mirror of
https://github.com/bec-project/ophyd_devices.git
synced 2025-06-01 01:20:41 +02:00
black; added push events to rt_lamni
This commit is contained in:
parent
069887c5cb
commit
98a1426a98
@ -1,5 +1,4 @@
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import functools
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import logging
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import threading
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import time
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from typing import List
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@ -12,9 +11,9 @@ from ophyd.utils import ReadOnlyError, LimitError
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from ophyd_devices.utils.controller import Controller, threadlocked
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from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
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from prettytable import PrettyTable
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from bec_utils import bec_logger
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logger = logging.getLogger("galil")
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logger = bec_logger.logger
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class GalilCommunicationError(Exception):
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pass
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@ -546,7 +545,6 @@ class GalilMotor(Device, PositionerBase):
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if __name__ == "__main__":
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logging.basicConfig(level=logging.DEBUG)
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mock = False
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if not mock:
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@ -1,4 +1,3 @@
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import logging
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import threading
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import time
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from typing import List
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@ -10,8 +9,9 @@ from ophyd.utils import ReadOnlyError
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from ophyd_devices.utils.controller import Controller
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from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
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from prettytable import PrettyTable
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from bec_utils import bec_logger
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logger = logging.getLogger("galil")
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logger = bec_logger.logger
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class GalilCommunicationError(Exception):
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@ -460,7 +460,6 @@ class GalilMotor(Device, PositionerBase):
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if __name__ == "__main__":
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logging.basicConfig(level=logging.DEBUG)
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mock = True
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if not mock:
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@ -1,24 +1,21 @@
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import functools
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import threading
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import time
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import numpy as np
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from typing import List
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from ophyd import PositionerBase, Device, Component as Cpt
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from prettytable import PrettyTable
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from ophyd_devices.utils.controller import Controller
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from ophyd_devices.utils.socket import (
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SocketIO,
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raise_if_disconnected,
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SocketSignal,
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)
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from bec_utils import bec_logger
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from ophyd.utils import ReadOnlyError,LimitError
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from ophyd.status import wait as status_wait
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from ophyd import Signal
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import numpy as np
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from bec_utils import BECMessage, MessageEndpoints, bec_logger
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from ophyd import Component as Cpt
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from ophyd import Device, PositionerBase, Signal
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from ophyd.status import wait as status_wait
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from ophyd.utils import LimitError, ReadOnlyError
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from ophyd_devices.utils.controller import Controller
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from ophyd_devices.utils.socket import SocketIO, SocketSignal, raise_if_disconnected
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from prettytable import PrettyTable
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logger = bec_logger.logger
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def threadlocked(fcn):
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"""Ensure that thread acquires and releases the lock."""
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@ -29,6 +26,7 @@ def threadlocked(fcn):
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return wrapper
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class RtLamniCommunicationError(Exception):
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pass
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@ -36,9 +34,11 @@ class RtLamniCommunicationError(Exception):
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class RtLamniError(Exception):
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pass
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class BECConfigError(Exception):
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pass
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def retry_once(fcn):
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"""Decorator to rerun a function in case a CommunicationError was raised. This may happen if the buffer was not empty."""
