updates to planner and state devices

2026-06-08 14:13:39 +02:00
parent 19579bc708
commit d237d815b7
28 changed files with 1082 additions and 2933 deletions
@@ -34,8 +34,4 @@ to setup the prompts.
 """

 # pylint: disable=invalid-name, unused-import, import-error, undefined-variable, unused-variable, unused-argument, no-name-in-module
-d = init_se_devices()
-states, allow_modifiers = get_states()
-deps = planner_deps()
-planner = StateManager(d, states, allow_modifiers, deps)
-
+d, planner = init_beamline_environment()
@@ -10,8 +10,14 @@ states:
    det_cov: 'close'
    diag_y: out
    fl_bright: 'off'
-    gon_x: in
-#    smargon: not implemented
+    aerotech_x: in
+    aerotech_y: mount
+    aerotech_z: mount
+    aerotech_u: mount
+    smargon_x: mount
+    smargon_y: mount
+    smargon_chi: mount
+    smargon_phi: mount
    xrf_pos: out

  sample_alignment:
@@ -25,8 +31,14 @@ states:
    det_cov: 'close'
    diag_y: out
    fl_bright: 'on'
-    gon_x: in
-  #    smargon: not implemented
+    aerotech_x: in
+    aerotech_y: work
+    aerotech_z: work
+    # aerotech_u: mount
+    # smargon_x: mount
+    # smargon_y: mount
+    # smargon_chi: mount
+    # smargon_phi: mount
    xrf_pos: out

  data_collection:
@@ -40,8 +52,14 @@ states:
    det_cov: 'open'
    diag_y: out
    fl_bright: 'on'
-    gon_x: in
-  #  smargon: not implemented
+    aerotech_x: in
+    aerotech_y: work
+    aerotech_z: work
+    # aerotech_u: mount
+    # smargon_x: mount
+    # smargon_y: mount
+    # smargon_chi: mount
+    # smargon_phi: mount
    xrf_pos: out

  DC_XRF:
@@ -55,9 +73,15 @@ states:
    det_cov: 'close'
    diag_y: out
    fl_bright: 'on'
-    gon_x: in
-    #    smargon: not implemented
-    xrf_pos: in
+    aerotech_x: in
+    aerotech_y: work
+    aerotech_z: work
+    aerotech_u: mount
+    # smargon_x: mount
+    # smargon_y: mount
+    # smargon_chi: mount
+    # smargon_phi: mount
+    xrf_pos: out

  manual_sample_exchange:
    allow_modifiers: true
@@ -70,8 +94,14 @@ states:
    det_cov: 'close'
    diag_y: park
    fl_bright: 'off'
-    gon_x: in
-    #    smargon: not implemented
+    aerotech_x: in
+    aerotech_y: mount
+    aerotech_z: mount
+    aerotech_u: mount
+    smargon_x: mount
+    smargon_y: mount
+    smargon_chi: mount
+    smargon_phi: mount
    xrf_pos: out

  beam_visualisation:
@@ -84,8 +114,14 @@ states:
    det_cov: 'close'
    diag_y: scint
    fl_bright: 'off'
-    gon_x: out
-  #    smargon: not implemented
+    aerotech_x: out
+    aerotech_y: mount
+    aerotech_z: mount
+    aerotech_u: mount
+    smargon_x: mount
+    smargon_y: mount
+    smargon_chi: mount
+    smargon_phi: mount    
    xrf_pos: out

  flux_measurement:
@@ -98,8 +134,14 @@ states:
    det_cov: 'close'
    diag_y: i1
    fl_bright: 'off'
-    gon_x: out
-    #    smargon: not implemented
+    aerotech_x: out
+    aerotech_y: mount
+    aerotech_z: mount
+    aerotech_u: mount
+    smargon_x: mount
+    smargon_y: mount
+    smargon_chi: mount
+    smargon_phi: mount
    xrf_pos: out

  beamstop_alignment:
@@ -112,8 +154,14 @@ states:
    det_cov: 'close'
    diag_y: out
    fl_bright: 'on'
-    gon_x: out
-    #    smargon: not implemented
+    aerotech_x: out
+    aerotech_y: mount
+    aerotech_z: mount
+    aerotech_u: mount
+    smargon_x: mount
+    smargon_y: mount
+    smargon_chi: mount
+    smargon_phi: mount
    xrf_pos: out

  maintenance:
@@ -127,8 +175,14 @@ states:
    det_cov: 'close'
    diag_y: park
    fl_bright: 'off'
-    gon_x: out
-    #    smargon: not implemented
+    aerotech_x: out
+    aerotech_y: mount
+    aerotech_z: mount
+    aerotech_u: mount
+    smargon_x: mount
+    smargon_y: mount
+    smargon_chi: mount
+    smargon_phi: mount
    xrf_pos: out

  xtal_snapshot:
@@ -142,8 +196,14 @@ states:
    det_cov: 'close'
    diag_y: out
    fl_bright: 'on'
-    gon_x: in
-    #    smargon: not implemented
+    aerotech_x: in
+    aerotech_y: work
+    aerotech_z: work
+    aerotech_u: mount
+    smargon_x: mount
+    smargon_y: mount
+    smargon_chi: mount
+    smargon_phi: mount
    xrf_pos: out


