lin-epics-modules/sinqSPS
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draft of extra sanity checking when placing a beamstop

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This commit is contained in:
wall_e
2026-04-23 17:33:23 +02:00
parent 28ebf11e41
commit f33f5f68f6
10 changed files with 314 additions and 12 deletions
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Makefile
+9 -7
View File
@@ -18,12 +18,14 @@ TEMPLATES += db/readstring.db
TEMPLATES += db/writeusint.db
TEMPLATES += db/readusint.db
# Specific devices to include in the release
TEMPLATES += db/shutter.db
TEMPLATES += templates/shutter.substitutions
SCRIPTS += scripts/shutter.cmd
# Shutter Specific
TEMPLATES += shutter/shutter.db
TEMPLATES += shutter/shutter.substitutions
SCRIPTS += shutter/shutter.cmd
SCRIPTS += sim/shutter_sim.py
TEMPLATES += db/sans_llb_beamstop.db
TEMPLATES += templates/sans_llb_beamstop.substitutions
SCRIPTS += scripts/sans_llb_beamstop.cmd
# Beamstop Specific
TEMPLATES += beamstop/sans_llb_beamstop.db
TEMPLATES += beamstop/beamstop_motors.proto
TEMPLATES += beamstop/sans_llb_beamstop.substitutions
SCRIPTS += beamstop/sans_llb_beamstop.cmd
beamstop/beamstop_motors.proto
+23
View File
@@ -0,0 +1,23 @@
ReplyTimeout = 1000;
ReadTimeout = 100;
pmac_get {
InTerminator = CR ACK;
out "\$1";
in "%d";
}
st {
InTerminator = CR ACK;
out "P553 Q401 Q501";
in "%(A)d%*[ ]%(B)f%*[ ]%(C)f";
# Multi Record Version
# out "P553Q401 Q501";
# in "%d%*[ ]%(\$1:BS:TARGET_X)f%*[ ]%(\$1:BS:TARGET_Y)f";
}
stop {
InTerminator = CR ACK;
out "M04=8 M05=8";
in "%*s";
}
scripts/sans_llb_beamstop.cmd → beamstop/sans_llb_beamstop.cmd
+1 -1
View File
@@ -24,4 +24,4 @@ dbLoadRecords("$(sinqSPS_DB)/sps_status.db", "INSTR=$(INSTR), SPS_REGISTER_NAME=
dbLoadTemplate("$(sinqSPS_DB)/sans_llb_beamstop.substitutions", "INSTR=$(INSTR), SPS_REGISTER_NAME=$(SPS_REGISTER_NAME), STATUS_FLNK=$(INSTR)$(SPS_REGISTER_NAME):MAP-STATUS")
# Additional Mapping PVs
dbLoadRecords("$(sinqSPS_DB)/sans_llb_beamstop.db", "INSTR=$(INSTR), SPS_REGISTER_NAME=$(SPS_REGISTER_NAME), BSX_MOT=$(BSX_MOT), BSY_MOT=$(BSY_MOT)")
dbLoadRecords("$(sinqSPS_DB)/sans_llb_beamstop.db", "INSTR=$(INSTR), SPS_REGISTER_NAME=$(SPS_REGISTER_NAME), BS_MCU=$(BS_MCU), BS_MCU_ASYN_PORT=$(BS_MCU_ASYN_PORT), PROTO=$(sinqSPS_DB)beamstop_motors.proto")
db/sans_llb_beamstop.db → beamstop/sans_llb_beamstop.db
+198 -4
View File
@@ -1,3 +1,7 @@
################################################################################
# Beamstop Changer
################################################################################
record(longout, "$(INSTR)$(SPS_REGISTER_NAME):BEAMSTOP-INIT")
{
field(DESC, "Initialises BEAMSTOP PV")
@@ -195,10 +199,10 @@ record(calcout, "$(INSTR)$(SPS_REGISTER_NAME):BLOCK-BSX")
{
field(DESC, "Disable BSX during change")
field(INPA, "$(INSTR)$(SPS_REGISTER_NAME):STATUS NPP")
field(INPB, "$(BSX_MOT).DISA NPP")
field(INPB, "$(BS_MCU):bsx.DISA NPP")
field(CALC, "A=0?!B:B")
field(DOPT, "Use CALC")
field(OUT, "$(BSX_MOT).DISV PP")
field(OUT, "$(BS_MCU):bsx.DISV PP")
field(FLNK, "$(INSTR)$(SPS_REGISTER_NAME):BLOCK-BSY")
}
