A3200 cleanup

pxiii_bec/devices/A3200.py

@@ -80,56 +80,20 @@ Examples
 """
 import time
 from ophyd import Component, Device, EpicsSignal, EpicsSignalRO, Kind
-from ophyd.status import MoveStatus, SubscriptionStatus, DeviceStatus
+from ophyd.status import SubscriptionStatus
 
-from .A3200utils import A3200Axis, A3200RasterScanner, A3200Oscillator
+from .A3200utils import A3200RasterScanner, A3200Oscillator
+from .A3200enums import *
 
+try:
+    from bec_lib import bec_logger
+    logger = bec_logger.logger
+except ModuleNotFoundError:
+    import logging
+    logger = logging.getLogger("A3200")
 
-ABR_DONE = 0
+# pylint: disable=logging-fstring-interpolation
-ABR_READY = 1
-ABR_BUSY = 2
 
-GRID_SCAN_BUSY = 0
-GRID_SCAN_DONE = 1
-
-DIRECT_MODE = 0
-MEASURING_MODE = 1
-
-SHUTTER_CLOSE = 0
-SHUTTER_OPEN = 1
-
-FULL_PERIOD = 0
-HALF_PERIOD = 1
-
-CMD_NONE = 0
-CMD_RASTER_SCAN_SIMPLE = 1
-CMD_MEASURE_STANDARD = 2
-CMD_VERTICAL_LINE_SCAN = 3
-CMD_SCREENING = 4
-CMD_SUPER_FAST_OMEGA = 5
-CMD_STILL_WEDGE = 6
-CMD_STILLS = 7
-CMD_REPEAT_SINGLE_OSCILLATION = 8
-CMD_SINGLE_OSCILLATION = 9
-CMD_OLD_FASHIONED = 10
-CMD_RASTER_SCAN = 11
-CMD_JET_ROTATION = 12
-CMD_X_HELICAL = 13
-CMD_X_RUNSEQ = 14
-CMD_JUNGFRAU = 15
-CMD_MSOX = 16
-CMD_SLIT_SCAN = 17
-CMD_RASTER_SCAN_STILL = 18
-CMD_SCAN_SASTT = 19
-CMD_SCAN_SASTT_V2 = 20
-CMD_SCAN_SASTT_V3 = 21
-
-AXIS_OMEGA = 1
-AXIS_GMX = 2
-AXIS_GMY = 3
-AXIS_GMZ = 4
-AXIS_STY = 5
-AXIS_STZ = 6
 
 
 class AerotechAbrStage(Device):
@@ -165,11 +129,13 @@ class AerotechAbrStage(Device):
     raster = Component(A3200RasterScanner, "", kind=Kind.config)
     osc = Component(A3200Oscillator, "", kind=Kind.config)
 
-    # Positioners for the motor axes
+    # Status flags for all axes
-    omega = Component(A3200Axis, "-DF1:OMEGA", kind=Kind.hinted)
+    omega_done = Component(EpicsSignalRO, "-DF1:OMEGA-DONE", kind=Kind.normal)
-    gmx = Component(A3200Axis, "-DF1:GMX", kind=Kind.hinted)
+    gmx_done = Component(EpicsSignalRO, "-DF1:GMX-DONE", kind=Kind.normal)
-    gmy = Component(A3200Axis, "-DF1:GMY", kind=Kind.hinted)
+    gmy_done = Component(EpicsSignalRO, "-DF1:GMY-DONE", kind=Kind.normal)
-    gmz = Component(A3200Axis, "-DF1:GMZ", kind=Kind.hinted)
+    gmz_done = Component(EpicsSignalRO, "-DF1:GMZ-DONE", kind=Kind.normal)
+
+
 
     scan_command = Component(
         EpicsSignal, "-PSO:CMD", put_complete=True, kind=Kind.omitted)
@@ -270,19 +236,13 @@ class AerotechAbrStage(Device):
         new = self.read_configuration()
         return old, new
 
