minor changes
This commit is contained in:
gac-x07mb
@ -25,6 +25,7 @@ from ophyd_devices.interfaces.base_classes.psi_detector_base import (
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PSIDetectorBase,
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)
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logger = bec_logger.logger
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DETECTOR_TIMEOUT = 5
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@ -56,6 +57,7 @@ class PhoenixTriggerSetup(CustomDetectorMixin):
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"""
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def on_stage(self) -> None:
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"""
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@ -93,28 +95,41 @@ class PhoenixTriggerSetup(CustomDetectorMixin):
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# check for falcon
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falcon = self.parent.device_manager.devices.get("falcon", None) # get device
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timeout = 1
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timeout = 2
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if falcon is not None:
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# TODO Check that falcon.state.get() == 1 is the correct check.
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# TODO Check that falcon.aquiring.get() == 1 is the correct check.
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# --> When is the falcon acquiring, this assumes 1?
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# self.wait_for_signals is defined in PSI_detector_base.CustomDetectorMixin
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# ALSO check for enabled or not here!!!
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#
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if not self.wait_for_signals([(falcon.state.get, 1)], timeout=timeout):
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if not self.wait_for_signals([(falcon.aquiring.get, 1)], timeout=timeout):
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raise PhoenixTriggerError(
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f"Device {self.parent.name} is not ready to take trigger, timeout due to waiting for Falcon to get ready. Timeout after {timeout}s"
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)
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xmap = self.parent.device_manager.devices.get("xmap", None) # get device
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timeout = 1
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timeout = 2
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if xmap is not None:
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# TODO Check that falcon.state.get() == 1 is the correct check.
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# TODO Check that falcon.aquiring.get() == 1 is the correct check.
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# --> When is the falcon acquiring, this assumes 1?
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# self.wait_for_signals is defined in PSI_detector_base.CustomDetectorMixin
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#
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if not self.wait_for_signals([(xmap.state.get, 1)], timeout=timeout):
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print('xmap erase start')
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xmap.erase_start.set(1) # .. should be in phoenix_xmap?
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print('xmap erase start')
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print(xmap.acquiring.get())
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time.sleep(0.1)
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print(xmap.acquiring.get())
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if not self.wait_for_signals([(xmap.acquiring.get, 1)], timeout=timeout):
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raise PhoenixTriggerError(
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f"Device {self.parent.name} is not ready to take trigger, timeout due to waiting for xmap to get ready. Timeout after {timeout}s"
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)
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@ -215,6 +230,8 @@ class PhoenixTrigger(PSIDetectorBase):
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#
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# (Here PhoenixTrigger <-- PSIDetectorBase <- Device
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#
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# intr_count = Cpt(
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# EpicsSignal, "INTR-COUN
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# then Cpt will construct - magically- the
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# Epics channel name = prefix+suffix,
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#
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@ -7,6 +7,7 @@
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import enum
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import os
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import threading
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import time
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from bec_lib.logger import bec_logger
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from ophyd import Component as Cpt
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@ -70,6 +71,7 @@ class XMAPSetup(CustomDetectorMixin):
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"""
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def __init__(self, *args, parent: Device = None, **kwargs) -> None:
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super().__init__(*args, parent=parent, **kwargs)
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self._lock = threading.RLock()
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@ -147,15 +149,17 @@ class XMAPSetup(CustomDetectorMixin):
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Prepare detector and backend for acquisition
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"""
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# staging for XMAP as used in FDA
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# staging for XMAP as used in FDA this is for step scan
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# make sure that detector is ready to measure
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self.parent.stop_all.set(1)
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time.sleep(0.05)
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self.parent.collect_mode.set(0)
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time.sleep(0.05)
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self.parent.apply(0)
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self.parent.apply.set(0)
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time.sleep(0.05)
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self.parent.preset_real.set(0)
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self.parent.preset_mode.set(0)
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time.sleep(0.05)
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# self.prepare_detector()
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@ -327,18 +331,25 @@ class XMAPPhoenix(PSIDetectorBase, xMAP):
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MIN_READOUT = 3e-3
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TIMEOUT_FOR_SIGNALS = 5
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dxp1 = Cpt(EpicsDXP, "dxp1:")
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# for fast loading uncomment dxp and mca for now
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# dxp1 = Cpt(EpicsDXP, "dxp1:")
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# dxp2 = Cpt(EpicsDXP, "dxp2:")
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# dxp3 = Cpt(EpicsDXP, "dxp3:")
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# dxp4 = Cpt(EpicsDXP, "dxp4:")
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mca1 = Cpt(EpicsMCARecord, "mca1")
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# mca1 = Cpt(EpicsMCARecord, "mca1")
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# mca2 = Cpt(EpicsMCARecord, "mca2")
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# mca3 = Cpt(EpicsMCARecord, "mca3")
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# mca4 = Cpt(EpicsMCARecord, "mca4")
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hdf5 = Cpt(HDF5Plugin, "HDF1:")
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# for compatibility and mapping ruke EPICS --> bec
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preset_real = xMAP.preset_real_time
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preset_live = xMAP.preset_live_time
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# create some easy to find names for frequently used channels
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ph_erase_start = xMAP.erase_start
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@ -2,48 +2,14 @@
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# creates newly
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ff = 0W
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ff = 0
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falcon = 0
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from ophyd import Component as Cpt
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import phoenix_bec.devices.phoenix_xmap as ff
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xmap = ff.XMAPPhoenix(name="xmap", prefix="X07MB-XMAP:")
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# xmap = ff.FalconPhoenix(name="falcon_hdf5", prefix="X07MB-XMAP:")
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# make a 'get to read all epics channels
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# there will be an error message, if device contains a channel whcih does not exist
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#w = xmap.read()
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#HOw to test function in mixing layer
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# phoenix_bec / local_scripts / Code_to_test_devices / test_falcon.py
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# for attr in falcon.hdf5.component_names:
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# if not attr.startswith("_"):
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# print(attr)
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# signal = getattr(falcon, attr)
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# signal.get()
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"""
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print(this_scan.scan.data.keys())
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for outer_key in this_scan.scan.data.keys():
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print("outer_key", outer_key)
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n_outer = len(this_scan.scan.data.keys())
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for inner_key in this_scan.scan.data[outer_key].keys():
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print("inner_key", inner_key)
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# calculate nunber of points
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n_inner = len(this_scan.scan.data[outer_key][inner_key].keys())
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value = np.zeros(n_inner)
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timestamp = np.zeros(n_inner)
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for i in range(n_inner):
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try:
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value[i] = this_scan.scan.data[outer_key][inner_key][i]["value"]
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except:
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value = None
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try:
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timestamp[i] = this_scan.scan.data[outer_key][inner_key][i]["timestamp"]
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except:
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timestamp[i] = None
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# endfor
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self.add(inner_key + "_" + outer_key + "_val", value)
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self.add(innerprint("test")
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"""
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xmap.custom_prepare.on_stage()
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0
phoenix_bec/local_scripts/Native_Python_script/5
Normal file
0
phoenix_bec/local_scripts/Native_Python_script/5
Normal file
522
phoenix_bec/local_scripts/Native_Python_script/MyLib.py
Normal file
522
phoenix_bec/local_scripts/Native_Python_script/MyLib.py
Normal file
@ -0,0 +1,522 @@
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#! /usr/bin/env python
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#
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#
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# old python library for pure python aplicatoins
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#
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# ===========================================================================
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import os
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import sys
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import numpy as np
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#from CaChannel import *
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import epics as ep
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#from EpicsMotor import *
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#from epicsPV import *
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import time
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import string
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def init_PV():
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#
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# routine initialzed all EPIC channels used in the Phoenix beamline
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#
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global PV
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PV = {} # define EPICS CHANNEL (PV) directory
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# define one channel
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try:
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PV['X07MB_MB_ScanX_VAL'] = ep.PV('X07MB-MA1_ScanX.VAL')
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except:
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print( "*** Error finding EPICS channel: ")
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sys.exit("*** Program STOP ***")
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print ('init PV done')
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def get_epicsPV(channel):
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b=-1
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# first check fro channel existence
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#print '.................................. enter get_epicsPV from X_X07MB_lib_dev.py' ,channel
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#print('try ',channel)
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try:
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#print ' try reading channel X_X07MB_lib_dev.py' ,channel
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b=PV[channel].getw()
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except:
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# channel not defined / found now created in PV list this channel into PV LIST
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print ('trouble reading epics PV..',channel,'likely PV undefined')
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n_tries=0
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tt=0
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while tt==0:
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print ('in while loop ')
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try:
