348 lines
11 KiB
Python
348 lines
11 KiB
Python
import functools
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import threading
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import time
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from typing import List
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import numpy as np
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from bec_lib.core import 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 prettytable import PrettyTable
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from ophyd_devices.galil.galil_ophyd import (
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BECConfigError,
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GalilAxesReferenced,
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GalilCommunicationError,
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GalilController,
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GalilError,
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GalilMotorIsMoving,
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GalilMotorResolution,
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GalilReadbackSignal,
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GalilSetpointSignal,
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retry_once,
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)
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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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logger = bec_logger.logger
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class FuprGalilController(GalilController):
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def is_axis_moving(self, axis_Id, axis_Id_numeric) -> bool:
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if axis_Id is None and axis_Id_numeric is not None:
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axis_Id = self.axis_Id_numeric_to_alpha(axis_Id_numeric)
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is_moving = bool(float(self.socket_put_and_receive(f"MG_BG{axis_Id}")) != 0)
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return is_moving
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def all_axes_referenced(self) -> bool:
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# TODO: check if all axes are referenced in all controllers
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return super().all_axes_referenced()
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def axis_is_referenced(self) -> bool:
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return self.all_axes_referenced()
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def all_axis_referenced(self) -> bool:
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return bool(float(self.socket_put_and_receive("MG axisref").strip()))
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def drive_axis_to_limit(self, axis_Id_numeric, direction: str) -> None:
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raise NotImplementedError("This function is not implemented for the FuprGalilController.")
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class FuprGalilReadbackSignal(GalilReadbackSignal):
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@retry_once
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@threadlocked
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def _socket_get(self) -> float:
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"""Get command for the readback signal
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Returns:
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float: Readback value after adjusting for sign and motor resolution.
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"""
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current_pos = float(self.controller.socket_put_and_receive(f"TP{self.parent.axis_Id}"))
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current_pos *= self.parent.sign
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step_mm = self.parent.motor_resolution.get()
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return current_pos / step_mm
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class FuprGalilSetpointSignal(GalilSetpointSignal):
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@retry_once
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@threadlocked
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def _socket_set(self, val: float) -> None:
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"""Set a new target value / setpoint value. Before submission, the target value is adjusted for the axis' sign.
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Furthermore, it is ensured that all axes are referenced before a new setpoint is submitted.
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Args:
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val (float): Target value / setpoint value
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Raises:
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GalilError: Raised if not all axes are referenced.
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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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axes_referenced = self.controller.all_axes_referenced()
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if axes_referenced:
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self.controller.socket_put_confirmed(
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f"PA{self.parent.axis_Id}={int(self.setpoint*self.parent.MOTOR_RESOLUTION)}"
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)
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self.controller.socket_put_confirmed(f"BG{self.parent.axis_Id}")
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else:
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raise GalilError("Not all axes are referenced.")
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class FuprGalilMotorResolution(GalilMotorResolution):
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@retry_once
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@threadlocked
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def _socket_get(self):
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return self.parent.MOTOR_RESOLUTION
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class FuprGalilMotorIsMoving(GalilMotorIsMoving):
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pass
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class FuprGalilAxesReferenced(GalilAxesReferenced):
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pass
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class FuprGalilMotor(Device, PositionerBase):
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USER_ACCESS = ["controller"]
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MOTOR_RESOLUTION = 25600
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readback = Cpt(
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GalilReadbackSignal,
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signal_name="readback",
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kind="hinted",
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)
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user_setpoint = Cpt(FuprGalilSetpointSignal, signal_name="setpoint")
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motor_resolution = Cpt(FuprGalilMotorResolution, signal_name="resolution", kind="config")
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motor_is_moving = Cpt(FuprGalilMotorIsMoving, signal_name="motor_is_moving", kind="normal")
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all_axes_referenced = Cpt(
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FuprGalilAxesReferenced, signal_name="all_axes_referenced", kind="config"
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)
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high_limit_travel = Cpt(Signal, value=0, kind="omitted")
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low_limit_travel = Cpt(Signal, value=0, kind="omitted")
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SUB_READBACK = "readback"
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SUB_CONNECTION_CHANGE = "connection_change"
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_default_sub = SUB_READBACK
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def __init__(
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self,
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axis_Id,
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prefix="",
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*,
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name,
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kind=None,
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read_attrs=None,
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configuration_attrs=None,
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parent=None,
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host="mpc2680.psi.ch",
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port=8081,
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limits=None,
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sign=1,
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socket_cls=SocketIO,
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device_manager=None,
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**kwargs,
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):
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self.axis_Id = axis_Id
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self.sign = sign
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self.controller = FuprGalilController(socket=socket_cls(host=host, port=port))
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self.controller.set_axis(axis=self, axis_nr=self.axis_Id_numeric)
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self.tolerance = kwargs.pop("tolerance", 0.5)
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self.device_mapping = kwargs.pop("device_mapping", {})
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self.device_manager = device_manager
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if len(self.device_mapping) > 0 and self.device_manager is None:
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raise BECConfigError(
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"device_mapping has been specified but the device_manager cannot be accessed."
