Implementing beamline state changes

Transfer macros from pxii to pxiii
Updating to template version 1.4.0
2026-06-04 16:36:01 +02:00 · 2026-05-27 16:33:11 +02:00 · 2026-05-20 11:01:36 +02:00 · 2026-05-20 10:40:24 +02:00 · 2026-05-04 15:25:11 +02:00 · 2026-03-05 13:59:55 +01:00
45 changed files with 4988 additions and 868 deletions
@@ -2,7 +2,7 @@
 # It is needed to track the repo template version, and editing may break things.
 # This file will be overwritten by copier on template updates.

-_commit: v1.0.0
+_commit: v1.4.0
 _src_path: https://github.com/bec-project/plugin_copier_template.git
 make_commit: false
 project_name: pxiii_bec
@@ -0,0 +1,102 @@
+name: CI for pxiii_bec
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+    inputs:
+      BEC_WIDGETS_BRANCH:
+        description: "Branch of BEC Widgets to install"
+        required: false
+        type: string
+        default: "main"
+      BEC_CORE_BRANCH:
+        description: "Branch of BEC Core to install"
+        required: false
+        type: string
+        default: "main"
+      OPHYD_DEVICES_BRANCH:
+        description: "Branch of Ophyd Devices to install"
+        required: false
+        type: string
+        default: "main"
+      BEC_PLUGIN_REPO_BRANCH:
+        description: "Branch of the BEC Plugin Repository to install"
+        required: false
+        type: string
+        default: "main"
+      PYTHON_VERSION:
+        description: "Python version to use"
+        required: false
+        type: string
+        default: "3.12"
+
+permissions:
+  pull-requests: write
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    env:
+      QTWEBENGINE_DISABLE_SANDBOX: 1
+      QT_QPA_PLATFORM: "offscreen"
+
+    steps:
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "${{ inputs.PYTHON_VERSION || '3.12' }}"
+
+      - name: Checkout BEC Plugin Repository
+        uses: actions/checkout@v4
+        with:
+          repository: bec/pxiii_bec
+          ref: "${{ inputs.BEC_PLUGIN_REPO_BRANCH || github.head_ref || github.sha }}"
+          path: ./pxiii_bec
+
+      - name: Lint for merge conflicts from template updates
+        shell: bash
+        # Find all Copier conflicts except this line
+        run: '! grep -r "<<<<<<< before updating" | grep -v "grep -r \"<<<<<<< before updating"'
+
+      - name: Checkout BEC Core
+        uses: actions/checkout@v4
+        with:
+          repository: bec/bec
+          ref: "${{ inputs.BEC_CORE_BRANCH || 'main' }}"
+          path: ./bec
+
+      - name: Checkout Ophyd Devices
+        uses: actions/checkout@v4
+        with:
+          repository: bec/ophyd_devices
+          ref: "${{ inputs.OPHYD_DEVICES_BRANCH || 'main' }}"
+          path: ./ophyd_devices
+
+      - name: Checkout BEC Widgets
+        uses: actions/checkout@v4
+        with:
+          repository: bec/bec_widgets
+          ref: "${{ inputs.BEC_WIDGETS_BRANCH || 'main' }}"
+          path: ./bec_widgets
+
+      - name: Install dependencies
+        shell: bash
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y libgl1 libegl1 x11-utils libxkbcommon-x11-0 libdbus-1-3 xvfb
+          sudo apt-get -y install libnss3 libxdamage1 libasound2t64 libatomic1 libxcursor1
+
+      - name: Install Python dependencies
+        shell: bash
+        run: |
+          pip install uv
+          uv pip install --system -e ./ophyd_devices
+          uv pip install --system -e ./bec/bec_lib[dev]
+          uv pip install --system -e ./bec/bec_ipython_client
+          uv pip install --system -e ./bec/bec_server[dev]
+          uv pip install --system -e ./bec_widgets[dev,pyside6]
+          uv pip install --system -e ./pxiii_bec
+
+      - name: Run Pytest with Coverage
+        id: coverage
+        run: pytest --random-order --cov=./pxiii_bec --cov-config=./pxiii_bec/pyproject.toml --cov-branch --cov-report=xml --no-cov-on-fail ./pxiii_bec/tests/ || test $? -eq 5
@@ -0,0 +1,70 @@
+name: Create template upgrade PR for pxiii_bec
+on:
+  workflow_dispatch:
+
+permissions:
+  pull-requests: write
+
+jobs:
+  create_update_branch_and_pr:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+      pull-requests: write
+
+    steps:
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Create virtualenv
+	    run: |
+	      python -m virtualenv .venv
+
+      - name: Install tools
+        run: |
+          source .venv/bin/activate
+          pip install copier PySide6 bec_lib
+
+      - name: Perform update
+        run: |
+          source .venv/bin/activate
+          git config --global user.email "bec_ci_staging@psi.ch"
+          git config --global user.name "BEC automated CI"
+
+          branch="chore/update-template-$(python -m uuid)"
+          echo "switching to branch $branch"
+          git checkout -b $branch
+
+          echo "Running copier update..."
+          copier update --trust --defaults --conflict inline 2>&1 | tee copier.log
+          status=${PIPESTATUS[0]}
+          output="$(cat copier.log)"
+          echo $output
+          msg="$(printf '%s\n' "$output" | head -n 1)"
+
+          if ! grep -q "make_commit: true" .copier-answers.yml ; then
+            echo "Autocommit not made, committing..."
+            git add -A
+            git commit -a -m "$msg"
+          fi
+
+          if diff-index --quiet HEAD ; then
+            echo "No changes detected"
+            exit 0
+          fi
+
+          git push -u origin $branch
+          curl -X POST "https://gitea.psi.ch/api/v1/repos/${{ gitea.repository }}/pulls" \
+            -H "Authorization: token ${{ secrets.CI_REPO_WRITE }}" \
+            -H "Content-Type: application/json" \
+            -d "{
+                  \"title\": \"Template: $(echo $msg)\",
+                  \"body\": \"This PR was created by Gitea Actions\",
+                  \"head\": \"$(echo $branch)\",
+                  \"base\": \"main\"
+                }"
@@ -1,7 +0,0 @@
-include:
- file: /templates/plugin-repo-template.yml
-  inputs:
-    name: pxiii_bec
-    target: pxiii_bec
-    branch: $CHILD_PIPELINE_BRANCH
-  project: bec/awi_utils
@@ -43,3 +43,6 @@ if _args.session.lower() == "alignment":
 # SETUP PROMPTS
 bec._ip.prompts.username = _session_name
 bec._ip.prompts.status = 1
+
+d, planner = init_beamline_environment()
+
@@ -1,10 +1,14 @@
 """
 Pre-startup script for BEC client. This script is executed before the BEC client
-is started. It can be used to add additional command line arguments. 
+is started. It can be used to add additional command line arguments.
 """

+import os
+
 from bec_lib.service_config import ServiceConfig

+import pxiii_bec
+

 def extend_command_line_args(parser):
    """
@@ -18,6 +22,11 @@ def extend_command_line_args(parser):

 def get_config() -> ServiceConfig:
    """
-    Create and return the service configuration.
+    Create and return the ServiceConfig for the plugin repository
    """
-    return ServiceConfig(redis={"host": "x06da-bec-001", "port": 6379})
+    deployment_path = os.path.dirname(os.path.dirname(os.path.dirname(pxiii_bec.__file__)))
+    files = os.listdir(deployment_path)
+    if "bec_config.yaml" in files:
+        return ServiceConfig(config_path=os.path.join(deployment_path, "bec_config.yaml"))
+    else:
+        return ServiceConfig(redis={"host": "localhost", "port": 6379})
@@ -28,49 +28,30 @@ class PlotUpdate(AutoUpdates):
        Args:
            msg (ScanStatusMessage): The scan status message.
        """
+        if msg.scan_name == "line_scan" and msg.scan_report_devices:
+            return self.simple_line_scan(msg)
+        if msg.scan_name == "grid_scan" and msg.scan_report_devices:
+            return self.simple_grid_scan(msg)
+        
+        dev_x = msg.scan_report_devices[0]
+        if "kwargs" in msg.request_inputs:
+            dev_y = msg.request_inputs["kwargs"].get("plot", None)
+            if dev_y is not None:
+                # Set the dock to the waveform widget
+                wf = self.set_dock_to_widget("Waveform")

-        # if "kwargs" in msg.request_inputs:
-        #     dev_plt = msg.request_inputs["kwargs"].get("plot", None)
-
-        #     if dev_plt is not None:
-        #         # Handle depending on scan dimension
-        #         if len(msg.scan_report_devices) == 1:
-        #             dev_x = msg.scan_report_devices[0]
-        #             # Set the dock to the waveform widget
-        #             wf = self.set_dock_to_widget("Waveform")
-        #             # Clear the waveform widget and plot the data
-        #             wf.clear_all()
-        #             wf.plot(
-        #                 x_name=dev_x,
-        #                 y_name=dev_plt,
-        #                 label=f"Scan {msg.info.scan_number} - {dev_plt}",
-        #                 title=f"Scan {msg.info.scan_number}",
-        #                 x_label=dev_x,
-        #                 y_label=dev_plt,
-        #             )
-        #         if len(msg.scan_report_devices) == 2:
-        #             dev_x = msg.scan_report_devices[0]
-        #             dev_y = msg.scan_report_devices[1]
-        #             # Set the dock to the waveform widget
-        #             wf = self.set_dock_to_widget("Waveform")
-        #             # Clear the waveform widget and plot the data
-        #             wf.clear_all()
-        #             wf.plot(
-        #                 x_name=dev_x,
-        #                 y_name=dev_y,
-        #                 z_name=dev_plt,
-        #                 label=f"Scan {msg.info.scan_number} - {dev_plt}",
-        #                 title=f"Scan {msg.info.scan_number} - {dev_plt}",
-        #                 x_label=dev_x,
-        #                 y_label=dev_y,
-        #                 z_label=dev_plt,
-        #             )
-        # elif msg.scan_name == "line_scan" and msg.scan_report_devices:
-        #     return self.simple_line_scan(msg)
-        # elif msg.scan_name == "grid_scan" and msg.scan_report_devices:
-        #     return self.simple_grid_scan(msg)
-        # elif msg.scan_report_devices:
-        #     return self.best_effort(msg)
+                # Clear the waveform widget and plot the data
+                wf.clear_all()
+                wf.plot(
+                    x_name=dev_x,
+                    y_name=dev_y,
+                    label=f"Scan {msg.info.scan_number} - {dev_y}",
+                    title=f"Scan {msg.info.scan_number}",
+                    x_label=dev_x,
+                    y_label=dev_y,
+                )
+        elif msg.scan_report_devices:
+            return self.best_effort(msg)
        return None

    def on_scan_closed(self, msg: ScanStatusMessage) -> None:
@@ -5,7 +5,7 @@ from __future__ import annotations

 from bec_lib.logger import bec_logger

-from bec_widgets.cli.rpc.rpc_base import RPCBase, rpc_call
+from bec_widgets.cli.rpc.rpc_base import RPCBase, rpc_call, rpc_timeout