-    def complete(self, timeout=None) -> DeviceStatus:
-        """ ToDo: WTF was this device doing here? Whatever...
-        """
-        return self.raster.complete()
-
-
     def complete(self, timeout=None) -> SubscriptionStatus:
         """ Waits for task execution
 
         NOTE:  Original complete was raster scanner complete...
         """
         # Define wait until the busy flag goes down (excluding initial update)
-        def is_idle(*args, old_value, value, timestamp, **kwargs):
+        def is_idle(*args, value, _, **kwargs):
             return bool(value==1)
 
         # Subscribe and wait for update
@@ -290,46 +250,14 @@ class AerotechAbrStage(Device):
         return status
 
     def reset(self, settle_time=0.1):
+        """Attempts to reset the currently running measurement task on the A3200"""
         self.scan_command.set(CMD_NONE, settle_time=settle_time).wait()
         self.set_axis_mode("direct", settle_time=settle_time)
 
     def is_ioc_ok(self):
+        """Checks execution status"""
         return 0 == self.status.get()
 
-    def is_ready_and_willing(self):
-        return self.is_ioc_ok() and self.omega.is_homed()
-
-    def is_omega_ok(self):
-        return 0 == self.self.omega.status.get()
-
-    def is_homed(self):
-        """Are the motors homed?"""
-        return 1 == self.omega.is_homed.get()
-
-    def do_homing(self, wait=True):
-        """Execute the homing procedure.
-
-        Executes the homing procedure and waits (default) until it is completed.
-
-        TODO: Return a status object to do this wwith futures and monitoring.
-
-        PARAMETERS
-           `wait` true / false if the routine is to wait for the homing to finish.
-        """
-        self.omega.home.set(1, settle_time=1).wait()
-        if not wait:
-            return
-        while not self.omega.is_homed():
-            time.sleep(0.2)
-
-    @property
-    def velocity(self):
-        return self.omega.velocity.get()
-
-    @velocity.setter
-    def velocity(self, value):
-        self.omega.velocity.set(value).wait()
-
     @property
     def exp_time(self):
         return self.osc.exp_time.get()
@@ -396,12 +324,11 @@ class AerotechAbrStage(Device):
         self.osc.get_ready.set(1, settle_time=0.1).wait()
 
         if wait:
-            for n in range(10):
+            for _ in range(10):
                 try:
                     self.wait_status(ABR_READY, timeout=5).wait()
-                except RuntimeWarning as e:
+                except RuntimeWarning as ex:
-                    print(str(e), end=" ")
+                    logger.warning(f"{ex} --- trying ready again.")
-                    print(" --- trying ready again.")
                     self.osc.get_ready.set(1).wait()
 
 
@@ -418,8 +345,8 @@ class AerotechAbrStage(Device):
             time.sleep(0.1)
             try:
                 moving = self.is_moving()
-            except:
+            except Exception as ex:
-                print("Aerotech() Failed to retrieve moving state for axes omega, gmx, gmy, gmz")
+                logger.error(f"Failed to retrieve moving state for axes: {ex}")
                 moving = True
             timeisup = timeout < time.time()
 
@@ -427,9 +354,10 @@ class AerotechAbrStage(Device):
             raise RuntimeWarning("timeout waiting for all axis to stop moving")
 
     def is_moving(self):
-        return (
+        """Chechs if all axes are DONE"""
-            self.omega.moving
+        return not (
-            and self.gmx.moving and self.gmy.moving and self.gmz.moving )
+            self.omega_done.get()
+            and self.gmx_done.get() and self.gmy_done.get() and self.gmz_done.get() )
 
     def stop(self, wait_after_reload=1.0):
         """Stops current motions; reloads aerobasic programs; goes DIRECT
@@ -449,21 +377,13 @@ class AerotechAbrStage(Device):
         """Starts the previously configured exposure."""
         self.wait_for_movements()
         self.osc.taskStart.set(1).wait()
-        for n in range(10):
+        for _ in range(10):
             try:
                 self.osc.wait_status(ABR_BUSY, timeout=1)
-            except RuntimeWarning as e:
+            except RuntimeWarning as ex:
-                print("%s  --- trying start again.", str(e))
+                logger.error(f"{ex}  --- trying start again.")
                 self.osc.kickoff()
 