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print ('try============= ',channel)
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PV[channel]=epicsPV(channel)
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#print PV
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tt=1
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print (PV[channel].getw())
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except:
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#print 'set tt back to zero as something went wrong here'
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tt=0
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#print 'except somthing is wrong here, likely time out, now retry channels'
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#print b
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n_tries=n_tries+1
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time.sleep(.3)
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print( 'next try',n_tries)
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if n_tries==25:
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tt=1
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print( 'too many tries for channel acces')
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print( 'Channel',channel)
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sys.exit("*** Program STOP ***")
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# endif
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# endtry
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# now try again and set monitor to reduce chanel accesscalls
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PV[channel].setMonitor()
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b=PV[channel].getw()
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# end while
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# endtry
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return b
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def put_epicsPV(channel,val,delay={}):
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print(channel,val,delay)
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#try:
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# from CaChannel import *
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# from epicsMotor import *
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# from epicsPV import *
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# import time
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# import string
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#except:
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# try:
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# sys.path.insert(0, os.path.expandvars("$SLSBASE/sls/lib/python22/CaChannel"))
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# sys.path.insert(0, os.path.expandvars("/exchange/share/mXAS/pyth/mod"))
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# from CaChannel import *
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# from epicsPV import *
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# except:
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# os.system ("xkbbell")
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# os.system ("xmessage -nearmouse -timeout 30 \
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# -buttons \"\" \"epicsPV or CaChannel module cannot be found\"")
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# sys.exit(1)
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# # endtry
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# endtry
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#print '------------------------------------------' , val
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#print ' *delay) ', delay
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#print ' *delay) '
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#print ' locals',locals()
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if delay == {}:
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#print 'in if use predefined delay of 0 '
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set_delay=0.0
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else:
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#print ' set delay to input value',delay
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set_delay = delay
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#endelse
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n_tries=0
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tt=0
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b=-1
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while tt==0:
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try:
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#print ' try writing into ' ,channel
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epicsPV(channel).putw(val)
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tt=1
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except:
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print( 'trouble reading epics PV..')
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print( b)
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n_tries=n_tries+1
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tt=0
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time.sleep(.5)
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if n_tries==50:
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tt=1
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print ('too many tries for channel acces')
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#sys.exit("*** Program STOP ***")
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# endtry
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# finally perform delay
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time.sleep(set_delay)
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return b
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# ======================================================
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def move_and_wait_bk(Ch_motor,value,backlash):
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global phoenix_no_move
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global phoenix_no_scan
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# print ch_motor
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if phoenix_no_move==1:
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print (' ')
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print ('in move_and_wait_bk ')
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print ('should move motor ',Ch_motor,' to ', value)
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print ('BL in no move debugging state. DO NOT MOVE MOTOR')
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print (' ')
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return
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# move to new position with backlash correction
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move_and_wait(Ch_motor,value-backlash)
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move_and_wait(Ch_motor,value)
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# ======================================================
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def move_and_wait_old(Ch_motor,value,check_moving):
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global phoenix_no_move
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global phoenix_no_scan
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# print 'in move and waqit',phoenix_no_move
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# print Ch_motor
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if phoenix_no_move==1:
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print (' ')
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print ('in move_and_wait ')
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print ('should move motor ',Ch_motor,' to ', value)
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print ('BL in no move debugging state. DO NOT MOVE MOTOR')
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print (' ')
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return
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Ch_motor_use=Ch_motor
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if (Ch_motor[len(Ch_motor)-4:len(Ch_motor)] == '.VAL'):
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Ch_motor_use=Ch_motor[0:len(Ch_motor)-4]
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# print Ch_motor_use
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if Ch_motor_use[0:5] == 'X07MA':
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stop_if_phoenix_is_offline()
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if Ch_motor_use[0:11] == 'X07MB-OP-MI1':
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stop_if_phoenix_is_offline()
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Ch_motor_val = Ch_motor_use +'.VAL'
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Ch_motor_done = Ch_motor_use +'.DMOV'
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#print Ch_motor_val
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epicsPV(Ch_motor_val).putw(value)
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print( 'wait for movement of', Ch_motor_val)
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while not epicsPV(Ch_motor_done).getw() :
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time.sleep(0.1)
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get_epicsPV(Ch_motor_val)
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#print 'Motor ',Ch_motor_val,' still moving, wait '
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print ( 'movement finished')
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# ===========================================================
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def move_and_wait(motor,value,check_moving=0):
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global phoenix_no_move
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global phoenix_no_scan
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# print 'in move and waqit',phoenix_no_move
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# print Ch_motor
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if phoenix_no_move==1:
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print( ' ')
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print( 'in move_and_wait ')
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print( 'should move motor ',Ch_motor,' to ', value)
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print( 'BL in no move debugging state. DO NOT MOVE MOTOR')
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print( ' ')
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return
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# some safety checks...
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if motor.val[0:5] == 'X07MA':
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stop_if_phoenix_is_offline()
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if motor.val[0:11] == 'X07MB-OP-MI1':
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stop_if_phoenix_is_offline()
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put_epicsPV(motor.val,value,delay=0.2)
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print ('wait for movement of', motor.val)
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if check_moving == 0:
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while not get_epicsPV(motor.dmov):
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time.sleep(0.1)
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print( get_epicsPV(motor.val))
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print( 'Motor ',motor.val,' still moving, wait ')
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#endwhile
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else: # case with check of movement of encoders
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print ('else....')
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while not get_epicsPV(motor.dmov):
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enc1= get_epicsPV(motor.rep)
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time.sleep(0.25)
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enc2= get_epicsPV(motor.rep)
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diff=enc2-enc1
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print( get_epicsPV(motor.val))
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if (abs(diff) < 5 and (get_epicsPV(motor.dmov) == 0)) :
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print ( 'suspect hanging of motor. monitor')
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enc1= get_epicsPV(motor.rep)
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time.sleep(0.5)
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enc2= get_epicsPV(motor.rep)
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diff=enc2-enc1
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time.sleep(0.5)
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if ((abs(diff) < 3) and (get_epicsPV(motor.dmov) == 0)):
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print (' ===================================== diff',diff )
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print ('difference encoder to motor too large')
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print (' STOP movement')
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put_epicsPV(motor.spmg,0,delay=0.1)
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stop
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# endif
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#endif
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print( 'Motor ',motor.val,' still moving, wait ')
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print( 'difference subsequent encoder positions ',diff)
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# endwhile
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# endif
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print( 'movement finished')
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# =======================================================================
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def Wait_for_Value(Channel,value):
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while get_epicsPV(Channel) != value:
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#print(Channel)
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#print get_epicsPV(Channel)
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time.sleep(.02)
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#endwhile
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def move_and_wait_2motors(mot1,mot2,val_1,val_2,check_moving=0):
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global phoenix_no_move
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global phoenix_no_scan
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# print 'in move and waqit',phoenix_no_move
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# print Ch_motor
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if phoenix_no_move==1:
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print( ' ')
|
||||
print( 'in move_and_wait ')
|
||||
print( 'should move motor ',Ch_motor,' to ', value)
|
||||
print( 'BL in no move debugging state. DO NOT MOVE MOTOR')
|
||||
print( ' ')
|
||||
return
|
||||
|
||||
# some safety checks...
|
||||
|
||||
if mot1.val[0:5] == 'X07MA':
|
||||
stop_if_phoenix_is_offline()
|
||||
|
||||
if mot2.val[0:5] == 'X07MA':
|
||||
stop_if_phoenix_is_offline()
|
||||
|
||||
if mot1.val[0:11] == 'X07MB-OP-MI1':
|
||||
stop_if_phoenix_is_offline()
|
||||
|
||||
if mot2.val[0:11] == 'X07MB-OP-MI1':
|
||||
stop_if_phoenix_is_offline()
|
||||
|
||||
put_epicsPV(mot1.val,val_1,delay=0.2)
|
||||
put_epicsPV(mot2.val,val_2,delay=0.2)
|
||||
|
||||
print( 'wait for movement of', mot1.val,'and ', mot2.val)
|
||||
|
||||
if check_moving == 0:
|
||||
print (not get_epicsPV(mot1.dmov))
|
||||
print (not get_epicsPV(mot2.dmov))
|
||||
|
||||
while ((not get_epicsPV(mot1.dmov)) or (not get_epicsPV(mot2.dmov))):
|
||||
time.sleep(0.25)
|
||||
#endwhile
|
||||
print( get_epicsPV(mot1.val),get_epicsPV(mot2.val))
|
||||
print( 'Motor ',mot1.val,mot2.val,' still moving, wait ')
|
||||
|
||||
else: # case with check of movement of encoders
|
||||
print ( 'else....')
