732 lines
25 KiB
Python
732 lines
25 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, DeviceStatus
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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 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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from prettytable import PrettyTable
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logger = bec_logger.logger
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class GalilCommunicationError(Exception):
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pass
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class GalilError(Exception):
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pass
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class BECConfigError(Exception):
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pass
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def retry_once(fcn):
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"""Decorator to rerun a function in case a Galil communication error was raised. This may happen if the buffer was not empty."""
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@functools.wraps(fcn)
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def wrapper(self, *args, **kwargs):
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try:
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val = fcn(self, *args, **kwargs)
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except (GalilCommunicationError, GalilError):
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val = fcn(self, *args, **kwargs)
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return val
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return wrapper
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class GalilController(Controller):
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USER_ACCESS = [
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"describe",
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"show_running_threads",
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"galil_show_all",
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"socket_put_and_receive",
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"socket_put_confirmed",
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"sgalil_reference",
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"fly_grid_scan",
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"read_encoder_position",
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]
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def __init__(
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self,
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*,
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name="GalilController",
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kind=None,
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parent=None,
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socket=None,
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attr_name="",
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labels=None,
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):
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if not hasattr(self, "_initialized") or not self._initialized:
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self._galil_axis_per_controller = 8
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self._axis = [None for axis_num in range(self._galil_axis_per_controller)]
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super().__init__(
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name=name,
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socket=socket,
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attr_name=attr_name,
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parent=parent,
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labels=labels,
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kind=kind,
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)
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def on(self, controller_num=0) -> None:
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"""Open a new socket connection to the controller"""
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if not self.connected:
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self.sock.open()
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self.connected = True
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else:
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logger.info("The connection has already been established.")
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# warnings.warn(f"The connection has already been established.", stacklevel=2)
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def off(self) -> None:
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"""Close the socket connection to the controller"""
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if self.connected:
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self.sock.close()
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self.connected = False
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else:
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logger.info("The connection is already closed.")
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def set_axis(self, axis: Device, axis_nr: int) -> None:
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"""Assign an axis to a device instance.
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Args:
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axis (Device): Device instance (e.g. GalilMotor)
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axis_nr (int): Controller axis number
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"""
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self._axis[axis_nr] = axis
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@threadlocked
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def socket_put(self, val: str) -> None:
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self.sock.put(f"{val}\r".encode())
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@threadlocked
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def socket_get(self) -> str:
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return self.sock.receive().decode()
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@retry_once
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@threadlocked
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def socket_put_and_receive(self, val: str, remove_trailing_chars=True) -> str:
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self.socket_put(val)
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if remove_trailing_chars:
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return self._remove_trailing_characters(self.sock.receive().decode())
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return self.socket_get()
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@retry_once
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def socket_put_confirmed(self, val: str) -> None:
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"""Send message to controller and ensure that it is received by checking that the socket receives a colon.
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Args:
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val (str): Message that should be sent to the socket
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Raises:
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GalilCommunicationError: Raised if the return value is not a colon.
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"""
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return_val = self.socket_put_and_receive(val)
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if return_val != ":":
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raise GalilCommunicationError(
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f"Expected return value of ':' but instead received {return_val}"
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)
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def is_axis_moving(self, axis_Id, axis_Id_numeric) -> bool:
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is_moving = bool(float(self.socket_put_and_receive(f"MG_BG{axis_Id}")) != 0)
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# backlash_is_active = bool(float(self.socket_put_and_receive(f"MGbcklact[axis]")) != 0)
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return bool(is_moving) # bool(is_moving or backlash_is_active)
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def is_thread_active(self, thread_id: int) -> bool:
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val = float(self.socket_put_and_receive(f"MG_XQ{thread_id}"))
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if val == -1:
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return False
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return True
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def _remove_trailing_characters(self, var) -> str:
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if len(var) > 1:
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return var.split("\r\n")[0]
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return var
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def stop_all_axes(self) -> str:
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# return self.socket_put_and_receive(f"XQ#STOP,1")
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# Command stops all threads and motors!
