2018-11-23 08:42:01 +01:00
parent c6cd6123b0
commit bf5d1b8d7c
32 changed files with 1961 additions and 20 deletions
--- a/config/config.properties
+++ b/config/config.properties
@@ -1,5 +1,6 @@
-#Thu Aug 02 10:45:31 CEST 2018
+#Tue Nov 06 14:31:07 CET 2018
 autoSaveScanData=true
+commandExecutionEvents=false
 createSessionFiles=true
 dataLayout=default
 dataPath={data}/{year}_{month}/{date}/{date}_{time}_{name}
@@ -9,6 +10,7 @@ dataScanPreserveTypes=false
 dataScanReleaseRecords=false
 dataServerPort=5573
 depthDimension=0
+generateCommandExecutionEvents=true
 hostName=
 instanceName=Dev
 logDaysToLive=50
@@ -17,7 +19,7 @@ logLevelConsole=Off
 logPath={logs}/{date}_{time}
 notificationLevel=Off
 scanStreamerPort=5563
-serverEnabled=true
+serverEnabled=false
 serverPort=8080
 simulation=false
 terminalEnabled=false
--- a/config/devices.properties
+++ b/config/devices.properties
@@ -1,7 +1,9 @@
 dispatcher=ch.psi.pshell.bs.Provider|tcp://localhost:9999|||
 cam_server_local=ch.psi.pshell.bs.PipelineServer|localhost:8889|||true
 cam_server=ch.psi.pshell.bs.PipelineServer|sf-daqsync-01:8889|||true
+#ts1=ch.psi.pshell.epics.GenericArray|TESTIOC:TESTWF2:MyWF|||
 #monit_cam=ch.psi.pshell.imaging.MjpegSource|http://axis-accc8e9cc87b.psi.ch/axis-cgi/mjpg/video.cgi?camera=2 reopen||-200|false
+#tststr=ch.psi.pshell.epics.ChannelString|TESTIOC:TESTSINUS:SinCalc|||
 #stream=ch.psi.pshell.bs.Stream|<dispatcher> #false:boolean|||
 #scalar=ch.psi.pshell.bs.Scalar|stream Int8Scalar|||
 #cam=ch.psi.pshell.bs.StreamCamera|"tcp://gfa-lc6-64:10100" 1|||true
@@ -9,7 +11,8 @@ cam_server=ch.psi.pshell.bs.PipelineServer|sf-daqsync-01:8889|||true
 #rr=RotationReadback|TESTIOC:TESTCALCOUT:Output|||true
 #rp=ch.psi.pshell.epics.Positioner|TESTIOC:TESTCALCOUT:Input null rr|||
 #webcam=ch.psi.pshell.webcam.Webcam|:2|||true
-#det=ch.psi.pshell.epics.AreaDetector|13SIM1|||false
+$det=ch.psi.pshell.epics.AreaDetector|13SIM1|||true
+deting=ch.psi.pshell.imaging.CameraSource|det||-500|
 #PiezoRoll1=ch.psi.pshell.epics.ControlledVariable|"TESTIOC:TESTCALCOUT:Input" TESTIOC:TESTCALCOUT:Output false|||true
 #$ser=ch.psi.pshell.serial.TcpDevice||||
 #$beam_ok=ch.psi.pshell.epics.ChannelString|CHANNEL|||
@@ -57,6 +60,11 @@ sin=ch.psi.pshell.epics.ChannelDouble|TESTIOC:TESTSINUS:SinCalc 3 true|||true
 #average=ch.psi.pshell.device.Averager|sin||2000|
 #isin=ch.psi.pshell.epics.ChannelInteger|TESTIOC:TESTSINUS:SinCalc|||true
 arr=ch.psi.pshell.epics.ChannelDoubleArray|TESTIOC:TESTWF2:MyWF 6 -1 false|||true
+arr1=ch.psi.pshell.epics.ChannelIntegerArray|TESTIOC:TESTWF2:MyWF -1 false|||
+mt=ch.psi.pshell.epics.GenericMatrix|TESTIOC:TESTWF2:MyWF 2 3 false|||
+mt1=ch.psi.pshell.epics.GenericMatrix|TESTIOC:TESTWF2:MyWF 3 2 False None [i|||
+as1=ch.psi.pshell.imaging.RegisterArraySource|arr1|||
+cm1=ch.psi.pshell.epics.ChannelIntegerMatrix|TESTIOC:TESTWF2:MyWF 3 3 false|||
 pv=ch.psi.pshell.epics.ProcessVariable|TESTIOC:TESTCALCOUT:Input|||true
 shutter=ch.psi.pshell.epics.BinaryPositioner|TESTIOC:TESTBO:MyBO TESTIOC:TESTBO:MyBO|||true
 $motor=ch.psi.pshell.epics.Motor|MTEST-GOBBO:MOT1|||true
--- a/config/jcae.properties
+++ b/config/jcae.properties
@@ -1,7 +1,7 @@
-#Fri Aug 24 11:15:23 CEST 2018
+#Fri Nov 16 23:08:57 CET 2018
 ch.psi.jcae.ContextFactory.addressList=127.0.0.1\:54321
 ch.psi.jcae.ContextFactory.maxArrayBytes=10000000
-ch.psi.jcae.ChannelFactory.timeout=100
+ch.psi.jcae.ChannelFactory.timeout=200
 ch.psi.jcae.ChannelFactory.retries=1
 ch.psi.jcae.ContextFactory.serverPort=
 ch.psi.jcae.impl.DefaultChannelService.retries=1
--- a/config/plugins.properties