|
||||
while (not get_epicsPV(mot1.dmov)) or (not get_epicsPV(mot2.dmov)):
|
||||
#print ' in while '
|
||||
# for motor 1
|
||||
enc_1_a= get_epicsPV(mot1.rep)
|
||||
enc_2_a= get_epicsPV(mot2.rep)
|
||||
time.sleep(0.25)
|
||||
enc_1_b= get_epicsPV(mot1.rep)
|
||||
enc_2_b= get_epicsPV(mot2.rep)
|
||||
|
||||
diff_1=enc_1_b-enc_1_a
|
||||
diff_2=enc_2_b-enc_2_a
|
||||
#print ' encoder diffs',diff_1,diff_2
|
||||
|
||||
# check encoder movement for motor 1:
|
||||
if (abs(diff_1) < 5 and (get_epicsPV(mot1.dmov) == 0)) :
|
||||
print( 'suspect hanging of motor 1 monitor')
|
||||
enc_1_a= get_epicsPV(mot1.rep)
|
||||
time.sleep(0.25)
|
||||
enc_1_b= get_epicsPV(mot1.rep)
|
||||
diff_1=enc_1_b-enc_1_a
|
||||
time.sleep(0.5)
|
||||
if ((abs(diff_1) < 3) and (get_epicsPV(mot1.dmov) == 0)):
|
||||
print( ' ===================================== diff',diff_1 )
|
||||
print( 'difference subsequent encoder steps too small')
|
||||
print( 'Motor 1 hanging???? STOP movement for safety ')
|
||||
put_epicsPV(mot_1.spmg,0,delay=0.1)
|
||||
stop
|
||||
# endif
|
||||
#endif
|
||||
|
||||
# Now checlk motor 2
|
||||
if (abs(diff_2) < 5 and (get_epicsPV(mot2.dmov) == 0)) :
|
||||
print ('suspect hanging of motor 2: monitor')
|
||||
enc_2_a= get_epicsPV(mot2.rep)
|
||||
time.sleep(0.25)
|
||||
enc_2_b= get_epicsPV(mot2.rep)
|
||||
diff_2=enc_2_b-enc_2_a
|
||||
time.sleep(0.5)
|
||||
if ((abs(diff_2) < 3) and (get_epicsPV(mot2.dmov) == 0)):
|
||||
print( ' ===================================== diff',diff_2 )
|
||||
print( 'difference subsequent encoder steps too small')
|
||||
print( 'Motor 2 hanging???? STOP movement for safety ')
|
||||
put_epicsPV(mot2.spmg,0,delay=0.1)
|
||||
stop
|
||||
# endif
|
||||
#endif
|
||||
print( 'Motors ',mot1.val, 'and',mot2.val,' still moving, wait ')
|
||||
print( 'difference subsequent encoder positions ',diff_1, diff_2)
|
||||
# endwhile
|
||||
# endif
|
||||
print( 'movement finished')
|
||||
|
||||
# =======================================================================
|
||||
|
||||
# Generate all names
|
||||
class Motor():
|
||||
#define extensions for all channels
|
||||
e_val = '.VAL'
|
||||
e_dval = '.DVAL'
|
||||
e_rbv = '.RBV'
|
||||
e_drbv = '.DRBV'
|
||||
e_off ='.OFF'
|
||||
e_twv = '.TWV'
|
||||
e_twf = '.TWF'
|
||||
e_twr = '.TWR'
|
||||
|
||||
e_jogr ='.JOGR' # jog rev
|
||||
e_jogf ='.JOGF' # jog forw
|
||||
e_jomf ='.HOMF' # home forward
|
||||
e_jomr ='.HOMR' # home reverse
|
||||
e_hlm ='.HLM' #High limit
|
||||
e_llm ='.LLM' #lower limit
|
||||
|
||||
e_hls ='.HLS' #High limit
|
||||
e_lls ='.LLS' #lower limit
|
||||
|
||||
e_dmov ='.DMOV' # moving done
|
||||
e_movn ='.MOVN' # moving
|
||||
e_spmg ='.SPMG' # stop pause move go (0,1,2,3)
|
||||
e_ueip ='.UEIP' # encoder on / off
|
||||
e_diff ='.DIFF'
|
||||
e_rep = '.REP'
|
||||
e_foff ='.FOFF' #FOFF (1 = Frozen / 0 = variable)
|
||||
e_set = '.SET' # 0 = use 1 = set
|
||||
e_mres = '.MRES'
|
||||
e_eres = '.ERES'
|
||||
|
||||
def create_Ch(self,ch):
|
||||
# this routine creates all channel names
|
||||
self.val=ch+self.e_val
|
||||
self.dval=ch+self.e_dval
|
||||
self.rbv=ch+self.e_rbv
|
||||
self.drbv=ch+self.e_drbv
|
||||
self.off=ch+self.e_off
|
||||
self.twv=ch+self.e_twv
|
||||
self.twf=ch+self.e_twf
|
||||
self.twr=ch+self.e_twr
|
||||
self.jogr=ch+self.e_jogr
|
||||
self.jogf=ch+self.e_jogf
|
||||
self.hlm=ch+self.e_hlm
|
||||
self.llm=ch+self.e_llm
|
||||
self.hls=ch+self.e_hls
|
||||
self.lls=ch+self.e_lls
|
||||
|
||||
self.dmov = ch+self.e_dmov
|
||||
self.movn = ch+self.e_movn
|
||||
self.spmg = ch+self.e_spmg
|
||||
self.ueip = ch+self.e_ueip
|
||||
self.rep = ch+self.e_rep
|
||||
self.mres = ch+self.e_mres
|
||||
self.eres = ch+self.e_eres
|
||||
self.diff = ch+self.e_diff
|
||||
self.foff = ch+self.e_foff
|
||||
self.set = ch+self.e_set
|
||||
# end create_Chnames
|
||||
|
||||
|
||||
# endclass
|
||||
def define_motor(ch):
|
||||
g=Motor()
|
||||
g.create_Ch(ch)
|
||||
return g
|
||||
# end define_motor
|
||||
|
||||
def define_motor_kb(ch):
|
||||
g=Motor()
|
||||
g.create_Ch(ch)
|
||||
|
||||
# set offset to variable as default setting
|
||||
# this keeps the dval always constant
|
||||
|
||||
put_epicsPV(g.foff,1,delay=0.2) # offset to frozen as we do not initialize
|
||||
|
||||
put_epicsPV(g.set,0,delay=0.2) # make sure that coos are on use
|
||||
return g
|
||||
|
||||
# end define_motor
|
||||
|
||||
|
||||
def Next_Point():
|
||||
sp1=np.zeros(2048)
|
||||
sp2=np.zeros(2048)
|
||||
sp3=np.zeros(2048)
|
||||
sp4=np.zeros(2048)
|
||||
|
||||
d1 = 0
|
||||
d2 = 0
|
||||
d3 = 0
|
||||
d4 = 0
|
||||
|
||||
#print('erasestart')
|
||||
put_epicsPV('X07MB-XMAP:EraseStart',1,delay=.03)
|
||||
|
||||
#print('erasestart')
|
||||
#time.sleep(.1)
|
||||
|
||||
put_epicsPV('X07MB-OP2:SMPL',1,delay=.03)
|
||||
|
||||
Wait_for_Value("X07MB-OP2:SMPL-DONE",1)
|
||||
|
||||
put_epicsPV('X07MB-XMAP:StopAll',1,delay=.03)
|
||||
|
||||
sp1_old=sp1
|
||||
sp2_old=sp2
|
||||
sp3_old=sp3
|
||||
sp4_old=sp4
|
||||
|
||||
d1_old=d1
|
||||
d2_old=d2
|
||||
d3_old=d3
|
||||
d4_old=d4
|
||||
|
||||
sp1=get_epicsPV('X07MB-XMAP:mca1.VAL')
|
||||
sp2=get_epicsPV('X07MB-XMAP:mca2.VAL')
|
||||
sp3=get_epicsPV('X07MB-XMAP:mca3.VAL')
|
||||
sp4=get_epicsPV('X07MB-XMAP:mca4.VAL')
|
||||
|
||||
d1=get_epicsPV('X07MB-XMAP:mca1.DTIM')
|
||||
d2=get_epicsPV('X07MB-XMAP:mca2.DTIM')
|
||||
d3=get_epicsPV('X07MB-XMAP:mca3.DTIM')
|
||||
d4=get_epicsPV('X07MB-XMAP:mca4.DTIM')
|
||||
|
||||
print('differences',max(sp1-sp1_old),max(sp2-sp2_old),max(sp3-sp3_old),max(sp4-sp4_old))
|
||||
print('differences',d1-d1_old,d2-d2_old,d3-d3_old,d4-d4_old)
|
||||
|
||||
time.sleep(.5)
|
||||
# end
|
||||
init_PV()
