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fix: online changes to all devices in preparation for beamtime

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This commit is contained in:
appel_c
2023-09-04 16:23:14 +02:00
parent b6101cced2
commit c0b3418366
5 changed files with 234 additions and 78 deletions
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78
ophyd_devices/galil/sgalil_ophyd.py
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@@ -49,6 +49,9 @@ class GalilController(Controller):
"galil_show_all",
"socket_put_and_receive",
"socket_put_confirmed",
"sgalil_reference",
"fly_grid_scan",
"read_encoder_position",
]
def __init__(
@@ -152,7 +155,7 @@ class GalilController(Controller):
def stop_all_axes(self) -> str:
# return self.socket_put_and_receive(f"XQ#STOP,1")
# Command stops all threads and motors!
return self.socket_put_and_receive(f"AB")
return self.socket_put_and_receive(f"ST")
def axis_is_referenced(self) -> bool:
return bool(float(self.socket_put_and_receive(f"MG allaxref").strip()))
@@ -268,14 +271,23 @@ class GalilController(Controller):
"""
#
axes_referenced = self.controller.axis_is_referenced()
axes_referenced = self.axis_is_referenced()
sign_y = self._axis[ord("c") - 97].sign
sign_x = self._axis[ord("e") - 97].sign
# Check limits
# TODO check sign of stage, or not necessary
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)
start_x *= sign_x
end_x *= sign_x
start_y *= sign_y
end_y *= sign_y
speed = np.abs(end_y - start_y) / (
(interval_y) * exp_time + (interval_y - 1) * readtime
)
if speed > 2.00 or speed < 0.02:
raise LimitError(
f"Speed of {speed:.03f}mm/s is outside of acceptable range of 0.02 to 2 mm/s"
@@ -287,7 +299,9 @@ class GalilController(Controller):
# Hard coded to maximum offset of 0.1mm to avoid long motions.
self.socket_put_and_receive(f"off={(0):f}")
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"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}"
)
@@ -307,7 +321,9 @@ class GalilController(Controller):
val_axis4 = [] # x axis
while self.is_thread_active(thread_id):
posct = int(self.socket_put_and_receive(f"MGposct").strip().split(".")[0])
logger.info(f"SGalil is scanning - latest enconder position {posct+1} from {n_samples}")
logger.info(
f"SGalil is scanning - latest enconder position {posct+1} from {n_samples}"
)
time.sleep(1)
if posct > last_readout:
positions = self.read_encoder_position(last_readout, posct)
@@ -318,7 +334,9 @@ class GalilController(Controller):
time.sleep(1)
# Readout of last positions after scan finished
posct = int(self.socket_put_and_receive(f"MGposct").strip().split(".")[0])
logger.info(f"SGalil is scanning - latest enconder position {posct} from {n_samples}")
logger.info(
f"SGalil is scanning - latest enconder position {posct} from {n_samples}"
)
if posct > last_readout:
positions = self.read_encoder_position(last_readout, posct)
val_axis4.extend(positions[0])
@@ -330,7 +348,9 @@ class GalilController(Controller):
val_axis2 = [] # y axis
val_axis4 = [] # x axis
for ii in range(fromval, toval + 1):
rts = self.socket_put_and_receive(f"MGaposavg[{ii%2000}]*10,cposavg[{ii%2000}]*10")
rts = self.socket_put_and_receive(
f"MGaposavg[{ii%2000}]*10,cposavg[{ii%2000}]*10"
)
if rts == ":":
val_axis4.append(rts)
val_axis2.append(rts)
@@ -369,11 +389,15 @@ class GalilReadbackSignal(GalilSignalRO):
"""
if self.parent.axis_Id_numeric == 2:
current_pos = float(
self.controller.socket_put_and_receive(f"MG _TP{self.parent.axis_Id}/mm")
self.controller.socket_put_and_receive(
f"MG _TP{self.parent.axis_Id}/mm"
)
)
elif self.parent.axis_Id_numeric == 4:
# hardware controller readback from axis 4 is on axis 0, A instead of E
current_pos = float(self.controller.socket_put_and_receive(f"MG _TP{'A'}/mm"))
current_pos = float(
self.controller.socket_put_and_receive(f"MG _TP{'A'}/mm")
)
current_pos *= self.parent.sign
return current_pos
@@ -419,11 +443,17 @@ class GalilSetpointSignal(GalilSignalBase):
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_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}")
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)
@@ -432,7 +462,9 @@ class GalilMotorIsMoving(GalilSignalRO):
@threadlocked
def _socket_get(self):
if self.parent.axis_Id_numeric == 2:
ret = self.controller.is_axis_moving(self.parent.axis_Id, self.parent.axis_Id_numeric)
ret = self.controller.is_axis_moving(
self.parent.axis_Id, self.parent.axis_Id_numeric
)
return ret
if self.parent.axis_Id_numeric == 4:
# Motion signal from axis 4 is mapped to axis 5
@@ -470,8 +502,12 @@ class SGalilMotor(Device, PositionerBase):
kind="hinted",
)
user_setpoint = Cpt(GalilSetpointSignal, signal_name="setpoint")
motor_is_moving = Cpt(GalilMotorIsMoving, signal_name="motor_is_moving", kind="normal")
all_axes_referenced = Cpt(GalilAxesReferenced, signal_name="all_axes_referenced", kind="config")
motor_is_moving = Cpt(
GalilMotorIsMoving, signal_name="motor_is_moving", kind="normal"
)
all_axes_referenced = Cpt(
GalilAxesReferenced, signal_name="all_axes_referenced", kind="config"
)
high_limit_travel = Cpt(Signal, value=0, kind="omitted")
low_limit_travel = Cpt(Signal, value=0, kind="omitted")
@@ -652,7 +688,9 @@ class SGalilMotor(Device, PositionerBase):
def axis_Id_numeric(self, val):
if isinstance(val, int):
if val not in [2, 4]:
raise ValueError(f"Numeric value {val} is not supported, it must be either 2 or 4.")
raise ValueError(
f"Numeric value {val} is not supported, it must be either 2 or 4."
)
self._axis_Id_alpha = val
self._axis_Id_numeric = (chr(val + 97)).capitalize()
else:
@@ -676,7 +714,11 @@ if __name__ == "__main__":
else:
from ophyd_devices.utils.socket import SocketMock
samx = SGalilMotor("E", name="samx", host="129.129.122.26", port=23, socket_cls=SocketMock)
samy = SGalilMotor("C", name="samy", host="129.129.122.26", port=23, socket_cls=SocketMock)
samx = SGalilMotor(
"E", name="samx", host="129.129.122.26", port=23, socket_cls=SocketMock
)
samy = SGalilMotor(
"C", name="samy", host="129.129.122.26", port=23, socket_cls=SocketMock
)
samx.controller.galil_show_all()