@@ -1,170 +0,0 @@
-name,description,deviceClass,PV,readoutPriority,tag,readOnly,include,userParameter,
-sls_current,SLS Current,SignalRO,ARS07-DPCT-0100:CURR,monitored,SLS,yes,yes,,
-fe_bpm1,FE XBPM Channel 1,SignalRO,X10SA-FE-XBPM1:Current1:MeanValue_RBV,monitored,bpm,yes,yes,,
-fe_bpm2,FE XBPM Channel 2,SignalRO,X10SA-FE-XBPM1:Current2:MeanValue_RBV,monitored,bpm,yes,yes,,
-fe_bpm3,FE XBPM Channel 3,SignalRO,X10SA-FE-XBPM1:Current3:MeanValue_RBV,monitored,bpm,yes,yes,,
-fe_bpm4,FE XBPM Channel 4,SignalRO,X10SA-FE-XBPM1:Current4:MeanValue_RBV,monitored,bpm,yes,yes,,
-fe_bpmsum,FE XBPM Summed,SignalRO,X10SA-FE-XBPM1:SumAll:MeanValue_RBV,monitored,bpm,yes,yes,,
-fe_bpm_x,FE BPM X,Motor,X10SA-FE-XBPM1:TRX,baseline,fe,no,yes,,
-fe_bpm_y,FE BPM Y,Motor,X10SA-FE-XBPM1:TRY,baseline,fe,no,yes,,
-fe_sl_xr,FE Slit X Ring,MotorEC,X10SA-FE-SL1:TRXR,baseline,fe,no,yes,,
-fe_sl_yt,FE Slit Y Top,MotorEC,X10SA-FE-SL1:TRYT,baseline,fe,no,yes,,
-fe_sl_xw,FE Slit X Wall,MotorEC,X10SA-FE-SL1:TRXW,baseline,fe,no,yes,,
-fe_sl_yb,FE Slit Y Bottom,MotorEC,X10SA-FE-SL1:TRYB,baseline,fe,no,yes,,
-fe_sl_xcen,FE Slit X Centre,MotorEC,X10SA-FE-SL1:CENTERX,baseline,fe,no,yes,,
-fe_sl_xsize,FE Slit X Size,MotorEC,X10SA-FE-SL1:SIZEX,baseline,fe,no,yes,,
-fe_sl_ycen,FE Slit Y Centre,MotorEC,X10SA-FE-SL1:CENTERY,baseline,fe,no,yes,,
-fe_sl_ysize,FE Slit Y Size,MotorEC,X10SA-FE-SL1:SIZEY,baseline,fe,no,yes,,
-bsf_bpm1,BSF BPM Channel 1,SignalRO,X10SA-OP-BSFBPM:SIGNAL1,monitored,bpm,yes,no,,
-bsf_bpm2,BSF BPM Channel 2,SignalRO,X10SA-OP-BSFBPM:SIGNAL2,monitored,bpm,yes,no,,
-bsf_bpm3,BSF BPM Channel 3,SignalRO,X10SA-OP-BSFBPM:SIGNAL3,monitored,bpm,yes,no,,
-bsf_bpm4,BSF BPM Channel 4,SignalRO,X10SA-OP-BSFBPM:SIGNAL4,monitored,bpm,yes,no,,
-bsf_bpmsum,BSF BPM Summed,SignalRO,X10SA-OP-BSFBPM:SUM,monitored,bpm,yes,no,,
-bsf_sl_xw,BSF Slit Wall,MotorEC,X10SA-OP-BSFSLH:TRXW,baseline,bsf,no,yes,,
-bsf_sl_xr,BSF Slit Ring,MotorEC,X10SA-OP-BSFSLH:TRXR,baseline,bsf,no,yes,,
-bsf_sl_yt,BSF Slit Top,MotorEC,X10SA-OP-BSFSLV:TRYT,baseline,bsf,no,yes,,
-bsf_sl_yb,BSF Slit Bottom,MotorEC,X10SA-OP-BSFSLV:TRYB,baseline,bsf,no,yes,,
-bsf_sl_xcen,BSF X Centre,MotorEC,X10SA-OP-BSFSLH:CENTER,baseline,bsf,no,yes,,
-bsf_sl_xsize,BSF X Size,MotorEC,X10SA-OP-BSFSLH:SIZE,baseline,bsf,no,yes,,
-bsf_sl_ycen,BSF Y Centre,MotorEC,X10SA-OP-BSFSLV:CENTER,baseline,bsf,no,yes,,
-bsf_sl_ysize,BSF Y Size,MotorEC,X10SA-OP-BSFSLV:SIZE,baseline,bsf,no,yes,,
-bsf_f1_y,BSF Filter 1 Y,MotorEC,X10SA-OP-BSFFI1:TRY,baseline,bsf,no,yes,,
-bsf_f2_y,BSF Filter 2 Y,MotorEC,X10SA-OP-BSFFI2:TRY,baseline,bsf,no,yes,,
-dcm_bragg,DCM Bragg Angle,MotorEC,X10SA-OP-DCM:ROTY,baseline,dcm,no,yes,,
-dcm_x,DCM Lateral,MotorEC,X10SA-OP-DCM:TRX,baseline,dcm,no,yes,,
-dcm_perp,DCM Perpendicular,MotorEC,X10SA-OP-DCM:TRX-CR2,baseline,dcm,no,yes,,
-dcm_pitch,DCM 2nd Crystal Pitch,MotorEC,X10SA-OP-DCM:ROTY-CR2-PITCH,baseline,dcm,no,yes,,
-dcm_fpitch,DCM 2nd Crystal Fine Pitch,MotorEC,X10SA-OP-DCM:ROTY-CR2-FINEPITCH,baseline,dcm,no,yes,,
-dcm_froll,DCM 2nd Crystal Fine roll,MotorEC,X10SA-OP-DCM:ROTZ-CR2-FINEROLL,baseline,dcm,no,yes,,
-lu_bpm1,LU BPM Channel 1,SignalRO,X10SA-OP-LUBPM:Current1:MeanValue_RBV,monitored,bpm,yes,yes,,
-lu_bpm2,LU BPM Channel 2,SignalRO,X10SA-OP-LUBPM:Current2:MeanValue_RBV,monitored,bpm,yes,yes,,
-lu_bpm3,LU BPM Channel 3,SignalRO,X10SA-OP-LUBPM:Current3:MeanValue_RBV,monitored,bpm,yes,yes,,
-lu_bpm4,LU BPM Channel 4,SignalRO,X10SA-OP-LUBPM:Current4:MeanValue_RBV,monitored,bpm,yes,yes,,
-lu_bpmsum,LU BPM Summed,SignalRO,X10SA-OP-LUBPM:SumAll:MeanValue_RBV,monitored,bpm,yes,yes,,
-lu_bpm_x,BPM2 X ,Motor,X10SA-OP-LUBPM:TRX,baseline,lu,no,yes,,
-lu_bpm_y,BPM2 Y ,Motor,X10SA-OP-LUBPM:TRY,baseline,lu,no,yes,,
-lu_z1,Lens Z1 ,Motor,X10SA-OP-LUTRZ1:TRZ,baseline,lu,no,yes,,
-lu_z2,Lens Z2 ,Motor,X10SA-OP-LUTRZ2:TRZ,baseline,lu,no,yes,,
-lu_pod1_x,SmarPod1 X,Motor,X10SA-OP-LUPOD1:TRX1,baseline,lu,no,no,,
-lu_lens1_x2,Lenses1 X,Motor,X10SA-OP-LUPOD1:TRX2,baseline,lu,no,no,,
-lu_pod1_y,SmarPod1 Y,Motor,X10SA-OP-LUPOD1:TRY,baseline,lu,no,yes,,
-lu_pod1_z,SmarPod1 Z,Motor,X10SA-OP-LUPOD1:TRZ,baseline,lu,no,yes,,
-lu_pod1_rotx,SmarPod1 RX,Motor,X10SA-OP-LUPOD1:ROTX,baseline,lu,no,yes,,
-lu_pod1_roty,SmarPod1 RY,Motor,X10SA-OP-LUPOD1:ROTY,baseline,lu,no,yes,,
-lu_pod1_rotz,SmarPod1 RZ,Motor,X10SA-OP-LUPOD1:ROTZ,baseline,lu,no,yes,,
-lu_pod2_x,SmarPod2 X,Motor,X10SA-OP-LUPOD2:TRX1,baseline,lu,no,no,,
-lu_lens2_x2,Lenses2 X,Motor,X10SA-OP-LUPOD2:TRX2,baseline,lu,no,no,,
-lu_pod2_y,SmarPod2 Y,Motor,X10SA-OP-LUPOD2:TRY,baseline,lu,no,yes,,
-lu_pod2_z,SmarPod2 Z,Motor,X10SA-OP-LUPOD2:TRZ,baseline,lu,no,yes,,
-lu_pod2_rotx,SmarPod2 RX,Motor,X10SA-OP-LUPOD2:ROTX,baseline,lu,no,yes,,
-lu_pod2_roty,SmarPod2 RY,Motor,X10SA-OP-LUPOD2:ROTY,baseline,lu,no,yes,,
-lu_pod2_rotz,SmarPod2 RZ,Motor,X10SA-OP-LUPOD2:ROTZ,baseline,lu,no,yes,,
-ss_bpm1,SS BPM Channel 1,SignalRO,X10SA-ES-SSBPM:Current1:MeanValue_RBV,monitored,bpm,yes,yes,,
-ss_bpm2,SS BPM Channel 2,SignalRO,X10SA-ES-SSBPM:Current2:MeanValue_RBV,monitored,bpm,yes,yes,,
-ss_bpm3,SS BPM Channel 3,SignalRO,X10SA-ES-SSBPM:Current3:MeanValue_RBV,monitored,bpm,yes,yes,,
-ss_bpm4,SS BPM Channel 4,SignalRO,X10SA-ES-SSBPM:Current4:MeanValue_RBV,monitored,bpm,yes,yes,,
-ss_bpmsum,SS BPM Summed,SignalRO,X10SA-ES-SSBPM:SumAll:MeanValue_RBV,monitored,bpm,yes,yes,,
-ss_bpm_x,SS BPM X,Motor,X10SA-ES-SSBPM:TRX,baseline,ss,no,yes,,
-ss_bpm_y,SS BPM Y,Motor,X10SA-ES-SSBPM:TRY,baseline,ss,no,yes,,
-ss_f1_x,SS Filter 1 X,Motor,X10SA-ES-SSFI1:TRX,baseline,ss,no,yes,,
-ss_f2_x,SS Filter 2 X,Motor,X10SA-ES-SSFI2:TRX,baseline,ss,no,yes,,
-ss_f3_x,SS Filter 2 X,Motor,X10SA-ES-SSFI3:TRX,baseline,ss,no,yes,,
-ss_f4_x,SS Filter 4 X,Motor,X10SA-ES-SSFI4:TRX,baseline,ss,no,yes,,
-ss_sl_xw,SS Slit Wall,Motor,X10SA-ES-SSSLH:TRXW,baseline,ss,no,yes,,
-ss_sl_xr,SS Slit Ring,Motor,X10SA-ES-SSSLH:TRXR,baseline,ss,no,yes,,
-ss_sl_xcen,SS Slit X Centre,Motor,X10SA-ES-SSSLH:CENTER,baseline,ss,no,yes,,
-ss_sl_xsize,SS Slit X Size,Motor,X10SA-ES-SSSLH:SIZE,baseline,ss,no,yes,,
-ss_sl_yt,SS Slit Top,Motor,X10SA-ES-SSSLV:TRYT,baseline,ss,no,yes,,
-ss_sl_yb,SS Slit Bottom,Motor,X10SA-ES-SSSLV:TRYB,baseline,ss,no,yes,,
-ss_sl_ycen,SS Slit Y Centre,Motor,X10SA-ES-SSSLV:CENTER,baseline,ss,no,yes,,
-ss_sl_ysize,SS Slit Y Size,Motor,X10SA-ES-SSSLV:SIZE,baseline,ss,no,yes,,
-ss_xi_x,SS X-ray eye X,Motor,X10SA-ES-SSXI:TRX,baseline,ss,no,yes,"{""type"": multi-position,""in"": 7.5, ""out"": -2.1}",
-ss_xi_y,SS X-ray eye Y,Motor,X10SA-ES-SSXI:TRY,baseline,ss,no,yes,,
-ss_xicam_x,SS Camera X,SignalRO,X10SA-ES-SSXI:cam1:Stats5:CentroidX_RBV,baseline,ss,yes,no,,
-ss_xicam_y,SS Camera Y,SignalRO,X10SA-ES-SSXI:cam1:Stats5:CentroidY_RBV,baseline,ss,yes,no,,
-ss_xicam_max,SS Cam Max,SignalRO,X10SA-ES-SSXI:cam1:Stats5:MaxValue_RBV,monitored,ss,yes,no,,
-ss_xicam_exp,SS Camera Exposure,Signal,X10SA-ES-SSXI:cam1:AcquireTime,baseline,ss,no,no,,
-ss_xicam_gain,SS Camera Gain,Signal,X10SA-ES-SSXI:cam1:cam1:Gain,baseline,ss,no,no,,
-ss_xicam_xsig,SS Camera  X Sigma,Signal,X10SA-ES-SSXI:cam1:Stats5:SigmaX_RBV,baseline,ss,yes,no,,
-ss_xicam_ysig,SS Camera Y Sigma,Signal,X10SA-ES-SSXI:cam1:Stats5:SigmaY_RBV,baseline,ss,yes,no,,
-vfm_xu,VFM Upstream X,MotorEC,X10SA-ES-VFM:TRXU,baseline,vfm,no,yes,,
-vfm_xd,VFM Downstream X,MotorEC,X10SA-ES-VFM:TRXD,baseline,vfm,no,yes,,
-vfm_yur,VFM Upstream Ring Y,MotorEC,X10SA-ES-VFM:TRYUR,baseline,vfm,no,yes,,
-vfm_yw,VFM Wall Y,MotorEC,X10SA-ES-VFM:TRYW,baseline,vfm,no,yes,,
-vfm_ydr,VFM Downstream Ring Y,MotorEC,X10SA-ES-VFM:TRYDR,baseline,vfm,no,yes,,
-vfm_bu,VFM Upstream Bender,MotorEC,X10SA-ES-VFM:BNDU,baseline,vfm,no,yes,,
-vfm_bd,VFM Downstream Bender,MotorEC,X10SA-ES-VFM:BNDD,baseline,vfm,no,yes,,
-vfm_yaw,VFM Virtual Yaw,MotorEC,X10SA-ES-VFM:YAW,baseline,vfm,no,yes,,
-vfm_roll,VFM Virtual Roll,MotorEC,X10SA-ES-VFM:ROLL,baseline,vfm,no,yes,,
-vfm_pitch,VFM Virtual Pitch,MotorEC,X10SA-ES-VFM:PITCH,baseline,vfm,no,yes,,
-vfm_x,VFM Virtual X,MotorEC,X10SA-ES-VFM:TRX,baseline,vfm,no,yes,,
-vfm_y,VFM Virtual Y ,MotorEC,X10SA-ES-VFM:TRY,baseline,vfm,no,yes,,
-hfm_xu,HFM Upstream X,MotorEC,X10SA-ES-HFM:TRXU,baseline,hfm,no,yes,,
-hfm_xd,HFM Downstream X,MotorEC,X10SA-ES-HFM:TRXD,baseline,hfm,no,yes,,
-hfm_yuw,HFM Upstream Wall Y,MotorEC,X10SA-ES-HFM:TRYUW,baseline,hfm,no,yes,,
-hfm_yr,HFM Ring Y,MotorEC,X10SA-ES-HFM:TRYR,baseline,hfm,no,yes,,
-hfm_ydw,HFM Downstream Wall Y,MotorEC,X10SA-ES-HFM:TRYDW,baseline,hfm,no,yes,,
-hfm_bu,HFM Upstream Bender,MotorEC,X10SA-ES-HFM:BNDU,baseline,hfm,no,yes,,
-hfm_bd,HFM Downstream Bender,MotorEC,X10SA-ES-HFM:BNDD,baseline,hfm,no,yes,,
-hfm_yaw,HFM Virtual Yaw,MotorEC,X10SA-ES-HFM:YAW,baseline,hfm,no,yes,,
-hfm_roll,HFM Virtual Roll,MotorEC,X10SA-ES-HFM:ROLL,baseline,hfm,no,yes,,
-hfm_pitch,HFM Virtual Pitch,MotorEC,X10SA-ES-HFM:PITCH,baseline,hfm,no,yes,,
-hfm_x,HFM Virtual X,MotorEC,X10SA-ES-HFM:TRX,baseline,hfm,no,yes,,
-hfm_y,HFM Virtual Y ,MotorEC,X10SA-ES-HFM:TRY,baseline,hfm,no,yes,,
-bcu_bpm1,BCU BPM Channel 1 ,SignalRO,X10SA-ES-BCBPM:Current1:MeanValue_RBV,monitored,bpm,yes,yes,,
-bcu_bpm2,BCU BPM Channel 2,SignalRO,X10SA-ES-BCBPM:Current2:MeanValue_RBV,monitored,bpm,yes,yes,,
-bcu_bpm3,BCU BPM Channel 3,SignalRO,X10SA-ES-BCBPM:Current3:MeanValue_RBV,monitored,bpm,yes,yes,,
-bcu_bpm4,BCU BPM Channel 4,SignalRO,X10SA-ES-BCBPM:Current4:MeanValue_RBV,monitored,bpm,yes,yes,,
-bcu_bpmsum,BCU BPM Summed,SignalRO,X10SA-ES-BCBPM:SumAll:MeanValue_RBV,monitored,bpm,yes,yes,,
-bcu_bpm_x,BCU BPM X,Motor,X10SA-ES-BCBPM:TRX,baseline,bcu,no,yes,,
-bcu_bpm_y,BCU BPM Y ,Motor,X10SA-ES-BCBPM:TRY,baseline,bcu,no,yes,,
-bcu_sl_xw,BCU Slit Wall,Motor,X10SA-ES-BCSLH:TRXW,baseline,bcu,no,yes,,
-bcu_sl_xr,BCU Slit Ring,Motor,X10SA-ES-BCSLH:TRXR,baseline,bcu,no,yes,,
-bcu_sl_xcen,BCU Slit X Centre,Motor,X10SA-ES-BCSLH:CENTER,baseline,bcu,no,yes,,
-bcu_sl_xsize,BCU Slit X Size,Motor,X10SA-ES-BCSLH:SIZE,baseline,bcu,no,yes,,
-bcu_sl_yt,BCU Slit Top,Motor,X10SA-ES-BCSLV:TRYT,baseline,bcu,no,yes,,
-bcu_sl_yb,BCU Slit Bottom,Motor,X10SA-ES-BCSLV:TRYB,baseline,bcu,no,yes,,
-bcu_sl_ycen,BCU Slit Y Centre,Motor,X10SA-ES-BCSLV:CENTER,baseline,bcu,no,yes,,
-bcu_sl_ysize,BCU Slit Y Size,Motor,X10SA-ES-BCSLV:SIZE,baseline,bcu,no,yes,,
-xrf_pos,XRF Positioner,Signal,X10SA-ES-XRF:POS-SET,baseline,se,no,no,"{""type"":positioner}",
-samcam_x,Sample Camera X ,SignalRO,X10SA-ES-MS:Stats5:CentroidX_RBV,baseline,scam,yes,yes,,
-samcam_xsig,Sample Camera X Sigma,SignalRO,X10SA-ES-MS:Stats5:SigmaX_RBV,monitored,scam,yes,yes,,
-samcam_y,Sample Camera Y ,SignalRO,X10SA-ES-MS:Stats5:CentroidY_RBV,baseline,scam,yes,yes,,
-samcam_ysig,Sample Camera Y Sigma,SignalRO,X10SA-ES-MS:Stats5:SigmaY_RBV,monitored,scam,yes,yes,,
-samcam_max,Sample Camera Max ,SignalRO,X10SA-ES-MS:Stats5:MaxValue_RBV,monitored,scam,yes,yes,,
-samcam_exp,Sample Camera Exposure,Signal,X10SA-ES-MS:cam1:AcquireTime,baseline,scam,no,yes,,
-samcam_gain,Sample Camera Gain,Signal,X10SA-ES-MS:cam1:Gain,baseline,scam,no,yes,,
-scam_zoom,Sample Camera Zoom,Motor,X10SA-ES-MS:ZOOM,baseline,scam,no,yes,,
-fl_bright,Frontlight Brightness,Signal,X10SA-ES-FL:SET,baseline,se,no,no,,
-coll_x,Collimator X,Motor,X10SA-ES-COL:TRX,baseline,se,no,yes,, 
-coll_y,Collimator Y,Motor,X10SA-ES-COL:TRY,baseline,se,no,no,"{""type"": multi-position, ""in"": 41.5, ""out"": 20.0, ""park"": 0,""tol"":0.05}",
-diag_y,Scintillator/diode Y,Motor,X10SA-ES-SCL:TRY,baseline,se,no,no,"{""type"": multi-position, ""scint"": 38.62, ""i1"": 44.0, ""out"": 20.0,""park"": 0,""tol"":0.3}",
-diag_z,Scintillator/diode Z,Motor,X10SA-ES-SCL:TRZ,baseline,se,no,yes,,
-i1,I1 Diode,SignalRO,X10SA-ES-SCLDI:READOUT,monitored,bpm,yes,yes,,
-bl_pos,Backlight Positioner,Signal,X10SA-ES-BL:POS-SET,baseline,se,no,no,"{""type"":positioner}",
-bl_bright,Backlight Brightness,Signal,X10SA-ES-BL:SET,baseline,se,no,no,,
-bs_x,Beamstop X,Motor,X10SA-ES-BS:TRX,baseline,se,no,yes,,
-bs_y,Beamstop Y,Motor,X10SA-ES-BS:TRY,baseline,se,no,yes,,
-bs_z,Beamstop Z,Motor,X10SA-ES-BS:TRZ,baseline,se,no,no,"{""type"": guarded, ""min"": 13, ""samp"": 15, ""work_min"": 20, ""safe"": 41, ""max_blin"": 42, ""max_blout"": 70}",
-bs_pos,Beamstop Positioner,Signal,X10SA-ES-BS:POS-SET,baseline,se,no,no,"{""type"":positioner}",
-gon_x,Goniometer X,Motor,X10SA-ES-DF1:TRX1,baseline,det,no,no,"{""type"": guarded, ""in"": 18.0, ""out"": -10.0, ""safe"": -100,""tol"":0.5}",
-gon_y,Goniometer Y,Motor,X10SA-ES-DF1:TRY1,baseline,det,no,yes,,
-gon_z,Goniometer X,Motor,X10SA-ES-DF1:TRZ1,baseline,det,no,yes,,
-omega,Omega,Motor,X10SA-ES-DF1:ROTU,baseline,det,no,yes,,
-cryo_pos,Cryo positioner,Signal,X10SA-ES-CS:POS-SET,baseline,se,no,no,"{""type"":positioner}",
-cryo_x,Cryo X ,Motor,X10SA-ES-CS:TRX,baseline,se,no,yes,,
-cryo_temp,Cryo Temperature,Signal,X10SA-ES-CS:TEMP_RBV,baseline,se,yes,yes,,
-det_xi_focus,X-ray Eye 2 Focus,Motor,X10SA-ES-XEYE:FOCUS,baseline,det,no,yes,,
-det_xi_zoom,X-ray Eye 2 Zoom,Motor,X10SA-ES-XEYE:ZOOM,baseline,det,no,yes,,
-det_xi_x,X-ray Eye X,Motor,X10SA-ES-XEYE:TRX,baseline,det,no,yes,,
-i2,I2 Diode,SignalRO,X10SA-ES-XEYEDI:READOUT,monitored,bpm,yes,yes,,
-det_xicam_x,Det Camera X ,SignalRO,X10SA-ES-XEYE:cam1:Stats5:CentroidX_RBV,baseline,scam,yes,no,,
-det_xicam_xsig,Det Camera X Sigma,SignalRO,X10SA-ES-XEYE:cam1:Stats5:SigmaX_RBV,monitored,scam,yes,no,,
-det_xicam_y,Det Camera Y ,SignalRO,X10SA-ES-XEYE:cam1:Stats5:CentroidY_RBV,baseline,scam,yes,no,,
-det_xicam_ysig,Det Camera Y Sigma,SignalRO,X10SA-ES-XEYE:cam1:Stats5:SigmaY_RBV,monitored,scam,yes,no,,
-det_xicam_max,Det Camera Max,SignalRO,X10SA-ES-XEYE:cam1:Stats5:MaxValue_RBV,monitored,scam,yes,no,,
-det_xicam_exp,Det Camera Exposure,Signal,X10SA-ES-XEYE:cam1:cam1:AcquireTime,baseline,scam,no,no,,
-det_xicam_gain,Det Camera Gain,Signal,X10SA-ES-XEYE:cam1:cam1:Gain,baseline,Sigma,no,no,,
-det_cov,Detector Cover,Signal,X10SA-ES-DETCOV:SET,baseline,det,no,no,"{""type"":positioner}",
-det_y,Detector Y,Motor,X10SA-ES-DET:TRY,baseline,det,no,yes,,
-det_z,Detector Z,Motor,X10SA-ES-DET:TRZ,baseline,det,no,yes,,
@@ -0,0 +1,18 @@
+aerotech_x:
+  userParameter: {"type": continuous, "in": 0.0, "out": -10.0, "safe": -50, "tol": 0.5}
+aerotech_y:
+  userParameter: {"type": continuous, "mount": 0.0, "work": 0.01, "tol": 0.002}
+aerotech_z:
+  userParameter: {"type": continuous, "mount": 0.0, "work": 0.02, "tol": 0.01}
+aerotech_u:
+  userParameter: {"type": continuous, "mount": 0.0}
+smargon_x:
+  userParameter: {"type": continuous, "mount": 0.0}
+smargon_y:
+  userParameter: {"type": continuous, "mount": 0.0}
+smargon_z:
+  userParameter: {"type": continuous, "mount": 18.0}
+smargon_chi:
+  userParameter: {"type": continuous, "mount": 0.0}
+smargon_phi:
+  userParameter: {"type": continuous, "mount": 0.0}
@@ -839,7 +839,7 @@ ss_sl_ysize:
  softwareTrigger: false