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@ -66,8 +66,9 @@ class RtLamniController(Controller):
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"_set_axis_velocity",
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"_set_axis_velocity_maximum_speed",
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"_position_sampling_single_read",
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"_position_sampling_single_reset_and_start_sampling"
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"_position_sampling_single_reset_and_start_sampling",
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]
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def __init__(
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self,
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*,
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@ -90,7 +91,7 @@ class RtLamniController(Controller):
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labels=labels,
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kind=kind,
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)
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self.readout_metadata = {}
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def on(self, controller_num=0) -> None:
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"""Open a new socket connection to the controller"""
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@ -181,14 +182,21 @@ class RtLamniController(Controller):
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self.socket_put(f"Ss")
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def _position_sampling_single_read(self):
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(number_of_samples,sum0,sum0_2,sum1,sum1_2,sum2,sum2_2) = self.socket_put_and_receive(f"Sr").split(",")
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(number_of_samples, sum0, sum0_2, sum1, sum1_2, sum2, sum2_2) = self.socket_put_and_receive(
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f"Sr"
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).split(",")
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avg_x = float(sum1) / int(number_of_samples)
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avg_y = float(sum0) / int(number_of_samples)
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stdev_x = np.sqrt(float(sum1_2)/int(number_of_samples)-np.power(float(sum1)/int(number_of_samples),2))
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stdev_y = np.sqrt(float(sum0_2)/int(number_of_samples)-np.power(float(sum0)/int(number_of_samples),2))
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stdev_x = np.sqrt(
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float(sum1_2) / int(number_of_samples)
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- np.power(float(sum1) / int(number_of_samples), 2)
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)
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stdev_y = np.sqrt(
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float(sum0_2) / int(number_of_samples)
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- np.power(float(sum0) / int(number_of_samples), 2)
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)
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return (avg_x, avg_y, stdev_x, stdev_y)
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def feedback_enable_without_reset(self):
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# read current interferometer position
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return_table = (self.socket_put_and_receive(f"J4")).split(",")
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@ -217,16 +225,16 @@ class RtLamniController(Controller):
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def get_device_manager(self):
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for axis in self._axis:
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if hasattr(axis, 'device_manager') and axis.device_manager:
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if hasattr(axis, "device_manager") and axis.device_manager:
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return axis.device_manager
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raise BECConfigError('Could not access the device_manager')
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raise BECConfigError("Could not access the device_manager")
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def get_axis_by_name(self, name):
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for axis in self._axis:
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if axis:
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if axis.name == name:
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return axis
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raise RuntimeError(f'Could not find an axis with name {name}')
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raise RuntimeError(f"Could not find an axis with name {name}")
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def clear_trajectory_generator(self):
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self.socket_put("sc")
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@ -240,13 +248,16 @@ class RtLamniController(Controller):
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if pos_index > 100:
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parent._min_scan_buffer_reached = True
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parent._min_scan_buffer_reached = True
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threading.Thread(target=send_positions, args=(self, positions), daemon=True).start()
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@retry_once
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def get_scan_status(self):
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return_table = (self.socket_put_and_receive(f"sr")).split(",")
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if len(return_table) != 3:
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raise RtLamniCommunicationError(f"Expected to receive 3 return values. Instead received {return_table}")
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raise RtLamniCommunicationError(
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f"Expected to receive 3 return values. Instead received {return_table}"
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)
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mode = int(return_table[0])
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# mode 0: direct positioning
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# mode 1: running internal timer (not tested/used anymore)
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@ -260,8 +271,12 @@ class RtLamniController(Controller):
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def start_scan(self):
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interferometer_feedback_not_running = int((self.socket_put_and_receive("J2")).split(",")[0])
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if interferometer_feedback_not_running == 1:
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logger.error("Cannot start scan because feedback loop is not running or there is an interferometer error.")
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raise RtLamniError("Cannot start scan because feedback loop is not running or there is an interferometer error.")
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logger.error(
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"Cannot start scan because feedback loop is not running or there is an interferometer error."
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)
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raise RtLamniError(
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"Cannot start scan because feedback loop is not running or there is an interferometer error."