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self.socket_put_and_receive(f"CB8")
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return self.socket_put_and_receive(f"ST")
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def axis_is_referenced(self) -> bool:
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return bool(float(self.socket_put_and_receive(f"MG allaxref").strip()))
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def show_running_threads(self) -> None:
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t = PrettyTable()
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t.title = f"Threads on {self.sock.host}:{self.sock.port}"
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t.field_names = [str(ax) for ax in range(self._galil_axis_per_controller)]
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t.add_row(
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[
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"active" if self.is_thread_active(t) else "inactive"
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for t in range(self._galil_axis_per_controller)
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]
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)
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print(t)
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def is_motor_on(self, axis_Id) -> bool:
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return not bool(float(self.socket_put_and_receive(f"MG _MO{axis_Id}").strip()))
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def get_motor_limit_switch(self, axis_Id) -> list:
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# SGalil specific
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if axis_Id == "C":
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ret = self.socket_put_and_receive(f"MG _LF{axis_Id}, _LR{axis_Id}")
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high, low = ret.strip().split(" ")
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elif axis_Id == "E":
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ret = self.socket_put_and_receive(f"MG _LF{'F'}, _LR{'F'}")
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high, low = ret.strip().split(" ")
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return [not bool(float(low)), not bool(float(high))]
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def describe(self) -> None:
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t = PrettyTable()
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t.title = f"{self.__class__.__name__} on {self.sock.host}:{self.sock.port}"
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t.field_names = [
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"Axis",
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"Name",
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"Connected",
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"Referenced",
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"Motor On",
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"Limits",
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"Position",
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]
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for ax in range(self._galil_axis_per_controller):
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axis = self._axis[ax]
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if axis is not None:
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t.add_row(
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[
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f"{axis.axis_Id_numeric}/{axis.axis_Id}",
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axis.name,
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axis.connected,
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self.axis_is_referenced(),
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self.is_motor_on(axis.axis_Id),
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self.get_motor_limit_switch(axis.axis_Id),
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axis.readback.read().get(axis.name).get("value"),
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]
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)
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else:
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t.add_row([None for t in t.field_names])
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print(t)
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self.show_running_threads()
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def galil_show_all(self) -> None:
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for controller in self._controller_instances.values():
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if isinstance(controller, GalilController):
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controller.describe()
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def sgalil_reference(self) -> None:
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"""Reference all axes of the controller"""
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if self.axis_is_referenced():
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print("All axes are already referenced.\n")
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return
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# Make sure no axes are moving, is this necessary?
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self.stop_all_axes()
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self.socket_put_and_receive(f"XQ#FINDREF")
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print("Referencing. Please wait, timeout after 100s...\n")
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timeout = time.time() + 100
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while not self.axis_is_referenced():
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if time.time() > timeout:
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print("Abort reference sequence, timeout reached\n")
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break
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time.sleep(0.5)
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# @threadlocked
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def fly_grid_scan(
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self,
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status: DeviceStatus,
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start_y: float,
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end_y: float,
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interval_y: int,
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start_x: float,
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end_x: float,
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interval_x: int,
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exp_time: float,
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readout_time: float,
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**kwargs,
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) -> tuple:
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"""_summary_
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Args:
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start_y (float): start position of y axis (fast axis)
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end_y (float): end position of y axis (fast axis)
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interval_y (int): number of points in y axis
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start_x (float): start position of x axis (slow axis)
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end_x (float): end position of x axis (slow axis)
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interval_x (int): number of points in x axis
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exp_time (float): exposure time in seconds
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readout_time (float): readout time in seconds, minimum of .5e-3s (0.5ms)
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Raises:
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LimitError: Raised if any position of motion is outside of the limits
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LimitError: Raised if the speed is above 2mm/s or below 0.02mm/s
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"""
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#
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if not self.axis_is_referenced():
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raise GalilError("Axis are not referenced")
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sign_y = self._axis[ord("c") - 97].sign
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sign_x = self._axis[ord("e") - 97].sign
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# Check limits
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# TODO check sign of stage, or not necessary
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check_values = [start_y, end_y, start_x, end_x]
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for val in check_values:
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self.check_value(val)
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start_x *= sign_x
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end_x *= sign_x
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start_y *= sign_y
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end_y *= sign_y
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speed = np.abs(end_y - start_y) / (
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(interval_y) * exp_time + (interval_y - 1) * readout_time
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)
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if speed > 2.00 or speed < 0.02:
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raise LimitError(
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f"Speed of {speed:.03f}mm/s is outside of acceptable range of 0.02 to 2 mm/s"
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)
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gridmax = int(interval_x - 1)
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step_grid = (end_x - start_x) / interval_x
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n_samples = int(interval_y * interval_x)
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# Hard coded to maximum offset of 0.1mm to avoid long motions.