 ss_xi_x:
-  description: SS X-ray eye X
+  description: SS X-ray Eye X
  deviceClass: ophyd_devices.EpicsMotor
  deviceConfig: {prefix: 'X10SA-ES-SSXI:TRX'}
  onFailure: buffer
@@ -852,7 +852,7 @@ ss_xi_x:
  userParameter: {"type": multi-position,"in": 7.5, "out": -2.1}

 ss_xi_y:
-  description: SS X-ray eye Y
+  description: SS X-ray Eye Y
  deviceClass: ophyd_devices.EpicsMotor
  deviceConfig: {prefix: 'X10SA-ES-SSXI:TRY'}
  onFailure: buffer
@@ -1523,6 +1523,42 @@ omega:
  readOnly: False
  softwareTrigger: false

+mag_ok:
+  description: Sample Sensor Check
+  deviceClass: ophyd.EpicsSignalRO
+  deviceConfig: {read_pv: 'X10SA-ES-DFS:CBOX-CMP1', auto_monitor: true}
+  onFailure: buffer
+  enabled: True
+  readoutPriority: baseline
+  deviceTags:
+    - se
+  readOnly: True
+  softwareTrigger: false
+
+mag_rbv:
+  description: Sample Sensor RBV
+  deviceClass: ophyd.EpicsSignalRO
+  deviceConfig: {read_pv: 'X10SA-ES-DFS:CBOX-USER1', auto_monitor: true}
+  onFailure: buffer
+  enabled: True
+  readoutPriority: baseline
+  deviceTags:
+    - se
+  readOnly: True
+  softwareTrigger: false
+
+mag_ref:
+  description: Sample Sensor Reference
+  deviceClass: ophyd.EpicsSignalRO
+  deviceConfig: {read_pv: 'X10SA-ES-DFS:CBOX-REFVAL1', auto_monitor: true}
+  onFailure: buffer
+  enabled: True
+  readoutPriority: baseline
+  deviceTags:
+    - se
+  readOnly: True
+  softwareTrigger: false
+
 cryo_x:
  description: Cryo X 
  deviceClass: ophyd_devices.EpicsMotor
@@ -1548,7 +1584,7 @@ cryo_temp:
  softwareTrigger: false

 det_xi_focus:
-  description: X-ray eye 2 Focus
+  description: X-ray Eye 2 Focus
  deviceClass: ophyd_devices.EpicsMotor
  deviceConfig: {prefix: 'X10SA-ES-XEYE:FOCUS'}
  onFailure: buffer
@@ -1560,7 +1596,7 @@ det_xi_focus:
  softwareTrigger: false

 det_xi_zoom:
-  description: X-ray eye 2 Zoom
+  description: X-ray Eye 2 Zoom
  deviceClass: ophyd_devices.EpicsMotor
  deviceConfig: {prefix: 'X10SA-ES-XEYE:ZOOM'}
  onFailure: buffer
@@ -1572,7 +1608,7 @@ det_xi_zoom:
  softwareTrigger: false

 det_xi_x:
-  description: X-ray eye X
+  description: X-ray Eye X
  deviceClass: ophyd_devices.EpicsMotor
  deviceConfig: {prefix: 'X10SA-ES-XEYE:TRX'}
  onFailure: buffer
@@ -1,159 +1,3 @@
-ss_sl_xw:
-  description: SS slit wall
-  deviceClass: ophyd_devices.EpicsMotor
-  deviceConfig: {prefix: 'X10SA-ES-SSSLH:TRXW'}
-  onFailure: buffer
-  enabled: True
-  readoutPriority: baseline
-  deviceTags:
-    - ss
-  readOnly: False
-  softwareTrigger: false
-  userParameter:
-    type: continuous
-    in: 1.0
-    out: 2.0
-
-bs_z:
-  description: Beamstop Z
-  deviceClass: ophyd_devices.EpicsMotor
-  deviceConfig: {prefix: 'X10SA-ES-BS:TRZ'}
-  onFailure: buffer
-  enabled: True
-  readoutPriority: baseline
-  deviceTags:
-    - se
-  readOnly: False
-  softwareTrigger: false
-  userParameter:
-    type: continuous
-    min: 13
-    samp: 15
-    work_min: 20
-    safe: 41
-    max_blin: 42
-    max_blout: 70
-
-gon_x:
-  description: Goniometer X
-  deviceClass: ophyd_devices.EpicsMotor
-  deviceConfig: {prefix: 'X10SA-ES-DF1:TRX1'}
-  onFailure: buffer
-  enabled: True
-  readoutPriority: baseline
-  deviceTags:
-    - det
-  readOnly: False
-  softwareTrigger: false
-  userParameter:
-    type: continuous
-    in: 0.0
-    out: -10.0
-    safe: -100
-    tol: 0.5
-
-diag_y:
-  description: Scintillator/diode Y
-  deviceClass: ophyd_devices.EpicsMotor
-  deviceConfig: {prefix: 'X10SA-ES-SCL:TRY'}
-  onFailure: buffer
-  enabled: True
-  readoutPriority: baseline
-  deviceTags:
-    - se
-  readOnly: False
-  softwareTrigger: false
-  userParameter:
-    type: continuous
-    scint: 38.62
-    i1: 44.0
-    out: 20.0
-    park: 1
-    tol: 0.3
-
-coll_y:
-  description: Collimator Y
-  deviceClass: ophyd_devices.EpicsMotor
-  deviceConfig: {prefix: 'X10SA-ES-COL:TRY'}
-  onFailure: buffer
-  enabled: True
-  readoutPriority: baseline
-  deviceTags:
-    - se
-  readOnly: False
-  softwareTrigger: false
-  userParameter:
-    type: continuous
-    in: 41.5
-    intermediate: 32
-    out: 20.0
-    park: 1
-    tol: 0.05
-
-bs_pos:
-  description: Beamstop Positioner
-  deviceClass: ophyd.EpicsSignal
-  deviceConfig: {read_pv: 'X10SA-ES-BS:POS-SET', auto_monitor: true}
-  onFailure: buffer
-  enabled: True
-  readoutPriority: baseline
-  deviceTags:
-    - se
-  readOnly: False
-  softwareTrigger: false
-  userParameter:
-    type: discrete
-    in: 1.0
-    out: 0.0
-
-xrf_pos:
-  description: XRF Positioner
-  deviceClass: ophyd.EpicsSignal
-  deviceConfig: {read_pv: 'X10SA-ES-XRF:POS-SET', auto_monitor: true}
-  onFailure: buffer
-  enabled: True
-  readoutPriority: baseline
-  deviceTags:
-    - se
-  readOnly: False
-  softwareTrigger: false
-  userParameter:
-    type: discrete
-    in: 1.0
-    out: 0.0
-
-cryo_pos:
-  description: Cryo Positioner
-  deviceClass: ophyd.EpicsSignal
-  deviceConfig: {read_pv: 'X10SA-ES-CS:POS-SET', auto_monitor: true}
-  onFailure: buffer
-  enabled: True
-  readoutPriority: baseline
-  deviceTags:
-    - se
-  readOnly: False
-  softwareTrigger: false
-  userParameter:
-    type: discrete
-    in: 1.0
-    out: 0.0
-
-det_cov:
-  description: Detector Cover
-  deviceClass: ophyd.EpicsSignal
-  deviceConfig: {read_pv: 'X10SA-ES-DETCOV:SET', auto_monitor: true}
-  onFailure: buffer
-  enabled: True
-  readoutPriority: baseline
-  deviceTags:
-    - det
-  readOnly: False
-  softwareTrigger: false
-  userParameter:
-    type: discrete
-    'open': 2.0
-    'close': 1.0
-
 bl_bright:
  description: Backlight Brightness
  deviceClass: ophyd.EpicsSignal
@@ -162,15 +6,10 @@ bl_bright:
  enabled: True
  readoutPriority: baseline
  deviceTags:
-    - se
+    - state
  readOnly: False
  softwareTrigger: false
-  userParameter:
-    type: continuous
-    'on': 1.3
-    'off': 0.0
-    'tol': 0.01
-
+  userParameter: {"type": continuous, "on": 1.3, "off": 0.0, "tol": 0.01}

 bl_pos:
  description: Backlight Positioner
@@ -180,13 +19,88 @@ bl_pos:
  enabled: True
  readoutPriority: baseline
  deviceTags:
-    - se
+    - state
  readOnly: False
  softwareTrigger: false
-  userParameter:
-    type: discrete
-    in: 1.0
-    out: 0.0
+  userParameter: {"type":discrete, "in": 1, "out": 0}
+
+bs_pos:
+  description: Beamstop Positioner
+  deviceClass: ophyd.EpicsSignal
+  deviceConfig: {read_pv: 'X10SA-ES-BS:POS-SET', auto_monitor: true}
+  onFailure: buffer
+  enabled: True
+  readoutPriority: baseline
+  deviceTags:
+    - state
+  readOnly: False
+  softwareTrigger: false
+  userParameter: {"type":discrete, "in": 1, "out": 0}
+
+bs_z:
+  description: Beamstop Z
+  deviceClass: ophyd_devices.EpicsMotor
+  deviceConfig: {prefix: 'X10SA-ES-BS:TRZ'}
+  onFailure: buffer
+  enabled: True
+  readoutPriority: baseline
+  deviceTags:
+    - state
+  readOnly: False
+  softwareTrigger: false
+  userParameter: {"type": continuous, "min": 13, "samp": 15, "work_min": 20, "safe": 41, "max_blin": 42, "max_blout": 70}
+
+coll_y:
+  description: Collimator Y
+  deviceClass: ophyd_devices.EpicsMotor
+  deviceConfig: {prefix: 'X10SA-ES-COL:TRY'}
+  onFailure: buffer
+  enabled: True
+  readoutPriority: baseline
+  deviceTags:
+    - state
+  readOnly: False
+  softwareTrigger: false
+  userParameter: {"type": continuous, "in": 41.5, "out": 20.0, "intermediate": 32, "park": 1,"tol":0.05}
+
+cryo_pos:
+  description: Cryo positioner
+  deviceClass: ophyd.EpicsSignal
+  deviceConfig: {read_pv: 'X10SA-ES-CS:POS-SET', auto_monitor: true}
+  onFailure: buffer
+  enabled: True
+  readoutPriority: baseline
+  deviceTags:
+    - state
+  readOnly: False
+  softwareTrigger: false
+  userParameter: {"type":discrete, "in": 1, "out": 0}
+
+det_cov:
+  description: Detector cover
+  deviceClass: ophyd.EpicsSignal
+  deviceConfig: {read_pv: 'X10SA-ES-DETCOV:SET', auto_monitor: true}
+  onFailure: buffer
+  enabled: True
+  readoutPriority: baseline
+  deviceTags:
+    - state
+  readOnly: False
+  softwareTrigger: false
+  userParameter: {"type":discrete, "open": 2, "close": 1}
+
+diag_y:
+  description: Scintillator/diode Y
+  deviceClass: ophyd_devices.EpicsMotor
+  deviceConfig: {prefix: 'X10SA-ES-SCL:TRY'}
+  onFailure: buffer
+  enabled: True
+  readoutPriority: baseline
+  deviceTags:
+    - state
+  readOnly: False
+  softwareTrigger: false
+  userParameter: {"type": continuous, "scint": 38.62, "i1": 44.0, "out": 20.0,"park": 1,"tol":0.3}

 fl_bright:
  description: Frontlight Brightness
@@ -196,11 +110,21 @@ fl_bright:
  enabled: True
  readoutPriority: baseline
  deviceTags:
-    - se
+    - state
  readOnly: False
  softwareTrigger: false
-  userParameter:
-    type: continuous
-    'on': 3.0
-    'off': 0.0
+  userParameter: {"type": continuous, "on": 3.0, "off": 0.0, "tol": 0.01}
+
+xrf_pos:
+  description: XRF Positioner
+  deviceClass: ophyd.EpicsSignal
+  deviceConfig: {read_pv: 'X10SA-ES-XRF:POS-SET', auto_monitor: true}
+  onFailure: buffer
+  enabled: True
+  readoutPriority: baseline
+  deviceTags:
+    - state
+  readOnly: False
+  softwareTrigger: false
+  userParameter: {"type":discrete, "in": 1, "out": 0}

