flomni/check_tracker_signal

ophyd_devices/rt_lamni/rt_flomni_ophyd.py

@@ -44,6 +44,8 @@ class RtFlomniController(RtController):
         "laser_tracker_show_all",
         "show_signal_strength_interferometer",
         "read_ssi_interferometer",
+        "laser_tracker_check_signalstrength",
+        "laser_tracker_check_enabled",
     ]
 
     def __init__(
@@ -251,10 +253,15 @@ class RtFlomniController(RtController):
     def set_rotation_angle(self, val: float) -> None:
         self.socket_put(f"a{val/180*np.pi}")
 
-    def laser_tracker_on(self):
+    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
 
-        if not self.tracker_info["enabled_z"] or not self.tracker_info["enabled_y"]:
+    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...")
 
@@ -358,6 +365,32 @@ class RtFlomniController(RtController):
         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"
@@ -626,6 +659,7 @@ class RtFlomniMotor(Device, PositionerBase):
             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:
@@ -696,14 +730,15 @@ class RtFlomniMotor(Device, PositionerBase):
         self.user_setpoint.put(position, wait=False)
 
         def move_and_finish():
-            while not self.controller.slew_rate_limiters_on_target():
+            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()
+            self._done_moving(success=(not self._stopped))
 
+        self._stopped = False
         threading.Thread(target=move_and_finish, daemon=True).start()
         try:
             if wait:
@@ -760,6 +795,7 @@ class RtFlomniMotor(Device, PositionerBase):
 
     def stop(self, *, success=False):
         self.controller.stop_all_axes()
+        self._stopped = True
         return super().stop(success=success)