 logger = bec_logger.logger

@@ -18,6 +18,8 @@ _Widgets = {


 class ScanHistory(RPCBase):
+    _IMPORT_MODULE = "pxiii_bec.bec_widgets.widgets.scan_history.scan_history"
+
    @rpc_call
    def select_scan_from_history(self, value: "int") -> "None":
        """
@@ -0,0 +1,13 @@
+# This file was automatically generated by generate_cli.py
+# type: ignore
+from __future__ import annotations
+
+# pylint: skip-file
+
+designer_plugins = {
+    "ScanHistory": ("pxiii_bec.bec_widgets.widgets.scan_history.scan_history", "ScanHistory"),
+}
+
+widget_icons = {
+    "ScanHistory": "widgets",
+}
@@ -0,0 +1,211 @@
+states:
+  robot_sample_exchange:
+    allow_modifiers: true
+    bl_pos: in
+    bl_bright: 'off'
+    bs_pos: in
+    bs_z: safe
+    coll_y: out
+    cryo_pos: in
+    det_cov: 'close'
+    diag_y: out
+    fl_bright: 'off'
+    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:
+    allow_modifiers: true
+    bl_pos: in
+    bl_bright: 'on'
+    bs_pos: in
+    bs_z: safe
+    coll_y: out
+    cryo_pos: in
+    det_cov: 'close'
+    diag_y: out
+    fl_bright: 'on'
+    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:
+    allow_modifiers: true
+    bl_pos: out
+    bl_bright: 'off'
+    bs_pos: in
+    bs_z: safe
+    coll_y: in
+    cryo_pos: in
+    det_cov: 'open'
+    diag_y: out
+    fl_bright: 'on'
+    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:
+    allow_modifiers: true
+#    bl_pos: out
+    bl_bright: 'off'
+    bs_pos: in
+    bs_z: safe
+    coll_y: in
+    cryo_pos: in
+    det_cov: 'close'
+    diag_y: out
+    fl_bright: 'on'
+    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: in
+
+  manual_sample_exchange:
+    allow_modifiers: true
+    bl_pos: out
+    bl_bright: 'off'
+    bs_pos: out
+    bs_z: safe
+    coll_y: park
+    cryo_pos: in
+    det_cov: 'close'
+    diag_y: park
+    fl_bright: 'off'
+    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:
+    bl_pos: out
+    bl_bright: 'off'
+    bs_pos: in
+    bs_z: safe
+    coll_y: out
+    cryo_pos: out
+    det_cov: 'close'
+    diag_y: scint
+    fl_bright: 'off'
+    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:
+    bl_pos: in
+    bl_bright: 'off'
+    bs_pos: in
+    bs_z: safe
+    coll_y: out
+    cryo_pos: out
+    det_cov: 'close'
+    diag_y: i1
+    fl_bright: 'off'
+    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:
+    bl_pos: out
+    bl_bright: 'off'
+    bs_pos: in
+    bs_z: samp
+    coll_y: out
+    cryo_pos: out
+    det_cov: 'close'
+    diag_y: out
+    fl_bright: 'on'
+    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:
+    allow_modifiers: true
+    bl_pos: out
+    bl_bright: 'off'
+    bs_pos: out
+    bs_z: safe
+    coll_y: park
+    cryo_pos: in
+    det_cov: 'close'
+    diag_y: park
+    fl_bright: 'off'
+    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:
+    allow_modifiers: true
+    bl_pos: in
+    bl_bright: 'on'
+    bs_pos: in
+    bs_z: safe
+    coll_y: intermediate
+    cryo_pos: in
+    det_cov: 'close'
+    diag_y: out
+    fl_bright: 'on'
+    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
+
+
+
+
@@ -0,0 +1,18 @@
+aerotech_x:
+  userParameter: {"type": continuous, "in": 0.0, "out": -10.0, "safe": -100, "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": 0.0}
+smargon_chi:
+  userParameter: {"type": continuous, "mount": 0.0}
+smargon_phi:
+  userParameter: {"type": continuous, "mount": 0.0}
@@ -0,0 +1,130 @@
+bl_bright:
+  description: Backlight Brightness
+  deviceClass: ophyd.EpicsSignal
+  deviceConfig: {read_pv: 'X06DA-ES-BL:SET', auto_monitor: true}
+  onFailure: buffer
+  enabled: True
+  readoutPriority: baseline
+  deviceTags:
+    - state
+  readOnly: False
+  softwareTrigger: false
+  userParameter: {"type": continuous, "on": 1.3, "off": 0, “tol”: 0.01}
+
+bl_pos:
+  description: Backlight Positioner
+  deviceClass: ophyd.EpicsSignal
+  deviceConfig: {read_pv: 'X06DA-ES-BL: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_pos:
+  description: Beamstop Positioner
+  deviceClass: ophyd.EpicsSignal
+  deviceConfig: {read_pv: 'X06DA-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: 'X06DA-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": 23.8, "max_blin": 24, "max_blout": 35}
+
+coll_y:
+  description: Collimator Y
+  deviceClass: ophyd_devices.EpicsMotor
+  deviceConfig: {prefix: 'X06DA-ES-COL:TRY'}
+  onFailure: buffer
+  enabled: True
+  readoutPriority: baseline
+  deviceTags:
+    - state
+  readOnly: False
+  softwareTrigger: false
+  userParameter: {"type": continuous, "in": 40, "out": 20.0, "park": 0,"tol":0.05}
+
+cryo_pos:
+  description: Cryo Positioner
+  deviceClass: ophyd.EpicsSignal
+  deviceConfig: {read_pv: 'X06DA-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: 'X06DA-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: 'X06DA-ES-SCL:TRY'}
+  onFailure: buffer
+  enabled: True
+  readoutPriority: baseline
+  deviceTags:
+    - state
+  readOnly: False
+  softwareTrigger: false
+  userParameter: {"type": continuous, "scint": 25, "i1": 29, "out": 5.0,"park": 0,"tol":0.3}
+
+fl_bright:
+  description: Frontlight Brightness
+  deviceClass: ophyd.EpicsSignal
+  deviceConfig: {read_pv: 'X06DA-ES-FL:SET', auto_monitor: true}
+  onFailure: buffer
+  enabled: True
+  readoutPriority: baseline
+  deviceTags:
+    - state
+  readOnly: False
+  softwareTrigger: false
+  userParameter: {"type": continuous, "on": 3.0, "off": 0, “tol”: 0.01}
+
+xrf_pos:
+  description: XRF Positioner
+  deviceClass: ophyd.EpicsSignal
+  deviceConfig: {read_pv: 'X06DA-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}
+
@@ -1,777 +1,30 @@
-sls_current:
-  description: sls current
-  deviceClass: ophyd.EpicsSignalRO
-  deviceConfig: {read_pv: 'ARS07-DPCT-0100:CURR', auto_monitor: true}
+base_config:
+  - !include ./pxiii-standard-devices.yaml
+states_config:
+  - !include ./pxiii-state-devices.yaml
+  
+smargon:
+  description: REST-based device which connects to Smargopolo
+  deviceClass: pxiii_bec.devices.smargopolo_smargon.Smargon
+  deviceConfig: {prefix: 'http://x06da-smargopolo.psi.ch:3000'}
  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  deviceTags:
-    - fe
-  readOnly: true
-  softwareTrigger: false
-vg0_press:
-  description: VG0 pressure
-  deviceClass: ophyd.EpicsSignalRO
-  deviceConfig: {read_pv: 'X06DA-FE-VMCC-0000:PRESSURE', auto_monitor: true}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  deviceTags:
-    - fe
-  readOnly: true
-  softwareTrigger: false
-abs_press:
-  description: Absorber pressure
-  deviceClass: ophyd.EpicsSignalRO
-  deviceConfig: {read_pv: 'X06DA-FE-ABS1-VMCC-1010:PRESSURE', auto_monitor: true}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  deviceTags:
-    - fe
-  readOnly: true
-  softwareTrigger: false
-
-
-sldi_cenx:
-  description: FE slit-diaphragm horizontal center
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-FE-SLDI:CENTERX'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  deviceTags:
-    - fe
-  readOnly: false
-  softwareTrigger: false
-sldi_sizex:
-  description: FE slit-diaphragm horizontal size
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-FE-SLDI:SIZEX'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  deviceTags:
-    - fe
-  readOnly: false
-  softwareTrigger: false
-sldi_ceny:
-  description: FE slit-diaphragm vertical center
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-FE-SLDI:CENTERY'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  deviceTags:
-    - fe
-  readOnly: false
-  softwareTrigger: false
-sldi_sizey:
-  description: FE slit-diaphragm vertical size
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-FE-SLDI:SIZEY'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  deviceTags:
-    - fe
-  readOnly: false
-  softwareTrigger: false
-
-fecmi_try:
-  description: FE collimating mirror try
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-FE-MI1:TRY'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  deviceTags:
-    - fe
-  readOnly: false
-  softwareTrigger: false
-fecmi_pitch:
-  description: FE collimating mirror pitch
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-FE-MI1:PITCH'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  deviceTags:
-    - fe
-  readOnly: false
-  softwareTrigger: false
-fecmi_bend:
-  description: FE collimating mirror bend
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-FE-MI1:BEND1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  deviceTags:
-    - fe
-  readOnly: false
-  softwareTrigger: false
-
-slh_press:
-  description: OP slit pressure
-  deviceClass: ophyd.EpicsSignalRO
-  deviceConfig: {read_pv: 'X06DA-OP-SLH-VMFR-1010:PRESSURE', auto_monitor: true}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: true
-  softwareTrigger: false
-
-slh_trxr:
-  description: OP slit inner blade motion
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-OP-SLH:TRXR'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-slh_trxw:
-  description: OP slit outer blade motion
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-OP-SLH:TRXW'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-fi1_try:
-  description: Beam attenuator motion before mono
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-OP-FI1:TRY1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-dccm_theta1:
-  description: Monochromator pitch 1
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-OP-DCCM:THETA1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-dccm_diode_top:
-  description: Top diode between mono crystals
-  deviceClass: ophyd.EpicsSignalRO
-  deviceConfig: {read_pv: 'X06DA-OP-XPM1:TOP:READOUT', auto_monitor: true}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: true
-  softwareTrigger: false
-dccm_diode_bottom:
-  description: Bottom diode between mono crystals
-  deviceClass: ophyd.EpicsSignalRO
-  deviceConfig: {read_pv: 'X06DA-OP-XPM1:BOT:READOUT', auto_monitor: true}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: true
-  softwareTrigger: false
-dccm_theta2:
-  description: Monochromator pitch 2
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-OP-DCCM:THETA2'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-dccm_xbpm:
-  description: XBPM total intensity after monochromator
-  deviceClass: ophyd.EpicsSignalRO
-  deviceConfig: {read_pv: 'X06DA-OP-XBPM1:SumAll:MeanValue_RBV', auto_monitor: true}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: true
-  softwareTrigger: false
-dccm_energy:
-  description: Monochromator energy
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-OP-DCCM:ENERGY'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-dccm_eoffset:
-  description: Monochromator energy offset
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-OP-DCCM:EOFFSET'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-ssxbpm_trx:
-  description: XBPM motion before secondary source
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-SSBPM1:TRX1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-ssxbpm_try:
-  description: XBPM motion before secondary source
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-SSBPM1:TRY1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-ssxbpm:
-  description: XBPM before secondary source
-  deviceClass: ophyd.EpicsSignalRO
-  deviceConfig: {read_pv: 'X06DA-ES-SSBPM1:SumAll:MeanValue_RBV'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: true
-  softwareTrigger: false
-ssslit_trxr:
-  description: Secondary source blade motion
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-SSSH1:TRXR'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-ssslit_trxw:
-  description: Secondary source blade motion
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-SSSH1:TRXW'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-ssslit_tryt:
-  description: Secondary source blade motion
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-SSSV1:TRYT'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-ssslit_tryb:
-  description: Secondary source blade motion
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-SSSV1:TRYB'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-ssxi1_trx:
-  description: Secondary source diagnostic screen motion
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-SSXI1:TRX1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-ssxi1_try:
-  description: Secondary source diagnostic screen motion
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-SSXI1:TRY1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-vfm_trxu:
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-VFM:TRXU'}
-  enabled: false
-  onFailure: buffer
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-vfm_trxd:
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-VFM:TRXD'}
-  enabled: false
-  onFailure: buffer
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-# vfm_tryuw:
-#   deviceClass: ophyd.EpicsMotor
-#   deviceConfig: {prefix: 'X06DA-ES-VFM:TRYUW'}
-#   onFailure: buffer
-#   enabled: true
-#   readoutPriority: monitored
-#   readOnly: false
-#   softwareTrigger: false
-# vfm_tryr:
-#   deviceClass: ophyd.EpicsMotor
-#   deviceConfig: {prefix: 'X06DA-ES-VFM:TRYR'}
-#   onFailure: buffer
-#   enabled: true
-#   readoutPriority: monitored
-#   readOnly: false
-#   softwareTrigger: false
-# vfm_trydw:
-#   deviceClass: ophyd.EpicsMotor
-#   deviceConfig: {prefix: 'X06DA-ES-VFM:TRYDW'}
-#   onFailure: buffer
-#   enabled: true
-#   readoutPriority: monitored
-#   readOnly: false
-#   softwareTrigger: false
-vfm_pitch:
-  description: KB mirror vertical steering
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-VFM:PITCH'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-vfm_yaw:
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-VFM:YAW'}
-  enabled: false
-  onFailure: buffer
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-vfm_roll:
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-VFM:ROLL'}
-  enabled: false
-  onFailure: buffer
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-vfm_trx:
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-VFM:TRX'}
-  enabled: false
-  onFailure: buffer
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-vfm_try:
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-VFM:TRY'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-hfm_trxu:
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-HFM:TRXU'}
-  enabled: false
-  onFailure: buffer
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-hfm_trxd:
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-HFM:TRXD'}
-  enabled: false
-  onFailure: buffer
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-# hfm_tryur:
-#   deviceClass: ophyd.EpicsMotor
-#   deviceConfig: {prefix: 'X06DA-ES-HFM:TRYUR'}
-#   onFailure: buffer
-#   enabled: true
-#   readoutPriority: monitored
-#   readOnly: false
-#   softwareTrigger: false
-# hfm_tryw:
-#   deviceClass: ophyd.EpicsMotor
-#   deviceConfig: {prefix: 'X06DA-ES-HFM:TRYW'}
-#   onFailure: buffer
-#   enabled: true
-#   readoutPriority: monitored
-#   readOnly: false
-#   softwareTrigger: false
-# hfm_trydr:
-#   deviceClass: ophyd.EpicsMotor
-#   deviceConfig: {prefix: 'X06DA-ES-HFM:TRYDR'}
-#   onFailure: buffer
-#   enabled: true
-#   readoutPriority: monitored
-#   readOnly: false
-#   softwareTrigger: false
-hfm_pitch:
-  description: KB mirror horizontal steering
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-HFM:PITCH'}
-  enabled: false
-  onFailure: buffer
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-hfm_yaw:
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-HFM:YAW'}
-  enabled: false
-  onFailure: buffer
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-hfm_roll:
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-HFM:ROLL'}
-  enabled: false
-  onFailure: buffer
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-hfm_trx:
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-HFM:TRX'}
-  enabled: false
-  onFailure: buffer
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-hfm_try:
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-HFM:TRY'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-# xbox_xbpm:
-#   description: Exposure box XBPM
-#   deviceClass: ophyd.EpicsSignalRO
-#   deviceConfig: {read_pv: 'X06DA-ES-XBBPM1:SumAll:MeanValue_RBV'}
-#   onFailure: buffer
-#   enabled: true
-#   readoutPriority: monitored
-#   readOnly: true
-#   softwareTrigger: false
-xbox_fil1:
-  description: Exposure box filter wheel 1
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-FI1:ROZ1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-xbox_fil2:
-  description: Exposure box filter wheel 2
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-FI2:ROZ1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-xbox_fil3:
-  description: Exposure box filter wheel 3
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-FI3:ROZ1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-xbox_fil4:
-  description: Exposure box filter wheel 4
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-FI4:ROZ1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-xbox_diode:
-  description: Exposure box diode
-  deviceClass: ophyd.EpicsSignalRO
-  deviceConfig: {read_pv: 'X06DA-ES-DI1:READOUT'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: true
-  softwareTrigger: false
-gonpos:
-  description: Sample sensor distance
-  deviceClass: ophyd.EpicsSignalRO
-  deviceConfig: {read_pv: 'X06DA-ES-DF1:CBOX-USER1', auto_monitor: true}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: true
-  softwareTrigger: false
-gonvalid:
-  description: Sample in valid distance
-  deviceClass: ophyd.EpicsSignalRO
-  deviceConfig: {read_pv: 'X06DA-ES-DF1:CBOX-CMP1', auto_monitor: true}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: true
-  softwareTrigger: false
-samzoom:
-  description: Sample microscope zoom
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-SAMCAM:ZOOM'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-samcam:
-  description: Sample camera aggregate device
-  deviceClass: pxiii_bec.devices.SamCamDetector
-  deviceConfig: {prefix: 'X06DA-SAMCAM:'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-samstream:
-  description: Sample camera ZMQ stream
-  deviceClass: pxiii_bec.devices.StdDaqPreviewDetector
-  deviceConfig:
-    url: 'tcp://129.129.110.12:9089'
-  deviceTags:
-    - detector
-  enabled: true
-  readoutPriority: async
-  readOnly: false
-  softwareTrigger: false
-# samimg:
-#   description: Sample camera image from EPICS
-#   deviceClass: pxiii_bec.devices.NDArrayPreview
-#   deviceConfig:
-#     prefix: 'X06DA-SAMCAM:image1:'
-#   deviceTags:
-#     - detector
-#   enabled: true
-#   readoutPriority: async
-#   readOnly: false
-#   softwareTrigger: false
-
-
-bstop_pneum:
-  description: Beamstop pneumatic in-out
-  deviceClass: ophyd.EpicsSignal
-  deviceConfig: {read_pv: 'X06DA-ES-BS:GET-POS', write_pv: 'X06DA-ES-BS:SET-POS'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-bstop_x:
-  description: Beamstop translation
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-BS:TRX1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-bstop_y:
-  description: Beamstop translation
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-BS:TRY1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-bstop_z:
-  description: Beamstop translation
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-BS:TRZ1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-bstop_pneum:
-  description: Beamstop pneumatic
-  deviceClass: pxiii_bec.devices.PneumaticValve
-  deviceConfig: {read_pv: 'X06DA-ES-BS:GET-POS', write_pv: 'X06DA-ES-BS:SET-POS', kind: 'config', auto_monitor: true, put_complete: true}
-  onFailure: buffer
-  enabled: true
+  enabled: True
  readoutPriority: baseline
-  readOnly: false
+  deviceTags:
+    - smargon
+    - motors
+  readOnly: false 
  softwareTrigger: false
-bstop_diode:
-  description: Beamstop diode
-  deviceClass: ophyd.EpicsSignalRO
-  deviceConfig: {read_pv: 'X06DA-ES-BS:READOUT', auto_monitor: true}
+ 
+aerotech:
+  description: REST-based device which connects to AareScan and Aerotech
+  deviceClass: pxiii_bec.devices.aerotech.Aerotech
+  deviceConfig: {prefix: 'http://mx-x06da-queue-01:5234'}
  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: true
-  softwareTrigger: false
-frontlight:
-  description: Microscope frontlight
-  deviceClass: ophyd.EpicsSignal
-  deviceConfig: {read_pv: 'X06DA-ES-FL:SET-BRGHT', kind: 'config', put_complete: true}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-backlight:
-  description: Backlight reflector
-  deviceClass: pxiii_bec.devices.PneumaticValve
-  deviceConfig: {read_pv: 'X06DA-ES-BL:GET-POS', write_pv: 'X06DA-ES-BL:SET-POS', kind: 'config', auto_monitor: true, put_complete: true}
-  onFailure: buffer
-  enabled: true
+  enabled: True
  readoutPriority: baseline
-  readOnly: false
+  deviceTags:
+    - aerotech
+    - motors
+  readOnly: false 
  softwareTrigger: false
-
-
-
-
-
-gmx:
-  description: ABR horizontal stage
-  deviceClass: pxiii_bec.devices.A3200Axis
-  deviceConfig: {prefix: 'X06DA-ES-DF1:GMX', base_pv: 'X06DA-ES'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-gmy:
-  description: ABR vertical stage
-  deviceClass: pxiii_bec.devices.A3200Axis
-  deviceConfig: {prefix: 'X06DA-ES-DF1:GMY', base_pv: 'X06DA-ES'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-gmz:
-  description: ABR axial stage
-  deviceClass: pxiii_bec.devices.A3200Axis
-  deviceConfig: {prefix: 'X06DA-ES-DF1:GMZ', base_pv: 'X06DA-ES'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-omega:
-  description: ABR rotation stage
-  deviceClass: pxiii_bec.devices.A3200Axis
-  deviceConfig: {prefix: 'X06DA-ES-DF1:OMEGA', base_pv: 'X06DA-ES'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-abr:
-  description: Aerotech ABR motion system
-  deviceClass: pxiii_bec.devices.AerotechAbrStage
-  deviceConfig: {prefix: 'X06DA-ES'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-
-coll_x:
-  description: Collimator X
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-COL:TRX1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-coll_y:
-  description: Collimator Y
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-COL:TRY1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-
-shx:
-  description: SmarGon X axis
-  deviceClass: pxiii_bec.devices.SmarGonAxisB
-  deviceConfig: {prefix: 'SCS', low_limit: -2, high_limit: 2, sg_url: 'http://x06da-smargopolo.psi.ch:3000'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-shy:
-  description: SmarGon Y axis
-  deviceClass: pxiii_bec.devices.SmarGonAxisB
-  deviceConfig: {prefix: 'SCS', low_limit: -2, high_limit: 2, sg_url: 'http://x06da-smargopolo.psi.ch:3000'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-shz:
-  description: SmarGon Z axis
-  deviceClass: pxiii_bec.devices.SmarGonAxisB
-  deviceConfig: {prefix: 'SCS', low_limit: 10, high_limit: 22, sg_url: 'http://x06da-smargopolo.psi.ch:3000'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-chi:
-  description: SmarGon CHI axis
-  deviceClass: pxiii_bec.devices.SmarGonAxisB
-  deviceConfig: {prefix: 'SCS', low_limit: 0, high_limit: 40, sg_url: 'http://x06da-smargopolo.psi.ch:3000'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-phi:
-  description: SmarGon PHI axis
-  deviceClass: pxiii_bec.devices.SmarGonAxisB
-  deviceConfig: {prefix: 'SCS', sg_url: 'http://x06da-smargopolo.psi.ch:3000'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-
-det_y:
-  description: Pilatus height
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-DET:TRY1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
-det_z:
-  description: Pilatus translation
-  deviceClass: ophyd.EpicsMotor
-  deviceConfig: {prefix: 'X06DA-ES-DET:TRZ1'}
-  onFailure: buffer
-  enabled: true
-  readoutPriority: monitored
-  readOnly: false
-  softwareTrigger: false
@@ -97,10 +97,10 @@ class AerotechAbrStage(PSIDeviceBase, Device):
    # )