|
||||
789
phoenix_bec/local_scripts/Native_Python_script/MyLib.py~
Normal file
789
phoenix_bec/local_scripts/Native_Python_script/MyLib.py~
Normal file
@ -0,0 +1,789 @@
|
||||
#! /usr/bin/env python
|
||||
#
|
||||
#
|
||||
# old python library for pure python aplicatoins
|
||||
#
|
||||
# ===========================================================================
|
||||
|
||||
# for now still use the old python installation .....
|
||||
|
||||
try:
|
||||
from CaChannel import *
|
||||
from epicsMotor import *
|
||||
from epicsPV import *
|
||||
import time
|
||||
import string
|
||||
except:
|
||||
try:
|
||||
sys.path.insert(0, os.path.expandvars("$SLSBASE/sls/lib/python22/CaChannel"))
|
||||
sys.path.insert(0, os.path.expandvars("/exchange/share/mXAS/pyth/mod"))
|
||||
from CaChannel import *
|
||||
from epicsPV import *
|
||||
except:
|
||||
os.system ("xkbbell")
|
||||
os.system ("xmessage -nearmouse -timeout 30 \
|
||||
-buttons \"\" \"epicsPV or CaChannel module cannot be found\"")
|
||||
sys.exit(1)
|
||||
# endtry
|
||||
#endtry
|
||||
import numpy as np
|
||||
|
||||
|
||||
def stop_if_phoenix_is_offline():
|
||||
if (epicsPV('X07MB-OP-MI1:ONLINE').getw() <> 4) or ( epicsPV('X07MA-OP-CMU:ONLINE').getw() <>6 ):
|
||||
print ' '
|
||||
print 'PHOENIX NOT ONLINE ACCESS DENIED'
|
||||
print 'Status PHOENIX ',epicsPV("X07MB-OP-MI1:ONLINE.VAL").getw()
|
||||
print 'Status XTREME ',epicsPV("X07MA-OP-CMU:ONLINE.VAL").getw()
|
||||
print ' '
|
||||
print ' =========================================================== '
|
||||
print ' '
|
||||
print ' SCRIPT STOPPED '
|
||||
print ' '
|
||||
print ' ========================================================== '
|
||||
print ' '
|
||||
|
||||
stop
|
||||
|
||||
# ======================================================
|
||||
|
||||
def init_PV():
|
||||
|
||||
|
||||
#
|
||||
# routine initialzed all EPIC channels used in the Phoenix beamline
|
||||
#
|
||||
|
||||
global PV
|
||||
PV = {} # define EPICS CHANNEL (PV) directory
|
||||
|
||||
# define one channel
|
||||
|
||||
try:
|
||||
PV['X07MB-OP-MO:TC1'] = epicsPV('X07MB-OP-MO:TC1')
|
||||
except:
|
||||
print "*** Error finding EPICS channel: "
|
||||
sys.exit("*** Program STOP ***")
|
||||
print 'init PV done'
|
||||
|
||||
|
||||
def get_epicsPV(channel):
|
||||
|
||||
|
||||
b=-1
|
||||
# first check fro channel existence
|
||||
#print '.................................. enter get_epicsPV from X_X07MB_lib_dev.py' ,channel
|
||||
#print('try ',channel)
|
||||
try:
|
||||
#print ' try reading channel X_X07MB_lib_dev.py' ,channel
|
||||
b=PV[channel].getw()
|
||||
except:
|
||||
# channel not defined / found now created in PV list this channel into PV LIST
|
||||
print 'trouble reading epics PV..',channel,'likely PV undefined'
|
||||
n_tries=0
|
||||
tt=0
|
||||
while tt==0:
|
||||
print 'in while loop '
|
||||
try:
|
||||
print 'try============= ',channel
|
||||
PV[channel]=epicsPV(channel)
|
||||
#print PV
|
||||
tt=1
|
||||
print PV[channel].getw()
|
||||
except:
|
||||
#print 'set tt back to zero as something went wrong here'
|
||||
tt=0
|
||||
#print 'except somthing is wrong here, likely time out, now retry channels'
|
||||
#print b
|
||||
n_tries=n_tries+1
|
||||
time.sleep(.3)
|
||||
print 'next try',n_tries
|
||||
if n_tries==25:
|
||||
tt=1
|
||||
print 'too many tries for channel acces'
|
||||
print 'Channel',channel
|
||||
sys.exit("*** Program STOP ***")
|
||||
# endif
|
||||
|
||||
# endtry
|
||||
# now try again and set monitor to reduce chanel accesscalls
|
||||
|
||||
PV[channel].setMonitor()
|
||||
b=PV[channel].getw()
|
||||
# end while
|
||||
# endtry
|
||||
|
||||
return b
|
||||
|
||||
|
||||
|
||||
def put_epicsPV(channel,val,delay={}):
|
||||
|
||||
print(channel,val,delay)
|
||||
|
||||
#try:
|
||||
# from CaChannel import *
|
||||
# from epicsMotor import *
|
||||
# from epicsPV import *
|
||||
# import time
|
||||
# import string
|
||||
#except:
|
||||
# try:
|
||||
# sys.path.insert(0, os.path.expandvars("$SLSBASE/sls/lib/python22/CaChannel"))
|
||||
# sys.path.insert(0, os.path.expandvars("/exchange/share/mXAS/pyth/mod"))
|
||||
# from CaChannel import *
|
||||
# from epicsPV import *
|
||||
# except:
|
||||
# os.system ("xkbbell")
|
||||
# os.system ("xmessage -nearmouse -timeout 30 \
|
||||
# -buttons \"\" \"epicsPV or CaChannel module cannot be found\"")
|
||||
# sys.exit(1)
|
||||
# # endtry
|
||||
|
||||
# endtry
|
||||
|
||||
#print '------------------------------------------' , val
|
||||
#print ' *delay) ', delay
|
||||
#print ' *delay) '
|
||||
|
||||
#print ' locals',locals()
|
||||
if delay == {}:
|
||||
#print 'in if use predefined delay of 0 '
|
||||
set_delay=0.0
|
||||
else:
|
||||
#print ' set delay to input value',delay
|
||||
set_delay = delay
|
||||
#endelse
|
||||
|
||||
|
||||
|
||||
n_tries=0
|
||||
tt=0
|
||||
b=-1
|
||||
while tt==0:
|
||||
try:
|
||||
#print ' try writing into ' ,channel
|
||||
epicsPV(channel).putw(val)
|
||||
tt=1
|
||||
except:
|
||||
print 'trouble reading epics PV..'