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self.socket_put_and_receive(f"off={(0):f}")
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self.socket_put_and_receive(f"a_start={start_y:.04f};a_end={end_y:.04f};speed={speed:.04f}")
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self.socket_put_and_receive(
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f"b_start={start_x:.04f};gridmax={gridmax:d};b_step={step_grid:.04f}"
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)
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self.socket_put_and_receive(f"nums={n_samples}")
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self.socket_put_and_receive("XQ#SAMPLE")
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# sleep 50ms to avoid controller running into
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time.sleep(0.1)
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self.socket_put_and_receive("XQ#SCANG")
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# self._block_while_active(3)
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# time.sleep(0.1)
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threading.Thread(target=self._block_while_active, args=(3,status), daemon=True).start()
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# self._while_in_motion(3, n_samples)
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def _block_while_active(self,thread_id:int, status) -> None:
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while self.is_thread_active(thread_id):
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time.sleep(1)
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time.sleep(1)
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while self.is_thread_active(thread_id):
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time.sleep(1)
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status.set_finished()
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# TODO this is for reading out positions, readout is limited by stage triggering
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def _while_in_motion(self, thread_id: int, n_samples: int) -> tuple:
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last_readout = 0
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val_axis2 = [] # y axis
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val_axis4 = [] # x axis
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while self.is_thread_active(thread_id):
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posct = int(self.socket_put_and_receive(f"MGposct").strip().split(".")[0])
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logger.info(f"SGalil is scanning - latest enconder position {posct+1} from {n_samples}")
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time.sleep(1)
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if posct > last_readout:
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positions = self.read_encoder_position(last_readout, posct)
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val_axis4.extend(positions[0])
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val_axis2.extend(positions[1])
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last_readout = posct + 1
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logger.info(len(val_axis2))
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time.sleep(1)
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# Readout of last positions after scan finished
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posct = int(self.socket_put_and_receive(f"MGposct").strip().split(".")[0])
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logger.info(f"SGalil is scanning - latest enconder position {posct} from {n_samples}")
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if posct > last_readout:
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positions = self.read_encoder_position(last_readout, posct)
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val_axis4.extend(positions[0])
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val_axis2.extend(positions[1])
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return val_axis4, val_axis2
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def read_encoder_position(self, fromval: int, toval: int) -> tuple:
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val_axis2 = [] # y axis
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val_axis4 = [] # x axis
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for ii in range(fromval, toval + 1):
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rts = self.socket_put_and_receive(f"MGaposavg[{ii%2000}]*10,cposavg[{ii%2000}]*10")
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if rts == ":":
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val_axis4.append(rts)
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val_axis2.append(rts)
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continue
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val_axis4.append(float(rts.strip().split(" ")[0]) / 100000)
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val_axis2.append(float(rts.strip().split(" ")[1]) / 100000)
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return val_axis4, val_axis2
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class GalilSignalBase(SocketSignal):
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def __init__(self, signal_name, **kwargs):
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self.signal_name = signal_name
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super().__init__(**kwargs)
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self.controller = self.parent.controller
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self.sock = self.parent.controller.sock
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class GalilSignalRO(GalilSignalBase):
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def __init__(self, signal_name, **kwargs):
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super().__init__(signal_name, **kwargs)
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self._metadata["write_access"] = False
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def _socket_set(self, val):
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raise ReadOnlyError("Read-only signals cannot be set")
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class GalilReadbackSignal(GalilSignalRO):
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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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if self.parent.axis_Id_numeric == 2:
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current_pos = float(
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self.controller.socket_put_and_receive(f"MG _TP{self.parent.axis_Id}/mm")
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)
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elif self.parent.axis_Id_numeric == 4:
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# hardware controller readback from axis 4 is on axis 0, A instead of E
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current_pos = float(self.controller.socket_put_and_receive(f"MG _TP{'A'}/mm"))
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current_pos *= self.parent.sign
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return current_pos
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def read(self):
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self._metadata["timestamp"] = time.time()
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val = super().read()
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return val
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class GalilSetpointSignal(GalilSignalBase):
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setpoint = 0
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def _socket_get(self) -> float:
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"""Get command for receiving the setpoint / target value.
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The value is not pulled from the controller but instead just the last setpoint used.