    # Status flags for all axes
-    omega_done = Component(EpicsSignalRO, "-DF1:OMEGA-DONE", auto_monitor=True, kind=Kind.normal)
-    gmx_done = Component(EpicsSignalRO, "-DF1:GMX-DONE", auto_monitor=True, kind=Kind.normal)
-    gmy_done = Component(EpicsSignalRO, "-DF1:GMY-DONE", auto_monitor=True, kind=Kind.normal)
-    gmz_done = Component(EpicsSignalRO, "-DF1:GMZ-DONE", auto_monitor=True, kind=Kind.normal)
+    omega_done = Component(EpicsSignalRO, "-DF1:OMEGA-DONE", kind=Kind.normal)
+    gmx_done = Component(EpicsSignalRO, "-DF1:GMX-DONE", kind=Kind.normal)
+    gmy_done = Component(EpicsSignalRO, "-DF1:GMY-DONE", kind=Kind.normal)
+    gmz_done = Component(EpicsSignalRO, "-DF1:GMZ-DONE", kind=Kind.normal)

    # For some reason the task interface is called PSO...
    scan_command = Component(EpicsSignal, "-PSO:CMD", put_complete=True, kind=Kind.omitted)
@@ -128,7 +128,7 @@ class AerotechAbrStage(PSIDeviceBase, Device):
    task2 = Component(EpicsSignalRO, "-AERO:TSK2-DONE", auto_monitor=True)
    task3 = Component(EpicsSignalRO, "-AERO:TSK3-DONE", auto_monitor=True)
    task4 = Component(EpicsSignalRO, "-AERO:TSK4-DONE", auto_monitor=True)
-    scan_done = Component(EpicsSignal, "-GRD:SCAN-DONE", auto_monitor=True, kind=Kind.config)
+    scan_done = Component(EpicsSignal, "-GRD:SCAN-DONE", kind=Kind.config)