-    def move(self, position, wait=False, velocity=None, relative=None, direct=False,
-            **kwargs) -> MoveStatus:
-        """ Move the omega axis
-        """
-        return self.omega.move(position, wait=wait, velocity=velocity, relative=relative,
-                               direct=direct, **kwargs)
-
-
 
 if __name__ == "__main__":
     abr = AerotechAbrStage(prefix="X06DA-ES", name="abr")

pxiii_bec/devices/A3200enums.py

@@ -0,0 +1,113 @@
+# -*- coding: utf-8 -*-
+"""
+Enumerations for the MX specific Aerotech A3200 stage.
+
+@author: mohacsi_i
+"""
+# pylint: disable=too-few-public-methods
+
+class AbrStatus:
+    """ABR measurement task status"""
+    DONE = 0
+    READY = 1
+    BUSY = 2
+
+ABR_DONE = 0
+ABR_READY = 1
+ABR_BUSY = 2
+
+class AbrGridStatus:
+    """ABR grid scan status"""
+    BUSY = 0
+    DONE = 1
+
+GRID_SCAN_BUSY = 0
+GRID_SCAN_DONE = 1
+
+class AbrMode:
+    """ABR mode status"""
+    DIRECT = 0
+    MEASURING = 1
+
+DIRECT_MODE = 0
+MEASURING_MODE = 1
+
+class AbrShutterStatus:
+    """ABR shutter status"""
+    CLOSE = 0
+    OPEN = 1
+
+SHUTTER_CLOSE = 0
+SHUTTER_OPEN = 1
+
+class AbrGridPeriod:
+    """ABR grid period"""
+    FULL = 0
+    HALF = 1
+
+FULL_PERIOD = 0
+HALF_PERIOD = 1
+
+class AbrCmd:
+    """ABR command table"""
+    NONE = 0
+    RASTER_SCAN_SIMPLE = 1
+    MEASURE_STANDARD = 2
+    VERTICAL_LINE_SCAN = 3
+    SCREENING = 4
+    SUPER_FAST_OMEGA = 5
+    STILL_WEDGE = 6
+    STILLS = 7
+    REPEAT_SINGLE_OSCILLATION = 8
+    SINGLE_OSCILLATION = 9
+    OLD_FASHIONED = 10
+    RASTER_SCAN = 11
+    JET_ROTATION = 12
+    X_HELICAL = 13
+    X_RUNSEQ = 14
+    JUNGFRAU = 15
+    MSOX = 16
+    SLIT_SCAN = 17
+    RASTER_SCAN_STILL = 18
+    SCAN_SASTT = 19
+    SCAN_SASTT_V2 = 20
+    SCAN_SASTT_V3 = 21
+
+CMD_NONE = 0
+CMD_RASTER_SCAN_SIMPLE = 1
+CMD_MEASURE_STANDARD = 2
+CMD_VERTICAL_LINE_SCAN = 3
+CMD_SCREENING = 4
+CMD_SUPER_FAST_OMEGA = 5
+CMD_STILL_WEDGE = 6
+CMD_STILLS = 7
+CMD_REPEAT_SINGLE_OSCILLATION = 8
+CMD_SINGLE_OSCILLATION = 9
+CMD_OLD_FASHIONED = 10
+CMD_RASTER_SCAN = 11
+CMD_JET_ROTATION = 12
+CMD_X_HELICAL = 13
+CMD_X_RUNSEQ = 14
+CMD_JUNGFRAU = 15
+CMD_MSOX = 16
+CMD_SLIT_SCAN = 17
+CMD_RASTER_SCAN_STILL = 18
+CMD_SCAN_SASTT = 19
+CMD_SCAN_SASTT_V2 = 20
+CMD_SCAN_SASTT_V3 = 21
+
+class AbrAxis:
+    """ABR axis index"""
+    OMEGA = 1
+    GMX = 2
+    GMY = 3
+    GMZ = 4
+    STY = 5
+    STZ = 6
+
+AXIS_OMEGA = 1
+AXIS_GMX = 2
+AXIS_GMY = 3
+AXIS_GMZ = 4
+AXIS_STY = 5
+AXIS_STZ = 6

