Expected value of type int but received {type(val)}")
|
||||
|
||||
def kickoff(self, metadata) -> None:
|
||||
self.controller.kickoff(metadata)
|
||||
|
||||
@property
|
||||
def egu(self):
|
||||
"""The engineering units (EGU) for positions"""
|
||||
return "um"
|
||||
|
||||
# how is this used later?
|
||||
# how is this used later?
|
||||
|
||||
def stage(self) -> List[object]:
|
||||
self.controller.on()
|
||||
@ -710,12 +763,7 @@ if __name__ == "__main__":
|
||||
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 = 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()
|
||||
|
||||
|
||||
@ -3,12 +3,13 @@ import time as ttime
|
||||
import warnings
|
||||
|
||||
import numpy as np
|
||||
from bec_utils import BECMessage, MessageEndpoints
|
||||
from bec_utils import BECMessage, MessageEndpoints, bec_logger
|
||||
from ophyd import Component as Cpt
|
||||
from ophyd import Device, DeviceStatus, PositionerBase, Signal
|
||||
from ophyd.sim import _ReadbackSignal, _SetpointSignal
|
||||
from ophyd.utils import LimitError, ReadOnlyError
|
||||
|
||||
logger = bec_logger.logger
|
||||
|
||||
class DeviceStop(Exception):
|
||||
pass
|
||||
|
||||
@ -11,8 +11,9 @@ from ophyd.utils import ReadOnlyError, LimitError
|
||||
from ophyd_devices.smaract.smaract_controller import SmaractController
|
||||
from ophyd_devices.smaract.smaract_errors import SmaractCommunicationError, SmaractError
|
||||
from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
|
||||
from bec_utils import bec_logger
|
||||
|
||||
logger = logging.getLogger("smaract")
|
||||
logger = bec_logger.logger
|
||||
|
||||
|
||||
class SmaractSignalBase(SocketSignal):
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user