@@ -206,8 +210,198 @@ record(calcout, "$(INSTR)$(SPS_REGISTER_NAME):BLOCK-BSY")
{
field(DESC, "Disable BSY during change")
field(INPA, "$(INSTR)$(SPS_REGISTER_NAME):STATUS NPP")
field(INPB, "$(BSY_MOT).DISA NPP")
field(INPB, "$(BS_MCU):bsy.DISA NPP")
field(CALC, "A=0?!B:B")
field(DOPT, "Use CALC")
field(OUT, "$(BSY_MOT).DISV PP")
field(OUT, "$(BS_MCU):bsy.DISV PP")
}
################################################################################
# Beamstop Motors and Collision Detection
################################################################################
record(longin, "$(BS_MCU):BS:X_0") {
field(DESC, "X-Position of Beamstop 0")
field(DTYP, "stream")
field(INP , "@$(PROTO) pmac_get(Q453) $(BS_MCU_ASYN_PORT) 0")
field(PINI, "YES")
}
record(longin, "$(BS_MCU):BS:X_1") {
field(DESC, "X-Position of Beamstop 1")
field(DTYP, "stream")
field(INP , "@$(PROTO) pmac_get(Q454) $(BS_MCU_ASYN_PORT) 0")
field(PINI, "YES")
}
record(longin, "$(BS_MCU):BS:X_2") {
field(DESC, "X-Position of Beamstop 2")
field(DTYP, "stream")
field(INP , "@$(PROTO) pmac_get(Q455) $(BS_MCU_ASYN_PORT) 0")
field(PINI, "YES")
}
record(longin, "$(BS_MCU):BS:X_3") {
field(DESC, "X-Position of Beamstop 3")
field(DTYP, "stream")
field(INP , "@$(PROTO) pmac_get(Q456) $(BS_MCU_ASYN_PORT) 0")
field(PINI, "YES")
}
record(longin, "$(BS_MCU):BS:Y_GET") {
field(DESC, "Y Position for picking up Beamstop")
field(DTYP, "stream")
field(INP , "@$(PROTO) pmac_get(Q553) $(BS_MCU_ASYN_PORT) 0")
field(PINI, "YES")
}
record(longin, "$(BS_MCU):BS:Y_PUT") {
field(DESC, "Y Position under beamstops")
field(DTYP, "stream")
field(INP , "@$(PROTO) pmac_get(Q554) $(BS_MCU_ASYN_PORT) 0")
field(PINI, "YES")
}
record(calcout, "$(BS_MCU):BS:ST") {
field(DESC, "Monitors beamstop changing")
field(DTYP, "stream")
field(OUT , "@$(PROTO) st() $(BS_MCU_ASYN_PORT) 0")
field(CALC, "0")
field(SCAN, ".1 second")
field(FLNK, "$(BS_MCU):BS:ST_FANOUT")
}
record(fanout, "$(BS_MCU):BS:ST_FANOUT1") {
field(LNK1, "$(BS_MCU):BS:TARGET")
field(LNK2, "$(BS_MCU):BS:TARGET_X")
field(LNK3, "$(BS_MCU):BS:TARGET_Y")
field(LNK5, "$(BS_MCU):BS:TARGET_BS_RAW")
field(LNK6, "$(BS_MCU):BS:TARGET_BS")
field(LNK7, "$(BS_MCU):BS:ST_FANOUT2")
field(SCAN, ".1 second")
}
record(fanout, "$(BS_MCU):BS:ST_FANOUT2") {
field(LNK1, "$(BS_MCU):BS:TARGET_RANGE_RAW")
field(LNK2, "$(BS_MCU):BS:TARGET_RANGE")
field(LNK3, "$(BS_MCU):BS:LOADED_RAW")
field(LNK4, "$(BS_MCU):BS:INVALID")
}
record(longin, "$(BS_MCU):BS:TARGET") {
field(DESC, "Beamstop position being driven to")
field(INP, "$(BS_MCU):BS:ST.A NPP MS")
}
record(ai, "$(BS_MCU):BS:TARGET_X") {
field(DESC, "X Position being driven to")
field(INP, "$(BS_MCU):BS:ST.B NPP MS")
}
record(ai, "$(BS_MCU):BS:TARGET_Y") {
field(DESC, "Y Position being driven to")
field(INP, "$(BS_MCU):BS:ST.C NPP MS")
}
record(calc, "$(BS_MCU):BS:TARGET_BS_RAW") {
field(DESC, "Beamstop == TARGET_X")
# Dynamic Inputs
field(INPA, "$(BS_MCU):BS:TARGET_X NPP MS")
# Static Inputs
field(INPI, "$(BS_MCU):BS:X_0 NPP MS")
field(INPJ, "$(BS_MCU):BS:X_1 NPP MS")
field(INPK, "$(BS_MCU):BS:X_2 NPP MS")
field(INPL, "$(BS_MCU):BS:X_3 NPP MS")