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)
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# here exception
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(mode, number_of_positions_planned, current_position_in_scan) = self.get_scan_status()
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@ -276,15 +291,14 @@ class RtLamniController(Controller):
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readout = threading.Thread(target=self.read_positions_from_sampler)
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readout.start()
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def kickoff(self):
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def kickoff(self, metadata):
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self.readout_metadata = metadata
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while not self._min_scan_buffer_reached:
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time.sleep(0.001)
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self.start_scan()
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time.sleep(0.1)
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self.start_readout()
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def read_positions_from_sampler(self):
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# this was for reading after the scan completed
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number_of_samples_to_read = 1 # self.get_scan_status()[1] #number of valid samples, will be updated upon first data read
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@ -305,19 +319,32 @@ class RtLamniController(Controller):
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while mode > 0:
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# logger.info(f"Current scan position {current_position_in_scan} out of {number_of_positions_planned}")
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mode, number_of_positions_planned, current_position_in_scan = self.get_scan_status()
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time.sleep(.01)
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if (current_position_in_scan>5):
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time.sleep(0.01)
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if current_position_in_scan > 5:
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while current_position_in_scan > read_counter:
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return_table = (self.socket_put_and_receive(f"r{read_counter}")).split(",")
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# logger.info(f"{return_table}")
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logger.info(f"Read {read_counter} out of {number_of_positions_planned}")
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read_counter = read_counter + 1
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average_stdeviations_x_st_fzp=average_stdeviations_x_st_fzp+float(return_table[5])
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average_stdeviations_y_st_fzp=average_stdeviations_y_st_fzp+float(return_table[8])
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average_stdeviations_x_st_fzp = average_stdeviations_x_st_fzp + float(
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return_table[5]
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)
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average_stdeviations_y_st_fzp = average_stdeviations_y_st_fzp + float(
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return_table[8]
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)
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average_lamni_angle = average_lamni_angle + float(return_table[19])
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#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
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# TODO!!
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signals = {
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"target_x":
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"average_stdeviations_x_st_fzp": {"value": average_stdeviations_x_st_fzp},
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"average_stdeviations_y_st_fzp": {"value": average_stdeviations_y_st_fzp},
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"average_lamni_angle": {"value": average_lamni_angle},
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}
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self.publish_device_data(signals=signals, pointID=current_position_in_scan)
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time.sleep(.05)
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time.sleep(0.05)
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# read the last samples even though scan is finished already
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while number_of_positions_planned > read_counter:
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@ -329,13 +356,24 @@ class RtLamniController(Controller):
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average_stdeviations_y_st_fzp = average_stdeviations_y_st_fzp + float(return_table[8])
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average_lamni_angle = average_lamni_angle + float(return_table[19])
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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}.")
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logger.info(
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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}."
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)
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def publish_device_data(self, signals, pointID):
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self.get_device_manager().producer.send(
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MessageEndpoints.device_read("rt_lamni"),
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BECMessage.DeviceMessage(
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signals=signals,
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metadata={"pointID": pointID, **self.readout_metadata},
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).dumps(),
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)
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def feedback_status_angle_lamni(self) -> bool:
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return_table = (self.socket_put_and_receive(f"J7")).split(",")
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logger.debug(f"LamNI angle interferomter status {bool(return_table[0])}, position {float(return_table[1])}, signal {float(return_table[2])}")
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logger.debug(
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f"LamNI angle interferomter status {bool(return_table[0])}, position {float(return_table[1])}, signal {float(return_table[2])}"
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)
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return bool(return_table[0])
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def feedback_enable_with_reset(self):
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@ -344,24 +382,34 @@ class RtLamniController(Controller):
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logger.info(f"LamNI resetting interferometer inclusive angular interferomter.")
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else:
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self.feedback_disable()
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logger.info(f"LamNI resetting interferomter except angular interferometer which is already running.")
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logger.info(
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f"LamNI resetting interferomter except angular interferometer which is already running."
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)
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# set these as closed loop target position
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self.socket_put(f"pa0,0")
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self.get_axis_by_name('rtx').user_setpoint.setpoint = 0
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self.get_axis_by_name("rtx").user_setpoint.setpoint = 0
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self.socket_put(f"pa1,0")
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self.get_axis_by_name('rty').user_setpoint.setpoint = 0
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self.socket_put(f"pa2,0") #we set all three outputs of the traj. gen. although in LamNI case only 0,1 are used
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self.get_axis_by_name("rty").user_setpoint.setpoint = 0
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self.socket_put(
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f"pa2,0"
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) # we set all three outputs of the traj. gen. although in LamNI case only 0,1 are used
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self.clear_trajectory_generator()
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self.get_device_manager().devices.lsamrot.obj.move(0, wait=True)
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galil_controller_rt_status = self.get_device_manager().devices.lsamx.obj.controller.lgalil_is_air_off_and_orchestra_enabled()
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galil_controller_rt_status = (
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self.get_device_manager().devices.lsamx.obj.controller.lgalil_is_air_off_and_orchestra_enabled()
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)
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if galil_controller_rt_status == 0:
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logger.error("Cannot enable feedback. The small rotation air is on and/or orchestra disabled by the motor controller.")