@@ -1,146 +0,0 @@
-name,description,deviceClass,PV,readoutPriority,tag,readOnly,include,userParameter,
-sls_current,SLS current,SignalRO,ARS07-DPCT-0100:CURR,monitored,SLS,yes,yes,,
-fe_sl_xr,FE Slit X Ring,Motor,X06DA-FE-SLDI:TRXR,baseline,fe,no,yes,,
-fe_sl_yt,FE Slit Y top,Motor,X06DA-FE-SLDI:TRYT,baseline,fe,no,yes,,
-fe_sl_xw,FE Slit X Wall,Motor,X06DA-FE-SLDI:TRXW,baseline,fe,no,yes,,
-fe_sl_yb,FE SlitY Bottom,Motor,X06DA-FE-SLDI:TRYB,baseline,fe,no,yes,,
-fe_sl_xcen,FE Slit X Centre,Motor,X06DA-FE-SLDI:CENTERX,baseline,fe,no,yes,,
-fe_sl_xsize,FE Slit X Size,Motor,X06DA-FE-SLDI:SIZEX,baseline,fe,no,yes,,
-fe_sl_ycen,FE Slit Y Centre,Motor,X06DA-FE-SLDI:CENTERY,baseline,fe,no,yes,,
-fe_sl_ysize,FE Slit Y Size,Motor,X06DA-FE-SLDI:SIZEY,baseline,fe,no,yes,,
-fe_cm_xu,FE Coll Mirror Upstream X,Motor,X06DA-ES-MI1:TRXU,baseline,fe_cm,no,yes,,
-fe_cm_xd,FE Coll Mirror Downstream X,Motor,X06DA-ES-MI1:TRXD,baseline,fe_cm,no,yes,,
-fe_cm_yur,FE Coll Mirror Upstream Ring Y,Motor,X06DA-ES-MI1:TRYUR,baseline,fe_cm,no,yes,,
-fe_cm_yw,FE Coll Mirror Wall Y,Motor,X06DA-ES-MI1:TRYW,baseline,fe_cm,no,yes,,
-fe_cm_ydr,FE Coll Mirror Downstream Ring Y,Motor,X06DA-ES-MI1:TRYDR,baseline,fe_cm,no,yes,,
-fe_cm_b1,FE Coll Mirror Bender,Motor,X06DA-ES-MI1:BND1,baseline,fe_cm,no,yes,,
-fe_cm_yaw,FE Coll Mirror Yaw,Motor,X06DA-ES-MI1:YAW,baseline,fe_cm,no,yes,,
-fe_cm_roll,FE Coll Mirror Roll,Motor,X06DA-ES-MI1:ROLL,baseline,fe_cm,no,yes,,
-fe_cm_pitch,FE Coll Mirror Pitch,Motor,X06DA-ES-MI1:PITCH,baseline,fe_cm,no,yes,,
-fe_cm_x,FE Coll Mirror X,Motor,X06DA-ES-MI1:TRX,baseline,fe_cm,no,yes,,
-fe_cm_y,FE Coll Mirror Y ,Motor,X06DA-ES-MI1:TRY,baseline,fe_cm,no,yes,,
-bsf_bpm1,BSF BPM Signal 1,SignalRO,X06DA-OP-BSFBPM:SIGNAL1,monitored,bpm,yes,no,,
-bsf_bpm2,BSF BPM Signal 2,SignalRO,X06DA-OP-BSFBPM:SIGNAL2,monitored,bpm,yes,no,,
-bsf_bpm3,BSF BPM Signal 3,SignalRO,X06DA-OP-BSFBPM:SIGNAL3,monitored,bpm,yes,no,,
-bsf_bpm4,BSF BPM Signal 4,SignalRO,X06DA-OP-BSFBPM:SIGNAL4,monitored,bpm,yes,no,,
-bsf_bpmsum,BSF BPM Summed,SignalRO,X06DA-OP-BSFBPM:SUM,monitored,bpm,yes,no,,
-bsf_sl_xw,BSF slit outboard,Motor,X06DA-OP-BSFSLH:TRXW,baseline,bsf,no,yes,,
-bsf_sl_xr,BSF slit inboard,Motor,X06DA-OP-BSFSLH:TRXR,baseline,bsf,no,yes,,
-bsf_sl_yt,BSF slit top,Motor,X06DA-OP-BSFSLV:TRYT,baseline,bsf,no,yes,,
-bsf_sl_yb,BSF slit bottom,Motor,X06DA-OP-BSFSLV:TRYB,baseline,bsf,no,yes,,
-bsf_sl_xcen,BSF X centre,Motor,X06DA-OP-BSFSLH:CENTER,baseline,bsf,no,yes,,
-bsf_sl_xsize,BSF X size,Motor,X06DA-OP-BSFSLH:SIZE,baseline,bsf,no,yes,,
-bsf_sl_ycen,BSF Y centre,Motor,X06DA-OP-BSFSLV:CENTER,baseline,bsf,no,yes,,
-bsf_sl_ysize,BSF Y size,Motor,X06DA-OP-BSFSLV:SIZE,baseline,bsf,no,yes,,
-bsf_f1_y,BSF Filter 1 Y,Motor,X06DA-OP-BSFFI1:TRY,baseline,bsf,no,yes,,
-bsf_f2_y,BSF Filter 2 Y,Motor,X06DA-OP-BSFFI2:TRY,baseline,bsf,no,yes,,
-dccm_theta1,DCCM theta1,Motor,X06DA-OP-DCCM:ROTX-CR1,baseline,dccm,no,yes,,
-dccm_theta2,DCCM theta2,Motor,X06DA-OP-DCCM:ROTX-CR2,baseline,dccm,no,yes,,
-dccm_rotz,DCCM Crystal 2 rotz ,Motor,X06DA-OP-DCCM:ROTZ-CR2,baseline,dccm,no,yes,,
-dccm_energy,DCCM energy,Motor,X06DA-OP-DCCM:ENERGY,baseline,dccm,no,yes,,
-dccm_diode_t,Top diode between mono crystals,SignalRO,X06DA-OP-XPM1:TOP:READOUT,baseline,dccm,no,yes,,
-dccm_diode_b,Bottom diode between mono crystals,SignalRO,X06DA-OP-XPM1:BOT:READOUT,baseline,dccm,no,yes,,
-dccm_xbpm1,XBPM after mono ch1,SignalRO,X06DA-OP-XBPM1:Current1:MeanValue_RBV,baseline,dccm,no,yes,,
-dccm_xbpm2,XBPM after mono ch2,SignalRO,X06DA-OP-XBPM1:Current2:MeanValue_RBV,baseline,dccm,no,yes,,
-dccm_xbpm3,XBPM after mono ch3,SignalRO,X06DA-OP-XBPM1:Current3:MeanValue_RBV,baseline,dccm,no,yes,,
-dccm_xbpm4,XBPM after mono ch4,SignalRO,X06DA-OP-XBPM1:Current4:MeanValue_RBV,baseline,dccm,no,yes,,
-dccm_xbpmsum,XBPM after mono summed,SignalRO,X06DA-OP-XBPM1:SumAll:MeanValue_RBV,baseline,dccm,no,yes,,
-ss_bpm1,SS BPM Signal 1,SignalRO,X06DA-ES-SSBPM:Current1:MeanValue_RBV,monitored,bpm,yes,yes,,
-ss_bpm2,SS BPM Signal 2,SignalRO,X06DA-ES-SSBPM:Current2:MeanValue_RBV,monitored,bpm,yes,yes,,
-ss_bpm3,SS BPM Signal 3,SignalRO,X06DA-ES-SSBPM:Current3:MeanValue_RBV,monitored,bpm,yes,yes,,
-ss_bpm4,SS BPM Signal 4,SignalRO,X06DA-ES-SSBPM:Current4:MeanValue_RBV,monitored,bpm,yes,yes,,
-ss_bpmsum,SS BPM Summed,SignalRO,X06DA-ES-SSBPM:SumAll:MeanValue_RBV,monitored,bpm,yes,yes,,
-ss_bpm_x,SS BPM X,Motor,X06DA-ES-SSBPM:TRX,baseline,ss,no,yes,,
-ss_bpm_y,SS BPM Y,Motor,X06DA-ES-SSBPM:TRY,baseline,ss,no,yes,,
-ss_sl_xw,SS slit wall,Motor,X06DA-ES-SSSLH:TRXW,baseline,ss,no,yes,,
-ss_sl_xr,SS slit ring,Motor,X06DA-ES-SSSLH:TRXR,baseline,ss,no,yes,,
-ss_sl_xcen,SS slit X centre,Motor,X06DA-ES-SSSLH:CENTER,baseline,ss,no,yes,,
-ss_sl_xsize,SS slit X size,Motor,X06DA-ES-SSSLH:SIZE,baseline,ss,no,yes,,
-ss_sl_yt,SS slit top,Motor,X06DA-ES-SSSLV:TRYT,baseline,ss,no,yes,,
-ss_sl_yb,SS slit bottom,Motor,X06DA-ES-SSSLV:TRYB,baseline,ss,no,yes,,
-ss_sl_ycen,SS slit Y centre,Motor,X06DA-ES-SSSLV:CENTER,baseline,ss,no,yes,,
-ss_sl_ysize,SS slit Y size,Motor,X06DA-ES-SSSLV:SIZE,baseline,ss,no,yes,,
-ss_xi_x,SS X-ray eye X,Motor,X06DA-ES-SSXI:TRX,baseline,ss,no,yes,,
-ss_xi_y,SS X-ray eye Y,Motor,X06DA-ES-SSXI:TRY,baseline,ss,no,yes,,
-ss_xicam_x,ss cam X,SignalRO,X06DA-ES-SSXI:cam1:Stats5:CentroidX_RBV,baseline,ss,yes,yes,,
-ss_xicam_y,ss cam Y,SignalRO,X06DA-ES-SSXI:cam1:Stats5:CentroidY_RBV,baseline,ss,yes,yes,,
-ss_xicam_max,ss cam max value,SignalRO,X06DA-ES-SSXI:cam1:Stats5:MaxValue_RBV,monitored,ss,yes,yes,,
-ss_xicam_exp,ss camera exposure,Signal,X06DA-ES-SSXI:cam1:AcquireTime,baseline,ss,no,yes,,
-ss_xicam_gain,ss camera gain,Signal,X06DA-ES-SSXI:cam1:cam1:Gain,baseline,ss,no,yes,,
-ss_xicam_xsig,ss camera  x sigma,Signal,X06DA-ES-SSXI:cam1:Stats5:SigmaX_RBV,baseline,ss,yes,yes,,
-ss_xicam_ysig,ss camera y sigma,Signal,X06DA-ES-SSXI:cam1:Stats5:SigmaY_RBV,baseline,ss,yes,yes,,
-vfm_xu,VFM Upstream X,Motor,X06DA-ES-KBV:TRXU,baseline,vfm,no,no,,
-vfm_xd,VFM Downstream X,Motor,X06DA-ES-KBV:TRXD,baseline,vfm,no,no,,
-vfm_yur,VFM Upstream Ring Y,Motor,X06DA-ES-KBV:TRYUR,baseline,vfm,no,no,,
-vfm_yw,VFM Wall Y,Motor,X06DA-ES-KBV:TRYW,baseline,vfm,no,no,,
-vfm_ydr,VFM Downstream Ring Y,Motor,X06DA-ES-KBV:TRYDR,baseline,vfm,no,no,,
-vfm_bu,VFM Upstream Bender,Motor,X06DA-ES-KBV:BNDU,baseline,vfm,no,no,,
-vfm_bd,VFM Downstream Bender,Motor,X06DA-ES-KBV:BNDD,baseline,vfm,no,no,,
-vfm_yaw,VFM Virtual Yaw,Motor,X06DA-ES-KBV:YAW,baseline,vfm,no,no,,
-vfm_roll,VFM Virtual Roll,Motor,X06DA-ES-KBV:ROLL,baseline,vfm,no,no,,
-vfm_pitch,VFM Virtual Pitch,Motor,X06DA-ES-KBV:PITCH,baseline,vfm,no,no,,
-vfm_x,VFM Virtual X,Motor,X06DA-ES-KBV:TRX,baseline,vfm,no,no,,
-vfm_y,VFM Virtual Y ,Motor,X06DA-ES-KBV:TRY,baseline,vfm,no,no,,
-hfm_xu,HFM Upstream X,Motor,X06DA-ES-KBH:TRXU,baseline,hfm,no,no,,
-hfm_xd,HFM Downstream X,Motor,X06DA-ES-KBH:TRXD,baseline,hfm,no,no,,
-hfm_yuw,HFM Upstream Wall Y,Motor,X06DA-ES-KBH:TRYUW,baseline,hfm,no,no,,
-hfm_yr,HFM Ring Y,Motor,X06DA-ES-KBH:TRYR,baseline,hfm,no,no,,
-hfm_ydw,HFM Downstream Wall Y,Motor,X06DA-ES-KBH:TRYDW,baseline,hfm,no,no,,
-hfm_bu,HFM Upstream Bender,Motor,X06DA-ES-KBH:BNDU,baseline,hfm,no,no,,
-hfm_bd,HFM Downstream Bender,Motor,X06DA-ES-KBH:BNDD,baseline,hfm,no,no,,
-hfm_yaw,HFM Virtual Yaw,Motor,X06DA-ES-KBH:YAW,baseline,hfm,no,no,,
-hfm_roll,HFM Virtual Roll,Motor,X06DA-ES-KBH:ROLL,baseline,hfm,no,no,,
-hfm_pitch,HFM Virtual Pitch,Motor,X06DA-ES-KBH:PITCH,baseline,hfm,no,no,,
-hfm_x,HFM Virtual X,Motor,X06DA-ES-KBH:TRX,baseline,hfm,no,no,,
-hfm_y,HFM Virtual Y ,Motor,X06DA-ES-KBH:TRY,baseline,hfm,no,no,,
-bcu_bpm1,BCU BPM Signal 1 ,SignalRO,X06DA-ES-BCBPM:Current1:MeanValue_RBV,monitored,bpm,yes,no,,
-bcu_bpm2,BCU BPM Signal 2,SignalRO,X06DA-ES-BCBPM:Current2:MeanValue_RBV,monitored,bpm,yes,no,,
-bcu_bpm3,BCU BPM Signal 3,SignalRO,X06DA-ES-BCBPM:Current3:MeanValue_RBV,monitored,bpm,yes,no,,
-bcu_bpm4,BCU BPM Signal 4,SignalRO,X06DA-ES-BCBPM:Current4:MeanValue_RBV,monitored,bpm,yes,no,,
-bcu_bpmsum,BCU BPM Summed,SignalRO,X06DA-ES-BCBPM:SumAll:MeanValue_RBV,monitored,bpm,yes,no,,
-bcu_bpm_x,BCU BPM X,Motor,X06DA-ES-BCBPM:TRX,baseline,bcu,no,no,,
-bcu_bpm_y,BCU BPM Y ,Motor,X06DA-ES-BCBPM:TRY,baseline,bcu,no,no,,
-bcu_sl_xw,BCU slit wall,Motor,X06DA-ES-BCSLH:TRXW,baseline,bcu,no,no,,
-bcu_sl_xr,BCU slit ring,Motor,X06DA-ES-BCSLH:TRXR,baseline,bcu,no,no,,
-bcu_sl_xcen,BCU slit X centre,Motor,X06DA-ES-BCSLH:CENTER,baseline,bcu,no,no,,
-bcu_sl_xsize,BCU slit X size,Motor,X06DA-ES-BCSLH:SIZEX,baseline,bcu,no,no,,
-bcu_sl_yt,BCU slit top,Motor,X06DA-ES-BCSLV:TRYT,baseline,bcu,no,no,,
-bcu_sl_yb,BCU slit bottom,Motor,X06DA-ES-BCSLV:TRYB,baseline,bcu,no,no,,
-bcu_sl_ycen,BCU slit Y centre,Motor,X06DA-ES-BCSLV:CENTER,baseline,bcu,no,no,,
-bcu_sl_ysize,BCU slit Y size,Motor,X06DA-ES-BCSLV:SIZE,baseline,bcu,no,no,,
-bcu_f1_x,BCU filter 1 X,Motor,X06DA-ES-BCFI1:TRX,baseline,bcu,no,no,,
-bcu_f2_x,BCU filter 2 X,Motor,X06DA-ES-BCFI2:TRX,baseline,bcu,no,no,,
-bcu_f3_x,BCU filter 3 X,Motor,X06DA-ES-BCFI3:TRX,baseline,bcu,no,no,,
-bcu_f4_x,BCU filter 4 X,Motor,X06DA-ES-BCFI4:TRX,baseline,bcu,no,no,,
-xrf_pos,XRF det in/out,Signal,X06DA-ES-XRF:POS-SET,baseline,se,no,yes,"{""type"":positioner}",
-samcam_x,sample cam X ,SignalRO,X06DA-ES-MS:Stats5:CentroidX_RBV,baseline,scam,yes,yes,,
-samcam_xsig,sample cam X sigma,SignalRO,X06DA-ES-MS:Stats5:SigmaX_RBV,monitored,scam,yes,yes,,
-samcam_y,sample cam Y ,SignalRO,X06DA-ES-MS:Stats5:CentroidY_RBV,baseline,scam,yes,yes,,
-samcam_ysig,sample cam Y sigma,SignalRO,X06DA-ES-MS:Stats5:SigmaY_RBV,monitored,scam,yes,yes,,
-samcam_max,sample cam max value,SignalRO,X06DA-ES-MS:Stats5:MaxValue_RBV,monitored,scam,yes,yes,,
-samcam_exp,sample cam exp time,Signal,X06DA-ES-MS:cam1:AcquireTime,baseline,scam,no,yes,,
-samcam_gain,sample cam gain,Signal,X06DA-ES-MS:cam1:Gain,baseline,scam,no,yes,,
-scam_zoom,Sample cam zoom,Motor,X06DA-ES-MS:ZOOM,baseline,scam,no,yes,,
-fl_bright,Frontlight brightness,Signal,X06DA-ES-FL:SET,baseline,se,no,yes,,
-coll_x,Collimator X,Motor,X06DA-ES-COL:TRX,baseline,se,no,yes,, 
-coll_y,Collimator Y,Motor,X06DA-ES-COL:TRY,baseline,se,no,yes,"{""type"": multi-position, ""in"": 41.5, ""out"": 20.0, ""park"": 0,""tol"":0.05}",
-diag_y,Scintillator/diode Y,Motor,X06DA-ES-SCL:TRY,baseline,se,no,yes,"{""type"": multi-position, ""scint"": 38.62, ""i1"": 44.0, ""out"": 20.0,""park"": 0,""tol"":0.3}",
-diag_z,Scintillator/diode Z,Motor,X06DA-ES-SCL:TRZ,baseline,se,no,yes,,
-i1,i1 diode reading,SignalRO,X06DA-ES-SCLDI:READOUT,monitored,bpm,yes,yes,,
-bl_pos,Backlight positioner,Signal,X06DA-ES-BL:POS-SET,baseline,se,no,yes,"{""type"":positioner}",
-bl_bright,Backlight brightness,Signal,X06DA-ES-BL:SET,baseline,se,no,yes,,
-bs_x,Beamstop X,Motor,X06DA-ES-BS:TRX,baseline,se,no,yes,,
-bs_y,Beamstop Y,Motor,X06DA-ES-BS:TRY,baseline,se,no,yes,,
-bs_z,Beamstop Z,Motor,X06DA-ES-BS:TRZ,baseline,se,no,yes,"{""type"": guarded, ""min"": 13, ""samp"": 15, ""work_min"": 20, ""safe"": 41, ""max_blin"": 42, ""max_blout"": 70}",
-bs_pos,Beamstop positioner,Signal,X06DA-ES-BS:POS-SET,baseline,se,no,yes,"{""type"":positioner}",
-gon_x,Goniometer X,Motor,X06DA-ES-DF1:TRX1,baseline,det,no,yes,"{""type"": guarded, ""in"": 18.0, ""out"": -10.0, ""safe"": -100,""tol"":0.5}",
-gon_y,Goniometer Y,Motor,X06DA-ES-DF1:TRY1,baseline,det,no,yes,,
-gon_z,Goniometer X,Motor,X06DA-ES-DF1:TRZ1,baseline,det,no,yes,,
-omega,Omega,Motor,X06DA-ES-DF1:ROTU,baseline,det,no,yes,,
-cryo_pos,Cryo positioner,Signal,X06DA-ES-CS:POS-SET,baseline,se,no,yes,"{""type"":positioner}",
-cryo_x,Cryojet X ,Motor,X06DA-ES-CS:TRX,baseline,se,no,yes,,
-det_cov,Detector cover,Signal,X06DA-ES-DETCOV:SET,baseline,det,no,yes,"{""type"":positioner}",
-det_y,Detector Y,Motor,X06DA-ES-DET:TRY,baseline,det,no,yes,,
-det_z,Detector Z,Motor,X06DA-ES-DET:TRZ,baseline,det,no,yes,,
-gonpos,Sample sensor distance,SignalRO,X06DA-ES-DF1:CBOX-USER1,baseline,se,no,yes,,
-gonvalid,Sample in valid distance,SignalRO,X06DA-ES-DF1:CBOX-CMP1,baseline,se,no,yes,,
@@ -1,5 +1,5 @@
 base_config:
-  - !include ./pxii-devices-new.yaml
+  - !include ./pxii-standard-devices.yaml
 sample_env:
  - !include ./se_devices.yaml
 id_gap:
@@ -25,3 +25,16 @@ smargon:
    - motors
  readOnly: false 
  softwareTrigger: false
+ 
+aerotech:
+  description: REST-based device which connects to AareScan and Aerotech
+  deviceClass: pxii_bec.devices.aerotech.Aerotech
+  deviceConfig: {prefix: 'http://mx-x10sa-queue-01:5234'}
+  onFailure: buffer
+  enabled: True
+  readoutPriority: baseline
+  deviceTags:
+    - aerotech
+    - motors
+  readOnly: false 
+  softwareTrigger: false
@@ -1,99 +0,0 @@
-base_config:
-  - !include ./pxii-autogenerated.yaml
-id_gap:
-  readoutPriority: baseline
-  description: undulator gap
-  deviceClass: pxii_bec.devices.undulator.UndulatorGap
-  deviceConfig:
-     prefix: 'X10SA-UIND:'
-  onFailure: buffer
-  enabled: true
-  readOnly: false
-  softwareTrigger: false
-coll_x:
-  description: Collimator X
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X10SA-ES-COL:TRX'}
-  onFailure: buffer
-  enabled: True
-  readoutPriority: baseline
-  deviceTags:
-    - se
-  readOnly: false 
-  softwareTrigger: false
-dcm_fpitch:
-  description: DCM 2nd crystal fine pitch
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X10SA-OP-DCM:PITCH-C2'}
-  onFailure: buffer
-  enabled: True
-  readoutPriority: baseline
-  deviceTags:
-   - dcm
-  readOnly: false 
-  softwareTrigger: false
-dcm_froll:
-  description: DCM 2nd crystal fine roll
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X10SA-OP-DCM:ROLL-C2'}
-  onFailure: buffer
-  enabled: True
-  readoutPriority: baseline
-  deviceTags:
-    - dcm
-  readOnly: false 
-  softwareTrigger: false
-
-bcu_xasym:
-  description: horizontal asymmetry 
-  deviceClass: ophyd_devices.ComputedSignal
-  deviceConfig:
-    compute_method: "def compute_xasym(signal1, signal2, signal3, signal4):\n    return (signal3.get()+signal4.get() - signal1.get()- signal2.get())/(sum((signal1.get(), signal2.get(), signal3.get(), signal4.get())))"
-    input_signals: 
-      - "bcu_bpm1"
-      - "bcu_bpm2"
-      - "bcu_bpm3"
-      - "bcu_bpm4"
-  enabled: true
-  readOnly: false
-  readoutPriority: baseline
-
-bcu_yasym:
-  description: vertical asymmetry 
-  deviceClass: ophyd_devices.ComputedSignal
-  deviceConfig:
-    compute_method: "def compute_xasym(signal1, signal2, signal3, signal4):\n    return (signal1.get()+signal2.get() - signal3.get()- signal4.get())/(sum((signal1.get(), signal2.get(), signal3.get(), signal4.get())))"
-    input_signals: 
-      - "bcu_bpm1"
-      - "bcu_bpm2"
-      - "bcu_bpm3"
-      - "bcu_bpm4"
-  enabled: true
-  readOnly: false
-  readoutPriority: baseline
-
-bcu_xpos:
-  description: horizontal position
-  deviceClass: ophyd_devices.ComputedSignal
-  deviceConfig:
-    compute_method: "def compute_xpos(signal1):\n    import numpy as np\n    return  0.131786+  np.arctanh((signal1.get()-0.007105) /0.99342) / 9.5597 "
-    input_signals: 
-      - "bcu_xasym"
-  enabled: true
-  readOnly: false
-  readoutPriority: baseline
-
-bcu_ypos:
-  description: vertical position
-  deviceClass: ophyd_devices.ComputedSignal
-  deviceConfig:
-    compute_method: "def compute_ypos(signal1):\n    import numpy as np\n    return -0.20283 +  np.arctanh((signal1.get()- (-0.19936)) /0.80653) / (-13.18539)"
-    input_signals: 
-      - "bcu_yasym"
-  enabled: true
-  readOnly: false
-  readoutPriority: baseline
-
-  
-
-
@@ -4,8 +4,8 @@ from .http import TIMESTAMP_ID, HttpDeviceController, HttpDeviceSignal, HttpOphy