# Maybe having a tolerance isn't really necessary?
# they get set exactly to the value in the MCU
field(CALC, "ABS(A-I)<1?0:ABS(A-J)<1?1:ABS(A-K)<1?2:ABS(A-L)<1?3:4")
# field(CALC, "A=I?0:A=J?1:A=K?2:A=L?3:4")
}
record(mbbi, "$(BS_MCU):BS:TARGET_BS") {
field(DESC, "Target Beamstop Holder")
field(DTYP, "Soft Channel")
field(INP, "$(BS_MCU):BS:TARGET_BS_RAW NPP MS")
field(ZRST, "No Beamstop")
field(ONST, "Beamstop 1")
field(TWST, "Beamstop 2")
field(THST, "Beamstop 3")
field(FRST, "User Mode")
}
record(calc, "$(BS_MCU):BS:TARGET_RANGE_RAW") {
field(DESC, "Beamstop target y-range")
# Dynamic Inputs
field(INPA, "$(BS_MCU):BS:TARGET_Y NPP MS")
# Static Inputs
field(INPK, "$(BS_MCU):BS:Y_GET NPP MS")
field(INPL, "$(BS_MCU):BS:Y_PUT NPP MS")
# Maybe having a tolerance isn't really necessary?
# they get set exactly to the value in the MCU
field(CALC, "ABS(A-K)<1?1:ABS(A-L)<1?2:0")
}
record(mbbi, "$(BS_MCU):BS:TARGET_RANGE") {
field(DESC, "Beamstop target y-range")
field(DTYP, "Soft Channel")
field(INP, "$(BS_MCU):BS:TARGET_RANGE_RAW NPP MS")
field(ZRST, "User Mode")
field(ONST, "Level with Beamstops")
field(TWST, "Under Beamstops")
}
record(calcout, "$(BS_MCU):BS:LOADED_RAW")
{
field(INPA, "$(BS_MCU):BS:TARGET_BS NPP MS")
field(INPB, "$(BS_MCU):BS:TARGET_RANGE NPP MS")
field(CALC, "B=2")
field(OOPT, "Transition To Zero")
field(DOPT, "Use OCAL")
field(OCAL, "A")
field(OUT, "$(BS_MCU):BS:LOADED PP")
}
record(longout, "$(INSTR)$(SPS_REGISTER_NAME):LOADED-INIT")
{
field(DESC, "Initialises LOADED PV")
field(DOL, "$(INSTR)$(SPS_REGISTER_NAME):BEAMSTOP_RBV NPP")
field(OUT, "$(BS_MCU):BS:LOADED NPP")
field(OMSL, "closed_loop")
field(PINI, "YES")
}
record(mbbi, "$(BS_MCU):BS:LOADED")
{
field(DESC, "Most recently lifted beamstop")
field(ZRST, "No Beamstop")
field(ONST, "Beamstop 1")
field(TWST, "Beamstop 2")
field(THST, "Beamstop 3")
}
record(calcout, "$(BS_MCU):BS:INVALID") {
field(DESC, "Invalid Move STOP MOTORS!")
# Dynamic Inputs
field(INPA, "$(BS_MCU):BS:TARGET_BS NPP MS")
field(INPB, "$(BS_MCU):BS:TARGET_RANGE NPP MS")
field(INPC, "$(BS_MCU):BS:LOADED NPP MS")
field(CALC, "A<4 & B=1 & A#C")
field(OOPT, "When Non-zero")
field(OUT, "$(BS_MCU):BS:IMMEDIATE_STOP.PROC PP")
}
record(longout, "$(BS_MCU):BS:IMMEDIATE_STOP") {
field(DESC, "Invalid Move STOP MOTORS!")