+++ b/config/plugins.properties
@@ -1,3 +1,5 @@
+PID.java=enabled
+SpinnerLayoutTest.java=disabled
 MXSC-1.10.0.jar=disabled
 ScreenPanel3.java=disabled
 Tomaz.java=disabled
--- a/devices/as.properties
+++ b/devices/as.properties
@@ -0,0 +1,27 @@
+#Tue Oct 30 09:21:40 CET 2018
+colormap=Grayscale
+colormapAutomatic=false
+colormapLogarithmic=false
+colormapMax=NaN
+colormapMin=NaN
+flipHorizontally=false
+flipVertically=false
+grayscale=false
+imageHeight=3
+imageWidth=3
+invert=false
+rescaleFactor=1.0
+rescaleOffset=0.0
+roiHeight=-1
+roiWidth=-1
+roiX=0
+roiY=0
+rotation=0.0
+rotationCrop=false
+scale=1.0
+spatialCalOffsetX=NaN
+spatialCalOffsetY=NaN
+spatialCalScaleX=NaN
+spatialCalScaleY=NaN
+spatialCalUnits=mm
+transpose=false
--- a/devices/as1.properties
+++ b/devices/as1.properties
@@ -0,0 +1,27 @@
+#Tue Oct 30 09:23:19 CET 2018
+colormap=Grayscale
+colormapAutomatic=false
+colormapLogarithmic=false
+colormapMax=NaN
+colormapMin=NaN
+flipHorizontally=false
+flipVertically=false
+grayscale=false
+imageHeight=3
+imageWidth=3
+invert=false
+rescaleFactor=1.0
+rescaleOffset=0.0
+roiHeight=-1
+roiWidth=-1
+roiX=0
+roiY=0
+rotation=0.0
+rotationCrop=false
+scale=1.0
+spatialCalOffsetX=NaN
+spatialCalOffsetY=NaN
+spatialCalScaleX=NaN
+spatialCalScaleY=NaN
+spatialCalUnits=mm
+transpose=false
--- a/devices/cm1.properties
+++ b/devices/cm1.properties
@@ -0,0 +1,9 @@
+#Tue Oct 30 09:41:22 CET 2018
+mirror_x=false
+mirror_y=false
+precision=-1
+roi_height=-1
+roi_width=-1
+roi_x=0
+roi_y=0
+transpose=false
--- a/devices/detector_roi_img.properties
+++ b/devices/detector_roi_img.properties
@@ -0,0 +1,25 @@
+#Fri Aug 31 16:53:08 CEST 2018
+colormap=Temperature
+colormapAutomatic=true
+colormapLogarithmic=false
+colormapMax=1.0
+colormapMin=0.0
+flipHorizontally=false
+flipVertically=false
+grayscale=false
+invert=false
+rescaleFactor=1.0
+rescaleOffset=0.0
+roiHeight=-1
+roiWidth=-1
+roiX=0
+roiY=0
+rotation=0.0
+rotationCrop=false
+scale=1.0
+spatialCalOffsetX=NaN
+spatialCalOffsetY=NaN
+spatialCalScaleX=NaN
+spatialCalScaleY=NaN
+spatialCalUnits=mm
+transpose=false
--- a/devices/deting.properties
+++ b/devices/deting.properties
@@ -0,0 +1,25 @@
+#Thu Sep 13 17:21:24 CEST 2018
+colormap=Grayscale
+colormapAutomatic=false
+colormapLogarithmic=false
+colormapMax=NaN
+colormapMin=NaN
+flipHorizontally=false
+flipVertically=false
+grayscale=false
+invert=false
+rescaleFactor=1.0
+rescaleOffset=0.0
+roiHeight=-1
+roiWidth=-1
+roiX=0
+roiY=0
+rotation=0.0
+rotationCrop=false
+scale=1.0
+spatialCalOffsetX=NaN
+spatialCalOffsetY=NaN
+spatialCalScaleX=NaN
+spatialCalScaleY=NaN
+spatialCalUnits=mm
+transpose=false
--- a/devices/motor2.properties
+++ b/devices/motor2.properties
@@ -1,4 +1,4 @@
-#Tue Jun 19 17:19:36 CEST 2018
+#Tue Oct 16 15:21:38 CEST 2018
 accessType=ReadWrite
 channel=MTEST-GOBBO\:MOT2
 defaultSpeed=0.2
@@ -7,9 +7,9 @@ hasEnable=true
 homingDirection=Backward
 homingType=Backward
 maxSpeed=100.0
-maxValue=2.0
+maxValue=100.0
 minSpeed=0.001
-minValue=-2.0
+minValue=-100.0
 offset=10.0
 precision=3
 resolution=NaN
--- a/devices/mt.properties
+++ b/devices/mt.properties
@@ -0,0 +1,9 @@
+#Tue Oct 30 08:49:48 CET 2018
+mirror_x=false
+mirror_y=false
+precision=-1
+roi_height=-1
+roi_width=-1
+roi_x=0
+roi_y=0
+transpose=false
--- a/devices/mt1.properties
+++ b/devices/mt1.properties
@@ -0,0 +1,9 @@
+#Tue Oct 30 08:49:48 CET 2018
+mirror_x=false
+mirror_y=false
+precision=-1
+roi_height=-1
+roi_width=-1
+roi_x=0
+roi_y=0
+transpose=false
--- a/plugins/PID.java
+++ b/plugins/PID.java
@@ -0,0 +1,468 @@
+/**