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Returns:
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float: setpoint / target value
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"""
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return self.setpoint * self.parent.sign
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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.axis_is_referenced()
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if not axes_referenced:
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raise GalilError(
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"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"
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)
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while self.controller.is_thread_active(0):
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time.sleep(0.1)
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if self.parent.axis_Id_numeric == 2:
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self.controller.socket_put_confirmed(f"PA{self.parent.axis_Id}={target_val:.4f}*mm")
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self.controller.socket_put_and_receive(f"BG{self.parent.axis_Id}")
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elif self.parent.axis_Id_numeric == 4:
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self.controller.socket_put_confirmed(f"targ{self.parent.axis_Id}={target_val:.4f}")
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self.controller.socket_put_and_receive(f"XQ#POSE,{self.parent.axis_Id_numeric}")
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while self.controller.is_thread_active(0):
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time.sleep(0.005)
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class GalilMotorIsMoving(GalilSignalRO):
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@threadlocked
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def _socket_get(self):
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if self.parent.axis_Id_numeric == 2:
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ret = self.controller.is_axis_moving(self.parent.axis_Id, self.parent.axis_Id_numeric)
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return ret
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if self.parent.axis_Id_numeric == 4:
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# Motion signal from axis 4 is mapped to axis 5
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ret = self.controller.is_axis_moving("F", 5)
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return ret or self.controller.is_thread_active(4)
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def get(self):
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val = super().get()
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if val is not None:
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self._run_subs(
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sub_type=self.SUB_VALUE,
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value=val,
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timestamp=time.time(),
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)
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return val
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class GalilAxesReferenced(GalilSignalRO):
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@threadlocked
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def _socket_get(self):
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return self.controller.socket_put_and_receive("MG allaxref")
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class SGalilMotor(Device, PositionerBase):
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""" "SGalil Motors at cSAXS have a
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DC motor (y axis - vertical) - implemented as C
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and a step motor (x-axis horizontal) - implemented as E
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that require different communication for control
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"""
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USER_ACCESS = ["controller"]
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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(GalilSetpointSignal, signal_name="setpoint")
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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")
|
|
|
|
SUB_READBACK = "readback"
|
|
SUB_CONNECTION_CHANGE = "connection_change"
|
|
_default_sub = SUB_READBACK
|
|
|
|
def __init__(
|
|
self,
|
|
axis_Id,
|
|
prefix="",
|
|
*,
|
|
name,
|
|
kind=None,
|
|
read_attrs=None,
|
|
configuration_attrs=None,
|
|
parent=None,
|
|
host="129.129.122.26",
|
|
port=23,
|
|
limits=None,
|
|
sign=1,
|
|
socket_cls=SocketIO,
|
|
device_manager=None,
|
|
**kwargs,
|
|
):
|
|
self.axis_Id = axis_Id
|
|
self.sign = sign
|
|
self.controller = GalilController(socket=socket_cls(host=host, port=port))
|
|
self.controller.set_axis(axis=self, axis_nr=self.axis_Id_numeric)
|
|
self.tolerance = kwargs.pop("tolerance", 0.5)
|
|
self.device_mapping = kwargs.pop("device_mapping", {})
|
|
self.device_manager = device_manager
|
|
|
|
if len(self.device_mapping) > 0 and self.device_manager is None:
|
|
raise BECConfigError(
|
|
"device_mapping has been specified but the device_manager cannot be accessed."
|
|
)
|
|
self.rt = self.device_mapping.get("rt")
|
|
|
|
super().__init__(
|
|
prefix,
|
|
name=name,
|
|
kind=kind,
|
|
read_attrs=read_attrs,
|
|
configuration_attrs=configuration_attrs,
|
|
parent=parent,
|
|
**kwargs,
|
|
)
|
|
self.readback.name = self.name
|
|
self.controller.subscribe(
|
|
self._update_connection_state, event_type=self.SUB_CONNECTION_CHANGE
|
|
)
|
|
self._update_connection_state()
|
|
# self.readback.subscribe(self._forward_readback, event_type=self.readback.SUB_VALUE)
|
|
|
|
if limits is not None:
|
|
assert len(limits) == 2
|
|
self.low_limit_travel.put(limits[0])
|
|
self.high_limit_travel.put(limits[1])
|
|
|
|
@property
|
|
def limits(self):
|
|
return (self.low_limit_travel.get(), self.high_limit_travel.get())
|
|
|
|
@property
|
|
def low_limit(self):
|
|
return self.limits[0]
|
|
|
|
@property
|
|
def high_limit(self):
|
|
return self.limits[1]
|
|
|
|
def check_value(self, pos):
|
|
"""Check that the position is within the soft limits"""
|
|
low_limit, high_limit = self.limits
|
|
|
|
if low_limit < high_limit and not (low_limit <= pos <= high_limit):
|
|
raise LimitError(f"position={pos} not within limits {self.limits}")
|
|
|
|
def _update_connection_state(self, **kwargs):
|
|
for walk in self.walk_signals():
|
|
walk.item._metadata["connected"] = self.controller.connected
|
|
|
|
def _forward_readback(self, **kwargs):
|
|
kwargs.pop("sub_type")
|
|
self._run_subs(sub_type="readback", **kwargs)
|
|
|
|
@raise_if_disconnected
|
|
def move(self, position, wait=True, **kwargs):
|
|
"""Move to a specified position, optionally waiting for motion to
|
|
complete.
