Adding virtual otors for mono bender and detector

ophyd_devices/epics/db/x12sa_database.yml

@@ -159,13 +159,27 @@ motrz1:
   deviceGroup: beamlineMotor
   status: {enabled: true}
   type: EpicsMotor
-mopush1:
+motrz1e:
-  desc: 'Monochromator crystal 1 angle'
+  desc: 'Monochromator crystal 1 axial movement encoder'
   acquisition: {schedule: sync}
-  config: {name: mopush1, prefix: 'X12SA-OP-MO:ROX1'}
+  config: {name: motrz1e, prefix: 'X12SA-OP-MO:ECZ1'}
-  deviceGroup: beamlineMotor
+  deviceGroup: monitor
   status: {enabled: true}
-  type: EpicsMotor
+  type: EpicsSignalRO
+#mopush1:
+#  desc: 'Monochromator crystal 1 angle'
+#  acquisition: {schedule: sync}
+#  config: {name: mopush1, prefix: 'X12SA-OP-MO:ROX1'}
+#  deviceGroup: beamlineMotor
+#  status: {enabled: true}
+#  type: EpicsMotor
+moth1e:
+  desc: 'Monochromator crystal 1 theta encoder'
+  acquisition: {schedule: sync}
+  config: {name: moth1e, prefix: 'X12SA-OP-MO:ECX1'}
+  deviceGroup: monitor
+  status: {enabled: true}
+  type: EpicsSignalRO
 moroll1:
   desc: 'Monochromator crystal 1 roll'
   acquisition: {schedule: sync}
@@ -187,13 +201,20 @@ motry2:
   deviceGroup: beamlineMotor
   status: {enabled: true}
   type: EpicsMotor
-mopush2:
+#mopush2:
-  desc: 'Monochromator crystal 2 angle'
+#  desc: 'Monochromator crystal 2 angle'
+#  acquisition: {schedule: sync}
+#  config: {name: mopush2, prefix: 'X12SA-OP-MO:ROX2'}
+#  deviceGroup: beamlineMotor
+#  status: {enabled: true}
+#  type: EpicsMotor
+moth2e:
+  desc: 'Monochromator crystal 2 theta encoder'
   acquisition: {schedule: sync}
-  config: {name: mopush2, prefix: 'X12SA-OP-MO:ROX2'}
+  config: {name: moth2e, prefix: 'X12SA-OP-MO:ECX2'}
-  deviceGroup: beamlineMotor
+  deviceGroup: monitor
   status: {enabled: true}
-  type: EpicsMotor
+  type: EpicsSignalRO
 #monot:
 #  desc: 'Monochromator temperature'
 #  acquisition: {schedule: sync}
@@ -216,33 +237,41 @@ moroll2:
   status: {enabled: true}
   type: EpicsMotor
 mobdai:
-  desc: 'Monochromator ??? inner motor'
+  desc: 'Monochromator bender inner motor'
   acquisition: {schedule: sync}
   config: {name: mobdai, prefix: 'X12SA-OP-MO:TRYA'}
   deviceGroup: beamlineMotor
   status: {enabled: true}
   type: EpicsMotor
 mobdbo:
-  desc: 'Monochromator ??? outer motor'
+  desc: 'Monochromator bender outer motor'
   acquisition: {schedule: sync}
   config: {name: mobdbo, prefix: 'X12SA-OP-MO:TRYB'}
   deviceGroup: beamlineMotor
   status: {enabled: true}
   type: EpicsMotor
 mobdco:
-  desc: 'Monochromator ??? outer motor'
+  desc: 'Monochromator bender outer motor'
   acquisition: {schedule: sync}
   config: {name: mobdco, prefix: 'X12SA-OP-MO:TRYC'}
   deviceGroup: beamlineMotor
   status: {enabled: true}
   type: EpicsMotor
 mobddi:
-  desc: 'Monochromator ??? inner motor'
+  desc: 'Monochromator bender inner motor'
   acquisition: {schedule: sync}
   config: {name: mobddi, prefix: 'X12SA-OP-MO:TRYD'}
   deviceGroup: beamlineMotor
   status: {enabled: true}
   type: EpicsMotor
+mobd:
+  desc: 'Monochromator bender virtual motor'
+  acquisition: {schedule: sync}
+  config: {name: mobd, prefix: 'X12SA-OP-MO:'}
+  deviceGroup: beamlineMotor
+  status: {enabled: true}
+  type: PmMonoBender
+  
 bm4trx:
   desc: 'OpticsHutch XBPM 2 horizontal movement'
   acquisition: {schedule: sync}
@@ -475,12 +504,19 @@ dttrz:
   status: {enabled: true}
   type: EpicsMotor
 dtpush:
-  desc: 'Detector tower motion'
+  desc: 'Detector tower tilt pusher'
   acquisition: {schedule: sync}
   config: {name: dtpush, prefix: 'X12SA-ES1-DETT:ROX1'}
   deviceGroup: beamlineMotor
   status: {enabled: true}
   type: EpicsMotor
+dtth:
+  desc: 'Detector tower tilt rotation'
+  acquisition: {schedule: sync}
+  config: {name: dtth, prefix: 'X12SA-ES1-DETT:ROX1'}
+  deviceGroup: beamlineMotor
+  status: {enabled: true}
+  type: PmDetectorRotation
 dettrx:
   desc: 'Detector tower motion'
   acquisition: {schedule: sync}
@@ -841,3 +877,4 @@ FBPMUY:
   deviceGroup: monitor
   status: {enabled: true}
   type: EpicsSignalRO
+