pxiii_bec/devices/A3200utils.py

@@ -5,6 +5,7 @@ Created on Tue Jun 11 11:28:38 2024
 @author: mohacsi_i
 """
 import types
+import math
 from ophyd import (Component, PVPositioner, Device, Signal, EpicsSignal, EpicsSignalRO, Kind,
     PositionerBase)
 from ophyd.status import Status, MoveStatus, SubscriptionStatus, DeviceStatus
@@ -14,6 +15,11 @@ from bec_lib import bec_logger
 logger = bec_logger.logger
 
 
+from .A3200enums import *
+
+
+
+
 ABR_DONE = 0
 ABR_READY = 1
 ABR_BUSY = 2
@@ -118,8 +124,8 @@ class A3200Axis(PVPositioner):
         self.vmin.set(vmin).wait()
         self.vmax.set(vmax).wait()
 
-    def move(self, position, velocity=None, wait=True, relative=False, direct=False, timeout=None,
+    def omove(self, position, wait=True, timeout=None, moved_cb=None, velocity=None, relative=False,
-            **kwargs) -> MoveStatus:
+              direct=False, **kwargs) -> MoveStatus:
         """ Native absolute/relative movement on the A3200 """
 
         # Check if we're in direct movement mode
@@ -164,10 +170,9 @@ class A3200Axis(PVPositioner):
         return status
 
 
-    def omove(self, position, velocity=None, wait=True, relative=False, direct=False,
+    def move(self, position, wait=True, timeout=None, moved_cb=None, **kwargs) -> MoveStatus:
-            **kwargs) -> MoveStatus:
         """ Exposes the ophyd move command through BEC abstraction"""
-        return self.move(position, velocity, wait, relative, direct, **kwargs)
+        return self.omove(position, wait=wait, timeout=timeout, moved_cb=moved_cb, **kwargs)
 
     def rock(self, distance, counts: int, velocity=None, wait=True) -> Status:
         """ Repeated single axis zigzag scan I guess PSO should be configured for this"""
@@ -186,6 +191,38 @@ class A3200Axis(PVPositioner):
         return status
 
 
+    # def is_omega_ok(self):
+    #     """Checks omega axis status"""
+    #     return 0 == self.self.omega.status.get()
+
+    # def is_homed(self):
+    #     """Checks if omega is homed"""
+    #     return 1 == self.omega.is_homed.get()
+
+    # def do_homing(self, wait=True):
+    #     """Execute the homing procedure.
+
+    #     Executes the homing procedure on omega and waits (default) until it is completed.
+
+    #     TODO: Return a status object to do this wwith futures and monitoring.
+
+    #     PARAMETERS
+    #        `wait` true / false if the routine is to wait for the homing to finish.
+    #     """
+    #     self.omega.home.set(1, settle_time=1).wait()
+    #     if not wait:
+    #         return
+    #     while not self.omega.is_homed():
+    #         time.sleep(0.2)
+
+
+
+
+
+
+
+
+
 
 
 