|
|
|
|
Parameters
|
|
----------
|
|
position
|
|
Position to move to
|
|
moved_cb : callable
|
|
Call this callback when movement has finished. This callback must
|
|
accept one keyword argument: 'obj' which will be set to this
|
|
positioner instance.
|
|
timeout : float, optional
|
|
Maximum time to wait for the motion. If None, the default timeout
|
|
for this positioner is used.
|
|
|
|
Returns
|
|
-------
|
|
status : MoveStatus
|
|
|
|
Raises
|
|
------
|
|
TimeoutError
|
|
When motion takes longer than `timeout`
|
|
ValueError
|
|
On invalid positions
|
|
RuntimeError
|
|
If motion fails other than timing out
|
|
"""
|
|
self._started_moving = False
|
|
timeout = kwargs.pop("timeout", 100)
|
|
status = super().move(position, timeout=timeout, **kwargs)
|
|
self.user_setpoint.put(position, wait=False)
|
|
|
|
def move_and_finish():
|
|
while self.motor_is_moving.get():
|
|
logger.info("motor is moving")
|
|
val = self.readback.read()
|
|
self._run_subs(
|
|
sub_type=self.SUB_READBACK,
|
|
value=val,
|
|
timestamp=time.time(),
|
|
)
|
|
time.sleep(0.1)
|
|
val = self.readback.read()
|
|
success = np.isclose(
|
|
val[self.name]["value"],
|
|
position,
|
|
atol=self.tolerance,
|
|
)
|
|
|
|
if not success:
|
|
print(" stop")
|
|
self._done_moving(success=success)
|
|
logger.info("Move finished")
|
|
|
|
threading.Thread(target=move_and_finish, daemon=True).start()
|
|
try:
|
|
if wait:
|
|
status_wait(status)
|
|
except KeyboardInterrupt:
|
|
self.stop()
|
|
raise
|
|
|
|
return status
|
|
|
|
@property
|
|
def axis_Id(self):
|
|
return self._axis_Id_alpha
|
|
|
|
@axis_Id.setter
|
|
def axis_Id(self, val):
|
|
if isinstance(val, str):
|
|
if len(val) != 1:
|
|
raise ValueError(f"Only single-character axis_Ids are supported.")
|
|
if val not in ["C", "E"]:
|
|
raise ValueError(
|
|
f"axis_id {val} is currently not supported, please use either 'C' or 'E'."
|
|
)
|
|
self._axis_Id_alpha = val
|
|
self._axis_Id_numeric = ord(val.lower()) - 97
|
|
else:
|
|
raise TypeError(f"Expected value of type str but received {type(val)}")
|
|
|
|
@property
|
|
def axis_Id_numeric(self):
|
|
return self._axis_Id_numeric
|
|
|
|
@axis_Id_numeric.setter
|
|
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.")
|
|
self._axis_Id_alpha = val
|
|
self._axis_Id_numeric = (chr(val + 97)).capitalize()
|
|
else:
|
|
raise TypeError(f"Expected value of type int but received {type(val)}.")
|
|
|
|
@property
|
|
def egu(self):
|
|
"""The engineering units (EGU) for positions"""
|
|
return "mm"
|
|
|
|
def stop(self, *, success=False):
|
|
self.controller.stop_all_axes()
|
|
return super().stop(success=success)
|
|
|
|
def kickoff(self) -> DeviceStatus:
|
|
status = DeviceStatus(self)
|
|
self.controller.fly_grid_scan(
|
|
status,
|
|
self._kickoff_params.get("start_y"),
|
|
self._kickoff_params.get("end_y"),
|
|
self._kickoff_params.get("interval_y"),
|
|
self._kickoff_params.get("start_x"),
|
|
self._kickoff_params.get("end_x"),
|
|
self._kickoff_params.get("interval_x"),
|
|
self._kickoff_params.get("exp_time"),
|
|
self._kickoff_params.get("readout_time"),
|
|
)
|
|
return status
|
|
|
|
|
|
|
|
def configure(
|
|
self,
|
|
parameter: dict,
|
|
**kwargs,
|
|
) -> None:
|
|
self._kickoff_params = parameter
|
|
|
|
|
|
|
|
if __name__ == "__main__":
|
|
mock = False
|
|
if not mock:
|
|
samy = SGalilMotor("C", name="samy", host="129.129.122.26", port=23, sign=-1)
|
|
samx = SGalilMotor("E", name="samx", host="129.129.122.26", port=23, sign=-1)
|
|
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.controller.galil_show_all()
|