ophyd_devices/epics/devices/__init__.py

@@ -3,6 +3,8 @@ from .slits import SlitH, SlitV
 from .XbpmBase import XbpmBase, XbpmCsaxsOp
 from .SpmBase import SpmBase
 from .InsertionDevice import InsertionDevice
+from .specMotors import PmMonoBender, PmDetectorRotation
+
 
 # Standard ophyd classes
 from ophyd import EpicsSignal, EpicsSignalRO, EpicsMotor

ophyd_devices/epics/devices/specMotors.py

@@ -0,0 +1,93 @@
+# -*- coding: utf-8 -*-
+"""
+Created on Wed Oct 13 18:06:15 2021
+
+@author: mohacsi_i
+
+IMPORTANT: Virtual monochromator axes should be implemented already in EPICS!!!
+"""
+
+import numpy as np
+from math import isclose
+from ophyd import (
+    EpicsSignal,
+    EpicsSignalRO,
+    EpicsMotor,
+    PseudoPositioner,
+    PseudoSingle,
+    Device,
+    Component,
+    Kind,
+)
+from ophyd.pseudopos import pseudo_position_argument, real_position_argument
+from ophyd.sim import SynAxis, Syn2DGauss
+
+
+class PmMonoBender(PseudoPositioner):
+    """Monochromator bender
+
+    Small wrapper to combine the four monochromator bender motors.
+    """
+
+    # Real axes
+    ai = Component(EpicsMotor, "TRYA", name="ai")
+    bo = Component(EpicsMotor, "TRYB", name="bo")
+    co = Component(EpicsMotor, "TRYC", name="co")
+    di = Component(EpicsMotor, "TRYD", name="di")
+
+    # Virtual axis
+    bend = Component(PseudoSingle, name="bend")
+
+    _real = ["ai", "bo", "co", "di"]
+
+    @pseudo_position_argument
+    def forward(self, pseudo_pos):
+        delta = pseudo_pos.bend - 0.25 * (
+            self.ai.position + self.bo.position + self.co.position + self.di.position
+        )
+        return self.RealPosition(
+            ai=self.ai.position + delta,
+            bo=self.bo.position + delta,
+            co=self.co.position + delta,
+            di=self.di.position + delta,
+        )
+
+    @real_position_argument
+    def inverse(self, real_pos):
+        return self.PseudoPosition(
+            bend=0.25 * (real_pos.ai + real_pos.bo + real_pos.co + real_pos.di)
+        )
+
+
+def r2d(radians):
+    return radians * 180 / 3.141592
+
+
+def d2r(degrees):
+    return degrees * 3.141592 / 180.0
+
+
+class PmDetectorRotation(PseudoPositioner):
+    """Detector rotation pseudo motor
+
+    Small wrapper to convert detector pusher position to rotation angle.
+    """
+
+    _tables_dt_push_dist_mm = 890
+    # Real axes
+    dtpush = Component(EpicsMotor, "", name="dtpush")
+
+    # Virtual axis
+    dtth = Component(PseudoSingle, name="dtth")
+
+    _real = ["dtpush"]
+
+    @pseudo_position_argument
+    def forward(self, pseudo_pos):
+        return self.RealPosition(
+            dtpush=d2r(tan(-3.14 / 180 * pseudo_pos.dtth)) * self._tables_dt_push_dist_mm
+        )
+
+    @real_position_argument
+    def inverse(self, real_pos):
+        return self.PseudoPosition(dtth=r2d(-atan(real_pos.dtpush / self._tables_dt_push_dist_mm)))