axis client getting ready
This commit is contained in:
gac-x06da
@@ -1,5 +1,5 @@
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import time
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from ophyd import Component, Device, EpicsSignal, EpicsSignalRO, Kind, Device, Signal
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from ophyd import Component, Device, Kind, Device, Signal, SignalRO
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from ophyd.status import SubscriptionStatus
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import requests
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@@ -9,121 +9,101 @@ try:
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logger = bec_logger.logger
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except ModuleNotFoundError:
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import logging
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logger = logging.getLogger("A3200")
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logger = logging.getLogger("SmarGon")
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class SmarGonSignal(Signal):
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"""Small helper class to read PVs that need to be processed first."""
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""" SmarGonSignal (R/W)
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Small helper class to read/write parameters from SmarGon. As there is no
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motion status readback from smargopolo, this should be substituted with
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setting with 'settle_time'.
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"""
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def __init__(self, prefix, *args, **kwargs):
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def __init__(self, *args, write_addr="targetSCS", low_limit=None, high_limit=None, **kwargs):
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super().__init__(*args, **kwargs)
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self.prefix = prefix
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self.write_addr = write_addr
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self.addr = self.parent.name
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self._limits = (low_limit, high_limit)
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# self.get()
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def put(self, value, *args, **kwargs):
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self._go_n_put(f"target{self.prefix}?{self.addr}={value}")
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return super().put(value, *args, force=True, **kwargs)
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def put(self, value, *args, timestamp=None, **kwargs):
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""" Overriden put to add communication with smargopolo"""
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# Validate new value
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self.check_value(value)
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if timestamp is None:
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timestamp = time.time()
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# Perform the actual write to SmargoPolo
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r = self.parent._go_n_put(f"{self.write_addr}?{self.addr.upper()}={value}")
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old_value = self._readback
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self._timestamp = timestamp
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self._readback = r[self.addr.upper()]
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self.value = r[self.addr.upper()]
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# Notify subscribers
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self._run_subs(sub_type=self.SUB_VALUE, old_value=old_value,
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value=value, timestamp=self._timestamp)
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@property
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def limits(self):
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return self._limits
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def check_value(self, value, **kwargs):
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""" Check if value falls within limits"""
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lol = self.limits[0]
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if lol is not None:
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if value < lol:
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raise ValueError(f"Target {value} outside of limits {self.limits}")
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hil = self.limits[1]
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if hil is not None:
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if value > hil:
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raise ValueError(f"Target {value} outside of limits {self.limits}")
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def get(self, *args, **kwargs):
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r = self._go_n_get(f"target{self.prefix}")
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r = self.parent._go_n_get(self.write_addr)
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print(r)
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self.value = r[self.addr.upper()]
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return super().get(*args, **kwargs)
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def _go_n_get(self, name, **kwargs):
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cmd = f"{self.parent.sg_url.get()}/{name}"
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r = requests.get(cmd, timeout=1)
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if not r.ok:
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raise RuntimeError(f"[self.name] Error getting {name}; server returned {r.status_code} => {r.reason}")
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return r.json()
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def _go_n_put(self, name, **kwargs):
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cmd = f"{self.parent.sg_url.get()}/{name}"
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r = requests.put(cmd, timeout=1)
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if not r.ok:
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raise RuntimeError(f"[self.name] Error putting {name}; server returned {r.status_code} => {r.reason}")
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class SmarGonSignalRO(Signal):
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"""Small helper class to read PVs that need to be processed first.
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TODO: Add monitoring
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""" Small helper class for read-only parameters PVs from SmarGon.
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TODO: Add monitoring
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"""
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def __init__(self, prefix, *args, **kwargs):
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def __init__(self, *args, read_addr="readbackSCS", **kwargs):
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super().__init__(*args, **kwargs)
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self._metadata["write_access"] = False
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self.prefix = prefix
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self.read_addr = read_addr
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self.addr = self.parent.name
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def get(self, *args, **kwargs):
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r = self._go_n_get(f"readback{self.prefix}")
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r = self.parent._go_n_get(self.read_addr)
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print(r)
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self.put(r[self.addr.upper()], force=True)
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return super().get(*args, **kwargs)
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def _go_n_get(self, name, **kwargs):
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cmd = f"{self.parent.sg_url.get()}/{name}"
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r = requests.get(cmd, timeout=1)
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if not r.ok:
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raise RuntimeError(f"[self.name] Error getting {name}; server returned {r.status_code} => {r.reason}")
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return r.json()
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# class SmarGonMovingSignalRO(Signal):
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# """Small helper class to read PVs that need to be processed first.
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# TODO: Add monitoring
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# """
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class SmarGonClient(Device):
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"""SmarGon client deice
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This class controls the SmarGon goniometer via the REST interface.
