script/diffcalc/diffutils.py

@@ -16,10 +16,12 @@
 ###################################################################################################
 
 #1- Create a MontorGroup with the diffractometer motors 
-#   e.g named 'sixc', containing mu, delta, gam, eta, chi, phi motors
+#   e.g.   'sixc', containing mu, delta, gam, eta, chi, phi motors
+#   or     'fivec', containing delta, gam, eta, chi, phi motors
+#   or     'fourc', containing delta, eta, chi, phi motors
 #2- Create  positioner to read/set the energy in kEv, e.g. named 'en'
 #3- Execute: run("diffutils")
-#4- Execute: setup_sixc(sixc, en)
+#4- Execute: setup_diff(sixc, en)
 
 
 from __future__ import absolute_import
@@ -29,15 +31,15 @@ import traceback
 import Jama.Matrix
 diffcalc_path = os.path.abspath(get_context().setup.expandPath("{script}/Lib/diffcalc"))
 if not diffcalc_path in sys.path:
-    sys.path.append('/Users/gobbo_a/dev/pshell/config/home/script/Lib/diffcalc')
+    sys.path.append(diffcalc_path)
 
 import diffcalc
 from diffcalc import settings
-from diffcalc.hkl.you.geometry import SixCircle
+from diffcalc.hkl.you.geometry import SixCircle, FiveCircle, FourCircle
 from diffcalc.hardware import HardwareAdapter
 from diffcalc.ub.persistence import UbCalculationNonPersister
-from diffcalc.gdasupport.minigda.scannable import *
-from diffcalc.gdasupport.minigda import command
+from diffcalc.gdasupport.minigda.scannable import ScannableBase, ScannableGroup
+#from diffcalc.gdasupport.minigda import command
 from diffcalc.hardware import HardwareAdapter
 
 
@@ -54,7 +56,6 @@ import ch.psi.pshell.device.Register as Register
 # Device mapping to difcalc
 ###################################################################################################
 class PositionerScannable(ScannableBase):
-
     def __init__(self, positioner):
         self.positioner = positioner
         self.name = positioner.name
@@ -79,15 +80,31 @@ class PositionerScannable(ScannableBase):
 class PositionerScannableGroup(ScannableGroup):
     def __init__(self, name, motors):
         self.name = name
-        [mu, delta, gam, eta, chi, phi] = motors
-        self.mu = PositionerScannable(mu)
-        self.delta = PositionerScannable(delta)
-        self.gam = PositionerScannable(gam)
-        self.eta = PositionerScannable(eta)
-        self.chi = PositionerScannable(chi)
-        self.phi = PositionerScannable(phi)
-        ScannableGroup.__init__(self, self.name, [self.mu, self.delta, self.gam, self.eta, self.chi, self.phi])
-
+        if len(motors)==6:
+            [mu, delta, gam, eta, chi, phi] = motors
+            self.mu = PositionerScannable(mu)
+            self.delta = PositionerScannable(delta)
+            self.gam = PositionerScannable(gam)
+            self.eta = PositionerScannable(eta)
+            self.chi = PositionerScannable(chi)
+            self.phi = PositionerScannable(phi)
+            ScannableGroup.__init__(self, self.name, [self.mu, self.delta, self.gam, self.eta, self.chi, self.phi])
+        elif len(motors)==5:
+            [delta, gam, eta, chi, phi] = motors
+            self.delta = PositionerScannable(delta)
+            self.gam = PositionerScannable(gam)
+            self.eta = PositionerScannable(eta)
+            self.chi = PositionerScannable(chi)
+            self.phi = PositionerScannable(phi)
+            ScannableGroup.__init__(self, self.name, [self.delta, self.gam, self.eta, self.chi, self.phi])
+        elif len(motors)==4:
+            [delta, eta, chi, phi] = motors
+            self.delta = PositionerScannable(delta)
+            self.eta = PositionerScannable(eta)
+            self.chi = PositionerScannable(chi)
+            self.phi = PositionerScannable(phi)
+            ScannableGroup.__init__(self, self.name, [self.delta, self.eta, self.chi, self.phi])     
+                   
 class MotorGroupScannable(PositionerScannableGroup):        
     def __init__(self, motor_group):
         self.motor_group = motor_group
@@ -125,10 +142,10 @@ class ScannableAdapter(HardwareAdapter):
 