|
||||
print b
|
||||
print b
|
||||
n_tries=n_tries+1
|
||||
tt=0
|
||||
time.sleep(.5)
|
||||
if n_tries==50:
|
||||
tt=1
|
||||
print 'too many tries for channel acces'
|
||||
#sys.exit("*** Program STOP ***")
|
||||
# endtry
|
||||
# finally perform delay
|
||||
time.sleep(set_delay)
|
||||
return b
|
||||
|
||||
# ======================================================
|
||||
|
||||
|
||||
|
||||
def move_and_wait_bk(Ch_motor,value,backlash):
|
||||
global phoenix_no_move
|
||||
global phoenix_no_scan
|
||||
# print ch_motor
|
||||
if phoenix_no_move==1:
|
||||
print ' '
|
||||
print 'in move_and_wait_bk '
|
||||
print 'should move motor ',Ch_motor,' to ', value
|
||||
print 'BL in no move debugging state. DO NOT MOVE MOTOR'
|
||||
print ' '
|
||||
return
|
||||
|
||||
# move to new position with backlash correction
|
||||
move_and_wait(Ch_motor,value-backlash)
|
||||
move_and_wait(Ch_motor,value)
|
||||
|
||||
# ======================================================
|
||||
|
||||
def move_and_wait_old(Ch_motor,value,check_moving):
|
||||
global phoenix_no_move
|
||||
global phoenix_no_scan
|
||||
# print 'in move and waqit',phoenix_no_move
|
||||
# print Ch_motor
|
||||
|
||||
if phoenix_no_move==1:
|
||||
print ' '
|
||||
print 'in move_and_wait '
|
||||
print 'should move motor ',Ch_motor,' to ', value
|
||||
print 'BL in no move debugging state. DO NOT MOVE MOTOR'
|
||||
print ' '
|
||||
return
|
||||
|
||||
Ch_motor_use=Ch_motor
|
||||
|
||||
if (Ch_motor[len(Ch_motor)-4:len(Ch_motor)] == '.VAL'):
|
||||
Ch_motor_use=Ch_motor[0:len(Ch_motor)-4]
|
||||
# print Ch_motor_use
|
||||
|
||||
if Ch_motor_use[0:5] == 'X07MA':
|
||||
stop_if_phoenix_is_offline()
|
||||
|
||||
if Ch_motor_use[0:11] == 'X07MB-OP-MI1':
|
||||
stop_if_phoenix_is_offline()
|
||||
|
||||
|
||||
Ch_motor_val = Ch_motor_use +'.VAL'
|
||||
Ch_motor_done = Ch_motor_use +'.DMOV'
|
||||
#print Ch_motor_val
|
||||
|
||||
epicsPV(Ch_motor_val).putw(value)
|
||||
|
||||
print 'wait for movement of', Ch_motor_val
|
||||
while not epicsPV(Ch_motor_done).getw() :
|
||||
time.sleep(0.1)
|
||||
get_epicsPV(Ch_motor_val)
|
||||
|
||||
#print 'Motor ',Ch_motor_val,' still moving, wait '
|
||||
print 'movement finished'
|
||||
|
||||
# ===========================================================
|
||||
|
||||
def move_and_wait(motor,value,check_moving=0):
|
||||
global phoenix_no_move
|
||||
global phoenix_no_scan
|
||||
# print 'in move and waqit',phoenix_no_move
|
||||
# print Ch_motor
|
||||
|
||||
if phoenix_no_move==1:
|
||||
print ' '
|
||||
print 'in move_and_wait '
|
||||
print 'should move motor ',Ch_motor,' to ', value
|
||||
print 'BL in no move debugging state. DO NOT MOVE MOTOR'
|
||||
print ' '
|
||||
return
|
||||
# some safety checks...
|
||||
|
||||
if motor.val[0:5] == 'X07MA':
|
||||
stop_if_phoenix_is_offline()
|
||||
|
||||
if motor.val[0:11] == 'X07MB-OP-MI1':
|
||||
stop_if_phoenix_is_offline()
|
||||
|
||||
put_epicsPV(motor.val,value,delay=0.2)
|
||||
|
||||
print 'wait for movement of', motor.val
|
||||
|
||||
if check_moving == 0:
|
||||
while not get_epicsPV(motor.dmov):
|
||||
time.sleep(0.1)
|
||||
print get_epicsPV(motor.val)
|
||||
print 'Motor ',motor.val,' still moving, wait '
|
||||
#endwhile
|
||||
else: # case with check of movement of encoders
|
||||
print 'else....'
|
||||
while not get_epicsPV(motor.dmov):
|
||||
print ' in while '
|
||||
enc1= get_epicsPV(motor.rep)
|
||||
time.sleep(0.25)
|
||||
enc2= get_epicsPV(motor.rep)
|
||||
diff=enc2-enc1
|
||||
print get_epicsPV(motor.val)
|
||||
if (abs(diff) < 5 and (get_epicsPV(motor.dmov) == 0)) :
|
||||
print 'suspect hanging of motor. monitor'
|
||||
enc1= get_epicsPV(motor.rep)
|
||||
time.sleep(0.5)
|
||||
enc2= get_epicsPV(motor.rep)
|
||||
diff=enc2-enc1
|
||||
time.sleep(0.5)
|
||||
if ((abs(diff) < 3) and (get_epicsPV(motor.dmov) == 0)):
|
||||
print ' ===================================== diff',diff
|
||||
print 'difference encoder to motor too large'
|
||||
print ' STOP movement'
|
||||
put_epicsPV(motor.spmg,0,delay=0.1)
|
||||
stop
|
||||
# endif
|
||||
#endif
|
||||
print 'Motor ',motor.val,' still moving, wait '
|
||||
print 'difference subsequent encoder positions ',diff
|
||||
# endwhile
|
||||
# endif
|
||||
print 'movement finished'
|
||||
|
||||
# =======================================================================
|
||||
|
||||
def Wait_for_Value(Channel,value):
|
||||
|
||||
while get_epicsPV(Channel) <> value:
|
||||
#print(Channel)
|
||||
#print get_epicsPV(Channel)
|
||||
time.sleep(.02)
|
||||
#endwhile
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
def move_and_wait_2motors(mot1,mot2,val_1,val_2,check_moving=0):
|
||||
global phoenix_no_move
|
||||
global phoenix_no_scan
|
||||
# print 'in move and waqit',phoenix_no_move
|
||||
# print Ch_motor
|
||||
|
||||
if phoenix_no_move==1:
|
||||
print ' '
|
||||
print 'in move_and_wait '
|
||||
print 'should move motor ',Ch_motor,' to ', value
|
||||
print 'BL in no move debugging state. DO NOT MOVE MOTOR'
|
||||
print ' '
|
||||
return
|
||||
|
||||
# some safety checks...
|
||||
|
||||
if mot1.val[0:5] == 'X07MA':
|
||||
stop_if_phoenix_is_offline()
|
||||
|
||||
if mot2.val[0:5] == 'X07MA':
|
||||
stop_if_phoenix_is_offline()
|
||||
|
||||
if mot1.val[0:11] == 'X07MB-OP-MI1':
|
||||
stop_if_phoenix_is_offline()
|
||||
|
||||
if mot2.val[0:11] == 'X07MB-OP-MI1':
|
||||
stop_if_phoenix_is_offline()
|
||||
|
||||
put_epicsPV(mot1.val,val_1,delay=0.2)
|
||||
put_epicsPV(mot2.val,val_2,delay=0.2)
|
||||
|
||||
print 'wait for movement of', mot1.val,'and ', mot2.val
|
||||
|
||||
if check_moving == 0:
|
||||
print (not get_epicsPV(mot1.dmov))
|
||||
print (not get_epicsPV(mot2.dmov))
|
||||
|
||||
while ((not get_epicsPV(mot1.dmov)) or (not get_epicsPV(mot2.dmov))):
|
||||
time.sleep(0.25)
|
||||
#endwhile
|
||||
print get_epicsPV(mot1.val),get_epicsPV(mot2.val)
|
||||
print 'Motor ',mot1.val,mot2.val,' still moving, wait '
|
||||
|
||||
else: # case with check of movement of encoders
|
||||
print 'else....'
