DAQ: smargon, added aerotech functionality

src/aare/devices/smargon.py

@@ -4,7 +4,7 @@ from time import sleep, time
 import requests
 
 from aare.common.beamline import MXBeamline
-from aare.common.coordinate import SmargonCoordinate, Coordinate
+from aare.common.coordinate import SmargonCoordinate, Coordinate, AerotechCoordinate
 
 
 class SmargonMode(Enum):
@@ -18,6 +18,7 @@ class Smargon(object):
     SMARGON_HOME = SmargonCoordinate(
         sh_mm=Coordinate(x=0, y=0, z=18), phi_deg=0, chi_deg=0
     )
+    AERO_HOME = AerotechCoordinate(x=18, y=0, z=0, omega=0)
 
     def __init__(self, bl: MXBeamline):
         if bl == MXBeamline.X06DA:
@@ -29,6 +30,7 @@ class Smargon(object):
         elif bl == MXBeamline.SIMULATED:
             self.__simulated = True
             self.__pos = self.SMARGON_HOME
+            self.__pos_aero = self.AERO_HOME
         else:
             raise Exception("unknown beamline")
 
@@ -94,12 +96,21 @@ class Smargon(object):
             chi_deg=scs["CHI"],
         )
 
+    @property
+    def readback_aerotech(self) -> AerotechCoordinate:
+        if self.__simulated:
+            return self.__pos_aero
+
+        acs = self.gonget("readbackAEROTECH")
+        return AerotechCoordinate(at_mm = Coordinate(x=acs["GMX"], y = acs["GMY"], z = acs["GMZ"]),
+                                  omega_deg = acs["GMU"])
+
     @property
     def target(self) -> SmargonCoordinate:
         if self.__simulated:
             return self.__pos
 
-        scs = self.gonget("targetSCS")
+        scs = self.gonget("targetSCS") #targetAEROTECH, #targetOMEGA
         return SmargonCoordinate(
             sh_mm=Coordinate(x=scs["SHX"], y=scs["SHY"], z=scs["SHZ"]),
             phi_deg=scs["PHI"],
@@ -124,6 +135,32 @@ class Smargon(object):
         if target_string:
             self.gonput(f"targetSCS?{target_string}")
 
+    @property
+    def target_aerotech(self) -> AerotechCoordinate:
+        if self.__simulated:
+            return self.__pos_aero
+
+        acs = self.gonget("targetAEROTECH") #targetAEROTECH, #targetOMEGA
+        return AerotechCoordinate(at_mm = Coordinate(x=acs["GMX"], y = acs["GMY"], z = acs["GMZ"]),
+                                  omega_deg = acs["GMU"])
+
+    @target_aerotech.setter
+    def target_aerotech(self, coord: AerotechCoordinate):
+        if self.__simulated:
+            self.__pos_aero = coord
+            return
+
+        target_string = ""
+        if coord.at_mm is not None:
+            target_string += "&GMX={:.5f}&GMY={:.5f}&GMZ={:.5f}".format(
+                coord.at_mm.x, coord.at_mm.y, coord.at_mm.z
+            )
+        if coord.omega_deg is not None:
+            target_string += "&GMU={:.5f}".format(coord.omega_deg)
+        if target_string:
+            self.gonput(f"targetAEROTECH?{target_string}")
+
+
     def wait(self, timeout=60.0, tol=0.01, poll_time=0.01):
         target = self.target
         timeout = timeout + time()
@@ -133,3 +170,25 @@ class Smargon(object):
             if time() > timeout:
                 raise TimeoutError("Timed out waiting for Smargon to reach target")
             sleep(poll_time)
+
+    def wait_aerotech(self, timeout=60.0, tol=0.01, poll_time=0.01):
+        target = self.target
+        timeout = timeout + time()
+        while time() < timeout:
+            if self.target_aerotech.eq(self.readback_aerotech, tol):
+                break
+            if time() > timeout:
+                raise TimeoutError("Timed out waiting for Aerotech to reach target")
+            sleep(poll_time)
+
+
+if __name__ == "__main__":
+    smargon = Smargon(MXBeamline.X10SA)
+    x = smargon.readback_aerotech
+    print(x)
+    y = smargon.target_aerotech
+    smargon.target_aerotech = AerotechCoordinate(at_mm=Coordinate(x=18, y=0, z=0))
+    print(y)
+    smargon.wait_aerotech()
+    print(f"aerotech reached {smargon.readback_aerotech}")
+