 class MotorGroupAdapter(ScannableAdapter):
     def __init__(self, diffractometer, energy, energy_multiplier_to_kev=1):
-        self.sixc = MotorGroupScannable(sixc)
-        self.en = PositionerScannable(en)
-        self.en.level = 3    
-        ScannableAdapter.__init__(self, self.sixc, self.en, energy_multiplier_to_kev)
+        self.diffractometer = MotorGroupScannable(diffractometer)
+        self.energy = PositionerScannable(energy)
+        self.energy.level = 3    
+        ScannableAdapter.__init__(self, self.diffractometer, self.energy, energy_multiplier_to_kev)
 
 class Wavelength(RegisterBase):    
     def doRead(self):
@@ -205,15 +222,30 @@ class HklGroup(RegisterBase, Register.RegisterArray):
 ###################################################################################################
 you = None
 dc, ub, hardware, hkl = None, None, None, None
-#en in kev
-def setup_sixc(sixc, en):
-    global you, dc, ub, hardware, hkl 
+_motor_group = None
+def setup_diff(diffractometer, energy):
+    """
+        diffractometer: Motor group containing: 
+            - mu, delta, gam, eta, chi, phi (six circle) or
+            - delta, gam, eta, chi, phi (ficve circle) or
+            - delta, eta, chi, phi (four circle)
+        energy: Positioner having energy in kev
+    """
+    global you, dc, ub, hardware, hkl, _motor_group 
+    _motor_group = diffractometer
     you =None
-    settings.hardware = MotorGroupAdapter(sixc, en)
-    settings.geometry = SixCircle()
+    if len(diffractometer.motors) == 6:
+        settings.geometry = SixCircle()
+    elif len(diffractometer.motors) == 5:
+        settings.geometry = FiveCircle()
+    elif len(diffractometer.motors) == 4:
+        settings.geometry = FourCircle()
+    else:    
+        raise Exception("Invalid motor group")
+    settings.hardware = MotorGroupAdapter(diffractometer, energy)
     settings.ubcalc_persister = UbCalculationNonPersister()
-    settings.axes_scannable_group = settings.hardware.sixc
-    settings.energy_scannable = settings.hardware.en
+    settings.axes_scannable_group = settings.hardware.diffractometer
+    settings.energy_scannable = settings.hardware.energy
     settings.ubcalc_strategy = diffcalc.hkl.you.calc.YouUbCalcStrategy()
     settings.angles_to_hkl_function = diffcalc.hkl.you.calc.youAnglesToHkl
     from diffcalc.gdasupport import you
@@ -242,10 +274,13 @@ def print_axis_setup():
 # Acceess functions
 ###################################################################################################
 def get_diff():
-    return settings.hardware.sixc
+    return settings.hardware.diffractometer
 
 def get_en():
-    return settings.hardware.en
+    return settings.hardware.energy
+
+def get_motor_group():
+    return _motor_group
 
 def get_wl():
     return you.wl
@@ -302,7 +337,11 @@ def hklscan(vector, readables,latency = 0.0,  passes = 1, **pars):
         for pos in vector:
             #print "Writing ", pos
             hkl_group.write(pos)
-            time.sleep(1.0)
+            time.sleep(0.1) #Make sure is busy
+            get_motor_group().update()
+            get_motor_group().waitReady(-1)
+            time.sleep(latency)
+            hkl_group.update()
             scan.append ([h.take(), k.take(), l.take()], [h.getPosition(), k.getPosition(), l.getPosition()], [readable.read() for readable in readables ])
     finally:
         scan.end()