|
||||
while (not get_epicsPV(mot1.dmov)) or (not get_epicsPV(mot2.dmov)):
|
||||
#print ' in while '
|
||||
# for motor 1
|
||||
enc_1_a= get_epicsPV(mot1.rep)
|
||||
enc_2_a= get_epicsPV(mot2.rep)
|
||||
time.sleep(0.25)
|
||||
enc_1_b= get_epicsPV(mot1.rep)
|
||||
enc_2_b= get_epicsPV(mot2.rep)
|
||||
|
||||
diff_1=enc_1_b-enc_1_a
|
||||
diff_2=enc_2_b-enc_2_a
|
||||
#print ' encoder diffs',diff_1,diff_2
|
||||
|
||||
# check encoder movement for motor 1:
|
||||
if (abs(diff_1) < 5 and (get_epicsPV(mot1.dmov) == 0)) :
|
||||
print 'suspect hanging of motor 1 monitor'
|
||||
enc_1_a= get_epicsPV(mot1.rep)
|
||||
time.sleep(0.25)
|
||||
enc_1_b= get_epicsPV(mot1.rep)
|
||||
diff_1=enc_1_b-enc_1_a
|
||||
time.sleep(0.5)
|
||||
if ((abs(diff_1) < 3) and (get_epicsPV(mot1.dmov) == 0)):
|
||||
print ' ===================================== diff',diff_1
|
||||
print 'difference subsequent encoder steps too small'
|
||||
print 'Motor 1 hanging???? STOP movement for safety '
|
||||
put_epicsPV(mot_1.spmg,0,delay=0.1)
|
||||
stop
|
||||
# endif
|
||||
#endif
|
||||
|
||||
# Now checlk motor 2
|
||||
if (abs(diff_2) < 5 and (get_epicsPV(mot2.dmov) == 0)) :
|
||||
print 'suspect hanging of motor 2: monitor'
|
||||
enc_2_a= get_epicsPV(mot2.rep)
|
||||
time.sleep(0.25)
|
||||
enc_2_b= get_epicsPV(mot2.rep)
|
||||
diff_2=enc_2_b-enc_2_a
|
||||
time.sleep(0.5)
|
||||
if ((abs(diff_2) < 3) and (get_epicsPV(mot2.dmov) == 0)):
|
||||
print ' ===================================== diff',diff_2
|
||||
print 'difference subsequent encoder steps too small'
|
||||
print 'Motor 2 hanging???? STOP movement for safety '
|
||||
put_epicsPV(mot2.spmg,0,delay=0.1)
|
||||
stop
|
||||
# endif
|
||||
#endif
|
||||
print 'Motors ',mot1.val, 'and',mot2.val,' still moving, wait '
|
||||
print 'difference subsequent encoder positions ',diff_1, diff_2
|
||||
# endwhile
|
||||
# endif
|
||||
print 'movement finished'
|
||||
|
||||
# =======================================================================
|
||||
|
||||
# Generate all names
|
||||
class Motor():
|
||||
#define extensions for all channels
|
||||
e_val = '.VAL'
|
||||
e_dval = '.DVAL'
|
||||
e_rbv = '.RBV'
|
||||
e_drbv = '.DRBV'
|
||||
e_off ='.OFF'
|
||||
e_twv = '.TWV'
|
||||
e_twf = '.TWF'
|
||||
e_twr = '.TWR'
|
||||
|
||||
e_jogr ='.JOGR' # jog rev
|
||||
e_jogf ='.JOGF' # jog forw
|
||||
e_jomf ='.HOMF' # home forward
|
||||
e_jomr ='.HOMR' # home reverse
|
||||
e_hlm ='.HLM' #High limit
|
||||
e_llm ='.LLM' #lower limit
|
||||
|
||||
e_hls ='.HLS' #High limit
|
||||
e_lls ='.LLS' #lower limit
|
||||
|
||||
e_dmov ='.DMOV' # moving done
|
||||
e_movn ='.MOVN' # moving
|
||||
e_spmg ='.SPMG' # stop pause move go (0,1,2,3)
|
||||
e_ueip ='.UEIP' # encoder on / off
|
||||
e_diff ='.DIFF'
|
||||
e_rep = '.REP'
|
||||
e_foff ='.FOFF' #FOFF (1 = Frozen / 0 = variable)
|
||||
e_set = '.SET' # 0 = use 1 = set
|
||||
e_mres = '.MRES'
|
||||
e_eres = '.ERES'
|
||||
|
||||
def create_Ch(self,ch):
|
||||
# this routine creates all channel names
|
||||
self.val=ch+self.e_val
|
||||
self.dval=ch+self.e_dval
|
||||
self.rbv=ch+self.e_rbv
|
||||
self.drbv=ch+self.e_drbv
|
||||
self.off=ch+self.e_off
|
||||
self.twv=ch+self.e_twv
|
||||
self.twf=ch+self.e_twf
|
||||
self.twr=ch+self.e_twr
|
||||
self.jogr=ch+self.e_jogr
|
||||
self.jogf=ch+self.e_jogf
|
||||
self.hlm=ch+self.e_hlm
|
||||
self.llm=ch+self.e_llm
|
||||
self.hls=ch+self.e_hls
|
||||
self.lls=ch+self.e_lls
|
||||
|
||||
self.dmov = ch+self.e_dmov
|
||||
self.movn = ch+self.e_movn
|
||||
self.spmg = ch+self.e_spmg
|
||||
self.ueip = ch+self.e_ueip
|
||||
self.rep = ch+self.e_rep
|
||||
self.mres = ch+self.e_mres
|
||||
self.eres = ch+self.e_eres
|
||||
self.diff = ch+self.e_diff
|
||||
self.foff = ch+self.e_foff
|
||||
self.set = ch+self.e_set
|
||||
# end create_Chnames
|
||||
|
||||
|
||||
# endclass
|
||||
def define_motor(ch):
|
||||
g=Motor()
|
||||
g.create_Ch(ch)
|
||||
return g
|
||||
# end define_motor
|
||||
|
||||
def define_motor_kb(ch):
|
||||
g=Motor()
|
||||
g.create_Ch(ch)
|
||||
|
||||
# set offset to variable as default setting
|
||||
# this keeps the dval always constant
|
||||
|
||||
put_epicsPV(g.foff,1,delay=0.2) # offset to frozen as we do not initialize
|
||||
|
||||
put_epicsPV(g.set,0,delay=0.2) # make sure that coos are on use
|
||||
return g
|
||||
|
||||
# end define_motor
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
def init_one_motor(init_motor,HHL=0,LHL=0,LIM='low',set_offset='variable'):
|
||||
# initialization for givrn location of limit switch (1 motor)
|
||||
motor=define_motor_kb(init_motor)
|
||||
total_range = abs(HHL-LHL)
|
||||
|
||||
# general settings
|
||||
if set_offset == 'frozen':
|
||||
put_epicsPV(motor.foff,1,delay=0.2) # offset to frozen as we do not initialize
|
||||
else:
|
||||
put_epicsPV(motor.foff,0,delay=0.2) # offset to variable if needed
|
||||
#endif
|
||||
put_epicsPV(motor.twv,0.1,delay=0.2) # set tweak value to 100 mum as default
|
||||
|
||||
put_epicsPV(motor.ueip , 0 ,delay=.5) # switch encoder off
|
||||
|
||||
# first remember start value
|
||||
x_ini=get_epicsPV(motor.val)
|
||||
print x_ini
|
||||
|
||||
# now remove soft limits allow start value plus total range as maximum
|
||||
put_epicsPV(motor.hlm ,x_ini+ total_range*1.15 ,delay=.5) # switch encoder off
|
||||
put_epicsPV(motor.llm ,x_ini-total_range*1.15 ,delay=.5) # switch encoder off
|
||||
|
||||
# now move to lower limit
|
||||
|
||||
if LIM == 'low':
|
||||
move_and_wait(motor ,x_ini-total_range*1.07,check_moving=1)
|
||||
# now check whether we are in the limit
|
||||
if get_epicsPV(motor.lls) == 0:
|
||||
print(' hard limit not reached',motor.val)
|
||||
stop
|
||||
else:
|
||||
print(' hard limit reached',motor.val)
|
||||
#endelse
|
||||