@@ -305,7 +342,7 @@ class A3200RasterScanner(Device):
             try:
                 # Define wait until the busy flag goes down (excluding initial update)
                 timestamp_ = 0
-                def isReady(*args, old_value, value, timestamp, **kwargs):
+                def is_ready(*args, old_value, value, timestamp, **kwargs):
                     nonlocal timestamp_
                     result = False if (timestamp_== 0) else bool(value==ABR_READY)
                     print(f"Old {old_value}\tNew: {value}\tResult: {result}")
@@ -313,7 +350,7 @@ class A3200RasterScanner(Device):
                     return result
 
                 # Subscribe and wait for update
-                status = SubscriptionStatus(self.grid_done, isReady, timeout=2, settle_time=0.5)
+                status = SubscriptionStatus(self.grid_done, is_ready, timeout=2, settle_time=0.5)
                 status.wait()
             except TimeoutError as e:
                 print(str(e), end=" ")
@@ -333,7 +370,7 @@ class A3200RasterScanner(Device):
     def wait_scan_done(self, timeout=60.0) -> SubscriptionStatus:
         # Define wait until the busy flag goes down (excluding initial update)
         timestamp_ = 0
-        def isReady(*args, old_value, value, timestamp, **kwargs):
+        def is_ready(*args, old_value, value, timestamp, **kwargs):
             nonlocal timestamp_
             result = False if (timestamp_== 0) else bool(value==1)
             print(f"Old {old_value}\tNew: {value}\tResult: {result}")
@@ -341,7 +378,7 @@ class A3200RasterScanner(Device):
             return result
 
         # Subscribe and wait for update
-        status = SubscriptionStatus(self.scan_done, isReady, timeout=timeout, settle_time=0.5)
+        status = SubscriptionStatus(self.scan_done, is_ready, timeout=timeout, settle_time=0.5)
         status.wait()
 
         return status
@@ -373,7 +410,7 @@ class A3200RasterScanner(Device):
         if timeout is not None:
             # Define wait until the busy flag goes down (excluding initial update)
             timestamp_ = 0
-            def isReady(*args, old_value, value, timestamp, **kwargs):
+            def is_ready(*args, old_value, value, timestamp, **kwargs):
                 nonlocal timestamp_
                 result = False if (timestamp_== 0) else bool(value==GRID_SCAN_DONE)
                 print(f"Old {old_value}\tNew: {value}\tResult: {result}")
@@ -381,7 +418,7 @@ class A3200RasterScanner(Device):
                 return result
 
             # Subscribe and wait for update
-            status = SubscriptionStatus(self.scan_done, isReady, timeout=timeout, settle_time=0.5)
+            status = SubscriptionStatus(self.scan_done, is_ready, timeout=timeout, settle_time=0.5)
             return status
         status = DeviceStatus(self, settle_time=0.5)
         status.set_finished()
@@ -424,13 +461,13 @@ class A3200Oscillator(Device):
             SubscriptionStatus : A waitable status subscribed on 'phase' updates.
         """
         # Define wait until the busy flag goes down (excluding initial update)
-        def inStatus(*args, old_value, value, timestamp, **kwargs):
+        def in_status(*args, old_value, value, _, **kwargs):
             result = bool(value==target)
-            print(f"Old {old_value}\tNew: {value}\tResult: {result}")
+            # print(f"Old {old_value}\tNew: {value}\tResult: {result}")
             return result
 
         # Subscribe and wait for update
-        status = SubscriptionStatus(self.phase, inStatus, timeout=timeout, settle_time=0.5)
+        status = SubscriptionStatus(self.phase, in_status, timeout=timeout, settle_time=0.5)
         return status
 
 

pxiii_bec/devices/__init__.py

@@ -1,2 +1,8 @@
+# -*- coding: utf-8 -*-
+"""
+Ophyd devices for the PX III beamline, including the MX specific Aerotech A3200 stage.
+
+@author: mohacsi_i
+"""
 from .A3200 import AerotechAbrStage
 from .A3200utils import A3200Axis