+* Small, easy to use PID implementation with advanced controller capability.<br> 
+* Minimal usage:<br>
+* MiniPID pid = new MiniPID(p,i,d); <br>
+* ...looping code...{ <br>
+*   output= pid.getOutput(sensorvalue,target); <br>
+* }
+* 
+* @see http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-direction/improving-the-beginners-pid-introduction
+*/
+public class PID{
+	//**********************************
+	// Class private variables
+	//**********************************
+
+	private double P=0;
+	private double I=0;
+	private double D=0;
+	private double F=0;
+
+	private double maxIOutput=0;
+	private double maxError=0;
+	private double errorSum=0;
+
+	private double maxOutput=0; 
+	private double minOutput=0;
+
+	private double setpoint=0;
+
+	private double lastActual=0;
+
+	private boolean firstRun=true;
+	private boolean reversed=false;
+
+	private double outputRampRate=0;
+	private double lastOutput=0;
+
+	private double outputFilter=0;
+
+	private double setpointRange=0;
+
+	//**********************************
+	// Constructor functions
+	//**********************************
+	
+	/**
+	 * Create a MiniPID class object. 
+	 * See setP, setI, setD methods for more detailed parameters.
+	 * @param p Proportional gain. Large if large difference between setpoint and target. 
+	 * @param i Integral gain.  Becomes large if setpoint cannot reach target quickly. 
+	 * @param d Derivative gain. Responds quickly to large changes in error. Small values prevents P and I terms from causing overshoot.
+	 */
+	public PID(double p, double i, double d){
+		P=p; I=i; D=d;
+		checkSigns();
+		}
+
+	/**
+	 * Create a MiniPID class object. 
+	 * See setP, setI, setD, setF methods for more detailed parameters.
+	 * @param p Proportional gain. Large if large difference between setpoint and target. 
+	 * @param i Integral gain.  Becomes large if setpoint cannot reach target quickly. 
+	 * @param d Derivative gain. Responds quickly to large changes in error. Small values prevents P and I terms from causing overshoot.
+	 * @param f Feed-forward gain. Open loop "best guess" for the output should be. Only useful if setpoint represents a rate.
+	 */
+	public PID(double p, double i, double d, double f){
+		P=p; I=i; D=d; F=f;
+		checkSigns();
+		}
+
+	//**********************************
+	// Configuration functions
+	//**********************************
+	/**
+	 * Configure the Proportional gain parameter. <br>
+	 * This responds quickly to changes in setpoint, and provides most of the initial driving force
+	 * to make corrections. <br>
+	 * Some systems can be used with only a P gain, and many can be operated with only PI.<br>
+	 * For position based controllers, this is the first parameter to tune, with I second. <br>
+	 * For rate controlled systems, this is often the second after F.
+	 *  
+	 * @param p Proportional gain. Affects output according to <b>output+=P*(setpoint-current_value)</b>
+	 */
+	public void setP(double p){
+		P=p;
+		checkSigns();
+	}
+
+	/**
+	 * Changes the I parameter <br>
+	 * This is used for overcoming disturbances, and ensuring that the controller always gets to the control mode. 
+	 * Typically tuned second for "Position" based modes, and third for "Rate" or continuous based modes. <br>
+	 * Affects output through <b>output+=previous_errors*Igain ;previous_errors+=current_error</b>
+	 * 
+	 * @see {@link #setMaxIOutput(double) setMaxIOutput} for how to restrict
+	 *
+	 * @param i New gain value for the Integral term
+	 */
+	public void setI(double i){
+		if(I!=0){
+			errorSum=errorSum*I/i;
+			}
+		if(maxIOutput!=0){