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raise RtLamniError("Cannot enable feedback. The small rotation air is on and/or orchestra disabled by the motor controller.")
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logger.error(
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"Cannot enable feedback. The small rotation air is on and/or orchestra disabled by the motor controller."
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)
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raise RtLamniError(
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"Cannot enable feedback. The small rotation air is on and/or orchestra disabled by the motor controller."
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)
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time.sleep(0.03)
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# needs to be changed to configurable center psoition
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@ -376,7 +424,9 @@ class RtLamniController(Controller):
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while interferometer_feedback_not_running == 1 and _waitforfeedbackctr < 100:
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time.sleep(0.01)
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_waitforfeedbackctr = _waitforfeedbackctr + 1
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interferometer_feedback_not_running = int((self.socket_put_and_receive("J2")).split(",")[0])
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interferometer_feedback_not_running = int(
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(self.socket_put_and_receive("J2")).split(",")[0]
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)
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# motor_par("lsamx","disable",1)
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# motor_par("lsamy","disable",1)
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@ -384,15 +434,18 @@ class RtLamniController(Controller):
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# motor_par("lopty","disable",1)
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# motor_par("loptz","disable",1)
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if interferometer_feedback_not_running == 1:
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logger.error("Cannot start scan because feedback loop is not running or there is an interferometer error.")
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raise RtLamniError("Cannot start scan because feedback loop is not running or there is an interferometer error.")
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logger.error(
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"Cannot start scan because feedback loop is not running or there is an interferometer error."
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)
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raise RtLamniError(
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"Cannot start scan because feedback loop is not running or there is an interferometer error."
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)
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time.sleep(0.01)
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# ptychography_alignment_done = 0
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class RtLamniSignalBase(SocketSignal):
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def __init__(self, signal_name, **kwargs):
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self.signal_name = signal_name
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@ -442,10 +495,6 @@ class RtLamniSetpointSignal(RtLamniSignalBase):
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Returns:
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float: setpoint / target value
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"""
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return self.setpoint
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@ -463,11 +512,15 @@ class RtLamniSetpointSignal(RtLamniSignalBase):
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"""
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target_val = val * self.parent.sign
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self.setpoint = target_val
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interferometer_feedback_not_running = int((self.controller.socket_put_and_receive("J2")).split(",")[0])
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interferometer_feedback_not_running = int(
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(self.controller.socket_put_and_receive("J2")).split(",")[0]
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)
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if interferometer_feedback_not_running == 0:
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self.controller.socket_put(f"pa{self.parent.axis_Id_numeric},{target_val:.4f}")
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else:
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raise RtLamniError("The interferometer feedback is not running. Either it is turned off or and interferometer error occured.")
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raise RtLamniError(
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"The interferometer feedback is not running. Either it is turned off or and interferometer error occured."
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)
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class RtLamniMotorIsMoving(RtLamniSignalRO):
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@ -477,7 +530,8 @@ class RtLamniMotorIsMoving(RtLamniSignalRO):
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def get(self):
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val = super().get()
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if val is not None:
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self._run_subs(sub_type=self.SUB_VALUE,
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self._run_subs(
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sub_type=self.SUB_VALUE,
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value=val,
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timestamp=time.time(),
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)
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@ -491,10 +545,9 @@ class RtLamniFeedbackRunning(RtLamniSignalRO):
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else:
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return 0
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class RtLamniMotor(Device, PositionerBase):
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USER_ACCESS = [
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"controller"
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]
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USER_ACCESS = ["controller"]
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readback = Cpt(
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RtLamniReadbackSignal,
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signal_name="readback",
|
||||
@ -502,9 +555,7 @@ class RtLamniMotor(Device, PositionerBase):
|
||||
)
|
||||
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")
|
||||
|
||||
@ -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(),
|
||||
)
|
||||
@ -672,6 +722,9 @@ 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"""
|
||||
@ -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