    def __init__(
        self,
@@ -0,0 +1,43 @@
+from ophyd import Component as Cpt
+
+from .http import TIMESTAMP_ID, HttpDeviceController, HttpDeviceSignal, HttpOphydDevice
+
+
+class AerotechController(HttpDeviceController):
+    _readback_endpoint = "/status"
+    _target_endpoint = "/position"
+
+    def __init__(self, *, prefix, **kwargs):
+        self._readbacks: dict[str, dict[str, float | bool]] = {}
+        super().__init__(prefix=prefix, **kwargs)
+
+    def put(self, axis: str, val: float):
+        self._rest_post(body={axis: val})
+
+    def get_readback(self, axis_id: str) -> tuple[float, float] | None:
+        with self._readback_lock:
+            if axis_id not in self._readbacks or TIMESTAMP_ID not in self._readbacks:
+                return None
+            return self._readbacks.get(axis_id)["pos"], self._readbacks.get(TIMESTAMP_ID)  # type: ignore
+
+
+class Aerotech(HttpOphydDevice):
+    controller_class = AerotechController
+
+    x = Cpt(HttpDeviceSignal, axis_identifier="x", tolerance=0.01)
+    y = Cpt(HttpDeviceSignal, axis_identifier="y", tolerance=0.01)
+    z = Cpt(HttpDeviceSignal, axis_identifier="z", tolerance=0.01)
+    u = Cpt(HttpDeviceSignal, axis_identifier="u", tolerance=0.01)
+    vel_u_deg_s = Cpt(HttpDeviceSignal, axis_identifier="vel_u_deg_s", tolerance=0.01)
+
+
+def _test():
+    a = Aerotech(name="aerotech", prefix="http://mx-x06da-queue-01:5234")
+    a.wait_for_connection()
+    return a
+
+
+if __name__ == "__main__":
+    aerotech = _test()
+    print(aerotech.read())
+    aerotech.stop()
@@ -0,0 +1,178 @@
+import time
+from abc import ABC, abstractmethod
+from threading import Event, RLock, Thread
+from typing import Any
+
+from ophyd import OphydObject
+from ophyd_devices import PSIDeviceBase
+from ophyd_devices.utils.socket import SocketSignal
+from requests import Response, Session
+
+TIMESTAMP_ID = "__timestamp"
+_POLL_INTERVAL_SLOW = 0.1
+
+
+class HttpRestError(Exception):
+    """Error for rest calls from a HttpRestSignal."""
+
+    def __init__(self, resp: Response, *args: object, value: Any | None = None) -> None:
+        method, url = resp.request.method, resp.request.url
+        data = f"{str(value)} to " if value is not None else ""
+        super().__init__(
+            f"Could not {method} {data}{url}. Code: {resp.status_code}. Reason: {resp.reason}.",
+            *args,
+        )
+
+
+class HttpDeviceController(OphydObject, ABC):
+    """Controller to consolidate polling loops and other REST calls for devices which communicate
+    with HTTP REST interfaces"""
+
+    _readback_endpoint: str
+    _target_endpoint: str
+
+    def __init__(self, *, prefix, **kwargs):
+        self._readbacks: dict
+        self._session = Session()
+        self._prefix = prefix
+        self._targets = {}
+        self._signal_registry: set[str] = set()
+        self._readback_poll_interval: float = _POLL_INTERVAL_SLOW
+
+        super().__init__(**kwargs)
+        self._setup_readback()
+
+    def _setup_readback(self):
+        self._stop_monitor_readback_event = Event()
+        self._readback_lock = RLock()
+        self._monitor_readback_thread = Thread(
+            target=self._monitor,
+            args=[
+                self._readback_endpoint,
+                self._stop_monitor_readback_event,
+                self._readback_lock,
+                self._readbacks,
+            ],
+        )
+
+    def manual_update(self):
+        self._update_reading(self._readback_endpoint, self._readback_lock, self._readbacks)
+
+    def _update_reading(self, endpoint: str, lock: RLock, buffer: dict):
+        data = self._rest_get(endpoint)
+        timestamp = time.monotonic()
+        with lock:
+            buffer.update(data)
+            buffer["__timestamp"] = timestamp
+
+    def _monitor(self, endpoint: str, event: Event, lock: RLock, buffer: dict):
+        while not event.is_set():
+            self._update_reading(endpoint, lock, buffer)
+            time.sleep(self._readback_poll_interval)
+
+    def _clean_monitor(self):
+        if self._monitor_readback_thread.is_alive():
+            self._stop_monitor_readback_event.set()
+            self._monitor_readback_thread.join(timeout=2)
+            if self._monitor_readback_thread.is_alive():
+                raise RuntimeError("Failed to clean up Aerotech monitor thread.")
+
+    def register(self, axis_id: str):
+        self._signal_registry.add(axis_id)
+
+    def _rest_get(self, endpoint):
+        resp = self._session.get(self._prefix + endpoint)
+        if not resp.ok:
+            raise HttpRestError(resp)
+        return resp.json()
+
+    def _rest_put(self, params: dict | None = None, body: dict | None = None):
+        resp = self._session.put(self._prefix + self._target_endpoint, params=params, json=body)
+        if not resp.ok:
+            raise HttpRestError(resp, value=params)
+
+    def _rest_post(self, params: dict | None = None, body: dict | None = None):
+        resp = self._session.post(self._prefix + self._target_endpoint, params=params, json=body)
+        if not resp.ok:
+            raise HttpRestError(resp, value=params)
+
+    def start_monitor(self):
+        """Start or restart the automonitor thread."""
+        self._clean_monitor()
+        self._setup_readback()
+        self._monitor_readback_thread.start()
+
+    def monitor_stopped(self):
+        return not self._monitor_readback_thread.is_alive()
+
+    def put(self, axis: str, val: float):
+        self._rest_put({axis: val})
+
+    @abstractmethod
+    def get_readback(self, axis_id: str) -> tuple[float, float] | None:
+        """Return a tuple (reading, timestamp) if the axis_id exists"""
+
+    def stop(self):
+        # There doesn't appear to be a stop endpoint on the server
+        # Best effort: set the target to the current position
+        pass
+        # TODO: self._rest_put(self._readbacks)
+
+
+class HttpDeviceSignal(SocketSignal):
+    """Ophyd signal which gets and puts to a REST API rather than EPICS PVs, mediated through the Aerotech
+    Controller"""
+
+    def __init__(self, *args, axis_identifier: str, **kwargs):
+        super().__init__(*args, **kwargs)
+        controller: HttpDeviceController | None = getattr(self.root, "controller", None)
+        if controller is None:
+            raise TypeError("HttpDeviceSignal must be used in a device with a HttpDeviceController")
+        self._controller = controller
+        self._axis_id = axis_identifier
+        self._controller.register(self._axis_id)
+
+    def _socket_get(self):  # type: ignore
+        self._readback, self.metadata["timestamp"] = self._controller.get_readback(
+            self._axis_id
+        ) or (0.0, 0.0)
+        return self._readback
+
+    def _socket_set(self, val: float):
+        self._controller.put(self._axis_id, val)
+
+    def get(self, **kwargs):
+        if self._controller.monitor_stopped():
+            self._controller.start_monitor()
+        return super().get(**kwargs)
+
+
+class HttpOphydDevice(PSIDeviceBase):
+    controller_class: type[HttpDeviceController]
+
+    def __init__(
+        self,
+        *,
+        name: str,
+        prefix: str = "",
+        scan_info=None,
+        device_manager=None,
+        **kwargs,
+    ):
+        self.controller = self.controller_class(prefix=prefix)
+        super().__init__(
+            name=name,
+            prefix=prefix,
+            scan_info=scan_info,
+            device_manager=device_manager,
+            **kwargs,
+        )
+
+    def wait_for_connection(self, **kwargs):  # type: ignore
+        self.controller.start_monitor()
+        self.controller.manual_update()
+        return super().wait_for_connection(**kwargs)
+
+    def stop(self, *, success: bool = False) -> None:
+        self.controller.stop()
+        return super().stop(success=success)
@@ -0,0 +1,42 @@
+from ophyd import Component as Cpt
+from ophyd_devices import PSIDeviceBase
+
+from .http import HttpDeviceController, HttpDeviceSignal, HttpOphydDevice
+
+_TIMESTAMP_ID = "__timestamp"
+_POLL_INTERVAL_SLOW = 0.1
+
+
+class SmargonController(HttpDeviceController):
+    """Controller to consolidate polling loops and other REST calls for the smargon"""
+
+    _readback_endpoint = "/readbackSCS"
+    _target_endpoint = "/targetSCS"
+
+    def __init__(self, *, prefix, **kwargs):
+        self._readbacks: dict[str, float] = {}
+        super().__init__(prefix=prefix, **kwargs)
+
+    def get_readback(self, axis_id: str) -> tuple[float, float] | None:
+        with self._readback_lock:
+            if axis_id not in self._readbacks or _TIMESTAMP_ID not in self._readbacks:
+                return None
+            return self._readbacks.get(axis_id), self._readbacks.get(_TIMESTAMP_ID)  # type: ignore
+
+    def put(self, axis: str, val: float):
+        self._rest_put(params={axis: val})
+
+    def stop(self):
+        # There doesn't appear to be a stop endpoint on the server
+        # Best effort: set the target to the current position
+        self._rest_put(params=self._readbacks)
+
+
+class Smargon(HttpOphydDevice):
+    controller_class = SmargonController
+
+    x = Cpt(HttpDeviceSignal, axis_identifier="SHX", tolerance=0.01)
+    y = Cpt(HttpDeviceSignal, axis_identifier="SHY", tolerance=0.01)
+    z = Cpt(HttpDeviceSignal, axis_identifier="SHZ", tolerance=0.01)
+    phi = Cpt(HttpDeviceSignal, axis_identifier="PHI", tolerance=0.01)
+    chi = Cpt(HttpDeviceSignal, axis_identifier="CHI", tolerance=0.01)
@@ -0,0 +1,6 @@
+# Macros
+
+This directory is intended to store macros which will be loaded automatically when starting BEC.
+Macros are small functions to make repetitive tasks easier. Functions defined in python files in this directory will be accessible from the BEC console.
+Please do not put any code outside of function definitions here. If you wish for code to be automatically run when starting BEC, see the startup script at pxiii_bec/bec_ipython_client/startup/post_startup.py
+For a guide on writing macros, please see: https://bec.readthedocs.io/en/latest/user/command_line_interface.html#how-to-write-a-macro
@@ -0,0 +1,194 @@
+"""Planner to move between beamline statesΩ"""
+
+import time
+from collections import defaultdict, deque
+# from enums import BeamlineState, TemperatureMode
+# from matcher import DeviceMatcher, nonzero_is_on
+
+
+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,
+        stage_timeout=5,
+        debug=False,
+    ):
+        self.devices = devices
+        self.states = states
+        self.allow_modifiers = allow_modifiers or {}
+        self.deps = deps
+        self.stage_timeout = stage_timeout
+        self.debug = debug
+
+        self.modifiers = {
+            TemperatureMode.CRYO: {"cryo_pos": "in"},
+            TemperatureMode.ROOM_TEMP: {"cryo_pos": "out"},
+        }
+
+        self.matcher = DeviceMatcher()
+        # Register rules
+        self.matcher.register("bl_bright", nonzero_is_on)
+        self.matcher.register("fl_bright", nonzero_is_on)
+        # self.matcher.register("bs_z", threshold_rule("safe"))
+
+    def _merged_state(self, state, modifier):
+        target = dict(self.states[state])
+
+        if modifier:
+            if isinstance(modifier, str):
+                modifier = TemperatureMode(modifier)
+
+            if self.allow_modifiers.get(state, False):
+                target.update(self.modifiers[modifier])
+        return target
+
+    def execute_plan(self, stage, state_name):
+        """Execute the planning stage"""
+        statuses = []
+        moved = []
+        start = time.time()
+
+        # trigger moves in parallel
+        for dev, pos in stage:
+            d = self.devices[dev]
+            if not d.is_at(pos):
+                # status = d.mv(pos)
+                status = d.mv(pos)
+                statuses.append((dev, pos, status))
+                moved.append((dev, d, pos))
+
+        # wait for all to finish
+        for dev, pos, status in statuses:
+            remaining = self.stage_timeout - (time.time() - start)
+            if remaining <= 0:
+                raise RuntimeError(f"Stage timeout while moving to {state_name.name}")
+            try:
+                status.wait(timeout=remaining)
+            except Exception:
+                print(f"\nTimeout waiting for {dev} -> {pos}")
+                # print("Positions:", self.print_positions())
+                raise
+
+        # optional final verification (recommended for beamlines)
+        for dev, d, pos in moved:
+            if not self.matcher.matches(dev, d, pos):
+                raise RuntimeError(
+                    f"{dev} did not reach position '{pos}' while moving to "
+                    f"{state_name.name}. Check motor status in EPICS."
+                )
+        print("Stage complete.")
+
+    def move_to(self, state_name, modifier=None):
+        """Move devices to the correct positions to achieve a given state"""
+        if isinstance(state_name, str):
+            state_name = BeamlineState(state_name)
+        target = self._merged_state(state_name, modifier)
+
+        plan = self._plan(target)
+        print(len(plan), "stages to reach target state")
+
+        # print("PLAN:")
+        # for i, stage in enumerate(plan):
+        #     print(f"Stage {i + 1}: {stage}")
+        seq = 1
+        for stage in plan:
+            print(f"Stage {seq}: {stage}")
+            self.execute_plan(stage, state_name)
+            seq += 1
+
+    def available_states(self):
+        """Return a list of available states"""
+        return list(self.states.keys())
+
+    def get_positions(self):
+        """Return current positions of all SE devices"""
+        return {name: dev.pos for name, dev in self.devices.items()}
+
+    def print_positions(self):
+        """Return current state of all devices"""
+        for name, device in self.devices.items():
+            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"""
+        after = self.get_positions()
+        return {k: (before[k], after[k]) for k in before if before[k] != after[k]}
+
+    def current_state(self):
+        """Return all current matching BeamlineState and TemperatureMode combinations,
+        prioritizing non-None modifiers first."""
+        matches = []  # Store all matching (state, modifier) pairs
+
+        for state in self.states:
+            # Start with prioritized modifiers: Non-None first, then None.
+            modifiers = list(self.modifiers.keys())
+            modifiers.append(None)  # Add `None` as a fallback after real modifiers.
+
+            for modifier in modifiers:
+                # Combine state and modifier to get full configuration
+                config = self._merged_state(state, modifier)
+
+                # Check if all devices match their expected positions
+                all_match = True
+
+                for d, expected in config.items():
+                    dev = self.devices[d]
+
+                    if not self.matcher.matches(d, dev, expected):
+                        all_match = False
+                        break
+
+                if all_match:
+                    matches.append((state.name, modifier.name if modifier else None))
+
+        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()
+        if not actual:
+            return False
+
+        if modifier is None:
+            # match any modifier
+            return any(s == state.name for s, _ in actual)
+
+        return (state.name, modifier.name) in actual
+
+    def _plan(self, target):
+
+        graph = defaultdict(set)
+        indeg = defaultdict(int)
+        nodes = set()
+
+        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)
+
+        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
@@ -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
+
+
+
+
@@ -0,0 +1,357 @@
+"""Utility functions for calculating energy, wavelength, and Bragg angle."""
+
+from dataclasses import dataclass
+import numpy as np
+# from pxii_parameters import (EnergyDefaults, CamConversion)
+
+
+@dataclass(frozen=True)
+class Constants:
+    """Constants used in energy calculations"""
+
+    # # Physical Constants from https://physics.nist.gov/cuu/Constants/index.html
+    ANGSTROM_CONVERSION = 1e10  # Convert meters to angstrom
+    PLANCK_CONST_EV = 4.135667696e-15  # eV/Hz
+    SPEED_OF_LIGHT = 299792458  # m/s
+
+    # d-spacings
+    d_spacing = {120: 3.13481, 298: 3.13562}
+
+
+def speed_of_light_ang():
+    """
+    Calculate the speed of light in angstroms per second.
+
+    Returns:
+        float: The speed of light converted to angstroms per second.
+    """
+    return Constants.SPEED_OF_LIGHT * Constants.ANGSTROM_CONVERSION
+
+
+def en_wav_factor():
+    """
+    Calculate the energy wavelength factor.
+
+    This function computes a constant factor used to calculate energy
+    values in relation to wavelength by combining Planck's constant,
+    in eV/Hz, and the speed of light in angstrom.
+
+    Returns:
+        float: The computed energy wavelength factor.
+    """
+    return Constants.PLANCK_CONST_EV * speed_of_light_ang()
+
+
+# Helper Functions
+def convert_to_degrees(angle_mrad: float) -> float:
+    """
+    Convert an angle from milliradians to degrees.
+
+    Args:
+        angle_mrad: The angle value in milliradians.
+
+    Returns:
+        The angle converted into degrees as a float.
+    """
+    return np.rad2deg(angle_mrad / 1000)
+
+
+def create_conversion_result(
+    energy_ev: float, wavelength: float, bragg_angle_mrad: float
+) -> dict:
+    """
+    Creates a dictionary containing converted values of energy and angles.
+
+    This function takes the energy in electron-volts, the wavelength,
+    and the Bragg angle in milliradians as input. It computes and
+    returns a dictionary containing the energy in both electron-volts
+    and kiloelectron-volts, the wavelength, the Bragg angle in milliradians,
+    and the Bragg angle converted to degrees.
+
+    Args:
+        energy_ev: Energy value in electron-volts.
+        wavelength: Wavelength value.
+        bragg_angle_mrad: Bragg angle in milliradians.
+
+    Returns:
+        dict: A dictionary containing the following keys:
+            - "energy_kev": Energy value in kiloelectron-volts.
+            - "energy_ev": Energy value in electron-volts.
+            - "wavelength": Wavelength value.
+            - "bragg_angle_mrad": Bragg angle in milliradians.
+            - "bragg_angle_deg": Bragg angle in degrees.
+    """
+    return {
+        "energy_kev": energy_ev / 1000,
+        "energy_ev": energy_ev,
+        "wavelength": wavelength,
+        "bragg_angle_mrad": float(bragg_angle_mrad),
+        "bragg_angle_deg": float(convert_to_degrees(bragg_angle_mrad)),
+    }
+
+
+def print_conversion_result(result: dict) -> None:
+    """
+    Prints the energy-related conversion results to the console.
+    """
+
+    line = (
+        f"energy: {result['energy_ev']:.6g} eV, energy: {result['energy_kev']:.6g} keV, "
+        f"wavelength: {result['wavelength']:.4g} Å, "
+        f"bragg angle: {result['bragg_angle_mrad']:.5g} mrad, {result['bragg_angle_deg']:.4g} deg"
+    )
+    print(line)
+
+
+# Conversion Functions
+def calculate_wavelength_from_angle(bragg_angle_mrad: float, temp=120) -> float:
+    """
+    calculate_wavelength_from_angle(bragg_angle_mrad: float) -> float
+
+    Arguments:
+        bragg_angle_mrad: The Bragg angle in milliradians, used to compute the
+                          sine value required for the wavelength calculation.
+
+    Returns:
+        The calculated wavelength as a float value.
+    """
+    d = Constants.d_spacing[temp]
+    return 2 * d * np.sin(bragg_angle_mrad / 1000)
+
+
+def calculate_energy_from_wavelength(wavelength: float) -> float:
+    """
+    Calculates the energy of a photon based on its wavelength.
+
+    Args:
+        wavelength: The wavelength of the photon in angstrom.
+
+    Returns:
+        The energy of the photon in eV.
+    """
+    return en_wav_factor() / wavelength
+
+
+def calculate_wavelength_from_energy(energy_ev: float) -> float:
+    """
+    Calculates the wavelength of a photon from its energy.
+
+    Arguments:
+        energy_ev: float
+            The energy of the photon in electronvolts (eV).
+
+    Returns:
+        float
+            The calculated wavelength of the photon in angstrom.
+    """
+    return en_wav_factor() / energy_ev
+
+
+def calculate_bragg_angle_from_wavelength(wavelength: float, temp=120) -> float:
+    """
+    Calculate the Bragg angle in milliradians for a given wavelength.
+
+    Args:
+        wavelength: The wavelength in angstrom.
+
+    Returns:
+        The Bragg angle in milliradians as a float.
+    """
+    d = Constants.d_spacing[temp]
+    angle_rad = np.arcsin(wavelength / (2 * d))
+    return angle_rad * 1000
+
+
+def convert_input_angle_to_mrad(bragg_angle: float) -> float:
+    """
+    Convert input angle into milliradians (mrad).
+
+    This function takes an angle as input and determines its likely unit,
+    converting it to milliradians (mrad) if necessary. If the input value
+    is less than 1, it is assumed to be in radians and is converted to
+    mrad. If the input value falls between predefined minimum and
+    maximum values for mrad, it is assumed to be in degrees and thus
+    converted to mrad using the degrees-to-radians conversion factor.
+
+    For input values that don't match these scenarios, it assumes
+    that the input is already in mrad and returns it unchanged.
+
+    Arguments:
+        bragg_angle (float): The input Bragg angle, which can be in
+        radians, degrees, or milliradians.
+
+    Returns:
+        float: The Bragg angle converted into milliradians (mrad).
+    """
+    if bragg_angle < 1:  # Likely the input angle is in radians
+        return bragg_angle * 1000
+    if 3 < bragg_angle < 25:  # Likely input angle is in degrees
+        return np.deg2rad(bragg_angle) * 1000
+    return bragg_angle  # Already in mrad
+
+
+# Core Functions
+def validate_energy(energy_ev):
+    """
+    Validates the energy value to ensure it falls within the acceptable range. The function
+    converts the provided energy from keV to eV if the input value is less than 1/1000 of the
+    maximum energy value. It then checks whether the energy is within the defined bounds.
+    If the energy value is outside the acceptable range, the function raises a ValueError.
+
+    Args:
+        energy_ev (float): The energy value in eV or keV to be validated. If this value is
+            smaller than 1/1000 of the maximum allowed energy (in eV), it will be multiplied
+            by 1000 to convert it from keV to eV.
+
+    Returns:
+        float: The validated energy value in eV that falls within the acceptable range.
+
+    Raises:
+        ValueError: If the energy value is outside the defined range of
+            [MIN_ENERGY_EV, MAX_ENERGY_EV].
+    """
+    if energy_ev < EnergyDefaults.max_energy_ev / 1000:  # Assuming the input is in keV.
+        energy_ev *= 1000
+    if not EnergyDefaults.min_energy_ev <= energy_ev <= EnergyDefaults.max_energy_ev:
+        raise ValueError(
+            f"Energy of {energy_ev} eV is outside the valid range "
+            f"({EnergyDefaults.min_energy_ev} eV to {EnergyDefaults.max_energy_ev} eV)"
+        )
+    return energy_ev
+
+
+def convert_from_bragg(
+    bragg_angle_mrad: float, temp=120, print_result: bool = False
+) -> dict:
+    """
+    Convert the Bragg angle to wavelength and energy, returning the result as a dictionary.
+
+    This function converts a given Bragg angle (in milliradians) into the corresponding
+    wavelength and energy values, and returns them in a dictionary format. The function
+    also supports optional printing of the calculated results.
+
+    Args:
+        bragg_angle_mrad (float): The Bragg angle in milliradians to be converted.
+        print_result (bool): Whether to print the conversion result. Defaults to False.
+
+    Returns:
+        dict: A dictionary containing the following keys:
+            - 'energy_ev': Energy in electronvolts.
+            - 'wavelength': Wavelength corresponding to the input angle.
+            - 'bragg_angle_mrad': Input Bragg angle in milliradians.
+    """
+    bragg_angle_mrad = convert_input_angle_to_mrad(bragg_angle_mrad)
+    wavelength = float(calculate_wavelength_from_angle(bragg_angle_mrad, temp=temp))
+    energy_ev = float(calculate_energy_from_wavelength(wavelength))
+    result = create_conversion_result(energy_ev, wavelength, bragg_angle_mrad)
+    if print_result:
+        print_conversion_result(result)
+    return result
+
+
+def convert_from_energy(energy_ev: float, temp=120, print_result: bool = False) -> dict:
+    """
+    Convert energy in electron volts (eV) to  wavelength and Bragg angle in milliradians
+    (mrad). This method validates the given energy, calculates corresponding properties,
+    and optionally prints the result.
+
+    Args:
+        energy_ev: Energy value in electron volts (float) to be converted.
+        print_result: Flag indicating whether to print the resulting
+            conversion details (bool). Defaults to False.
+
+    Returns:
+        A dictionary containing the following key-value pairs:
+            - "energy_ev" (float): Validated energy in eV.
+            - "wavelength" (float): Calculated wavelength in meters.
+            - "bragg_angle_mrad" (float): Calculated Bragg angle in mrad.
+    """
+    energy_ev = validate_energy(energy_ev)
+    wavelength = calculate_wavelength_from_energy(energy_ev)
+    bragg_angle_mrad = float(
+        calculate_bragg_angle_from_wavelength(wavelength, temp=temp)
+    )
+    result = create_conversion_result(energy_ev, wavelength, bragg_angle_mrad)
+    if print_result:
+        print_conversion_result(result)
+    return result
+
+
+def convert_from_wavelength(
+    wavelength: float,
+    temp: float = 120,
+    print_result: bool = False,
+) -> dict:
+    """
+    Convert a given wavelength value into corresponding energy, Bragg angle, and
+    generate a result dictionary.
+
+    The function processes a wavelength value, checks its validity against a
+    permitted range, calculates corresponding energy and Bragg angle, and
+    formats the results into a dictionary. Optionally, the function can print
+    the result.
+
+    Parameters:
+        wavelength: float
+            The input wavelength value in Angstroms to be converted. Should
+            fall within the permitted wavelength range.
+        print_result: bool
+            Optional flag indicating whether to print the conversion result.
+            Default is False.
+
+    Returns:
+        dict
+            A dictionary containing the energy (electron-volts), wavelength
+            (Angstroms), and Bragg angle (milliradians). If the wavelength is
+            outside of the permitted range, returns None.
+    """
+    energy_ev = calculate_energy_from_wavelength(wavelength)
+    bragg_angle_mrad = float(
+        calculate_bragg_angle_from_wavelength(wavelength, temp=temp)
+    )
+    result = create_conversion_result(energy_ev, wavelength, bragg_angle_mrad)
+    if print_result:
+        print_conversion_result(result)
+    return result
+
+
+def calc_perp_position(
+    energy_ev: float,
+    print_result: bool = False,
+) -> float:
+    """
+    Calculate the perpendicular motor position based on provided energy in electron-volts (eV).
+
+    This function computes the perpendicular motor position using the given energy value in
+    electron-volts. The calculation is based on the Bragg angle derived from the energy. An optional
+    parameter allows printing the result during execution.
+
+    Parameters:
+        energy_ev (float): The energy value in electron-volts used for the calculation.
+        print_result (bool): Flag to determine whether to print the computed perpendicular offset.
+            Default is False.
+
+    Returns:
+        float: The computed perpendicular position.
+
+    Raises:
+        None
+    """
+    result = convert_from_energy(energy_ev, print_result=False)
+    bragg_angle_rad = result["bragg_angle_mrad"] / 1000
+    perp_offset = float(EnergyDefaults.beam_offset / (2 * np.cos(bragg_angle_rad))) - 3
+    if print_result:
+        print(f"Perp = {perp_offset: .4f}")
+    return perp_offset
+
+def calc_scam_microns(pixels, zoom = 1000):
+    return pixels/(0.5208 * np.exp(0.002586 * zoom))
+
+def calc_scam_microns(pixels, zoom=1000):
+    """Convert pixels to microns for the sample camera"""
+    return float(pixels / (CamConversion.a * np.exp(CamConversion.b * zoom)))
+
+def calc_bsccam_microns(pixels):
+    """Convert pixels to microns for the BSC camera"""
+    return pixels*20
+
@@ -0,0 +1,457 @@
+"""Start of a beamline health checker"""
+
+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
+
+
+# -------------------------------------------------------------------
+# Status Enum
+# -------------------------------------------------------------------
+
+
+class Status(Enum):
+    """Define standard statuses"""
+
+    OK = 0
+    WARNING = 1
+    ERROR = 2
+    UNKNOWN = 3
+
+    @property
+    def color(self):
+        return {
+            Status.OK: "green",
+            Status.WARNING: "yellow",
+            Status.ERROR: "red",
+            Status.UNKNOWN: "blue",
+        }[self]
+
+    @property
+    def color_scilog(self):
+        return {Status.OK: "green", Status.WARNING: "", Status.ERROR: "red", Status.UNKNOWN: ""}[
+            self
+        ]
+
+
+# -------------------------------------------------------------------
+# Health Result Object
+# -------------------------------------------------------------------
+
+
+@dataclass
+class HealthCheckResult:
+    """Define the output of the health check"""
+
+    name: str
+    description: str
+    status: Status
+
+    value: Any = None
+
+    message: str = ""
+
+    category: str = "general"
+
+    def __str__(self):
+
+        if self.status == Status.OK:
+            return f"[{self.status.name}] {self.description}"
+
+        return f"[{self.status.name}] " f"{self.description}: {self.message}"
+
+    def formatted_message(self):
+        if self.status == Status.OK:
+            return f"[{self.status.name}] {self.name}"
+
+        return f"[{self.status.name}] " f"{self.description}: {self.message}"
+
+
+# -------------------------------------------------------------------
+# Send to SciLog
+# -------------------------------------------------------------------
+
+
+def send_to_scilog(results):
+    """Make a scilog entry of the health check"""
+
+    counts = {Status.OK: 0, Status.WARNING: 0, Status.ERROR: 0, Status.UNKNOWN: 0}
+
+    for result in results:
+        counts[result.status] += 1
+    timestamp = datetime.now().strftime("%Y/%m/%d %H:%M")
+
+    msg = bec.messaging.scilog.new()
+
+    msg.add_text(f"Beamline Health Summary {timestamp}", 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_scilog,
+        )
+        msg.add_text("\n")
+    msg.add_tags(["beamline health check"])
+    msg.send()
+
+
+# -------------------------------------------------------------------
+# Configuration
+# -------------------------------------------------------------------
+
+
+@dataclass
+class BeamlineHealthConfig:
+    """Define some rules to check against"""
+
+    signal_rules: dict[str, Callable] = field(
+        default_factory=lambda: {"cam": lambda x: x != 0, "bpm": lambda x: x != 0}
+    )
+
+    motor_tolerances: dict[str, float] = field(
+        default_factory=lambda: {
+            # examples
+            # "mono_theta": 0.001,
+            # "detector_z": 0.1,
+        }
+    )
+
+    default_motor_tolerance: float = 0.02
+
+
+# -------------------------------------------------------------------
+# Device Collection
+# -------------------------------------------------------------------
+
+
+def get_devices():
+    """Return a list of all the beamline devices"""
+    return list(dev.items())
+
+
+# -------------------------------------------------------------------
+# Signal Checks
+# -------------------------------------------------------------------
+
+
+def check_signals(devices, config: BeamlineHealthConfig):
+    """Check the signal devices"""
+
+    results = []
+
+    signal_devices = [(name, obj) for name, obj in devices if isinstance(obj, Signal)]
+
+    for name, obj in signal_devices:
+
+        try:
+            data = obj.read()
+            actual = data[name]["value"]
+            description = obj.description
+
+        except Exception as e:
+
+            results.append(
+                HealthCheckResult(
+                    name=name,
+                    description=name,
+                    status=Status.UNKNOWN,
+                    message=f"Failed to read signal: {e}",
+                    category="signals",
+                )
+            )
+
+            continue
+
+        matched = False
+
+        for keyword, rule in config.signal_rules.items():
+
+            if keyword in name:
+
+                matched = True
+
+                try:
+                    passed = rule(actual)
+
+                except Exception as e:
+
+                    results.append(
+                        HealthCheckResult(
+                            name=name,
+                            description=name,
+                            status=Status.UNKNOWN,
+                            value=actual,
+                            message=f"Rule evaluation failed: {e}",
+                            category="signals",
+                        )
+                    )
+
+                    break
+
+                if passed:
+
+                    results.append(
+                        HealthCheckResult(
+                            name=name,
+                            description=description,
+                            status=Status.OK,
+                            value=actual,
+                            category="signals",
+                        )
+                    )
+
+                else:
+
+                    results.append(
+                        HealthCheckResult(
+                            name=name,
+                            description=description,
+                            status=Status.ERROR,
+                            value=actual,
+                            message=f"Signal value {actual} failed validation",
+                            category="signals",
+                        )
+                    )
+                break
+
+        if not matched:
+            continue
+
+    return results
+
+
+# -------------------------------------------------------------------
+# Motor Checks
+# -------------------------------------------------------------------
+
+
+def check_motors(devices, config: BeamlineHealthConfig):
+    """Check the standard motor devices"""
+
+    results = []
+
+    motor_devices = [(name, obj) for name, obj in devices if isinstance(obj, Positioner)]
+
+    for name, obj in motor_devices:
+
+        try:
+
+            data = obj.read()
+
+            description = obj.description
+
+            actual = data[name]["value"]
+
+            error_code = obj.motor_status.get()
+
+            move_state = obj.motor_is_moving.get()
+
+        except Exception as e:
+
+            results.append(
+                HealthCheckResult(
+                    name=name,
+                    description=name,
+                    status=Status.UNKNOWN,
+                    message=f"Failed to read motor: {e}",
+                    category="motors",
+                )
+            )
+
+            continue
+
+        # -----------------------------------------------------------
+        # Error state
+        # -----------------------------------------------------------
+
+        if error_code != 0:
+
+            results.append(
+                HealthCheckResult(
+                    name=name,
+                    description=description,
+                    status=Status.ERROR,
+                    value=error_code,
+                    message=f"motor error code: {error_code}",
+                    category="motors",
+                )
+            )
+
+            continue
+
+        # -----------------------------------------------------------
+        # Moving state
+        # -----------------------------------------------------------
+
+        if move_state != 0:
+
+            results.append(
+                HealthCheckResult(
+                    name=name,
+                    description=description,
+                    status=Status.WARNING,
+                    value=move_state,
+                    message="motor is currently moving",
+                    category="motors",
+                )
+            )
+
+            continue
+
+        # -----------------------------------------------------------
+        # Setpoint comparison
+        # -----------------------------------------------------------
+
+        sp_key = f"{name}_user_setpoint"
+
+        if sp_key in data:
+
+            setpoint = data[sp_key]["value"]
+
+            diff = abs(actual - setpoint)
+
+            tolerance = config.motor_tolerances.get(name, config.default_motor_tolerance)
+
+            if diff > tolerance:
+
+                results.append(
+                    HealthCheckResult(
+                        name=name,
+                        description=description,
+                        status=Status.WARNING,
+                        value=diff,
+                        message=(
+                            f"Setpoint {setpoint:.5g} differs "
+                            f"from readback {actual:.5g} "
+                            f"by {diff:.4g}"
+                        ),
+                        category="motors",
+                    )
+                )
+
+            else:
+
+                results.append(
+                    HealthCheckResult(
+                        name=name,
+                        description=description,
+                        status=Status.OK,
+                        value=actual,
+                        category="motors",
+                    )
+                )
+
+        else:
+
+            results.append(
+                HealthCheckResult(
+                    name=name,
+                    description=description,
+                    status=Status.UNKNOWN,
+                    message="No setpoint available",
+                    category="motors",
+                )
+            )
+
+    return results
+
+
+# -------------------------------------------------------------------
+# Main Check Entry Point
+# -------------------------------------------------------------------
+
+
+def check2(config: BeamlineHealthConfig | None = None):
+    """Perform the checks"""
+    if config is None:
+        config = BeamlineHealthConfig()
+
+    devices = get_devices()
+
+    results = []
+
+    results.extend(check_signals(devices, config))
+
+    results.extend(check_motors(devices, config))
+
+    # ---------------------------------------------------------------
+    # Sort by severity
+    # ---------------------------------------------------------------
+
+    results.sort(key=lambda r: r.status.value)
+
+    return results
+
+
+# -------------------------------------------------------------------
+# Summary Printer
+# -------------------------------------------------------------------
+
+
+def summary_text(results):
+    """Summarise the results in a text table"""
+
+    timestamp = datetime.now().strftime("%Y-%m-%d %H:%M")
+
+    n_ok = sum(r.status == Status.OK for r in results)
+
+    n_warn = sum(r.status == Status.WARNING for r in results)
+
+    n_err = sum(r.status == Status.ERROR for r in results)
+
+    n_unknown = sum(r.status == Status.UNKNOWN for r in results)
+
+    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
+# -------------------------------------------------------------------
+def filter_results(results, statuses=None):
+    """Filter the results"""
+    if statuses is None:
+        return results
+
+    return [r for r in results if r.status in statuses]
+
+
+# -------------------------------------------------------------------
+# CLI Entry Point
+# -------------------------------------------------------------------
+
+
+def run_check(show_all=False):
+    """Runs the checks and outputs the results"""
+
+    results = check2()
+
+    print(summary_text(results))
+
+    problem_results = filter_results(
+        results, statuses={Status.WARNING, Status.ERROR, Status.UNKNOWN}
+    )
+    send_to_scilog(results)
+
+    if not show_all:
+        results = filter_results(results, statuses={Status.WARNING, Status.ERROR, Status.UNKNOWN})
+    for result in results:
+        print(result)
@@ -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")],
+    }
@@ -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
@@ -0,0 +1,22 @@
+"""Enums for beamline states"""
+from enum import Enum
+
+
+class BeamlineState(str, Enum):
+    """List of beamline states"""
+    ROBOT_SAMPLE_EXCHANGE = "robot_sample_exchange"
+    SAMPLE_ALIGNMENT = "sample_alignment"
+    DATA_COLLECTION = "data_collection"
+    DC_XRF = "DC_XRF"
+    MANUAL_SAMPLE_EXCHANGE = "manual_sample_exchange"
+    BEAM_VISUALISATION = "beam_visualisation"
+    FLUX_MEASUREMENT = "flux_measurement"
+    BEAMSTOP_ALIGNMENT = "beamstop_alignment"
+    MAINTENANCE = "maintenance"
+    XTAL_SNAPSHOT = "xtal_snapshot"
+
+
+class TemperatureMode(str, Enum):
+    """List of temperature modes"""
+    CRYO = "cryo"
+    ROOM_TEMP = "room_temp"
@@ -0,0 +1,95 @@
+"""Setup guards for devices."""
+
+
+class GuardViolation(Exception):
+    """Raised when a guarded move is not allowed."""
+
+
+class AtPositionGuard:
+    """Guard that checks if a device is in a specific position."""
+
+    def __init__(self, device, position):
+        self.device = device
+        self.pos = position
+
+    def check(self):
+        """Check if the device is in the specified position."""
+        if self.device.pos != self.pos:
+            raise GuardViolation(
+                f"{self.device.bec_name} must be in the '{self.pos}' position"
+            )
+        # print("move allowed")
+        return True
+
+    def requirement(self):
+        """Return the requirement for the guard."""
+        return (self.device.bec_name, self.pos)
+
+
+class MinMaxGuard:
+    """Guard that checks if a device is within a specific range."""
+
+    def __init__(self, device, limit_value, direction):
+        self.device = device
+        self.limit_value = limit_value
+        self.direction = direction  # direction: 'max' or 'min'
+
+    def check(self):
+        """Check if the device is within the specified range."""
+        if self.direction == "less_than":
+            if not (self.device.actual - self.device.tol) <= self.limit_value:
+                raise GuardViolation(
+                    f"{self.device.bec_name} must be less than or equal to {self.limit_value} mm"
+                )
+        elif self.direction == "more_than":
+            if not (self.device.actual + self.device.tol) >= self.limit_value:
+                raise GuardViolation(
+                    f"{self.device.bec_name} must be greater than or equal to {self.limit_value} mm"
+                )
+        else:
+            raise ValueError(
+                f"Invalid direction '{self.direction}'. Use 'less_than' or 'more_than'."
+            )
+
+        # print("move allowed")
+        return True
+
+    def requirement(self):
+        """Return the requirement for the guard."""
+        # planner cannot handle numeric constraints directly
+        # return None -> planner ignores
+        return None
+
+
+def guards_setup(d):
+    """Define guards for devices."""
+    guards = {}
+    guards["bs_safe"] = AtPositionGuard(d["bs_z"], position="safe")
+    guards["bs_max_blin"] = MinMaxGuard(
+        d["bs_z"], direction="less_than", limit_value=d["bs_z"].positions["max_blin"]
+    )
+    guards["bs_work_min"] = MinMaxGuard(
+        d["bs_z"], direction="more_than", limit_value=d["bs_z"].positions["work_min"]
+    )
+    guards["bs_pos_in"] = AtPositionGuard(d["bs_pos"], position="in")
+    guards["gonx_out"] = MinMaxGuard(
+        d["aerotech_x"], direction="less_than", limit_value=d["aerotech_x"].positions["out"]
+    )
+    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"]
+    )
+    guards["coll_y_out"] = MinMaxGuard(
+        d["coll_y"], direction="less_than", limit_value=d["coll_y"].positions["out"]
+    )
+    return guards
+
+
+def attach_guards(d):
+    """Attach guards to devices."""
+    g = guards_setup(d)
+    d["diag_y"].guards.append(g["bs_work_min"].check)
+    d["bl_pos"].guards.append(g["bs_max_blin"].check)
+    d["bs_pos"].guards.append(g["bs_safe"].check)
+    d["bs_z"].guards.append(g["bs_pos_in"].check)
+    d["coll_y"].guards.append(g["bs_work_min"].check)
@@ -0,0 +1,97 @@
+"""Initialise sample environment devices and beamline states"""
+
+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
+
+    def __post_init__(self):
+
+        if self.device_mocks is None:
+            self.device_mocks = {
+                "aerotech_x": "mock",
+                "aerotech_y": "mock",
+                "aerotech_z": "mock",
+                "aerotech_u": "mock",
+                "bl_bright": "mock",
+                "bl_pos": "mock",
+                "bs_pos": "mock",
+                "bs_z": "mock",
+                "coll_y": "mock",
+                "cryo_pos": "mock",
+                "det_cov": "mock",
+                "diag_y": "mock",
+                "fl_bright": "mock",
+                "smargon_x": "mock",
+                "smargon_y": "mock",
+                "smargon_z": "mock",
+                "smargon_chi": "mock",
+                "smargon_phi": "mock",
+                "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}")  
+
+    devdir = "/sls/x06da/config/bec/production/pxiii_bec/pxiii_bec/device_configs/"
+
+    state_devices_file: str = devdir + "pxiii-state-devices.yaml"
+    rest_devices_file: str = devdir + "pxiii-rest-devices.yaml"
+    states_file: str = devdir + "beamline_states.yaml"
+
+    @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.
+    """
+
+    env = Environment()
+
+    # 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")
+    return devices, planner
+
+
+
@@ -0,0 +1,63 @@
+"""Used for checking device positions match current state"""
+class DeviceMatcher:
+    """Class for checking device positions match current state"""
+    def __init__(self):
+        self._rules = {}
+
+    def register(self, device_name, func):
+        """Register a matching function for a device."""
+        self._rules[device_name] = func
+
+    def matches(self, device_name, device, expected):
+        """Return True if device matches expected state."""
+        if expected is None:
+            return True  # "don't care"
+
+        if device_name in self._rules:
+            return self._rules[device_name](device, expected)
+
+        # default fallback
+        return device.is_at(expected)
+
+    def explain(self, device_name, device, expected):
+        """Return True if device matches expected state."""
+        val = device.readback.get()
+
+        if device_name in self._rules:
+            ok = self._rules[device_name](device, expected)
+        else:
+            ok = device.is_at(expected)
+
+        return ok, val
+
+def nonzero_is_on(device, expected, eps=1e-6):
+    """Define that anything > 0 is on"""
+    val = device.actual
+
+    if expected == "off":
+        return abs(val) < eps
+    if expected == "on":
+        return val > eps
+
+    return abs(val - expected) < eps
+
+
+# def threshold_rule(param_name):
+#     def _rule(device, expected):
+#         val = device.actual
+#
+#         if expected == param_name:
+#             threshold = device.position
+#             return val >= threshold
+#
+#         return device.is_at(expected)
+#
+#     return _rule
+#
+#
+# def within_tolerance(tol):
+#     def _rule(device, expected):
+#         val = device.readback.get()
+#         return abs(val - expected) < tol
+#
+#     return _rule
@@ -0,0 +1,252 @@
+"""Get data from an h5 file or BEC history and perform fitting."""
+
+import numpy as np
+from lmfit.models import (
+    GaussianModel,
+    LorentzianModel,
+    VoigtModel,
+    ConstantModel,
+    LinearModel,
+)
+from scipy.ndimage import gaussian_filter1d
+import h5py
+import matplotlib.pyplot as plt
+
+
+def create_fit_parameters(
+    deriv: bool = False,
+    model: str = "Voigt",
+    baseline: str = "Linear",
+    smoothing: None = None,
+):
+    """Store the fit parameters in a dictionary."""
+    # map input model to lmfit model name
+    model_mappings = {
+        "Gaussian": GaussianModel,
+        "Lorentzian": LorentzianModel,
+        "Voigt": VoigtModel,
+        "Constant": ConstantModel,
+        "Linear": LinearModel,
+    }
+    return {
+        "deriv": deriv,
+        "model": model_mappings[model],
+        "baseline": model_mappings[baseline],
+        "smoothing": smoothing,
+    }
+
+
+def get_data_from_h5(signal_name: str = "lu_bpmsum"):
+    """Get data from an h5 file."""
+    with h5py.File("scan_676.h5", "r") as f:
+        entry = f["entry"]["collection"]
+        y_data = entry["devices"][signal_name][signal_name]["value"][:]
+        motor_data = entry["metadata"]["bec"]
+        motor_name = motor_data["scan_motors"][0].decode()
+        scan_number = motor_data["scan_number"][()]
+        x_data = entry["devices"][motor_name][motor_name]["value"][:]
+    return {
+        "x_data": x_data,
+        "y_data": y_data,
+        "signal_name": signal_name,
+        "motor_name": motor_name,
+        "scan_number": str(scan_number),
+    }
+
+
+def get_data_from_history(
+    history_index: int,
+    signal_name: str = "lu_bpmsum",
+):
+    """Read data from the BEC history and return the X and Y data as arrays."""
+    scan = bec.history[history_index]
+    md = scan.metadata["bec"]
+    motor_name = md["scan_motors"][0].decode()
+    scan_number = md["scan_number"]
+    x_data = scan.devices[motor_name][motor_name].read()["value"]
+    y_data = scan.devices[signal_name][signal_name].read()["value"]
+    return {
+        "signal_name": signal_name,
+        "x_data": x_data,
+        "y_data": y_data,
+        "motor_name": motor_name,
+        "scan_number": scan_number,
+    }
+
+
+def process_data(data, fit_params):
+    """
+    Process the signal data for fitting based on derivative or smoothing.
+    """
+    smoothing, deriv = fit_params["smoothing"], fit_params["deriv"]
+    signal_name = data["signal_name"]
+    y_data = data["y_data"]
+
+    if deriv:
+        if smoothing:
+            y_smooth = gaussian_filter1d(y_data, smoothing)
+            fitting_data = np.gradient(y_smooth)
+            signal_name = f"Derivative of smoothed {signal_name}"
+        else:
+            fitting_data = np.gradient(y_data)
+            signal_name = f"Derivative of {signal_name}"
+    elif smoothing and smoothing > 0.01:
+        fitting_data = gaussian_filter1d(y_data, smoothing)
+        signal_name = f"Smoothed {signal_name}"
+    else:
+        fitting_data = y_data
+
+    updated_data = {
+        "y_to_fit": fitting_data,
+        "signal_name": signal_name,
+    }
+    data.update(updated_data)
+    return data
+
+
+def fit(data, fit_params):
+    """Fit a signal to a model and return the fitting results."""
+    # Create the model
+    peak_model = fit_params["model"](prefix="peak_")
+    baseline_model = fit_params["baseline"](prefix="base_")
+    full_model = peak_model + baseline_model
+
+    # Prepare data
+    processed_data = process_data(data, fit_params)
+    params = full_model.make_params()
+    y_min = np.min(processed_data["y_to_fit"])
+
+    # Configure baseline parameters
+    if fit_params["baseline"] == ConstantModel:
+        params["base_c"].set(value=y_min)
+    elif fit_params["baseline"] == LinearModel:
+        params["base_intercept"].set(value=y_min)
+        params["base_slope"].set(value=0)
+
+    # Add peak-specific parameters
+    params.update(
+        peak_model.guess(processed_data["y_to_fit"], x=processed_data["x_data"])
+    )
+
+    # Perform the fitting
+    lmfit_result = full_model.fit(
+        processed_data["y_to_fit"], params, x=processed_data["x_data"]
+    )
+
+    # Find the X that gives the max Y
+    max_index = np.argmax(processed_data["y_to_fit"])
+    x_max = processed_data["x_data"][max_index]
+
+    # Generate data for a smoothed fit curve
+    fit_xdata = np.linspace(np.min(data["x_data"]), np.max(data["x_data"]), 500)
+    fit_ydata = lmfit_result.eval(x=fit_xdata, params=lmfit_result.params)
+
+    # Collect results
+    return {
+        "model": fit_params["model"].__name__,
+        "fwhm": lmfit_result.params["peak_fwhm"].value,
+        "centre": lmfit_result.best_values["peak_center"],
+        "height": lmfit_result.params["peak_height"].value,
+        "chi_sq": lmfit_result.chisqr,
+        "lmfit_result": lmfit_result,
+        "x_max": x_max,
+        "fit_xdata": fit_xdata,
+        "fit_ydata": fit_ydata,
+    }
+
+
+def plot_fitted_data(data, fit_result):
+    """Plot the original data and the fitted model."""
+    plt.plot(data["x_data"], data["y_to_fit"], label="Data")
+    plt.plot(fit_result['fit_xdata'], fit_result['fit_ydata'], label="Fit")
+    plt.xlabel(data["motor_name"])
+    plt.ylabel(data["signal_name"])
+    plt.title(f"Scan {data['scan_number']}, fitted with {fit_result['model']}")
+    plt.grid(True)
+    plt.legend()
+    plt.show()
+
+
+def select_bec_window(dock_area_name="Fitting"):
+    """Check to see if the fitting results dock is already open and re-create it if not"""
+    open_docks = bec.gui.windows
+    if open_docks.get(dock_area_name) is None:
+        dock_area = bec.gui.new(dock_area_name)
+        # wf = dock_area.new("Plot").new(bec.gui.available_widgets.Waveform)
+        wf = dock_area.new(widget='Waveform', object_name='Plot')
+        text_box = dock_area.new(widget='TextBox', object_name="Results", where="bottom")
+    else:
+        wf = bec.gui.Fitting.Plot
+        text_box = bec.gui.Fitting.Results
+    return wf, text_box
+
+
+def plot_live_data_bec(
+    motor_name,
+    signal_name,
+    window_name="Fitting"
+):
+    """
+    Plotting live data for motor and signal using BEC.
+
+    This function plots live data from a specified motor and signal.
+    It clears the current plot window, sets its title, labels the axes
+    with the provided motor and signal names, and initializes live plotting
+    on the given signal against the motor.
+
+    Args:
+        motor_name (str): The name of the motor to be used as the x-axis.
+        signal_name (str): The name of the signal to be used as the y-axis.
+
+    Returns:
+        None
+    """
+    wf, text_box = select_bec_window(window_name)
+    text_box.set_plain_text("Plotting live data")
+    wf.clear_all()
+    wf.title = "Scan: Live scan"
+    wf.x_label = motor_name
+    wf.y_label = signal_name
+    wf.plot(device_x=motor_name, device_y=signal_name)
+
+
+def plot_fitted_data_bec(
+    data,
+    fit_result,
+):
+    """
+    Plot fitted data and display fitting parameters in the specified window.
+
+    This function selects a BEC window and plots the original data along with the
+    fitted function. Additionally, it displays the fitting results in a text
+    box within the same window for better visualization of the fit results.
+
+    Parameters:
+    data : dict
+        Dictionary containing the original dataset, where 'x_data' and 'y_to_fit'
+        hold the independent variable and the dependent variable, respectively,
+        'scan_number' represents the scan number, 'motor_name' and 'signal_name'
+        provide axis labels.
+    fit_result : dict
+        Dictionary containing the results of the fit, including parameters such
+        as 'centre', 'fwhm', 'height', and the fitted model stored under
+        'lmfit_result', with its 'best_fit' attribute representing the fitted data.
+    """
+    wf, text_box = select_bec_window()
+    fit_text = (
+        f"Fit parameters: Centre = {fit_result['centre']:.4f}, "
+        f"FWHM = {fit_result['fwhm']:.3f}, "
+        f"Height = {fit_result['height']:.4f}\n"
+        f"Model = {fit_result['model']}\n"
+        f"Chi sq = {fit_result['chi_sq']:.3g}"
+    )
+    text_box.set_plain_text(fit_text)
+    wf.clear_all()
+    wf.title = f"Scan: {data['scan_number']}"
+    wf.x_label = data["motor_name"]
+    wf.y_label = data["signal_name"]
+    wf.plot(x=data["x_data"], y=data["y_to_fit"], label="Data")
+    wf.plot(x=fit_result["fit_xdata"], y=fit_result["fit_ydata"], label="Fit")
+    # wf.Fit.set(symbol_size = 0)
+    wf.get_curve('Fit').set(symbol_size=0)
+
@@ -0,0 +1,321 @@
+"""Use the methods in mx_basics to perform:
+1) a go_to_peak scan, that scans a motor, finds the peak position and moves to peak
+2) fits data from a bec history file
+"""
+
+from dataclasses import dataclass
+import numpy as np
+
+# from pxiii_parameters import FitDefaults, BPMScans, MirrorConfig
+
+# from mx_basics import (
+#     create_fit_parameters,
+#     get_data_from_history,
+#     fit,
+#     plot_fitted_data_bec,
+#     plot_live_data_bec,
+# )
+
+
+# Method functions
+def calculate_step_size(start: float, stop: float, steps: int) -> float:
+    """
+    Provides the function to calculate the step size for dividing a specified range
+    into a given number of steps.
+
+    Args:
+        start: The starting value of the range.
+        stop: The stopping value of the range.
+        steps: The number of steps to divide the range into. Must be at least 1.
+
+    Raises:
+        ValueError: If the steps value is less than 1.
+
+    Returns:
+        The calculated step size as a float, rounded to three decimal places.
+    """
+    if steps < 1:
+        raise ValueError("Number of steps must be at least 1.")
+    return round((stop - start) / steps, 3)
+
+
+def move_to_position(motor_device, motor_name: str, position: float, data: dict):
+    """
+    Function to move a specified motor device to a given position.
+
+    The function verifies if the requested position is within the scan range of the
+    motor device provided. If the position is outside the range, the motor is
+    moved to the center of its scan range, an error message is raised, and the
+    operation is halted. If the position is valid, the motor is moved to the
+    specified position.
+
+    Parameters:
+        motor_device: The motor device to be moved.
+        motor_name: str
+            The name of the motor as a string
+        position: float
+            The desired position to move the motor to. Position should be within
+            the scan range of the motor determined by the provided data.
+        data: dict
+            A dictionary containing "x_data", which is used to determine the
+            scan range of the motor.
+
+    Raises:
+        ValueError: Raised if the specified position is outside the valid scan
+        range determined by "x_data" in the data dictionary. The motor will
+        return to the center of its scan range in this case.
+    """
+
+    motor_min = np.min(data["x_data"])
+    motor_max = np.max(data["x_data"])
+    motor_centre = (motor_max + motor_min) / 2
+
+    if not motor_min <= position <= motor_max:
+        scans.umv(motor_device, motor_centre, relative=False)
+        msg = (
+            f"Position {position: .2f} is outside the scan range of "
+            f"{motor_min: .2f} to {motor_max: .2f}. "
+            f"Returning to centre of scan range {motor_centre: .3f}."
+        )
+        raise ValueError(msg)
+    motor_position = round(position, 4)
+    scans.umv(motor_device, motor_position, relative=False)
+    print(f"\n Moving {motor_name} to position {motor_position: .3f}")
+
+
+# @dataclass(frozen=True)
+# class FitDefaults:
+#     """Default values for fitting routines"""
+
+#     # Constants for default models, baselines, and parameters
+#     MODEL = "Voigt"
+#     BASELINE = "Linear"
+#     SETTLE_TIME = 0.1
+#     RELATIVE_MODE = True
+
+
+def go_to_peak(
+    motor_device,
+    signal_device,
+    start: float,
+    stop: float,
+    steps: int,
+    relative: bool = FitDefaults.RELATIVE_MODE,
+    plot: bool = True,
+    settle: float = FitDefaults.SETTLE_TIME,
+    confirm: bool = True,
+    gomax: bool = False,
+):
+    """
+    Go to the peak of a signal by scanning a motor within a specified range and
+    identifying the optimal position based on signal peak data.
+
+    Parameters:
+        motor_device: The motor device to be scanned.
+        signal_device: The signal device to monitor during the scan.
+        start (float): The starting position of the scan. Ignored if `relative` is True.
+        stop (float): The ending position of the scan. Ignored if `relative` is True.
+        steps (int): The number of steps to divide the scan range into.
+        relative (bool, optional): If True, interpret `start` and `stop` as relative to
+            the current motor position. Defaults to RELATIVE_MODE constant.
+        plot (bool, optional): If True, plot the scan data and the fitted results.
+            Defaults to True.
+        settle (float, optional): The time in seconds to wait after each step for the
+            signal to stabilize. Defaults to DEFAULT_SETTLE_TIME constant.
+        confirm (bool, optional): If True, ask for user confirmation before starting
+            the scan. Defaults to True.
+
+    Raises:
+        Exception: Raises exceptions potentially raised by dependent functions or
+            operations such as plotting, fitting, or motor movement.
+
+    Returns:
+        None
+    """
+    motor_name = motor_device.name
+    signal_name = signal_device.name
+    # wf.plot(x_name=motor_name, y_name=signal_name)
+    if plot:
+        plot_live_data_bec(motor_name, signal_name)
+
+    # Validate and calculate step size
+    step_size = calculate_step_size(start, stop, steps)
+
+    # Confirm the scan range
+    # current_motor_position = motor_device.user_readback.get()
+    current_motor_position = motor_device.read()[motor_name]["value"]
+    if confirm:
+        if relative:
+            scan_start = current_motor_position + start
+            scan_end = current_motor_position + stop
+            print(
+                f"\nScanning from {scan_start: .6g} to {scan_end: .6g} in "
+                f"{steps} steps of size {step_size}"
+            )
+            print(f"Relative mode = {relative}")