# now set coordinate system according to limits
|
||||
|
||||
# endcoder on / off twice to account for bug in motor record
|
||||
put_epicsPV(motor.ueip ,1,delay=.5) # encoder on
|
||||
put_epicsPV(motor.ueip ,0,delay=.5) # encoder on
|
||||
put_epicsPV(motor.ueip ,1,delay=.5) # encoder on
|
||||
|
||||
# widen soft limits temporally around aimed position
|
||||
# in case the correct value is outside the current soft limits
|
||||
|
||||
put_epicsPV(motor.llm , LHL-10000 , delay=1) # st lower soft limit according to table
|
||||
put_epicsPV(motor.hlm , LHL+10000 , delay=1) # st higher soft limit according to table
|
||||
|
||||
put_epicsPV(motor.set ,1,delay=1) # now allow change of coo syste cal to set m
|
||||
put_epicsPV(motor.val ,LHL,delay=1) # set current position to lower limit
|
||||
|
||||
put_epicsPV(motor.set ,0,delay=0.5) # set co system to use
|
||||
|
||||
# finally drive motor out of hard limits and set the correct soft limits
|
||||
|
||||
put_epicsPV(motor.twv,0.1,delay=1.) # set tweak value to 100 mum as default
|
||||
put_epicsPV(motor.twf ,1,delay=2.) # tweak out of hard limit
|
||||
put_epicsPV(motor.llm , LHL+0.05 , delay=0.5) # st lower soft limit according to table
|
||||
put_epicsPV(motor.hlm , HHL-0.05 , delay=0.5) # st higher soft limit according to table
|
||||
|
||||
#endif
|
||||
|
||||
if LIM == 'high':
|
||||
move_and_wait(motor ,x_ini+total_range*1.07,check_moving=1) # move to high limits
|
||||
# now check whether we are in the limit
|
||||
if get_epicsPV(motor.hls) == 0:
|
||||
print(' hard limit not reached',motor.val)
|
||||
stop
|
||||
else:
|
||||
print(' hard limit reached',motor.val)
|
||||
#endelse
|
||||
# now set coordinate system according to limits
|
||||
|
||||
put_epicsPV(motor.ueip ,1,delay=.5) # encoder on
|
||||
|
||||
# widen soft limits temporally around aimed position
|
||||
# in case the correct value is outside the current soft limits
|
||||
|
||||
put_epicsPV(motor.llm , LHL-10000 , delay=1) # st lower soft limit according to table
|
||||
put_epicsPV(motor.hlm , LHL+10000 , delay=1) # st higher soft limit according to table
|
||||
|
||||
|
||||
put_epicsPV(motor.set ,1,delay=0.5) # now allow change of coo syste cal to set m
|
||||
put_epicsPV(motor.val ,HHL,delay=0.5) # set current position to lower limit
|
||||
put_epicsPV(motor.set ,0,delay=0.5) # set coo system to use
|
||||
|
||||
# finally set the soft limits
|
||||
put_epicsPV(motor.twv,0.1,delay=0.5) # set tweak value to 100 mum as default
|
||||
put_epicsPV(motor.twr ,1,delay=2.) # tweak out of hard limit to lower values
|
||||
put_epicsPV(motor.llm , LHL+0.05 , delay=0.2) # st lower soft limit according to table
|
||||
put_epicsPV(motor.hlm , HHL-0.05 , delay=0.2) # st higher soft limit according to table
|
||||
#endif
|
||||
#end
|
||||
|
||||
|
||||
def init_two_motors(mot1=' ',mot2=' ',HHL_1=0,LHL_1=0,HHL_2=0,LHL_2=0,LIM='low',set_offset='variable'):
|
||||
# initialization for givrn location of limit switch
|
||||
# initializes 2 motors with simultaneous movemnets into the same direction
|
||||
#
|
||||
motor_1=define_motor_kb(mot1)
|
||||
motor_2=define_motor_kb(mot2)
|
||||
total_range_1 = abs(HHL_1-LHL_1)
|
||||
total_range_2 = abs(HHL_2-LHL_2)
|
||||
|
||||
# general settings
|
||||
if set_offset == 'frozen':
|
||||
put_epicsPV(motor_1.foff,1,delay=0.2) # offset to frozen as we do not initialize
|
||||
put_epicsPV(motor_2.foff,1,delay=0.2) # offset to frozen as we do not initialize
|
||||
else:
|
||||
put_epicsPV(motor_1.foff,0,delay=0.2) # offset to variable if needed
|
||||
put_epicsPV(motor_2.foff,0,delay=0.2) # offset to variable if needed
|
||||
#endif
|
||||
put_epicsPV(motor_1.twv,0.1,delay=0.2) # set tweak value to 100 mum as default
|
||||
put_epicsPV(motor_2.twv,0.1,delay=0.2) # set tweak value to 100 mum as default
|
||||
put_epicsPV(motor_1.ueip , 0 ,delay=.5) # switch encoder off
|
||||
put_epicsPV(motor_2.ueip , 0 ,delay=.5) # switch encoder off
|
||||
|
||||
# first remember start values
|
||||
x_ini_1=get_epicsPV(motor_1.val)
|
||||
x_ini_2=get_epicsPV(motor_2.val)
|
||||
|
||||
print x_ini_1,x_ini_2
|
||||
|
||||
# now remove soft limits allow start value plus total range as maximum
|
||||
|
||||
put_epicsPV(motor_1.hlm ,x_ini_1 + total_range_1*1.15 ,delay=.5) # switch encoder off
|
||||
put_epicsPV(motor_1.llm ,x_ini_1 - total_range_1*1.15 ,delay=.5) # switch encoder off
|
||||
put_epicsPV(motor_2.hlm ,x_ini_2 + total_range_2*1.15 ,delay=.5) # switch encoder off
|
||||
put_epicsPV(motor_2.llm ,x_ini_2 - total_range_2*1.15 ,delay=.5) # switch encoder off
|
||||
|
||||
# now move to lower limit
|
||||
|
||||
if LIM == 'low':
|
||||
move_and_wait_2motors(motor_1,motor_2 ,x_ini_1-total_range_1*1.07,x_ini_2-total_range_2*1.07,check_moving=1)
|
||||
|
||||
# now check whether we are in the limit
|
||||
if ((get_epicsPV(motor_1.lls) == 0 ) or (get_epicsPV(motor_2.lls) == 0 )) :
|
||||
print(' hard limit not reached',motor_1.val)
|
||||
print(' hard limit not reached',motor_2.val)
|
||||
stop
|
||||
else:
|
||||
print(' hard limit reached',motor_1.val)
|
||||
print(' hard limit reached',motor_2.val)
|
||||
#endelse
|
||||
|
||||
# Now both motors are in the hard limit
|
||||
# now set coordinate system according to limits
|
||||
|
||||
# endcoder on / off twice to account for bug in motor record
|
||||
put_epicsPV(motor_1.ueip ,1,delay=.5) # encoder on
|
||||
put_epicsPV(motor_1.ueip ,0,delay=.5) # encoder on
|
||||
put_epicsPV(motor_1.ueip ,1,delay=.5) # encoder on
|
||||
|
||||
put_epicsPV(motor_2.ueip ,1,delay=.5) # encoder on
|
||||
put_epicsPV(motor_2.ueip ,0,delay=.5) # encoder on
|
||||
put_epicsPV(motor_2.ueip ,1,delay=.5) # encoder on
|
||||
|
||||
# widen soft limits temporally around aimed position
|
||||
# in case the correct value is outside the current soft limits
|
