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fix: limit handling flyscan and error handling axes ref

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This commit is contained in:
appel_c 2023-08-02 22:08:09 +02:00
parent 39220f20ea
commit a620e6cf50
1 changed files with 40 additions and 49 deletions
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89
ophyd_devices/galil/sgalil_ophyd.py
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@ -152,7 +152,7 @@ class GalilController(Controller):
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:
def axis_is_referenced(self) -> bool:
return bool(float(self.socket_put_and_receive(f"MG allaxref").strip()))
def show_running_threads(self) -> None:
@ -200,7 +200,7 @@ class GalilController(Controller):
f"{axis.axis_Id_numeric}/{axis.axis_Id}",
axis.name,
axis.connected,
self.axis_is_referenced(axis.axis_Id_numeric),
self.axis_is_referenced(),
self.is_motor_on(axis.axis_Id),
self.get_motor_limit_switch(axis.axis_Id),
axis.readback.read().get(axis.name).get("value"),
@ -219,13 +219,7 @@ class GalilController(Controller):
def sgalil_reference(self) -> None:
"""Reference all axes of the controller"""
answer = input(
"Please make sure that stages are free to move, referencing will start upon confirmation [y/n]"
)
if answer.lower() != "y":
print("Abort reference sequence\n")
return
if bool(float(self.socket_put_and_receive(f"MG allaxref").strip())):
if self.axis_is_referenced():
print("All axes are already referenced.\n")
return
# Make sure no axes are moving, is this necessary?
@ -234,7 +228,7 @@ class GalilController(Controller):
print("Referencing. Please wait, timeout after 100s...\n")
timeout = time.time() + 100
while not bool(float(self.socket_put_and_receive(f"MG allaxref").strip())):
while not self.axis_is_referenced():
if time.time() > timeout:
print("Abort reference sequence, timeout reached\n")
break
@ -263,39 +257,35 @@ class GalilController(Controller):
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)
Raises:
LimitError: Raised if any position of motion is outside of the limits
LimitError: Raised if the speed is above 2mm/s or below 0.02mm/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
# TODO add offset to start and end positions for acceleration
check_values = [start_y, end_y, start_x, end_x]
for val in check_values:
self.check_value(val)
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
raise LimitError(
f"Speed of {speed:.03f}mm/s is outside of acceptable range of 0.02 to 2 mm/s"
)
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
# 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}"
)
# TODO check sign of stage for proper socket command.
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={gridmax:d};b_step={step_grid:.04f}"
)
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?
self.socket_put_and_receive(f"nums={n_samples}")
self.socket_put_and_receive("XQ#SAMPLE")
# sleep 50ms to avoid controller running into
time.sleep(0.1)
print("Sleeping for .1 second")
rtr.append(self.socket_put_and_receive("XQ#SCANG"))
self.socket_put_and_receive("XQ#SCANG")
class GalilSignalBase(SocketSignal):
@ -367,21 +357,22 @@ class GalilSetpointSignal(GalilSignalBase):
"""
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)
axes_referenced = self.axis_is_referenced()
if not axes_referenced:
raise GalilError(
"Not all axes are referenced. Please use controller.sgalil_reference(). BE AWARE that axes start moving, potentially beyond limits, make sure full range of motion is safe"
)
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.")
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)
class GalilMotorIsMoving(GalilSignalRO):