+			maxError=maxIOutput/i;
+		}
+		I=i;
+		checkSigns();
+		 // Implementation note: 
+		 // This Scales the accumulated error to avoid output errors. 
+		 // As an example doubling the I term cuts the accumulated error in half, which results in the 
+		 // output change due to the I term constant during the transition. 
+	}
+
+	/**
+	 * Changes the D parameter <br>
+	 * This has two primary effects:
+	 * <list>
+	 * <li> Adds a "startup kick" and speeds up system response during setpoint changes
+	 * <li> Adds "drag" and slows the system when moving toward the target
+	 * </list>
+	 * A small D value can be useful for both improving response times, and preventing overshoot.
+	 * However, in many systems a large D value will cause significant instability, particularly 
+	 * for large setpoint changes.
+	 * <br>
+	 * Affects output through <b>output += -D*(current_input_value - last_input_value)</b>
+	 *
+	 * @param d New gain value for the Derivative term
+	 */
+	public void setD(double d){
+		D=d;
+		checkSigns();
+		}
+
+	/**
+	 * Configure the FeedForward parameter. <br>
+	 * This is excellent for velocity, rate, and other  continuous control modes where you can 
+	 * expect a rough output value based solely on the setpoint.<br>
+	 * Should not be used in "position" based control modes.<br>
+	 * Affects output according to <b>output+=F*Setpoint</b>. Note, that a F-only system is actually open loop.
+	 * 
+	 * @param f Feed forward gain. 
+	 */
+	public void setF(double f){
+		F=f;
+		checkSigns();
+	}
+
+	/** 
+	 * Configure the PID object.
+	 * See setP, setI, setD methods for more detailed parameters.
+	 * @param p Proportional gain. Large if large difference between setpoint and target. 
+	 * @param i Integral gain.  Becomes large if setpoint cannot reach target quickly. 
+	 * @param d Derivative gain. Responds quickly to large changes in error. Small values prevents P and I terms from causing overshoot.
+	 */
+	public void setPID(double p, double i, double d){
+		P=p;D=d;
+		//Note: the I term has additional calculations, so we need to use it's 
+		//specific method for setting it.
+		setI(i);
+		checkSigns();
+	}
+
+	/** 
+	 * Configure the PID object.
+	 * See setP, setI, setD, setF methods for more detailed parameters.
+	 * @param p Proportional gain. Large if large difference between setpoint and target. 
+	 * @param i Integral gain.  Becomes large if setpoint cannot reach target quickly. 
+	 * @param d Derivative gain. Responds quickly to large changes in error. Small values prevents P and I terms from causing overshoot.
+	 * @param f Feed-forward gain. Open loop "best guess" for the output should be. Only useful if setpoint represents a rate.
+	 */
+	public void setPID(double p, double i, double d,double f){
+		P=p;D=d;F=f;
+		//Note: the I term has additional calculations, so we need to use it's 
+		//specific method for setting it.
+		setI(i);
+		checkSigns();
+	}
+
+	/**
+	 * Set the maximum output value contributed by the I component of the system
+	 * This can be used to prevent large windup issues and make tuning simpler
+	 * @param maximum. Units are the same as the expected output value
+	 */
+	public void setMaxIOutput(double maximum){
+		// Internally maxError and Izone are similar, but scaled for different purposes. 
+		// The maxError is generated for simplifying math, since calculations against 
+		// the max error are far more common than changing the I term or Izone. 
+		maxIOutput=maximum;
+		if(I!=0){
+			maxError=maxIOutput/I;
+		}
+	}
+
+	/**
+	 * Specify a maximum output range. <br>