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)
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self.rt = self.device_mapping.get("rt")
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super().__init__(
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prefix,
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name=name,
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kind=kind,
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read_attrs=read_attrs,
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configuration_attrs=configuration_attrs,
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parent=parent,
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**kwargs,
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)
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self.readback.name = self.name
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self.controller.subscribe(
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self._update_connection_state, event_type=self.SUB_CONNECTION_CHANGE
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)
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self._update_connection_state()
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# self.readback.subscribe(self._forward_readback, event_type=self.readback.SUB_VALUE)
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if limits is not None:
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assert len(limits) == 2
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self.low_limit_travel.put(limits[0])
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self.high_limit_travel.put(limits[1])
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@property
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def limits(self):
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return (self.low_limit_travel.get(), self.high_limit_travel.get())
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@property
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def low_limit(self):
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return self.limits[0]
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@property
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def high_limit(self):
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return self.limits[1]
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def check_value(self, pos):
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"""Check that the position is within the soft limits"""
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low_limit, high_limit = self.limits
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if low_limit < high_limit and not (low_limit <= pos <= high_limit):
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raise LimitError(f"position={pos} not within limits {self.limits}")
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def _update_connection_state(self, **kwargs):
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for walk in self.walk_signals():
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walk.item._metadata["connected"] = self.controller.connected
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def _forward_readback(self, **kwargs):
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kwargs.pop("sub_type")
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self._run_subs(sub_type="readback", **kwargs)
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@raise_if_disconnected
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def move(self, position, wait=True, **kwargs):
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"""Move to a specified position, optionally waiting for motion to
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complete.
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Parameters
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----------
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position
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Position to move to
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moved_cb : callable
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Call this callback when movement has finished. This callback must
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accept one keyword argument: 'obj' which will be set to this
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positioner instance.
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timeout : float, optional
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Maximum time to wait for the motion. If None, the default timeout
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for this positioner is used.
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Returns
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-------
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status : MoveStatus
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Raises
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------
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TimeoutError
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When motion takes longer than `timeout`
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ValueError
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On invalid positions
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RuntimeError
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If motion fails other than timing out
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"""
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self._started_moving = False
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timeout = kwargs.pop("timeout", 100)
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status = super().move(position, timeout=timeout, **kwargs)
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self.user_setpoint.put(position, wait=False)
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def move_and_finish():
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while self.motor_is_moving.get():
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logger.info("motor is moving")
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val = self.readback.read()
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self._run_subs(
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sub_type=self.SUB_READBACK,
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value=val,
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timestamp=time.time(),
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)
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time.sleep(0.1)
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val = self.readback.read()
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success = np.isclose(
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val[self.name]["value"],
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position,
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atol=self.tolerance,
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)
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if not success:
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print(" stop")
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self._done_moving(success=success)
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logger.info("Move finished")
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threading.Thread(target=move_and_finish, daemon=True).start()
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try:
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if wait:
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status_wait(status)
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except KeyboardInterrupt:
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self.stop()
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raise
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return status
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@property
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def axis_Id(self):
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return self._axis_Id_alpha
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@axis_Id.setter
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def axis_Id(self, val):
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if isinstance(val, str):
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if len(val) != 1:
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raise ValueError(f"Only single-character axis_Ids are supported.")
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self._axis_Id_alpha = val
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self._axis_Id_numeric = ord(val.lower()) - 97
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else:
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raise TypeError(f"Expected value of type str but received {type(val)}")
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@property
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def axis_Id_numeric(self):
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return self._axis_Id_numeric
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@axis_Id_numeric.setter
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def axis_Id_numeric(self, val):
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if isinstance(val, int):
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if val > 26:
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raise ValueError(f"Numeric value exceeds supported range.")
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self._axis_Id_alpha = val
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self._axis_Id_numeric = (chr(val + 97)).capitalize()
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else:
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raise TypeError(f"Expected value of type int but received {type(val)}")
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@property
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def egu(self):
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"""The engineering units (EGU) for positions"""
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return "mm"
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def stage(self) -> List[object]:
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return super().stage()
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def unstage(self) -> List[object]:
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return super().unstage()
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def stop(self, *, success=False):
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self.controller.stop_all_axes()
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return super().stop(success=success)
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if __name__ == "__main__":
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mock = False
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if not mock:
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leyey = GalilMotor("H", name="leyey", host="mpc2680.psi.ch", port=8081, sign=-1)
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leyey.stage()
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status = leyey.move(0, wait=True)
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status = leyey.move(10, wait=True)
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leyey.read()
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leyey.get()
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leyey.describe()
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leyey.unstage()
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else:
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from ophyd_devices.utils.socket import SocketMock
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leyex = GalilMotor(
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"G", name="leyex", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
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)
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leyey = GalilMotor(
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"H", name="leyey", host="mpc2680.psi.ch", port=8081, socket_cls=SocketMock
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)
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leyex.stage()
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# leyey.stage()
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leyex.controller.galil_show_all()
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