 class AerotechController(HttpDeviceController):
-    _readback_endpoint = "status"
-    _target_endpoint = "position"
+    _readback_endpoint = "/status"
+    _target_endpoint = "/position"

    def __init__(self, *, prefix, **kwargs):
        self._readbacks: dict[str, dict[str, float | bool]] = {}
@@ -138,8 +138,9 @@ def rock(**kwargs):
    from lmfit.models import LinearModel, GaussianModel  # LorentzianModel
    import matplotlib.pyplot as plt

+    ## create a dock area: 
    dock_area = bec.gui.new()
-    wr = dock_area.new().new(bec.gui.available_widgets.Waveform)
+    wr = dock_area.new(gui.available_widgets.Waveform)

    # width of rocking curve of perfect xtal: at 20 keV: 14 urad == 0.0008 deg

@@ -485,7 +486,7 @@ def fit_plot(data_x, data_y, model="gauss", ibg=1, fitrange=0, fitclick=0):


 ####################################
-### just save data
+### just SAVE DATA
 ####################################
 def save_data(hindex: int, device_name: str, signal_name: str):
    """
@@ -494,8 +495,8 @@ def save_data(hindex: int, device_name: str, signal_name: str):

    Args:
        history_index (int): scan to fetch, e.g. -1 for the most recent scan
-        device_name (str): the device for which to get the monitoring data
-        signal_name (str): the monitor
+        device_name (str): the device for which to get the monitoring data, eg, device_name='dcm_pitch'
+        signal_name (str): the monitor, eg, signal_name='lu_bpmsum' 
    """

    h = bec.history[hindex]
@@ -591,6 +592,7 @@ def save_plot_gaps(hindex: int, device_name: str, signal_name: str):
    """
    Get data for a completed scan from the BEC history,
    and plot all the results, store in a CSV file
+    For a certain gap size, scan through energy (Bragg angle) 

    Args:
        history_index (int): scan to fetch, e.g. -1 for the most recent scan
@@ -923,7 +925,7 @@ def colliscan(direction: str, range=0.3, nsteps=30, stime=0.5, centre=1):


 #####################
-### slitscans
+### SLITSCANS
 #####################
 def slitscan(device_location: str, direction: str, range: 1, nsteps=50, centre=0):
    """
@@ -1032,7 +1034,7 @@ def slitscan(device_location: str, direction: str, range: 1, nsteps=50, centre=0
        return

    dock_area = bec.gui.new()
-    wr = dock_area.new().new(bec.gui.available_widgets.Waveform)
+    wr = dock_area.new(gui.available_widgets.Waveform)

    pos0 = mot.user_readback.get()
    siz0 = size.user_readback.get()
@@ -1483,24 +1485,31 @@ def scan_eg(erange, nsteps=50, fit=True):


 ################################################
-### open window/doch for long gap scan
+### open window/dock for long gap scan
 ################################################
 #
 ### Note: all deprecated !!!! 
 def scan_window(wname="Scan", fit=True):
-    dock_area = bec.gui.new()
    # Add a new dock with a Waveform to the BECDockArea
    nam = "waveform_dock_"+wname
-    dock_area.new(name=nam, widget="Waveform")
-    #  dock_area.panels
-    #  dock_area.panel_list 
-    plt1 = dock_area.panels[nam]
+    dock_area = bec.gui.new(name=wname, geometry = [4000, 900, 700, 700])
+
+    w1 = dock_area.new(gui.available_widgets.Waveform) # CALL gui.available_widgets to see what is available
+    w2 = dock_area.new(gui.available_widgets.ScanControl)
+
    # Add signals to the WaveformWidget
-    plt1.plot(device_x='id_gap', device_y='bpm')
+    w1.plot(device_x = dev.id_gap, device_y = dev.lu_bpmsum) 
+
+    ###w1.plot(device_x='id_gap', device_y='bpm')
+    ###dock2 = dock_area.new(name="motor_dock", widget="MotorMap",relative_to=nam, position="right")

-    dock2 = dock_area.new(name="motor_dock", widget="MotorMap",relative_to=nam, position="right")
    ###do stuff

+    gstart = 4.5
+    gend = 5.0
+    resol = 0.003 # 3 um resol for gap scan
+    nsteps = round(gend-gstart)/resol 
+    s = scans.line_scan(dev.id_gap, gstart, gend, steps = nsteps, exp_time = 0.1, relative = False)  
    
    ### if done, remove 
-    dock2.remove()
+    #w2.remove()
@@ -178,11 +178,12 @@ def setu19(en, *harm_no, detune=0):
 def harmon_walk(estart=7.5, end_en=13):
    import time

+    harmon = 5 
    en = estart
    ans = "y"
    while en < end_en + 0.5 and ans == "y":
        print(en)
-        setu19(en, 5)
+        setu19(en, harmon)
        time.sleep(2)
        sete(en)
        en = en + 0.5
@@ -209,6 +210,9 @@ def gap_harm(e=12.4):