+	 * When one input is specified, output range is configured to 
+	 * <b>[-output, output]</b>
+	 * @param output
+	 */
+	public void setOutputLimits(double output){
+		setOutputLimits(-output,output);
+	}
+
+	/**
+	 * Specify a  maximum output.
+	 * When two inputs specified, output range is configured to 
+	 * <b>[minimum, maximum]</b>
+	 * @param minimum possible output value
+	 * @param maximum possible output value
+	 */
+	public void setOutputLimits(double minimum,double maximum){
+		if(maximum<minimum)return;
+		maxOutput=maximum;
+		minOutput=minimum;
+
+		// Ensure the bounds of the I term are within the bounds of the allowable output swing
+		if(maxIOutput==0 || maxIOutput>(maximum-minimum) ){
+			setMaxIOutput(maximum-minimum);
+		}
+	}
+
+	/** 
+	 * Set the operating direction of the PID controller
+	 * @param reversed Set true to reverse PID output
+	 */
+	public void  setDirection(boolean reversed){
+		this.reversed=reversed;
+	}
+
+	//**********************************
+	// Primary operating functions
+	//**********************************
+
+	/**
+	 * Configure setpoint for the PID calculations<br>
+	 * This represents the target for the PID system's, such as a 
+	 * position, velocity, or angle. <br>
+	 * @see PID#getOutput(actual) <br>
+	 * @param setpoint
+	 */
+	public void setSetpoint(double setpoint){
+		this.setpoint=setpoint;
+	}
+
+	/**
+	 * Calculate the output value for the current PID cycle.<br>
+	 * @param actual The monitored value, typically as a sensor input.
+	 * @param setpoint The target value for the system
+	 * @return calculated output value for driving the system
+	 */
+	public double getOutput(double actual, double setpoint){
+		double output;
+		double Poutput;
+		double Ioutput;
+		double Doutput;
+		double Foutput;
+
+		this.setpoint=setpoint;
+
+		// Ramp the setpoint used for calculations if user has opted to do so
+		if(setpointRange!=0){
+			setpoint=constrain(setpoint,actual-setpointRange,actual+setpointRange);
+		}
+
+		// Do the simple parts of the calculations
+		double error=setpoint-actual;
+
+		// Calculate F output. Notice, this depends only on the setpoint, and not the error. 
+		Foutput=F*setpoint;
+
+		// Calculate P term
+		Poutput=P*error;   
+
+		// If this is our first time running this, we don't actually _have_ a previous input or output. 
+		// For sensor, sanely assume it was exactly where it is now.
+		// For last output, we can assume it's the current time-independent outputs. 
+		if(firstRun){
+			lastActual=actual;
+			lastOutput=Poutput+Foutput;
+			firstRun=false;
+		}
+
+		// Calculate D Term
+		// Note, this is negative. This actually "slows" the system if it's doing
+		// the correct thing, and small values helps prevent output spikes and overshoot 
+		Doutput= -D*(actual-lastActual);
+		lastActual=actual;
+
+		// The Iterm is more complex. There's several things to factor in to make it easier to deal with.
+		// 1. maxIoutput restricts the amount of output contributed by the Iterm.
+		// 2. prevent windup by not increasing errorSum if we're already running against our max Ioutput
+		// 3. prevent windup by not increasing errorSum if output is output=maxOutput    
+		Ioutput=I*errorSum;
+		if(maxIOutput!=0){
+			Ioutput=constrain(Ioutput,-maxIOutput,maxIOutput); 
+		}    
+
+		// And, finally, we can just add the terms up
+		output=Foutput + Poutput + Ioutput + Doutput;
+
+		// Figure out what we're doing with the error.
+		if(minOutput!=maxOutput && !bounded(output, minOutput,maxOutput) ){
+			errorSum=error; 
+			// reset the error sum to a sane level