||||
|
||||
put_epicsPV(motor_1.llm , LHL_1-10000 , delay=1) # st lower soft limit according to table
|
||||
put_epicsPV(motor_1.hlm , LHL_1+10000 , delay=1) # st higher soft limit according to table
|
||||
|
||||
|
||||
put_epicsPV(motor_2.llm , LHL_2-10000 , delay=1) # st lower soft limit according to table
|
||||
put_epicsPV(motor_2.hlm , LHL_2+10000 , delay=1) # st higher soft limit according to table
|
||||
|
||||
|
||||
|
||||
put_epicsPV(motor_1.set ,1,delay=1) # now allow change of coo syste cal to set m
|
||||
put_epicsPV(motor_2.set ,1,delay=1) # now allow change of coo syste cal to set m
|
||||
|
||||
put_epicsPV(motor_1.val ,LHL_1,delay=1) # set current position to lower limit
|
||||
put_epicsPV(motor_2.val ,LHL_2,delay=1) # set current position to lower limit
|
||||
|
||||
put_epicsPV(motor_1.set ,0,delay=0.5) # set co system to use
|
||||
put_epicsPV(motor_2.set ,0,delay=0.5) # set co system to use
|
||||
|
||||
# finally drive motor out of hard limits and set the correct soft limits
|
||||
|
||||
put_epicsPV(motor_1.twv,0.1,delay=1.) # set tweak value to 100 mum as default
|
||||
put_epicsPV(motor_1.twf ,1,delay=2.) # tweak out of hard limit
|
||||
put_epicsPV(motor_1.llm , LHL_1+0.05 , delay=0.5) # st lower soft limit according to table
|
||||
put_epicsPV(motor_1.hlm , HHL_1-0.05 , delay=0.5) # st higher soft limit according to table
|
||||
|
||||
put_epicsPV(motor_2.twv,0.1,delay=1.) # set tweak value to 100 mum as default
|
||||
put_epicsPV(motor_2.twf ,1,delay=2.) # tweak out of hard limit
|
||||
put_epicsPV(motor_2.llm , LHL_2+0.05 , delay=0.5) # st lower soft limit according to table
|
||||
put_epicsPV(motor_2.hlm , HHL_2-0.05 , delay=0.5) # st higher soft limit according to table
|
||||
|
||||
|
||||
#endif
|
||||
|
||||
if LIM == 'high':
|
||||
print ' not implemented yet'
|
||||
stop
|
||||
move_and_wait(motor ,x_ini+total_range*1.07,check_moving=1) # move to high limits
|
||||
# now check whether we are in the limit
|
||||
if get_epicsPV(motor.hls) == 0:
|
||||
print(' hard limit not reached',motor.val)
|
||||
stop
|
||||
else:
|
||||
print(' hard limit reached',motor.val)
|
||||
#endelse
|
||||
# now set coordinate system according to limits
|
||||
|
||||
put_epicsPV(motor.ueip ,1,delay=.5) # encoder on
|
||||
|
||||
# widen soft limits temporally around aimed position
|
||||
# in case the correct value is outside the current soft limits
|
||||
|
||||
put_epicsPV(motor.llm , LHL-10000 , delay=1) # st lower soft limit according to table
|
||||
put_epicsPV(motor.hlm , LHL+10000 , delay=1) # st higher soft limit according to table
|
||||
|
||||
|
||||
put_epicsPV(motor.set ,1,delay=0.5) # now allow change of coo syste cal to set m
|
||||
put_epicsPV(motor.val ,HHL,delay=0.5) # set current position to lower limit
|
||||
put_epicsPV(motor.set ,0,delay=0.5) # set coo system to use
|
||||
|
||||
# finally set the soft limits
|
||||
put_epicsPV(motor.twv,0.1,delay=0.5) # set tweak value to 100 mum as default
|
||||
put_epicsPV(motor.twr ,1,delay=2.) # tweak out of hard limit to lower values
|
||||
put_epicsPV(motor.llm , LHL+0.05 , delay=0.2) # st lower soft limit according to table
|
||||
put_epicsPV(motor.hlm , HHL-0.05 , delay=0.2) # st higher soft limit according to table
|
||||
#endif
|
||||
#end
|
||||
|
||||
def Next_Point():
|
||||
sp1=np.zeros(2048)
|
||||
sp2=np.zeros(2048)
|
||||
sp3=np.zeros(2048)
|
||||
sp4=np.zeros(2048)
|
||||
|
||||
d1 = 0
|
||||
d2 = 0
|
||||
d3 = 0
|
||||
d4 = 0
|
||||
|
||||
#print('erasestart')
|
||||
put_epicsPV('X07MB-XMAP:EraseStart',1,delay=.03)
|
||||
|
||||
#print('erasestart')
|
||||
#time.sleep(.1)
|
||||
|
||||
put_epicsPV('X07MB-OP2:SMPL',1,delay=.03)
|
||||
|
||||
Wait_for_Value("X07MB-OP2:SMPL-DONE",1)
|
||||
|
||||
put_epicsPV('X07MB-XMAP:StopAll',1,delay=.03)
|
||||
|
||||
sp1_old=sp1
|
||||
sp2_old=sp2
|
||||
sp3_old=sp3
|
||||
sp4_old=sp4
|
||||
|
||||
d1_old=d1
|
||||
d2_old=d2
|
||||
d3_old=d3
|
||||
d4_old=d4
|
||||
|
||||
sp1=get_epicsPV('X07MB-XMAP:mca1.VAL')
|
||||
sp2=get_epicsPV('X07MB-XMAP:mca2.VAL')
|
||||
sp3=get_epicsPV('X07MB-XMAP:mca3.VAL')
|
||||
sp4=get_epicsPV('X07MB-XMAP:mca4.VAL')
|
||||
|
||||
d1=get_epicsPV('X07MB-XMAP:mca1.DTIM')
|
||||
d2=get_epicsPV('X07MB-XMAP:mca2.DTIM')
|
||||
d3=get_epicsPV('X07MB-XMAP:mca3.DTIM')
|
||||
d4=get_epicsPV('X07MB-XMAP:mca4.DTIM')
|
||||
|
||||
print('differences',max(sp1-sp1_old),max(sp2-sp2_old),max(sp3-sp3_old),max(sp4-sp4_old))
|
||||
print('differences',d1-d1_old,d2-d2_old,d3-d3_old,d4-d4_old)
|
||||
|
||||
time.sleep(.5)
|
||||
# end
|
||||
init_PV()
|
||||
N=10000000
|
||||
for i in range(N):
|
||||
Next_Point()
|
||||
#endwhile
|
||||
@ -0,0 +1,33 @@
|
||||
import time
|
||||
import MyLib as ML
|
||||
channels=['X07MB-MA:ScanX.RBV']
|
||||
import epics as ep
|
||||
|
||||
def init_PV(channels):
|
||||
PV = []
|
||||
|
||||
for i in range(len(channels)):
|
||||
print('init',i,)
|
||||
PV.append(ep.camonitor(channels[i]))
|
||||
#endfor
|
||||
return PV
|
||||
#end
|
||||
|
||||
def read_all(channels):
|
||||
res=[]
|
||||
for i in range(len(channels)):
|
||||
print('read',i)
|
||||
res.append(PV[i].get())
|
||||
#endfor
|
||||
#end
|
||||
|
||||
PV=init_PV(channels)
|
||||
n_ch=len(channels)
|
||||
print(PV)
|
||||
asdasd
|
||||
|
||||
for i in range(n_ch):
|
||||
print(i)
|
||||
w=read_all(channels)
|
||||
print(w)
|
||||
#endfor
|
||||
@ -0,0 +1 @@
|
||||
camon X07MB-ES-MA1:ScanX.RBV
|
||||
@ -0,0 +1 @@
|
||||
camon X07MB-ES1-MA1:ScanX.RBV
|
||||
@ -36,7 +36,7 @@ import sys
|
||||
phoenix.create_base_config()
|
||||
phoenix.add_xmap()
|
||||
dev.MA1_ScanX.enabled = True
|
||||
|
||||
dev.xmap.enabled=True
|
||||
print("---------------------------------")
|
||||
|
||||
# scan will not diode
|
||||
|
||||
Reference in New Issue
Block a user