 ##################################

+# use with estart = 6, end_en = 30.5
+
+# test with estart = 6, end_en = 7.5 # should be 3 files , estimated time: 90 min 

 def long_gscan(estart=7, end_en=20.5, g_low=4.5, g_high=9.0, nsteps=1500):
    import time
@@ -216,13 +220,15 @@ def long_gscan(estart=7, end_en=20.5, g_low=4.5, g_high=9.0, nsteps=1500):

    dirname = "/sls/x10sa/config/commissioning/Data/"

+    enstep = 0.5 
+
    print(
-        f"scanning the U19 gap from {estart} keV to {end_en} keV, for a gapsize from {g_low} to {g_high}"
+        f"scanning the U19 gap from {estart} keV to {end_en} keV, for a gapsize from {g_low} to {g_high} in {enstep} keV energy intervals"
    )
    resol = (g_high - g_low) / nsteps
    print(f"nsteps = {nsteps}; resolution is {resol} mm")
    dock_area = bec.gui.new("LongGapScan")
-    wr = dock_area.new().new(bec.gui.available_widgets.Waveform)
+    wr = dock_area.new(gui.available_widgets.Waveform)
    mot = dev.id_gap
    det = dev.lu_bpmsum
    wr.plot(x_name=mot.name, y_name=det.name)  ## names first !
@@ -237,12 +243,17 @@ def long_gscan(estart=7, end_en=20.5, g_low=4.5, g_high=9.0, nsteps=1500):

    ## now: probably do from 5 keV to ?? 30 keV ???

+    tstart = time.perf_counter() # time logging
+    
    en = estart

    while en < end_en:
-        sete(en)
-        time.sleep(0.2)
-        rock()
+        #sete(en)
+        #time.sleep(0.2)
+        #rock()
+        # maybe use
+        bl_energy(en, move_gap = False, plot = False)
+        
        print(f"setting energy to {en}")
        time.sleep(0.2)
        ds = scans.line_scan(dev.id_gap, g_low, g_high, steps=nsteps, exp_time=0.1, relative=False)
@@ -255,7 +266,28 @@ def long_gscan(estart=7, end_en=20.5, g_low=4.5, g_high=9.0, nsteps=1500):
        with open(filename, "w") as f:
            np.savetxt(f, combined, delimiter=",", fmt="%5f")

-        en += 1
+        en += enstep 
+
+        # SNAKING ###
+        bl_energy(en, move_gap = False, plot = False)
+        
+        print(f"setting energy to {en}")
+        time.sleep(0.2)
+        ds = scans.line_scan(dev.id_gap, g_high, g_low, steps=nsteps, exp_time=0.1, relative=False)
+        gap_data = ds.scan.live_data.id_gap.id_gap.val
+        bpm_data = ds.scan.live_data.lu_bpmsum.lu_bpmsum.val
+        wr.plot(x=gap_data, y=bpm_data)
+        # writing output to simple data file for later analysis:
+        combined = np.column_stack((gap_data, bpm_data))
+        filename = dirname + "gaps" + str(en) + ".txt"
+        with open(filename, "w") as f:
+            np.savetxt(f, combined, delimiter=",", fmt="%5f")
+
+        en += enstep 
+
+    elapsed_time = time.perf_counter()-tstart
+    print(f"Runtime: {elapsed_time: .6f} seconds, i.e., {elapsed_time: .6f}/60 min")
+
    return


@@ -273,7 +305,7 @@ def gscan(centre=0, gomax=0, detune=0):
    import time

    dock_area = bec.gui.new()
-    wr = dock_area.new().new(bec.gui.available_widgets.Waveform)
+    wr = dock_area.new(gui.available_widgets.Waveform)
    mot = dev.id_gap
    det = dev.lu_bpmsum
    wr.plot(x_name=mot.name, y_name=det.name)  ## names first !
@@ -1,10 +1,13 @@
-"""Planner to move between beamline states"""
-from enum import Enum
-import yaml
-from collections import defaultdict, deque
+"""Planner to move between beamline statesΩ"""

+import time
+from collections import defaultdict, deque
+from enum import Enum
+# from enums import BeamlineState, TemperatureMode
+# from matcher import DeviceMatcher, nonzero_is_on

 class BeamlineState(str, Enum):
+    """List of beamline states"""
    ROBOT_SAMPLE_EXCHANGE = "robot_sample_exchange"
    SAMPLE_ALIGNMENT = "sample_alignment"
    DATA_COLLECTION = "data_collection"
@@ -16,47 +19,24 @@ class BeamlineState(str, Enum):
    MAINTENANCE = "maintenance"
    XTAL_SNAPSHOT = "xtal_snapshot"

+
 class TemperatureMode(str, Enum):
+    """List of temperature modes"""
    CRYO = "cryo"
    ROOM_TEMP = "room_temp"

-def get_states():
-    """Returns the states defined in beamline_states.yaml"""
-    directory = "/sls/x10sa/config/bec/production/pxii_bec/pxii_bec/device_configs/"
-    # directory = "./"
-    filename = "beamline_states.yaml"
-    file = directory + filename
-    with open(file, "r", encoding="utf-8") as f:
-        cfg = yaml.safe_load(f)
-        states = {}
-        allow_modifiers = {}

-        for name, config in cfg["states"].items():
-            state = BeamlineState(name)
-
-            allow_modifiers[state] = config.pop("allow_modifiers", False)
-
-            states[state] = config
-
-        return states, allow_modifiers
-
-        # cfg = yaml.safe_load(f)
-        # return {
-        #     BeamlineState(name): config
-        #     for name, config in cfg["states"].items()
-        # }
-    
-
-class StateManager:
+class StateChangePlanner:
    """Moves devices to the correct positions to achieve a given state"""

-    def __init__(self,
-                 devices,
-                 states: dict[BeamlineState, dict[str, str]],
-                 allow_modifiers=None,
-                 deps=None,
-                 debug=False,
-                 ):
+    def __init__(
+        self,
+        devices,
+        states: dict[BeamlineState, dict[str, str]],
+        allow_modifiers=None,
+        deps=None,
+        debug=False,
+    ):
        self.devices = devices
        self.states = states
        self.allow_modifiers = allow_modifiers or {}
@@ -79,6 +59,7 @@ class StateManager:
                target.update(self.modifiers[modifier])
        return target

+
    def move_to(self, state_name, modifier=None):
        """Move devices to the correct positions to achieve a given state"""
        if isinstance(state_name, str):
@@ -109,18 +90,6 @@ class StateManager:
                        print("States at failure:", self.get_positions())
                        raise

-                    # if self.debug:
-                    #     print("  After :", self.get_states())
-                # if not d.is_at(pos):
-                #     d.move(pos)
-
-    # def reset(self, state):
-    #     """Reset all devices to the given state"""
-    #     if isinstance(state, str):
-    #         state = BeamlineState(state)
-    #     for dev, pos in self.states[state].items():
-    #         self.devices[dev].set_pos(pos)
-
    def available_states(self):
        """Return a list of available states"""
        return list(self.states.keys())
@@ -132,7 +101,7 @@ class StateManager:
    def print_positions(self):
        """Return current state of all devices"""
        for name, device in self.devices.items():
-            print(f"{name:10s} : {device.pos}")
+            print(f"{name:10s} : {device.pos:10s} value: {device.actual}")

    def diff_states(self, before):
        """Return a dict of {device: (before, after)} pairs for devices that changed state"""
@@ -164,8 +133,6 @@ class StateManager:

        return matches if matches else None

-
-
    def is_state(self, state, modifier=None):
        """Check if the current state matches the given state and modifier."""
        actual = self.current_state()
@@ -180,65 +147,33 @@ class StateManager:

    def _plan(self, target):

-            graph = defaultdict(set)
-            indeg = defaultdict(int)
-            nodes = set()
+        graph = defaultdict(set)
+        indeg = defaultdict(int)
+        nodes = set()

-            for dev, pos in target.items():
-                node = (dev, pos)
-                nodes.add(node)
+        for dev, pos in target.items():
+            node = (dev, pos)
+            nodes.add(node)

-                for dep in self.deps.get(node, []):
-                    graph[dep].add(node)
-                    indeg[node] += 1
-                    nodes.add(dep)
+            for dep in self.deps.get(node, []):
+                graph[dep].add(node)
+                indeg[node] += 1
+                nodes.add(dep)

-            q = deque(n for n in nodes if indeg[n] == 0)
-            stages = []
+        q = deque(n for n in nodes if indeg[n] == 0)
+        stages = []

-            while q:
-                stage = list(q)
-                stages.append(stage)
-                q.clear()
-
-                for n in stage:
-                    for m in graph[n]:
-                        indeg[m] -= 1
-                        if indeg[m] == 0:
-                            q.append(m)
-
-            if sum(len(s) for s in stages) != len(nodes):
-                raise RuntimeError("Circular dependency in state dependencies")
-            return stages
-
-
-def planner_deps():
-    """Define the dependencies between beamline positions"""
-    return {
-        ("bs_z", "samp"): [
-            ("gon_x", "out"),
-            ("diag_y", "out"),
-            ("coll_y", "out"),
-        ],
-        ("gon_x", "in"): [
-            ("diag_y", "out"),
-            ("bs_z", "safe"),
-        ],
-        ("diag_y", "scint"): [
-            ("gon_x", "out"),
-            ("cryo_pos", "out")
-            ],
-        ("diag_y", "i1"): [
-            ("gon_x", "out"),
-            ("cryo_pos", "out")],
-        ("bs_pos", "out"): [("bs_z", "safe")],
-        ("bs_pos", "in"): [("bs_z", "safe")],
-        ("diag_y", "out"): [("bs_z", "safe")],
-        ("diag_y", "park"): [("bs_z", "safe")],
-        ("coll_y", "out"): [("bs_z", "safe")],
-        ("coll_y", "park"): [("bs_z", "safe")],
-        ("coll_y", "in"): [("bs_z", "safe")],
-        ("coll_y", "intermediate"): [("bs_z", "safe")]
-    }
+        while q:
+            stage = list(q)
+            stages.append(stage)
+            q.clear()

+            for n in stage:
+                for m in graph[n]:
+                    indeg[m] -= 1
+                    if indeg[m] == 0:
+                        q.append(m)

+        if sum(len(s) for s in stages) != len(nodes):
+            raise RuntimeError("Circular dependency in state dependencies")
+        return stages
@@ -0,0 +1,21 @@
+# from enums import BeamlineState
+import yaml
+
+
+class DefineStatesManager:
+    @staticmethod
+    def initialize_states(states_file):
+        """
+        Returns the states and modifiers defined in the specified states file.
+        """
+        with open(states_file, "r", encoding="utf-8") as f:
+            cfg = yaml.safe_load(f)
+            states = {}
+            allow_modifiers = {}
+
+            for name, config in cfg["states"].items():
+                state = BeamlineState(name)
+                allow_modifiers[state] = config.pop("allow_modifiers", False)
+                states[state] = config
+
+            return states, allow_modifiers
@@ -0,0 +1,70 @@
+""" Build the sample environment devices"""
+import yaml
+
+# from position_device import PositionDevice
+
+def motor_resolver(bec_name):
+
+    candidates = [
+        bec_name,
+        bec_name.replace("_", "."),
+    ]
+
+    for path in candidates:
+        try:
+            obj = dev
+
+            for part in path.split("."):
+                obj = getattr(obj, part)
+
+            return obj
+
+        except Exception:
+            pass
+
+    raise ValueError(f"Cannot resolve motor for '{bec_name}'")
+
+def build_devices(yaml_file, mock_devices):
+    """ Build devices from the beamline states yaml"""
+
+
+    state_devices = {}
+
+    with open(yaml_file, encoding="utf-8") as f:
+        data = yaml.safe_load(f)
+
+    for bec_name, cfg in data.items():
+
+        user = cfg.get("userParameter")
+
+        # Skip devices without user parameters
+        if not user:
+            continue
+
+
+        tol = user.get("tol", 0.1)
+
+        positions = {
+            k: v for k, v in user.items()
+            if k not in ("type", "tol")
+        }
+
+        allow_arbitrary = (user["type"] == "continuous")
+        
+        
+
+        pos_dev = PositionDevice(
+            bec_name=bec_name,
+            mot_device = motor_resolver(bec_name),
+            positions=positions,
+            tol=tol,
+            allow_arbitrary=allow_arbitrary,
+            use_mock=bec_name in mock_devices,
+        )
+
+        state_devices[bec_name] = pos_dev
+    return state_devices
+
+
+
+
@@ -1,6 +1,7 @@
 from dataclasses import dataclass, field
 from enum import Enum
 from typing import Any, Callable
+from datetime import datetime

 from bec_lib.device import Signal, Positioner

@@ -24,6 +25,15 @@ class Status(Enum):
            Status.ERROR: "red",
            Status.UNKNOWN: "blue",
        }[self]
+    
+    @property
+    def color_scilog(self):
+        return {
+            Status.OK: "green",
+            Status.WARNING: "",
+            Status.ERROR: "red",
+            Status.UNKNOWN: "",
+        }[self]


 # -------------------------------------------------------------------
@@ -58,7 +68,6 @@ class HealthCheckResult:
        if self.status == Status.OK:
            return f"[{self.status.name} {self.name}]"
        
-
        return (
            f"[{self.status.name}] "
            f"{self.description}: {self.message}"
@@ -70,15 +79,39 @@ class HealthCheckResult:

 def send_to_scilog(results):

+    counts = {
+        Status.OK: 0,
+        Status.WARNING: 0,
+        Status.ERROR: 0,
+        Status.UNKNOWN: 0,
+    }
+
+    for result in results:
+        counts[result.status] += 1
+
+
    msg = bec.messaging.scilog.new()

+    msg.add_text(
+        "Beamline Health Summary",
+        bold = True
+    )
+
+    msg.add_text("\n")
+    for status, count in counts.items():
+        msg.add_text(
+            f"{status.name:<10}: {count}",
+            bold=True,
+        )
+
+    msg.add_text("\n")
+
    for result in results:
        msg.add_text(
            result.formatted_message(),
            # bold=result.status != Status.OK,
-            color = result.status.color
+            color = result.status.color_scilog
        )
-        # msg.add_text(result.formatted_message())
        msg.add_text("\n")
    msg.add_tags(["beamline health check"])
    msg.send()
@@ -200,7 +233,7 @@ def check_signals(devices, config: BeamlineHealthConfig):
                            description=description,
                            status=Status.ERROR,
                            value=actual,
-                            message=f"Signal value {actual} failed validation",
+                            message=f"Signal value = {actual}, failed validation",
                            category="signals",
                        )
                    )
@@ -220,6 +253,7 @@ def check_signals(devices, config: BeamlineHealthConfig):
 def check_motors(devices, config: BeamlineHealthConfig):

    results = []
+    ignore = ["id_gap", "smargon"]

    motor_devices = [
        (name, obj)
@@ -229,6 +263,9 @@ def check_motors(devices, config: BeamlineHealthConfig):

    for name, obj in motor_devices:

+        if name in ignore:
+            continue
+
        try:

            data = obj.read()
@@ -352,7 +389,26 @@ def check_motors(devices, config: BeamlineHealthConfig):
            )

    return results
-
+# -------------------------------------------------------------------
+# General Info
+# -------------------------------------------------------------------
+def info():
+    current = dev.sls_current.get()
+    gap = dev.id_gap.position
+    energy = get_current_energy()
+    # state = get_state()
+    print(f"[INFO] Machine: {current:.4g} mA\n"
+          f"[INFO] Undulator gap: {gap:.4g}\n"
+          f"[INFO] Beamline energy: {energy:.6g} eV\n")
+        #   f"[INFO] Beamline state: {state}")
+    
+    
+# def get_state():
+#     states = []
+#     res = planner.current_state()
+#     for state in res:
+#         states.append(state[0])
+#     return list(set(states))

 # -------------------------------------------------------------------
 # Main Check Entry Point
@@ -387,7 +443,10 @@ def check2(config: BeamlineHealthConfig | None = None):
 # -------------------------------------------------------------------


-def print_summary(results):
+def summary_text(results):
+
+    timestamp = datetime.now().strftime("%Y-%m-%d %H:%M")
+

    n_ok = sum(r.status == Status.OK for r in results)

@@ -397,14 +456,18 @@ def print_summary(results):

    n_unknown = sum(r.status == Status.UNKNOWN for r in results)

-    print("\n==============================")
-    print(" Beamline Health Summary")
-    print("==============================")
-    print(f"OK       : {n_ok}")
-    print(f"WARNING  : {n_warn}")
-    print(f"ERROR    : {n_err}")
-    print(f"UNKNOWN  : {n_unknown}")
-    print("==============================\n")
+    return (
+        f"==========================================\n"
+        f"Beamline Health Check at {timestamp}\n"
+        f"==========================================\n"
+        f"OK       : {n_ok}\n"
+        f"WARNING  : {n_warn}\n"
+        f"ERROR    : {n_err}\n"
+        f"UNKNOWN  : {n_unknown}\n"
+        "==========================================\n"
+    )
+    # return "\n".join(lines)
+

 # -------------------------------------------------------------------
 # Filter results
@@ -423,11 +486,14 @@ def filter_results(results, statuses = None):
 # -------------------------------------------------------------------


-def run_check(show_all= False):
+def run_check(show_all= False, scilog=False):
+

    results = check2()

-    print_summary(results)
+    print(summary_text(results))
+
+    info()

    problem_results = filter_results(
        results,
@@ -437,7 +503,8 @@ def run_check(show_all= False):
            Status.UNKNOWN,
        }
    )
-    # send_to_scilog(problem_results)
+    if scilog:
+        send_to_scilog(problem_results)
    
    if not show_all:
        results = filter_results(
@@ -450,6 +517,14 @@ def run_check(show_all= False):
        )
    for result in results:
        print(result)
+    
+    disclaimer = "\n======================================================\n" \
+    "This reports: \n    1. If motors are in error state, if moving, or if readback != setpoint" \
+    "\n    2. If camera or BPMs are reading 0 (may or may not be an error)" \
+    "\nN.B. The motor checks are only done if they exist as standard ophyd motors in BEC." \
+    "\nTo see which devices were checked use run_check(show_all=True)."
+
+    print(disclaimer)



@@ -1,24 +0,0 @@
-""" "Initialises the sample environment devices, guards, 
-dependencies and planner"""
-
-# import yaml
-# from devices import build_devices
-# from guards import attach_guards
-# from policies import attach_policies
-
-
-def init_se_devices():
-    """Initialises the sample environment devices"""
-    directory = "/sls/x10sa/config/bec/production/pxii_bec/pxii_bec/device_configs/"
-    # directory = "./"
-    filename = "se_devices.yaml"
-    file = directory + filename
-    print(f"Loading devices from {file}")
-    se_devices = build_devices(file)
-    attach_guards(se_devices)
-    attach_policies(se_devices)
-
-    return se_devices
-
-
-
@@ -0,0 +1,36 @@
+"""Planner dependencies"""
+def planner_deps():
+    """Define the dependencies between beamline positions"""
+    return {
+        ("bs_z", "samp"): [
+            ("aerotech_x", "out"),
+            ("diag_y", "out"),
+            ("coll_y", "out"),
+        ],
+        ("aerotech_x", "in"): [
+            ("diag_y", "out"),
+            ("bs_z", "safe"),
+        ],
+        ("aerotech_x", "out"): [
+            ("diag_y", "out"),
+            ("bs_z", "safe"),
+        ],
+        ("diag_y", "scint"): [
+            ("aerotech_x", "out"),
+            ("bs_z", "safe"),
+            ("cryo_pos", "out"),
+        ],
+        ("diag_y", "i1"): [
+            ("aerotech_x", "out"),
+            ("bs_z", "safe"),
+            ("cryo_pos", "out"),
+        ],
+        ("bs_pos", "out"): [("bs_z", "safe")],
+        ("bs_pos", "in"): [("bs_z", "safe")],
+        ("diag_y", "out"): [("bs_z", "safe")],
+        ("diag_y", "park"): [("bs_z", "safe")],
+        ("coll_y", "out"): [("bs_z", "safe")],
+        ("coll_y", "park"): [("bs_z", "safe")],
+        ("coll_y", "in"): [("bs_z", "safe")],
+        ("coll_y", "intermediate"): [("bs_z", "safe")],
+    }
@@ -1,167 +0,0 @@
-"""Set up the positioned devices"""
-
-from dataclasses import dataclass, field
-from typing import Callable, List, Dict, Optional, Union
-
-import yaml
-
-
-@dataclass
-class PositionDevice:
-    """Generic device that moves between named or numeric positions"""
-
-    bec_name: str
-    positions: Dict[str, float] = field(default_factory=dict)
-    tol: float = 0.1
-
-    guards: List[Callable[[], None]] = field(default_factory=list)
-    policy: Optional[Callable[[float], None]] = None
-
-    # line below defines if the device is permitted to move to any arbitrary position or not
-    allow_arbitrary: bool = False
-
-    def __post_init__(self):
-        # Use this for BEC
-        self.mot = getattr(dev, self.bec_name)
-
-        # Use this for testing
-        # self.mot = self.MockMotor()
-
-        # Normalize position names
-        self.positions = {k.lower(): v for k, v in self.positions.items()}
-
-    # -------------------------
-    # internal helpers
-    # -------------------------
-
-    def _check_guards(self):
-        for g in self.guards:
-            g()
-
-    def _resolve_target(self, target: Union[str, float]) -> float:
-        """Convert target into a motor position"""
-
-        if isinstance(target, str):
-            name = target.lower()
-
-            if name not in self.positions:
-                raise ValueError(f"Unknown position '{target}'")
-
-            return self.positions[name]
-
-        if isinstance(target, (float, int)):
-            if not self.allow_arbitrary:
-                raise ValueError(f"{self.bec_name} only accepts named positions")
-            return float(target)
-
-        raise TypeError("Target must be str or float")
-
-    # -------------------------
-    # motion
-    # -------------------------
-
-    def move(self, target: Union[str, float]):
-        """Unified move interface"""
-
-        pos = self._resolve_target(target)
-
-        self._check_guards()
-
-        if self.policy:
-            self.policy(pos)
-
-        # Use for testing
-        # self.mot.move(pos)
-
-        # Use in BEC
-        scans.umv(self.mot, pos, relative=False)
-        # s = scans.mv(self.mot, pos, relative=False)
-        # s.wait(timeout=5)
-
-    # def set_position(self, target: Union[str, float]):
-    #     """Only to be used for testing purposes"""
-    #     pos = self._resolve_target(target)
-    #     self.mot.move(pos)
-
-    # -------------------------
-    # readback
-    # -------------------------
-
-    @property
-    def actual(self) -> float:
-        """Return the actual position of the device."""
-        return self.mot.read()[self.bec_name]["value"]
-        # return self.mot.position
-
-    @property
-    def pos(self) -> str:
-        """Return the closest matching position"""
-
-        for name, pos in self.positions.items():
-            if abs(self.actual - pos) <= self.tol:
-                return name
-
-        return "unknown"
-
-    def is_at(self, position: str) -> bool:
-        """Return True if the device is at the given position."""
-        position = position.lower()
-
-        if position not in self.positions:
-            raise ValueError(f"Unknown position '{position}'")
-
-        return abs(self.actual - self.positions[position]) <= self.tol
-
-    # -------------------------
-    # Mock Motor Implementation
-    # -------------------------
-
-    class MockMotor:
-        """Mock implementation of MotorLike for testing and initialization."""
-
-        def __init__(self):
-            self.position = 0.0
-
-        def move(self, value: float):
-            """Move the motor to the given position."""
-            self.position = value
-
-        def read(self):
-            """Read the current position of the motor."""
-            return {"value": self.position}
-
-
-def build_devices(yaml_file):
-    """Takes the defined positions from the device yaml file
-    and adds them to the PositionDevice class.
-    """
-    # discrete_devs = []
-    # continuous_devs = []
-    se_devices = {}
-
-    with open(yaml_file, encoding="utf-8") as f:
-        data = yaml.safe_load(f)
-
-    for bec_name, cfg in data.items():
-        # Skip devices without userParameter
-        user = cfg.get("userParameter")
-
-        if not user:
-            continue
-
-        tol = user.get("tol", 0.1)
-
-        positions = {k: v for k, v in user.items() if k not in ("type", "tol")}
-
-        if user["type"] == "discrete":
-            dev = PositionDevice(bec_name, positions, tol=tol, allow_arbitrary=False)
-            # discrete_devs.append(bec_name)
-            se_devices[bec_name] = dev
-        elif user["type"] == "continuous":
-            dev = PositionDevice(bec_name, positions, tol=tol, allow_arbitrary=True)
-            # continuous_devs.append(bec_name)
-            se_devices[bec_name] = dev
-
-    # print(f"Discrete devices: {discrete_devs}")
-    # print(f"Continuous: {continuous_devs}")
-    return se_devices
@@ -0,0 +1,22 @@
+"""
+This module manages the initialization of devices."""
+
+# from guards import attach_guards
+# from policies import attach_policies
+# from build_devices import build_devices
+
+
+class DeviceManager:
+    """Class for building devices and attaching safety guards and policies."""
+
+    @staticmethod
+    def initialize_devices(state_devices_file, rest_devices_file, mock_devices):
+        """
+        Initializes sample environment devices from the specified file.
+        """
+        devices = build_devices(state_devices_file, mock_devices)
+        rest_devices = build_devices(rest_devices_file, mock_devices)
+        devices.update(rest_devices)
+        attach_guards(devices)
+        attach_policies(devices)
+        return devices
@@ -73,9 +73,9 @@ def guards_setup(d):
    )
    guards["bs_pos_in"] = AtPositionGuard(d["bs_pos"], position="in")
    guards["gonx_out"] = MinMaxGuard(
-        d["gon_x"], direction="less_than", limit_value=d["gon_x"].positions["out"]
+        d["aerotech_x"], direction="less_than", limit_value=d["aerotech_x"].positions["out"]
    )
-    guards["gonx_safe"] = AtPositionGuard(d["gon_x"], position="safe")
+    guards["gonx_safe"] = AtPositionGuard(d["aerotech_x"], position="safe")
    guards["diag_y_out"] = MinMaxGuard(
        d["diag_y"], direction="less_than", limit_value=d["diag_y"].positions["out"]
    )
@@ -0,0 +1,163 @@
+"""Initialise sample environment devices and beamline states"""
+
+import os
+from dataclasses import dataclass
+
+# from devices_manager import DeviceManager
+# from beamline_state_manager import DefineStatesManager
+# from dependencies import planner_deps
+# from beamline_planner import StateChangePlanner
+
+@dataclass
+class Environment:
+
+    device_mocks: dict[str, bool] = None
+    beamline: str = None
+
+    beamline_configs = {
+        # "x06sa" : {
+        #     "devdir": "/sls/x10sa/config/bec/production/pxi_bec/pxi_bec/device_configs/",
+        #     "state": "pxi-state-devices.yaml",
+        #     "rest": "pxi-rest-devices.yaml",
+        #     "states": "pxi-beamline-states.yaml",
+        # },
+        "x10sa" : {
+            "devdir": "/sls/x10sa/config/bec/production/pxii_bec/pxii_bec/device_configs/",
+            "state": "pxii-state-devices.yaml",
+            "rest": "pxii-rest-devices.yaml",
+            "states": "pxii-beamline-states.yaml",
+        },
+        "x06da" : {
+            "devdir": "/sls/x06da/config/bec/production/pxiii_bec/pxiii_bec/device_configs/",
+            "state": "pxiii-state-devices.yaml",
+            "rest": "pxiii-rest-devices.yaml",
+            "states": "pxiii-beamline-states.yaml",
+        }
+    }
+
+    def __post_init__(self):
+
+        if self.device_mocks is None:
+            self.device_mocks = {
+                "aerotech_x": "real",
+                "aerotech_y": "real",
+                "aerotech_z": "real",
+                "aerotech_u": "real",
+                "bl_bright": "real",
+                "bl_pos": "real",
+                "bs_pos": "real",
+                "bs_z": "real",
+                "coll_y": "real",
+                "cryo_pos": "real",
+                "det_cov": "real",
+                "diag_y": "real",
+                "fl_bright": "real",
+                "smargon_x": "real",
+                "smargon_y": "real",
+                "smargon_z": "real",
+                "smargon_chi": "real",
+                "smargon_phi": "real",
+                "xrf_pos": "mock",
+            }
+
+        mocks = sorted(
+            name
+            for name, backend in self.device_mocks.items()
+            if backend == "mock"
+        )
+
+        reals = sorted(
+            name
+            for name, backend in self.device_mocks.items()
+            if backend == "real"
+        )
+
+        print(f"Mock devices ({len(mocks)}): {mocks}")
+        print(f"Real devices ({len(reals)}): {reals}") 
+
+        try:
+            cfg = self.beamline_configs[self.beamline]
+        except KeyError:
+            raise ValueError(
+                f"Unknown beamline '{self.beamline}'"
+            )
+
+        devdir = cfg["devdir"]
+
+        self.state_devices_file = devdir + cfg["state"]
+        self.rest_devices_file = devdir + cfg["rest"]
+        self.states_file = devdir + cfg["states"]
+    
+    mock_start_positions = {
+        "aerotech_x": "in",
+        "aerotech_y": "mount",
+        "aerotech_z": "mount",
+        "aerotech_u": "mount",
+        "bl_bright": "off",
+        "bl_pos": "out",
+        "bs_pos": "out",
+        "bs_z": "safe",
+        "coll_y": "park",
+        "cryo_pos": "in",
+        "det_cov": "close",
+        "diag_y": "park",
+        "fl_bright": "off",
+        "smargon_x": "mount",
+        "smargon_y": "mount",
+        "smargon_z": "mount",
+        "smargon_chi": "mount",
+        "smargon_phi": "mount",
+        "xrf_pos": "out", 
+    }
+
+    @property
+    def mock_devices(self):
+        mock_names = set()
+        for name, device in self.device_mocks.items():
+            if device == "mock":
+                mock_names.add(name)
+        return mock_names        
+
+def init_beamline_environment():
+    """
+    Initializes the beamline with real or mock devices.
+    """
+
+    beamline = os.environ["BEAMLINE"]
+
+    env = Environment(beamline = beamline)
+
+    # Initialize devices
+    device_manager = DeviceManager()
+    devices = device_manager.initialize_devices(
+        env.state_devices_file,
+        env.rest_devices_file,
+        env.mock_devices
+        )
+
+    # Initialize states
+    state_manager = DefineStatesManager()
+    states, allow_modifiers = state_manager.initialize_states(env.states_file)
+
+    # Setup dependencies
+    deps = planner_deps()
+
+    # Setup planner
+    planner = StateChangePlanner(devices, states, allow_modifiers, deps)
+    print("Initializing beamline state planner")
+
+    # Set mock motor starting positions
+
+    for mock_dev, pos in env.mock_start_positions.items():
+        if mock_dev in env.mock_devices:
+            try:
+                devices[mock_dev].set_position(pos)
+            except Exception as e:
+                print(f"{e} error when setting {mock_dev}")
+
+
+    return devices, planner
+
+
+
+
@@ -1,9 +1,10 @@
-'''Define guard policies for devices in the beamline.'''
+"""Define guard policies for devices in the beamline."""
+
 # from guards import GuardViolation, guards_setup