+			// Setting to current error ensures a smooth transition when the P term 
+			// decreases enough for the I term to start acting upon the controller
+			// From that point the I term will build up as would be expected
+		}
+		else if(outputRampRate!=0 && !bounded(output, lastOutput-outputRampRate,lastOutput+outputRampRate) ){
+			errorSum=error; 
+		}
+		else if(maxIOutput!=0){
+			errorSum=constrain(errorSum+error,-maxError,maxError);
+			// In addition to output limiting directly, we also want to prevent I term 
+			// buildup, so restrict the error directly
+		}
+		else{
+			errorSum+=error;
+		}
+
+		// Restrict output to our specified output and ramp limits
+		if(outputRampRate!=0){
+			output=constrain(output, lastOutput-outputRampRate,lastOutput+outputRampRate);
+		}
+		if(minOutput!=maxOutput){ 
+			output=constrain(output, minOutput,maxOutput);
+			}
+		if(outputFilter!=0){
+			output=lastOutput*outputFilter+output*(1-outputFilter);
+		}
+
+		// Get a test printline with lots of details about the internal 
+		// calculations. This can be useful for debugging. 
+		// System.out.printf("Final output %5.2f [ %5.2f, %5.2f , %5.2f  ], eSum %.2f\n",output,Poutput, Ioutput, Doutput,errorSum );
+		// System.out.printf("%5.2f\t%5.2f\t%5.2f\t%5.2f\n",output,Poutput, Ioutput, Doutput );
+
+		lastOutput=output;
+		return output;
+	}
+
+	/**
+	 * Calculate the output value for the current PID cycle.<br>
+	 * In no-parameter mode, this uses the last sensor value, 
+	 * and last setpoint value. <br>
+	 * Not typically useful, and use of parameter modes is suggested. <br>
+	 * @return calculated output value for driving the system
+	 */
+	public double getOutput(){
+		return getOutput(lastActual,setpoint);
+	}
+
+	/**
+	 * Calculate the output value for the current PID cycle.<br>
+	 * In one parameter mode, the last configured setpoint will be used.<br>
+	 * @see PID#setSetpoint()
+	 * @param actual The monitored value, typically as a sensor input.
+	 * @param setpoint The target value for the system
+	 * @return calculated output value for driving the system
+	 */
+	public double getOutput(double actual){
+		return getOutput(actual,setpoint);
+	}
+
+	/**
+	 * Resets the controller. This erases the I term buildup, and removes 
+	 * D gain on the next loop.<br>
+	 * This should be used any time the PID is disabled or inactive for extended
+	 * duration, and the controlled portion of the system may have changed due to
+	 * external forces.
+	 */
+	public void reset(){
+		firstRun=true;
+		errorSum=0;
+	}
+
+	/**
+     * Set the maximum rate the output can increase per cycle.<br>
+     * This can prevent sharp jumps in output when changing setpoints or 
+     * enabling a PID system, which might cause stress on physical or electrical
+     * systems.  <br>
+     * Can be very useful for fast-reacting control loops, such as ones 
+     * with large P or D values and feed-forward systems.
+     * 
+	 * @param rate, with units being the same as the output
+	 */
+	public void setOutputRampRate(double rate){
+		outputRampRate=rate;
+	}
+
+	/** 
+     * Set a limit on how far the setpoint can be from the current position
+	 * <br>Can simplify tuning by helping tuning over a small range applies to a much larger range. 
+	 * <br>This limits the reactivity of P term, and restricts impact of large D term
+	 * during large setpoint adjustments. Increases lag and I term if range is too small.
+	 * @param range, with units being the same as the expected sensor range. 
+	 */
+	public void setSetpointRange(double range){
+		setpointRange=range;
+	}
+