field(PINI, "NO")
field(OMSL, "closed_loop")
field(DOL, "1")
# For Test
# field(OUT, "TEST_RECORD PP")
# FOR REAL
field(DTYP, "stream")
field(OUT , "@$(PROTO) stop() $(BS_MCU_ASYN_PORT) 0")
}
# record(longin, "TEST_RECORD") {
# field(VAL, 0)
# }
templates/sans_llb_beamstop.substitutions → beamstop/sans_llb_beamstop.substitutions
View File
scripts/shutter.cmd → shutter/shutter.cmd
View File
db/shutter.db → shutter/shutter.db
View File
templates/shutter.substitutions → shutter/shutter.substitutions
View File
test/beamstop.log
+70
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@@ -0,0 +1,70 @@
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 11:09:32.656133 -20.0007
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 11:09:32.659449 -19.9995
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 14:54:23.954702 0
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:54:23.958820 -150
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:54:31.059702 -200
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 14:54:36.454703 -356
SQ:SANS-LLB:turboPmac3:BS:TARGET 2026-04-17 14:54:36.459712 3
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:54:52.464797 -150
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 14:54:58.055078 -10.0007
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:54:58.058422 -19.9995
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 14:55:25.855989 -356
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:55:25.960081 -150
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:55:41.461015 -200
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 14:55:46.955108 -226
SQ:SANS-LLB:turboPmac3:BS:TARGET 2026-04-17 14:55:46.962014 2
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:55:53.960696 -150
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 14:55:59.456495 -10.0007
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:55:59.460360 -20.002
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 14:56:24.678117 -226
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:56:24.681708 -150
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:56:35.059603 -200
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 14:56:40.455381 -96
SQ:SANS-LLB:turboPmac3:BS:TARGET 2026-04-17 14:56:40.462485 1
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:56:47.458093 -150
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:56:52.858578 -20.002
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 14:56:52.958942 -10.0007
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 14:57:14.855467 -96
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:57:14.959653 -150
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:57:21.956792 -200
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 14:57:27.456472 -356
SQ:SANS-LLB:turboPmac3:BS:TARGET 2026-04-17 14:57:27.463668 3
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:57:39.559147 -150
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 14:57:45.155695 -10.0007
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:57:45.160185 -20.002
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 14:58:16.755069 -356
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:58:16.757927 -150
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:58:32.359963 -200
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 14:58:37.756299 -226
SQ:SANS-LLB:turboPmac3:BS:TARGET 2026-04-17 14:58:37.763502 2
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:58:44.758396 -150
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 14:58:50.255358 -10.0007
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:58:50.259949 -20.002
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 14:59:56.755610 -226
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 14:59:56.858744 -150
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 15:00:07.159971 -200
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 15:00:12.555471 -356
SQ:SANS-LLB:turboPmac3:BS:TARGET 2026-04-17 15:00:12.561718 3
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 15:00:19.560666 -150
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 15:00:25.059011 -20.002
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 15:00:25.155561 -10.0007
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 15:01:27.755497 -356
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 15:01:27.858174 -150
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 15:01:43.359424 -200
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 15:01:48.757375 -96
SQ:SANS-LLB:turboPmac3:BS:TARGET 2026-04-17 15:01:48.763274 1
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 15:02:03.153618 0
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 15:02:17.959320 -150
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 15:02:22.055431 -10.0007
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 15:02:22.059497 -20.002
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 15:02:56.855467 0
SQ:SANS-LLB:turboPmac3:BS:TARGET 2026-04-17 15:02:56.862398 0
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 15:02:56.958718 -150
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 15:03:03.964312 -200
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 15:03:09.455238 -356
SQ:SANS-LLB:turboPmac3:BS:TARGET 2026-04-17 15:03:09.462565 3
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 15:03:25.459099 -150
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 15:04:08.355614 -10.0007
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 15:04:08.359484 -20.002
SQ:SANS-LLB:turboPmac3:BS:TARGET_X 2026-04-17 15:01:27.755497 -226
SQ:SANS-LLB:turboPmac3:BS:TARGET_Y 2026-04-17 15:01:27.858174 -150
test/beamstop.sh
Executable
+13
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@@ -0,0 +1,13 @@
#!/bin/bash
set -euo pipefail
IFS=$'\n\t'
SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
# Last two lines of the log file were added to produce an error state
while IFS=' ' read -r pv val; do
echo "caput ${pv} ${val}"
caput ${pv} ${val} > /dev/null 2>&1
sleep 4
done < <(cut -d' ' -f 1,4 "${SCRIPT_DIR}/beamstop.log")