 def is_sample_area_clear_for_beamstop(d):
-    '''Check if the sample area is clear of diag_y, coll_y, and gonx'''
+    """Check if the sample area is clear of diag_y, coll_y, and gonx"""
    g = guards_setup(d)
    if g["diag_y_out"].check() and g["coll_y_out"].check() and g["gonx_out"].check():
        return True
@@ -11,25 +12,27 @@ def is_sample_area_clear_for_beamstop(d):


 def is_sample_area_clear_for_gonx(d):
-    '''Check if the sample area is clear of diag_y and bs_z'''
+    """Check if the sample area is clear of diag_y and bs_z"""
    g = guards_setup(d)
    if g["diag_y_out"].check() and g["bs_work_min"].check():
        return True
    return False


-def make_gon_x_policy(d):
-    '''Create the policy for gon_x'''
-    def gon_x_policy(target):
-        cfg = d["gon_x"].positions
+def make_aerotech_x_policy(d):
+    """Create the policy for aerotech_x"""
+
+    def aerotech_x_policy(target):
+        cfg = d["aerotech_x"].positions
        if target >= cfg["out"] and not is_sample_area_clear_for_gonx(d):
            raise GuardViolation("Sample area is not clear")

-    return gon_x_policy
+    return aerotech_x_policy


 def make_bs_z_policy(d):
-    '''Create the policy for bs_z'''
+    """Create the policy for bs_z"""
+
    def bs_z_policy(target):
        """Checks that the target position is within limits"""
        cfg = d["bs_z"].positions
@@ -50,24 +53,25 @@ def make_bs_z_policy(d):


 def make_diag_y_policy(d):
-    '''Create the policy for diag_y'''
+    """Create the policy for diag_y"""
+
    def diag_y_policy(target):
        cfg = d["diag_y"].positions
-        # Don't move in if the goniometer is >= 'in'
-        if d["gon_x"].actual >= d["gon_x"].positions["in"] and target > cfg['out']:
+        # Don't move in if the goniometer is in
+        if d["aerotech_x"].actual >= d['aerotech_x'].positions['in'] and target > cfg["out"]:
            raise GuardViolation(
                f"Diagnostic device cannot move beyond {cfg['out']} mm when goniometer is not OUT"
            )
-        if d['cryo_pos'].pos == "in" and target > cfg["out"]:
+        # Don't move if cryocooler is in
+        if d['cryo_pos'].pos == 'in' and target > cfg['out']:
            raise GuardViolation(
-                f"Diagnostic device cannot move beyond {cfg['out']} mm when cryo is IN"
+                f"Diagnostic device cannot move beyond {cfg['out']} mm when cryocooler is IN"
            )
-
    return diag_y_policy


 def attach_policies(d):
-    '''Attach the policies to the devices'''
+    """Attach the policies to the devices"""
    d["bs_z"].policy = make_bs_z_policy(d)
-    d["gon_x"].policy = make_gon_x_policy(d)
+    d["aerotech_x"].policy = make_aerotech_x_policy(d)
    d["diag_y"].policy = make_diag_y_policy(d)
@@ -0,0 +1,254 @@
+"""Set up the positioned devices for mock or real motors"""
+
+from dataclasses import dataclass, field
+from typing import Callable, List, Dict, Optional, Union
+
+import time
+
+
+class SimpleStatus:
+    """Makes a mock motor return a status"""
+
+    def __init__(self, motor, target, delay=0.0, success=True, name=""):
+        self.motor = motor
+        self.target = target
+        self.delay = delay
+        self._success = success
+        self.name = name
+        self._done = False
+
+    def wait(self, timeout=None):
+        start = time.time()
+
+        while True:
+            # simulate motion completion
+            if not self._done:
+                if time.time() - start >= self.delay:
+                    if self._success:
+                        self.motor.position = self.target
+                    self._done = True
+
+            if self._done:
+                if not self._success:
+                    raise RuntimeError(f"Motor {self.name} failed")
+                return True
+
+            if timeout is not None and (time.time() - start) > timeout:
+                raise TimeoutError(f"Timeout waiting for {self.name}")
+
+            time.sleep(0.01)
+
+
+class MotorAdapter:
+    """Motor adapter for setting up mock/real motors"""
+
+    def move(self, pos: float):
+        """Move the motor to the given position"""
+        raise NotImplementedError
+
+    def move_with_status(self, pos: float):
+        """Move the motor to the given position with a status"""
+        raise NotImplementedError
+
+    def set_fail(self, value: bool):
+        """Put the motor into a failure state"""
+        raise NotImplementedError
+
+    @property
+    def actual(self) -> float:
+        """The actual position of the motor"""
+        raise NotImplementedError
+
+
+class MockMotorAdapter(MotorAdapter):
+    """Motor adapter for mock motors"""
+
+    def __init__(self, name: str):
+        self._motor = PositionDevice.MockMotor(name)
+
+    def move(self, pos: float):
+        """Move the motor to the given position"""
+        self._motor.move(pos)
+
+    def move_with_status(self, pos: float):
+        """Move the motor to the given position with a status"""
+        if self._motor.fail:
+            return SimpleStatus(
+                motor=self._motor,
+                target=pos,
+                delay=self._motor.delay,
+                success=False,
+                name=self._motor.name,
+            )
+
+        # don't update position immediately
+        return SimpleStatus(
+            motor=self._motor,
+            target=pos,
+            delay=self._motor.delay,
+            success=True,
+            name=self._motor.name,
+        )
+
+    def set_fail(self, value: bool):
+        """Put the motor into a failure state"""
+        self._motor.fail = value
+
+    def set_delay(self, value: float):
+        self._motor.delay = value
+
+    @property
+    def actual(self) -> float:
+        """The actual position of the motor"""
+        return self._motor.position
+
+
+class RealMotorAdapter(MotorAdapter):
+    """Motor adapter for real motors"""
+
+    def __init__(self, mot, name):
+        self._motor = mot
+        self._name = name
+
+    def move(self, pos: float):
+        """Move the motor to the given position"""
+        scans.umv(self._motor, pos, relative=False)
+
+    def move_with_status(self, pos: float):
+        """Move the motor to the given position with a status"""
+        return scans.mv(self._motor, pos, relative=False)
+        # scans.mv(self._motor, pos, relative=False)
+
+    def set_fail(self, value: bool):
+        """Put the motor into a failure state"""
+        raise NotImplementedError
+
+    @property
+    def actual(self) -> float:
+        """The actual position of the motor"""
+        return self._motor.read()[self._name]["value"]
+
+
+@dataclass
+class PositionDevice:
+    """Generic device that moves between named or numeric positions"""
+
+    bec_name: str
+    mot_device: any = None
+    positions: Dict[str, float] = field(default_factory=dict)
+    tol: float = 0.1
+    # device_timeout = 3
+    guards: List[Callable[[], None]] = field(default_factory=list)
+    policy: Optional[Callable[[float], None]] = None
+    allow_arbitrary: bool = False
+    use_mock: bool = True
+
+    def __post_init__(self):
+        if self.use_mock:
+            self.mot = MockMotorAdapter(self.bec_name)
+        else:
+            self.mot = RealMotorAdapter(self.mot_device, self.bec_name)
+            # self.mot = getattr(dev, self.bec_name)
+
+        # Normalize position names
+        self.positions = {k.lower(): v for k, v in self.positions.items()}
+
+    def _check_guards(self):
+        """Check if guards exist"""
+        for g in self.guards:
+            g()
+
+    def _resolve_target(self, target: Union[str, float]) -> float:
+        """Convert target into a motor position"""
+
+        if isinstance(target, str):
+            name = target.lower()
+
+            if name not in self.positions:
+                raise ValueError(f"Unknown position '{target}'")
+
+            return self.positions[name]
+
+        if isinstance(target, (float, int)):
+            if not self.allow_arbitrary:
+                raise ValueError(f"{self.bec_name} only accepts named positions")
+            return float(target)
+
+        raise TypeError("Target must be str or float")
+
+    def move(self, target: Union[str, float]):
+        """Move devices"""
+        pos = self._resolve_target(target)
+
+        self._check_guards()
+
+        if self.policy:
+            self.policy(pos)
+
+        self.mot.move(pos)
+
+    def mv(self, target: Union[str, float]):
+        """move devices with a timeout"""
+
+        pos = self._resolve_target(target)
+
+        self._check_guards()
+
+        if self.policy:
+            self.policy(pos)
+
+        # status.wait(self.device_timeout)
+        return self.mot.move_with_status(pos)
+        # self.mot.move_with_status(pos)
+
+    def set_position(self, target: Union[str, float]):
+        """Only to be used for testing purposes, bypasses guards"""
+        pos = self._resolve_target(target)
+        self.mot.move(pos)
+
+    @property
+    def actual(self) -> float:
+        """Return the actual position of the device."""
+        # return self.mot.read()[self.bec_name]["value"]
+        return self.mot.actual
+
+    @property
+    def pos(self) -> str:
+        """Return the closest matching position"""
+
+        for name, pos in self.positions.items():
+            if abs(self.actual - pos) <= self.tol:
+                return name
+
+        return "unknown"
+
+    #
+
+    def is_at(self, target: Union[str, float]) -> bool:
+        """Return True if the device is at the given position."""
+
+        pos = self._resolve_target(target)
+        return abs(self.actual - pos) <= self.tol
+
+    # -------------------------
+    # Mock Motor Implementation
+    # -------------------------
+
+    class MockMotor:
+        """Mock motor implementation"""
+
+        def __init__(self, name: str):
+            self.name = name
+            self.position = 0.0
+            self._target = self.position
+            self.fail = False
+            self.delay = 0
+
+        #
+        def move(self, pos: float):
+            """Move the motor to the given position."""
+            if self.fail:
+                return
+                # raise RuntimeError(f"Motor {self.name} failed")
+            time.sleep(self.delay)
+            self.position = pos
@@ -168,23 +168,23 @@ class BPMScans:
    }


-@dataclass(frozen=True)
-class MirrorConfig:
-    """Define the names of the mirror channels"""
+# @dataclass(frozen=True)
+# class MirrorConfig:
+#     """Define the names of the mirror channels"""

-    hfm = {
-        "bu_name": dev.hfm_bu.name,
-        "bd_name": dev.hfm_bd.name,
-        "z_name": dev.samcam_xsig.name,
-        "x_device": dev.hfm_bu,
-        "y_device": dev.hfm_bd,
-    }
-    vfm = {
-        "bu_name": dev.vfm_bu.name,
-        "bd_name": dev.vfm_bd.name,
-        "z_name": dev.samcam_ysig.name,
-        "x_device": dev.vfm_bu,
-        "y_device": dev.vfm_bd,
-    }
+#     hfm = {
+#         "bu_name": dev.hfm_bu.name,
+#         "bd_name": dev.hfm_bd.name,
+#         "z_name": dev.samcam_xsig.name,
+#         "x_device": dev.hfm_bu,
+#         "y_device": dev.hfm_bd,
+#     }
+#     vfm = {
+#         "bu_name": dev.vfm_bu.name,
+#         "bd_name": dev.vfm_bd.name,
+#         "z_name": dev.samcam_ysig.name,
+#         "x_device": dev.vfm_bu,
+#         "y_device": dev.vfm_bd,
+#     }


@@ -1,38 +1,31 @@
+"""Test state changes"""
+
 import random
 import time

-def test_mv():
-    tol = 0.1
-    if abs(dev.coll_y.position) < tol:
-        value = 40
-    else:
-        value = 0
-    print(f"Moving coll_y to {value}")
-    s = scans.mv(dev.coll_y, value, relative=False)
-    s.wait(timeout = 3)
-
-def test_states():
-    d = init_se_devices()
-    states, allow_modifiers = get_states()
-    deps = planner_deps()
-    planner = StateManager(d, states, allow_modifiers, deps)
-    states_to_test = [
-        BeamlineState.ROBOT_SAMPLE_EXCHANGE,
-        BeamlineState.DATA_COLLECTION,
-        BeamlineState.MANUAL_SAMPLE_EXCHANGE,
-        BeamlineState.XTAL_SNAPSHOT,
-
-    ]
-    previous = None
+def state_test():
+    d, planner = init_beamline_environment()
    tested_states = []
-    for i in range(10):        
-        choices = [ s for s in states_to_test if s != previous]
+    states_to_test = [BeamlineState.BEAMSTOP_ALIGNMENT,
+                      BeamlineState.DATA_COLLECTION,
+                      BeamlineState.MAINTENANCE,
+                      BeamlineState.ROBOT_SAMPLE_EXCHANGE,
+                      BeamlineState.SAMPLE_ALIGNMENT,
+                    #   BeamlineState.DC_XRF,
+                      BeamlineState.FLUX_MEASUREMENT,
+                      BeamlineState.XTAL_SNAPSHOT,
+                      BeamlineState.MANUAL_SAMPLE_EXCHANGE,
+                      BeamlineState.BEAM_VISUALISATION]
+    previous = None
+    for i in range(20):
+        choices = [s for s in states_to_test if s != previous]
        current = random.choice(choices)
-        print(f"Moving to state {current}")
+        print(f"Testing {current}")
        planner.move_to(current)
-        tested_states.append(current)
        time.sleep(5)
+        tested_states.append(current.name)
        previous = current
-    print(f"Tested states: {tested_states}")
+    planner.move_to(BeamlineState.MANUAL_SAMPLE_EXCHANGE)
+
+    print("\n".join(tested_states))

-