+	/**
+     * Set a filter on the output to reduce sharp oscillations. <br>
+	 * 0.1 is likely a sane starting value. Larger values use historical data
+	 * more heavily, with low values weigh newer data. 0 will disable, filtering, and use 
+	 * only the most recent value. <br>
+	 * Increasing the filter strength will P and D oscillations, but force larger I 
+	 * values and increase I term overshoot.<br>
+	 * Uses an exponential wieghted rolling sum filter, according to a simple <br>
+	 * <pre>output*(1-strength)*sum(0..n){output*strength^n}</pre> algorithm.
+	 * @param output valid between [0..1), meaning [current output only.. historical output only)
+	 */
+	public void setOutputFilter(double strength){
+		if(strength==0 || bounded(strength,0,1)){
+		outputFilter=strength;
+		}
+	}
+
+	//**************************************
+	// Helper functions
+	//**************************************
+
+	/**
+	 * Forces a value into a specific range
+	 * @param value input value
+	 * @param min maximum returned value
+	 * @param max minimum value in range
+	 * @return Value if it's within provided range, min or max otherwise 
+	 */
+	private double constrain(double value, double min, double max){
+		if(value > max){ return max;}
+		if(value < min){ return min;}
+		return value;
+	}  
+
+	/**
+	 * Test if the value is within the min and max, inclusive
+	 * @param value to test
+	 * @param min Minimum value of range
+	 * @param max Maximum value of range
+	 * @return true if value is within range, false otherwise
+	 */
+	private boolean bounded(double value, double min, double max){
+		// Note, this is an inclusive range. This is so tests like
+		// `bounded(constrain(0,0,1),0,1)` will return false.
+		// This is more helpful for determining edge-case behaviour
+		// than <= is.
+		return (min<value) && (value<max);
+	}
+
+	/**
+	 * To operate correctly, all PID parameters require the same sign
+	 * This should align with the {@literal}reversed value
+	 */
+	private void checkSigns(){
+		if(reversed){  // all values should be below zero
+			if(P>0) P*=-1;
+			if(I>0) I*=-1;
+			if(D>0) D*=-1;
+			if(F>0) F*=-1;
+		}
+		else{  // all values should be above zero
+			if(P<0) P*=-1;
+			if(I<0) I*=-1;
+			if(D<0) D*=-1;
+			if(F<0) F*=-1;
+		}
+	}
+}
--- a/script/AreaDetectorROI.py
+++ b/script/AreaDetectorROI.py
@@ -0,0 +1,27 @@
+device = det
+det.imageCounter.polling = 500
+
+class AreaDetectorROI(ReadonlyRegisterBase, ReadonlyRegisterMatrix):
+    def __init__(self, name, detector, x, y, w, h):
+        ReadonlyRegisterBase.__init__(self, name)
+        self.detector = detector
+        self.x, self.y, self.w, self.h = x, y, w, h
+        
+    def doRead(self):
+        data = self.detector.dataMatrix.take()
+        ret = Convert.matrixRoi(data, self.x, self.y, self.w, self.h)
+        return ret
+
+    def getWidth(self):
+        return self.w
+
+    def getHeight(self):
+        return self.h
+
+
+add_device(AreaDetectorROI("roi1", device, 10,10,10,5), True)
+add_device(AreaDetectorROI("roi2", device,100,30,7,3), True)
+
+#tscan((roi1, roi2), 10, 0.1)
+
+mscan(device.imageCounter, (roi1, roi2), 10, async=False)
--- a/script/TestPID.py
+++ b/script/TestPID.py
--- a/script/local.groovy
+++ b/script/local.groovy
@@ -1,18 +1,21 @@
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 // Deployment specific global definitions - executed after startup.groovy
 ///////////////////////////////////////////////////////////////////////////////////////////////////
-import ch.psi.pshell.scan.ScanRecord 
+import ch.psi.pshell.scan.ScanRecord 

