From e607f872a6d78385e63cc11ca7ef97dd31c4140d Mon Sep 17 00:00:00 2001
From: appleb_m <martin.appleby@psi.ch>
Date: Fri, 16 Jan 2026 13:55:29 +0100
Subject: [PATCH] DAQ: added functionality to move aerotech x y and z to a
 coordinate. And to update the offset in aerotech.

---
 src/aare/daq/devices.py      | 21 +++++++++++++++++++--
 src/aare/devices/aerotech.py | 17 ++++++++++++++---
 2 files changed, 33 insertions(+), 5 deletions(-)

diff --git a/src/aare/daq/devices.py b/src/aare/daq/devices.py
index a3effcc8..6d2e26c4 100644
--- a/src/aare/daq/devices.py
+++ b/src/aare/daq/devices.py
@@ -10,6 +10,7 @@ from enum import Enum
 
 import numpy as np
 from epics import PV
+from fontTools.feaLib.ast import deviceToString
 
 from aare.common.beamline import MXBeamline
 from aare.common.coordinate import Coordinate, SmargonCoordinate
@@ -215,11 +216,18 @@ class BeamlineDevices:
 # Aertoech Automation1
     @property
     def aerotech_pos(self) -> Coordinate:
-        return Coordinate(x=0, y=0, z=0)
+        return Coordinate(x=self.__aerotech.gmx.readback,
+                          y=self.__aerotech.gmy.readback, z=self.__aerotech.gmz.readback)
 
     @aerotech_pos.setter
     def aerotech_pos(self, pos: Coordinate):
-        pass
+        self.__aerotech.gmx.move(pos.x, wait=False)
+        self.__aerotech.gmy.move(pos.y, wait=False)
+        self.__aerotech.gmz.move(pos.z, wait=False)
+        self.__aerotech.gmx.move(pos.x, wait=True)
+        self.__aerotech.gmy.move(pos.y, wait=True)
+        self.__aerotech.gmz.move(pos.z, wait=True)
+        #TODO add wait pos?
 
     @property
     def aerotech_omega(self) -> float:
@@ -260,3 +268,12 @@ class BeamlineDevices:
 
     def smargon_move_home(self):
         self.__smargon.move_home(wait=True)
+
+if __name__ == "__main__":
+    from aare.common.beamline import mx_beamline
+    beamline = mx_beamline()
+    devs = BeamlineDevices(beamline)
+    print(devs.aerotech_pos)
+    devs.aerotech_pos = Coordinate(x=124.0, y=1.0, z=1.0)
+    print(devs.aerotech_pos)
+    devs.aerotech_omega = 0.0
\ No newline at end of file
diff --git a/src/aare/devices/aerotech.py b/src/aare/devices/aerotech.py
index 6ee13958..20a516fb 100644
--- a/src/aare/devices/aerotech.py
+++ b/src/aare/devices/aerotech.py
@@ -1,9 +1,10 @@
 import os
 import sys
 import threading
+import time
 from enum import Enum
 
-import automation1 as a1
+#import automation1 as a1
 from epics import PV, Motor
 
 from aare.common.beamline import MXBeamline, mx_beamline
@@ -101,9 +102,19 @@ class AerotechControllerEpics:
             raise ValueError(f"Invalid task id {task_id}")
         self.__task_id.put(task_id)
 
+    def __put(self, axis: MyMotor, attr: str, value: float):
+        try:
+            axis.put(attr=attr, value=value)
+        except Exception as e:
+            raise ValueError(f"Error setting {axis.name} {attr} to {value}: {e}")
+
+    def set_offset(self, axis: MyMotor, offset: float):
+        self.__put(axis=axis, attr="OFF", value=offset)
+
     def home_all(self):
         #self.__task_id.put(2)
-        #self.__task_reset()
+        self.__task_reset()
+        time.sleep(0.1)
         self.__task_id.put(2)
         print(self.__task_id.get())
         self.__task_filename.put("home_all.a1exe")
@@ -125,4 +136,4 @@ if __name__ == "__main__":
 
     aerotech_epics = AerotechControllerEpics(beamline)
     #aerotech_epics.home_all()
-    aerotech_epics.omega.move(0.0)
+    #aerotech_epics.omega.move(90.0)