+        else:
+            print(
+                f"\nScanning from {start: .5g} to {stop: .5g} in {steps} steps of size {step_size}"
+            )
+            print(f"Relative mode = {relative}")
+        input("Press Enter to continue...")
+    # Perform the scan
+    scan_result = scans.line_scan(
+        motor_device, start, stop, steps=steps, relative=relative, settling_time=settle
+    )
+    motor_data = scan_result.scan.live_data[motor_name][motor_name].val
+    signal_data = scan_result.scan.live_data[signal_name][signal_name].val
+    scan_number = "Current"
+
+    data = {
+        "x_data": np.array(motor_data),
+        "y_data": np.array(signal_data),
+        "motor_name": motor_name,
+        "signal_name": signal_name,
+        "motor_device": motor_device,
+        "scan_number": scan_number,
+    }
+
+    # Define and fit model to scan data
+    fit_params = create_fit_parameters(False, FitDefaults.MODEL, FitDefaults.BASELINE)
+    fit_result = fit(data, fit_params)
+
+    # Plot the fitted data if plot = True
+    if plot:
+        plot_fitted_data_bec(data, fit_result)
+
+    # If gomax is set then move to the maximum value, rather than the fit centre
+    if gomax:
+        value = fit_result["x_max"]
+        print(f"Max position is at {value}")
+        move_to_position(data["motor_device"], data["motor_name"], fit_result["x_max"], data)
+    else:
+        # Safely move the motor to the peak position
+        move_to_position(data["motor_device"], data["motor_name"], fit_result["centre"], data)
+
+
+def fit_history(
+    history_index: int,
+    signal_name: str,
+    deriv: bool = False,
+    model: str = FitDefaults.MODEL,
+    move_to_peak: bool = False,
+):
+    """
+    Retrieve and analyze historical data by fitting a model, optionally moving to
+    a peak position.
+
+    Parameters:
+        history_index (int): Index of the historical data set to retrieve.
+        signal_name (str): Name of the signal to fit.
+        deriv (bool, optional): Whether to include the derivative in the fitting
+            procedure. Defaults to False.
+        model (str, optional): Name of the model to use for fitting. Defaults to
+            DEFAULT_MODEL.
+        move_to_peak (bool, optional): Whether to move the motor to the peak position
+            after fitting. Defaults to False.
+
+    Raises:
+        KeyError: If required keys are not found in the retrieved data dictionary.
+        ValueError: If the fitting process fails or produces invalid results.
+
+    Returns:
+        None
+    """
+    # Retrieve historical data
+    data = get_data_from_history(history_index, signal_name)
+
+    # Define fitting parameters
+    fit_params = create_fit_parameters(deriv, model, FitDefaults.BASELINE)
+
+    # Perform fit and plot the data
+    fit_result = fit(data, fit_params)
+    plot_fitted_data_bec(data, fit_result)
+
+    # Optionally move the motor to the peak position
+    if move_to_peak:
+        move_to_position(data["motor_device"], data["motor_name"], fit_result["centre"], data)
+
+
+def scan_bpm(bpmname):
+    """
+    Runs a grid scan of a BPM in x and y,  and plots each channel
+    as a heatmap.
+
+    Parameters:
+        bpmname: the name of the bpm to be scanned e.g. "fe"
+
+    """
+
+    # Open a dock area and set up the heatmaps
+    dock_area = bec.gui.new("XBPM_Scan")
+    wf5 = dock_area.new("Sum").new(bec.gui.available_widgets.Heatmap)
+    wf1 = dock_area.new("Ch1", relative_to="Sum", position="bottom").new(
+        bec.gui.available_widgets.Heatmap
+    )
+    wf3 = dock_area.new("Ch3", relative_to="Ch1", position="right").new(
+        bec.gui.available_widgets.Heatmap
+    )
+    wf4 = dock_area.new("Ch4", relative_to="Ch3", position="bottom").new(
+        bec.gui.available_widgets.Heatmap
+    )
+    wf2 = dock_area.new("Ch2", relative_to="Ch1", position="bottom").new(
+        bec.gui.available_widgets.Heatmap
+    )
+    wfscan = dock_area.new("ScanControl").new(bec.gui.available_widgets.ScanControl)
+
+    cfg = getattr(BPMScans, bpmname)
+
+    wf1.x_label = cfg["x_name"]
+    wf1.y_label = cfg["y_name"]
+    wf1.plot(x_name=cfg["x_name"], y_name=cfg["y_name"], z_name=cfg["z1_name"], color_map="plasma")
+
+    wf2.x_label = cfg["x_name"]
+    wf2.y_label = cfg["y_name"]
+    wf2.plot(x_name=cfg["x_name"], y_name=cfg["y_name"], z_name=cfg["z2_name"], color_map="plasma")
+
+    wf3.x_label = cfg["x_name"]
+    wf3.y_label = cfg["y_name"]
+    wf3.plot(x_name=cfg["x_name"], y_name=cfg["y_name"], z_name=cfg["z3_name"], color_map="plasma")
+
+    wf4.x_label = cfg["x_name"]
+    wf4.y_label = cfg["y_name"]
+    wf4.plot(x_name=cfg["x_name"], y_name=cfg["y_name"], z_name=cfg["z4_name"], color_map="plasma")
+
+    wf5.x_label = cfg["x_name"]
+    wf5.y_label = cfg["y_name"]
+    wf5.plot(x_name=cfg["x_name"], y_name=cfg["y_name"], z_name=cfg["z5_name"], color_map="plasma")
+    # Run the scan
+    x_mot = cfg["x_device"]
+    y_mot = cfg["y_device"]
+    # scans.grid_scan(x_mot, -0.5, 0.5, 20, y_mot, -0.5, 0.5, 20,
+    #                     exp_time=0.5, relative=False, snaked=True)
+
+
+def optimise_kb(mirror):
+    """
+    Runs a grid scan of a the upstream and downstream benders,
+    and plots a heatmap of the sample camera x or y sigma.
+
+    Parameters:
+        mirror: either "hfm" or :vfm"
+
+    """
+
+    # Open a dock area and set up the heatmaps
+    dock_area = bec.gui.new(mirror)
+    wf1 = dock_area.new("Heatmap").new(bec.gui.available_widgets.Heatmap)
+
+    wfscan = dock_area.new("ScanControl").new(bec.gui.available_widgets.ScanControl)
+
+    cfg = getattr(MirrorConfig, mirror)
+
+    wf1.x_label = cfg["bu_name"]
+    wf1.y_label = cfg["bd_name"]
+    wf1.plot(x_name=cfg["bu_name"], y_name=cfg["bd_name"], z_name=cfg["z_name"], color_map="plasma")
+
+    # Run the scan
+    x_mot = cfg["x_device"]
+    y_mot = cfg["y_device"]
+    # scans.grid_scan(x_mot, -0.02, 0.02, 11, y_mot, -0.02, 0.02, 11,
+    #                     exp_time=0.5, relative=True, snaked=True)
@@ -0,0 +1,77 @@
+"""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"""
+    g = guards_setup(d)
+    if g["diag_y_out"].check() and g["coll_y_out"].check() and g["gonx_out"].check():
+        return True
+    return False
+
+
+def is_sample_area_clear_for_gonx(d):
+    """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_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 aerotech_x_policy
+
+
+def make_bs_z_policy(d):
+    """Create the policy for bs_z"""
+
+    def bs_z_policy(target):
+        """Checks that the target position is within limits"""
+        cfg = d["bs_z"].positions
+        # Lower bound
+        if target < cfg["work_min"] and not is_sample_area_clear_for_beamstop(d):
+            raise GuardViolation("Sample area is not clear")
+        if target < cfg["min"]:
+            raise GuardViolation(
+                f"Requested beamstop Z {target} is below recommended minimum {cfg['min']}"
+            )
+        # Upper bound
+        if d["bl_pos"].pos == "in" and target > cfg["max_blin"]:
+            raise GuardViolation(
+                f"Beamstop Z cannot move beyond {cfg['max_blin']} when backlight is IN"
+            )
+
+    return bs_z_policy
+
+
+def make_diag_y_policy(d):
+    """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["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"
+            )
+        # 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 cryocooler is IN"
+            )
+    return diag_y_policy
+
+
+def attach_policies(d):
+    """Attach the policies to the devices"""
+    d["bs_z"].policy = make_bs_z_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)
+
+    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:
+            # real_motor = getattr(dev, self.bec_name)
+            self.mot = RealMotorAdapter(self.mot_device, self.bec_name)
+            # self.mot = RealMotorAdapter(real_motor, 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)
+
+    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
@@ -0,0 +1,251 @@
+"""Script to change energy at PXIII by setting DCCM motors and mirror stripe
+
+Moving DCCM motors - implemented for dccm_theta1 and dccm_theta2
+Mirrors - change of mirror stripe is not yet implemented
+Plotting optional
+
+"""
+
+import pandas as pd
+import numpy as np
+# from mx_methods import go_to_peak
+# from pxiii_parameters import EnergyDefaults
+
+# from calculator import (
+#     validate_energy,
+#     convert_from_bragg,
+#     convert_from_energy,
+# )
+
+
+def get_current_energy():
+    """
+    Returns the energy in eV from the current bragg angle.
+    """
+    # current_bragg_angle = dev.dccm_theta1.user_readback.get()
+    current_bragg_angle = -EnergyDefaults.energy.user_readback.get()
+    current_energy = convert_from_bragg(current_bragg_angle, print_result=False)[
+        "energy_ev"
+    ]
+    return current_energy
+
+
+# Functions below are common to all beamlines
+def calculate_energy_difference(current_energy, target_energy):
+    """
+    Calculate the absolute difference in energy between the current energy level
+    and the target energy level.
+    """
+    return abs(target_energy - current_energy)
+
+
+def interpolate_column(energy_ev, x_values, y_values):
+    """
+    Perform interpolation for a specific column of data.
+
+    This function uses numpy's interpolation method to perform linear
+    interpolation. It calculates the interpolated y-values corresponding
+    to the given energy in electron-volts (energy_ev), based on specified
+    x-values and y-values.
+
+    Parameters:
+        energy_ev (array-like): Array of energy values in electron-volts
+            at which interpolation is needed.
+        x_values (array-like): Array of x-values corresponding to known
+            data points.
+        y_values (array-like): Array of y-values corresponding to known
+            data points.
+
+    Returns:
+        numpy.ndarray: Interpolated y-values computed for the energy_ev
+            input.
+    """
+    return np.interp(energy_ev, x_values, y_values)
+
+
+def get_value_from_lut(energy_ev):
+    """
+    Retrieve interpolated values from a Lookup Table (LUT) based on the provided energy
+    in electron volts (eV).
+
+    This function reads a CSV file containing energy lookup data and processes the LUT
+    to return interpolated values for specified relevant columns. The interpolation is
+    performed for the provided energy value using the LUT's energy and data values.
+
+    Args:
+        energy_ev (float): The energy value in electron volts for which the interpolated data is
+            required.
+
+    Returns:
+        dict: A dictionary where the keys are the relevant column names from the LUT, and the values
+            are the interpolated values as floats.
+    """
+
+    energy_lookup_data = pd.read_csv(EnergyDefaults.LUT_table)
+    column_names = energy_lookup_data.columns.tolist()
+    lut_values = energy_lookup_data.values.astype(float).T
+
+    # Filter relevant columns for interpolation
+    relevant_columns = {"dccm_pitch"}
+    int_values = {}
+
+    for i, col_name in enumerate(column_names):
+        if col_name in relevant_columns:
+            int_values[col_name] = float(
+                interpolate_column(energy_ev, lut_values[0], lut_values[i])
+            )
+    return int_values
+
+
+def get_mirror_stripe(energy_ev):
+    """
+    Determines the mirror stripe material based on the energy level provided.
+
+    This function evaluates the given energy level in electron volts (eV) and
+    identifies the material type that corresponds to the specified thresholds
+    for silicon, rhodium, and, if applicable, platinum.
+
+    Args:
+        energy_ev (float): Energy level in electron volts, used to determine
+            the corresponding material type.
+
+    Returns:
+        str: A string indicating the material type corresponding to the provided
+            energy level. Possible values are "silicon", "rhodium", or "platinum".
+    """
+    if energy_ev <= EnergyDefaults.stripe_thresholds["silicon"]:
+        return "silicon"
+    if (
+        EnergyDefaults.stripe_thresholds["silicon"]
+        < energy_ev
+        <= EnergyDefaults.stripe_thresholds["rhodium"]
+    ):
+        return "rhodium"
+    return "platinum"
+
+
+def set_mirror_stripe(energy_ev):
+    """
+    Selects and sets the appropriate mirror stripe based on the given energy value
+    in electron volts (eV). Prints the selected mirror stripe.
+
+    Args:
+        energy_ev (float): The energy value in electron volts used to determine
+                           the appropriate mirror stripe.
+
+    Returns:
+        None
+    """
+    selected_stripe = get_mirror_stripe(energy_ev)
+    print(f"Selected mirror stripe: {selected_stripe}")
+
+
+def mono_pitch_scan(plot=True):
+    """Scan the monochromator pitch and move to the peak."""
+
+    if plot:
+        print("Scanning monochromator pitch and moving to peak, with plotting.")
+        go_to_peak(
+            EnergyDefaults.mono_pitch,
+            EnergyDefaults.signals["sig1"],
+            -EnergyDefaults.pitch_scan["halfwidth"],
+            EnergyDefaults.pitch_scan["halfwidth"],
+            steps=EnergyDefaults.pitch_scan["steps"],
+            relative=True,
+            settle=0.01,
+            plot=True,
+            confirm=False,
+        )
+    else:
+        print("Scanning monochromator pitch and moving to peak, without plotting.")
+        go_to_peak(
+            EnergyDefaults.mono_pitch,
+            EnergyDefaults.signals["sig1"],
+            -EnergyDefaults.pitch_scan["halfwidth"],
+            EnergyDefaults.pitch_scan["halfwidth"],
+            steps=EnergyDefaults.pitch_scan["steps"],
+            relative=True,
+            settle=0.01,
+            plot=False,
+            confirm=False,
+        )
+
+
+
+def get_dccm_motors_positions(energy_ev):
+    """
+    Retrieve the positions of DCCM motors based on given energy value.
+    The function returns a dictionary containing all
+    calculated motor positions.
+
+    Arguments:
+        energy_ev (float): The energy value in electron volts for which the
+                           DCCM motor positions are to be calculated.
+
+    Returns:
+        dict: A dictionary containing the calculated DCCM motor positions
+              including values retrieved from the lookup table, if applicable.
+    """
+    # dccm_motor_values = get_value_from_lut(energy_ev)
+    th1_angle = -convert_from_energy(energy_ev, print_result=False)["bragg_angle_deg"]
+    th2_angle = convert_from_energy(energy_ev, temp=298, print_result=False)["bragg_angle_deg"]
+    # dccm_motor_values.update({"theta1_angle": th1_angle, "theta2_angle": th2_angle})
+    dccm_motor_values = {"theta1_angle": th1_angle, "theta2_angle": th2_angle}
+    return dccm_motor_values
+
+
+def move_dccm_motors(energy_ev):
+    """
+    Move the DCCM theta1 and theta2 motors to the required positions
+    for the given energy in eV.
+
+    """
+    dccm_pos = get_dccm_motors_positions(energy_ev)
+    print(
+        f"Moving DCCM theta1: {dccm_pos['theta1_angle']: .5g} deg, theta2: {dccm_pos['theta2_angle']: .5g} deg, "
+        # f"DCM pitch: {dcm_pos['dcm_pitch']: .5g} mrad, "
+    )
+    umv(EnergyDefaults.energy, dccm_pos["theta1_angle"], 
+    EnergyDefaults.mono_pitch, dccm_pos["theta2_angle"])
+
+
+
+def bl_energy(energy_ev, plot=True):
+    """
+    Adjusts the beamline's energy to the specified energy in electron volts (eV).
+    The function validates the target energy, checks the current energy, and makes
+    adjustments only if the energy difference is significant enough. It performs
+    necessary operations including changing DCCM motors, updating
+    the mirror stripe, and scanning to find the optimal DCCM pitch of 2nd crystal..
+
+    Args:
+        energy_ev: Target energy in electron volts to which the beamline should be adjusted.
+        plot: Boolean flag indicating whether to plot the DCCM pitch scan for finding the peak.
+
+    Returns:
+        None
+    """
+    energy_ev = validate_energy(energy_ev)  # Ensure energy is valid.
+
+    # Check current energy to avoid unnecessary adjustments.
+
+    current_energy = get_current_energy()
+    energy_diff = calculate_energy_difference(current_energy, energy_ev)
+
+    if energy_diff <= EnergyDefaults.min_energy_change:
+        print(
+            f"Energy change of {energy_diff:.2f} eV is too small, not changing energy."
+        )
+        return
+
+    # Step 1: Move and set the DCCM motors.
+    move_dccm_motors(energy_ev)
+
+    # Step 2: Update the mirror stripe.
+    set_mirror_stripe(energy_ev)
+
+    # Step 3: Perform DCCM pitch scan and move to peak.
+    if plot:
+        mono_pitch_scan(plot=True)
+    else:
+        mono_pitch_scan(plot=False)
@@ -0,0 +1,80 @@
+"""File to store beamline parameters and defaults"""
+
+from dataclasses import dataclass
+import numpy as np
+
+
+@dataclass(frozen=True)
+class FitDefaults:
+    """Default values for fitting routines"""
+
+    # Constants for default models, baselines, and parameters
+    MODEL = "Voigt"
+    BASELINE = "Linear"
+    SETTLE_TIME = 0.1
+    RELATIVE_MODE = True
+
+
+@dataclass(frozen=True)
+class EnergyDefaults:
+    """Parameters for PXIII energy changes"""
+
+    min_energy_change = 1
+    min_energy_ev = 4500
+    max_energy_ev = 15000
+    signals = {
+        "sig1": dev.dccm_di_top,
+        "sig2": dev.dccm_bpmsum,
+        "sig3": dev.ss_bpmsum,
+        # "sig4": dev.xbox_xbpm,
+    }
+    energy = dev.dccm_theta1
+    mono_pitch = dev.dccm_theta2
+    # LUT_table = "luts/energy_lut.csv"
+    stripe_thresholds = {"silicon": 9000, "rhodium": 40000}
+    pitch_scan = {"halfwidth": 0.15, "steps": 30}
+
+
+@dataclass(frozen=True)
+class CamConversion:
+    """Convert pixels to microns for sam cam"""
+
+    a = 0.5208
+    b = 0.002586
+
+
+@dataclass(frozen=True)
+class BPMScans:
+    """Define the names of the motors and bpm channels"""
+
+    ss = {
+        "x_name": dev.ss_bpm_x.name,
+        "y_name": dev.ss_bpm_y.name,
+        "z1_name": dev.ss_bpm1.name,
+        "z2_name": dev.ss_bpm2.name,
+        "z3_name": dev.ss_bpm3.name,
+        "z4_name": dev.ss_bpm3.name,
+        "z5_name": dev.ss_bpmsum.name,
+        "x_device": dev.ss_bpm_x,
+        "y_device": dev.ss_bpm_y,
+    }
+
+
+# @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,
+#     }
@@ -0,0 +1,12 @@
+"""
+Scan components for pxiii_bec.
+
+The scan components module allows you to define custom components that can be used in your scans.
+These components can be used to encapsulate reusable logic, interact with devices, or perform specific actions during the scan lifecycle.
+"""
+
+from bec_server.scan_server.scans.scan_components import ScanComponents
+
+
+class PxiiiBecScanComponents(ScanComponents):
+    """Scan components for pxiii_bec."""
@@ -0,0 +1,33 @@
+"""
+Scan modifier plugin for pxiii_bec.
+
+The scan modifier allows you to modify the scan lifecycle and run custom actions before or after the scan hook or replace the scan hook entirely.
+Note that the scan_modifier module must be registered as a plugin in the pyproject.toml file for it to be recognized by the BEC framework and that
+there can only be one scan_modifier plugin registered at a time. If you need to run multiple scan modifiers, you can create a single scan
+modifier plugin that runs multiple actions in sequence with conditional logic to determine which actions to run based on the scan context.
+"""
+
+from bec_server.scan_server.scans.scan_modifier import ScanModifier, scan_hook_impl
+
+
+class PxiiiBecScanModifier(ScanModifier):
+    """
+    Scan modifier for pxiii_bec.
+    
+    By inheriting from the ScanModifier base class, you get access to currently running scan (self.scan), the devices (self.dev), the scan info (self.scan_info),
+    the scan components (self.components) and the scan actions (self.actions).
+    """
+
+    def __init__(self, **kwargs):
+        """Initialize the scan modifier."""
+        super().__init__(**kwargs)
+
+    # Example of running code before the scan stage for a specific scan
+    # @scan_hook_impl("stage", "before")
+    # def before_stage(self):
+    #     """Run before the stage hook."""
+    #     self.actions.send_client_info("Custom stage logic executed by ScanModifier.")
+    #     if self.scan_info.scan_name == "example_scan":
+    #         self.dev.samx.set(20)
+
+    
@@ -16,7 +16,8 @@ def alignment_fit_and_plot(
    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 | None): the signal to plot, if different from the device name.
+        smoothing_sigma (float): the sigma for the Gaussian smoothing filter
    """
    # Fetch scan data from the history
    # by default, signal = device name, unless otherwise specified
@@ -29,9 +30,9 @@ def alignment_fit_and_plot(