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"""
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# pylint: disable=too-many-instance-attributes
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USER_ACCESS = ["set_daq_config", "get_daq_config", "nuke", "connect", "message", "state", "bluestage", "blueunstage"]
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# Status attributes
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sg_url = Component(Signal, kind=Kind.config, metadata={'write_access': False})
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# Axis parameters
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shx = Component(SmarGonSignal, group="SCS", addr="shx", kind=Kind.config)
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# shy = Component(SmarGonSignal, group="SCS", addr="shy", kind=Kind.config)
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# shz = Component(SmarGonSignal, group="SCS", addr="shz", kind=Kind.config)
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# chi = Component(SmarGonSignal, group="SCS", addr="chi", kind=Kind.config)
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# phi = Component(SmarGonSignal, group="SCS", addr="phi", kind=Kind.config)
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def __init__(
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self,
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prefix="",
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*,
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name,
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kind=None,
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read_attrs=None,
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configuration_attrs=None,
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parent=None,
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device_manager=None,
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sg_url: str = "http://x06da-smargopolo.psi.ch:3000",
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**kwargs,
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) -> None:
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# super().__init__(prefix=prefix, name=name, kind=kind, read_attrs=read_attrs, configuration_attrs=configuration_attrs, parent=parent, device_manager=device_manager, **kwargs)
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super().__init__(prefix=prefix, name=name, kind=kind, read_attrs=read_attrs, configuration_attrs=configuration_attrs, parent=parent, **kwargs)
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self.sg_url._metadata["write_access"] = False
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self.sg_url.set(sg_url, force=True).wait()
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def _go_n_get(self, name, **kwargs):
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cmd = f"{self.sg_url.get()}/{name}"
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r = requests.get(cmd, timeout=1)
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if not r.ok:
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raise RuntimeError(f"[self.name] Error getting {name}; server returned {r.status_code} => {r.reason}")
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return r.json()
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def _go_n_put(self, name, **kwargs):
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cmd = f"{self.sg_url.get()}/{name}"
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r = requests.put(cmd, timeout=1)
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if not r.ok:
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raise RuntimeError(f"[self.name] Error putting {name}; server returned {r.status_code} => {r.reason}")
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# def __init__(self, *args, **kwargs):
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# super().__init__(*args, **kwargs)
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# self._metadata["write_access"] = False
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# def get(self, *args, **kwargs):
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# r = self.parent._go_n_get("readbackMCS")
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# print(r['state'])
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# moving_str = r["state"]["q1"] + r["state"]["q2"] + r["state"]["q3"] + r["state"]["q4"] + r["state"]["q5"][0]
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# moving = int(moving_str)
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# self.put(moving_str, force=True)
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# return super().get(*args, **kwargs)
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class SmarGonAxis(Device):
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@@ -133,10 +113,15 @@ class SmarGonAxis(Device):
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"""
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# Status attributes
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sg_url = Component(Signal, kind=Kind.config, metadata={'write_access': False})
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corr = Component(SmarGonSignalRO, read_addr="corr_type", kind=Kind.config)
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mode = Component(SmarGonSignalRO, read_addr="mode", kind=Kind.config)
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# Axis parameters
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readback = Component(SmarGonSignalRO, kind=Kind.config)
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setpoint = Component(SmarGonSignal, kind=Kind.config)
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readback = Component(SmarGonSignalRO, kind=Kind.hinted)
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setpoint = Component(SmarGonSignal, kind=Kind.normal)
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done = Component(SignalRO, value=1, kind=Kind.normal)
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# moving = Component(SmarGonMovingSignalRO, kind=Kind.config)
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moving = 1
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def __init__(
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self,
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@@ -149,26 +134,53 @@ class SmarGonAxis(Device):
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parent=None,
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device_manager=None,
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sg_url: str = "http://x06da-smargopolo.psi.ch:3000",
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low_limit = None,
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high_limit = None,
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**kwargs,
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) -> None:
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self.__class__.__dict__['readback'].kwargs['prefix'] = prefix
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self.__class__.__dict__['readback'].kwargs['name'] = name
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self.__class__.__dict__['setpoint'].kwargs['prefix'] = prefix
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self.__class__.__dict__['setpoint'].kwargs['name'] = name
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self.__class__.__dict__['readback'].kwargs['read_addr'] = f"readback{prefix}"
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self.__class__.__dict__['setpoint'].kwargs['write_addr'] = f"target{prefix}"
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self.__class__.__dict__['setpoint'].kwargs['low_limit'] = low_limit
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self.__class__.__dict__['setpoint'].kwargs['high_limit'] = high_limit
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# super().__init__(prefix=prefix, name=name, kind=kind, read_attrs=read_attrs, configuration_attrs=configuration_attrs, parent=parent, device_manager=device_manager, **kwargs)
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super().__init__(prefix=prefix, name=name, kind=kind, read_attrs=read_attrs, configuration_attrs=configuration_attrs, parent=parent, **kwargs)
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self.sg_url._metadata["write_access"] = False
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self.sg_url.set(sg_url, force=True).wait()
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def initialize(self):
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"""Helper function for initial readings"""
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# self.corr.get()
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# self.mode.get()
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r = self._go_n_get("corr_type")
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print(r)
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def _go_n_get(self, address, **kwargs):
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"""Helper function to connect to smargopolo"""
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cmd = f"{self.sg_url.get()}/{address}"
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r = requests.get(cmd, timeout=1)
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if not r.ok:
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raise RuntimeError(f"[{self.name}] Error getting {address}; server returned {r.status_code} => {r.reason}")
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return r.json()
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def _go_n_put(self, address, **kwargs):
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"""Helper function to connect to smargopolo"""
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cmd = f"{self.sg_url.get()}/{address}"
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r = requests.put(cmd, timeout=1)
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if not r.ok:
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raise RuntimeError(f"[{self.name}] Error putting {address}; server returned {r.status_code} => {r.reason}")
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return r.json()
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if __name__ == "__main__":
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shz = SmarGonAxis(prefix="SCS", name="shz", sg_url="http://x06da-smargopolo.psi.ch:3000")
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sg = SmarGonClient(prefix="X06DA-ES", name="smargon")
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sg.wait_for_connection()
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shx = SmarGonAxis(prefix="SCS", name="shx", sg_url="http://x06da-smargopolo.psi.ch:3000")
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shy = SmarGonAxis(prefix="SCS", name="shy", sg_url="http://x06da-smargopolo.psi.ch:3000")
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shz = SmarGonAxis(prefix="SCS", name="shz", low_limit=10, high_limit=22, sg_url="http://x06da-smargopolo.psi.ch:3000")
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shx.wait_for_connection()
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shy.wait_for_connection()
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shz.wait_for_connection()
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