    # Create a plot and a text box to display results
    dock_area = bec.gui.new()
-    wf = dock_area.new().new(bec.gui.available_widgets.Waveform)
+    wf = dock_area.new(bec.gui.available_widgets.Waveform)
    wf.title = f"Scan {md['scan_number']}: {md['scan_name']} of {motor_name}"
-    text = dock_area.new(position="right").new(widget=bec.gui.available_widgets.TextBox)
+    text = dock_area.new(bec.gui.available_widgets.TextBox, where="right")

    # Calculate some processed data and add everything to the plot
    wf.plot(data, label="Raw data")
@@ -5,6 +5,18 @@
 import time


+def _device_name(device):
+    return device.name if hasattr(device, "name") else str(device)
+
+
+def _get_or_create_scan_window(name="CurrentScan"):
+    window = bec.gui.windows.get(name)
+    if window is None:
+        return bec.gui.new(name)
+    window.delete_all()
+    return window
+
+
 def rock(steps, exp_time, scan_start=None, scan_end=None, datasource=None, visual=True, **kwargs):
    """Demo step scan with plotting

@@ -26,22 +38,18 @@ def rock(steps, exp_time, scan_start=None, scan_end=None, datasource=None, visua
        scan_end = 0.05 / dev.dccm_energy.user_readback.get()

    if visual:
-        # Get or create scan specific window
-        window = None
-        for _, val in bec.gui.windows.items():
-            if val.title == "CurrentScan":
-                window = val.widget
-                window.clear_all()
-        if window is None:
-            window = bec.gui.new("CurrentScan")
+        # Get or create scan specific window.
+        window = _get_or_create_scan_window("CurrentScan")
+        motor_name = _device_name(motor)
+        datasource_name = _device_name(datasource)

-        # Draw a simploe plot in the window
-        dock = window.add_dock(f"ScanDisplay {motor}")
-        plt1 = dock.add_widget("BECWaveformWidget")
-        plt1.plot(x_name=motor, y_name=datasource)
-        plt1.set_x_label(motor)
-        plt1.set_y_label(datasource)
-        plt1.add_dap(motor, datasource, dap="LinearModel")
+        # Draw a waveform plot in the window.
+        plt1 = window.new(
+            bec.gui.available_widgets.Waveform, object_name=f"ScanDisplay_{motor_name}"
+        )
+        plt1.plot(device_x=motor_name, device_y=datasource_name, dap="LinearModel")
+        plt1.x_label = motor_name
+        plt1.y_label = datasource_name
        window.show()

    print("Handing over to 'scans.line_scan'")
@@ -17,14 +17,13 @@ def scan_theta2(scan_start, scan_end, stepno, exp):

    # # Create a plot to display the results
    dock_area = bec.gui.new()
-    wf = dock_area.new().new(bec.gui.available_widgets.Waveform)
+    wf = dock_area.new(bec.gui.available_widgets.Waveform)
    wf.title = f"Scan of DCCM_theta2"
-    wf.plot(x_name='dccm_theta2', y_name='dccm_xbpm')
-    wf.add_dap_curve(device_label='dccm_xbpm-dccm_xbpm', dap_name='GaussianModel')
+    wf.plot(device_x="dccm_theta2", device_y="dccm_xbpm", label="dccm_xbpm-dccm_xbpm")
+    dap_xbpm = wf.add_dap_curve(device_label="dccm_xbpm-dccm_xbpm", dap_name="GaussianModel")
    print(dap_xbpm.dap_params)





-
@@ -6,6 +6,18 @@ def bl_check_beam():
    return True


+def _device_name(device):
+    return device.name if hasattr(device, "name") else str(device)
+
+
+def _get_or_create_scan_window(name="CurrentScan"):
+    window = bec.gui.windows.get(name)
+    if window is None:
+        return bec.gui.new(name)
+    window.delete_all()
+    return window
+
+
 def ascan(
    motor, scan_start, scan_end, steps, exp_time, plot=None, visual=True, relative=False, **kwargs
 ):
@@ -23,22 +35,18 @@ def ascan(
        raise RuntimeError("Beamline is not in ready state")

    if visual:
-        # Get or create scan specific window
-        window = None
-        for _, val in bec.gui.windows.items():
-            if val.title == "CurrentScan":
-                window = val.widget
-                window.clear_all()
-        if window is None:
-            window = bec.gui.new("CurrentScan")
+        # Get or create scan specific window.
+        window = _get_or_create_scan_window("CurrentScan")
+        motor_name = _device_name(motor)
+        plot_name = _device_name(plot)

-        # Draw a simploe plot in the window
-        dock = window.add_dock(f"ScanDisplay {motor}")
-        plt1 = dock.add_widget("BECWaveformWidget")
-        plt1.plot(x_name=motor, y_name=plot)
-        plt1.set_x_label(motor)
-        plt1.set_y_label(plot)
-        plt1.add_dap(motor, plot, dap="LinearModel")
+        # Draw a waveform plot in the window.
+        plt1 = window.new(
+            bec.gui.available_widgets.Waveform, object_name=f"ScanDisplay_{motor_name}"
+        )
+        plt1.plot(device_x=motor_name, device_y=plot_name, dap="LinearModel")
+        plt1.x_label = motor_name
+        plt1.y_label = plot_name
        window.show()

    print("Handing over to 'scans.line_scan'")
@@ -6,7 +6,7 @@ build-backend = "hatchling.build"
 name = "pxiii_bec"
 version = "0.0.0"
 description = "A plugin repository for BEC"
-requires-python = ">=3.10"
+requires-python = ">=3.11"
 classifiers = [
    "Development Status :: 3 - Alpha",
    "Programming Language :: Python :: 3",
@@ -51,6 +51,9 @@ plugin_file_writer = "pxiii_bec.file_writer"
 [project.entry-points."bec.scans"]
 plugin_scans = "pxiii_bec.scans"

+[project.entry-points."bec.scans.scan_modifier"]
+plugin_scan_modifier = "pxiii_bec.scans.scan_customization.scan_modifier"
+
 [project.entry-points."bec.scans.metadata_schema"]
 plugin_metadata_schema = "pxiii_bec.scans.metadata_schema"
Author	SHA1	Message	Date
x06da	129bfeb136	Implementing beamline state changes CI for pxiii_bec / test (push) Successful in 38s Details	2026-06-04 16:36:01 +02:00
x06da	6ef7020150	Transfer macros from pxii to pxiii CI for pxiii_bec / test (push) Successful in 29s Details CI for pxiii_bec / test (pull_request) Successful in 28s Details	2026-05-27 16:33:11 +02:00
perl_d	f59c77f142	Updating to template version 1.4.0 CI for pxiii_bec / test (pull_request) Successful in 32s Details CI for pxiii_bec / test (push) Successful in 30s Details	2026-05-20 11:01:36 +02:00
perl_d	4d2a4c5496	Updating to template version 1.3.2 CI for pxiii_bec / test (pull_request) Successful in 31s Details CI for pxiii_bec / test (push) Successful in 29s Details	2026-05-20 10:40:24 +02:00
wyzula_j	ad6991208a	fix(bec widgets): designer plugins fixed for widgets CI for pxiii_bec / test (pull_request) Successful in 4m39s Details CI for pxiii_bec / test (push) Successful in 27s Details	2026-05-04 15:25:11 +02:00
wyzula_j	8a023aff5a	fix(bec-widgets): migration of scripts to V3 CI for pxiii_bec / test (pull_request) Successful in 32s Details CI for pxiii_bec / test (push) Successful in 29s Details	2026-03-05 13:59:55 +01:00
perl_d	f5a6b20eb8	Update repo with template version v1.2.8 CI for pxiii_bec / test (pull_request) Successful in 32s Details CI for pxiii_bec / test (push) Successful in 1m21s Details	2026-02-27 15:49:26 +01:00
perl_d	624da08a27	Update repo with template version v1.2.7 CI for pxiii_bec / test (push) Failing after 0s Details CI for pxiii_bec / test (pull_request) Failing after 0s Details	2026-02-27 12:11:40 +01:00
appel_c	eb5a9c89ca	feat: update repo with copier template for gitea migration	2025-09-11 17:02:57 +02:00