 System.out.println("OK")

 before_readout = { double[] pos->  println (pos) }

-after_readout = { ScanRecord rec->println (rec) }
+after_readout = { ch.psi.pshell.scan.ScanRecord  rec->println (rec) }

 def onBeforeReadout(double[]pos){
    println (pos)
 }

-def onAfterReadout(ScanRecord rec){
+def onAfterReadout(ch.psi.pshell.scan.ScanRecord  rec){
    println (rec)
-}
+}
+
+
+////
--- a/script/local.js
+++ b/script/local.js
@@ -10,4 +10,5 @@ function onAfterReadout(rec){



-run("SimulatedDEvices")
+run("SimulatedDEvices")
+
--- a/script/local.py
+++ b/script/local.py
@@ -8,17 +8,21 @@ import ch.psi.pshell.crlogic.CrlogicPositioner as CrlogicPositioner
 import ch.psi.pshell.crlogic.CrlogicSensor as CrlogicSensor


+def on_command_started(info):
+    print "Started: " + str(info.script) + str(info.error)

+def on_command_finished(info):
+    print "Finished: "  + str(info.script) + str(info.error)
 ###################################################################################################
 # Layout setup
 ###################################################################################################
 import ch.psi.pshell.data.LayoutSF as LayoutSF

-LayoutSF.setExperimentArguments([pv, motor, pe, cv, en, sin])
+LayoutSF.setExperimentArguments([pv, motor, pe, cv, energy, sin])



-#Libraries
+#Librariesenergy
 #import Jama.Matrix
 #sys.path.append('/Users/gobbo_a/dev/pshell/config/home/script/Lib/diffcalc')

@@ -136,14 +140,14 @@ get_context().addListener(clistener)
 def trig_scienta():
    time.sleep(1.0)

-energy = None
+en_val = None
 class SimulatedEnergy(Writable):
    def write(self, value):
        self.put(value)

    def put(self, value, timeout = None):
-        global energy
-        energy = value
+        global en_val
+        en_val = value

    def close(self):
        pass
@@ -155,8 +159,8 @@ class SimulatedEnergy(Writable):

 class SimulatedEnergyReadback(Readable):
    def read(self):
-        global energy
-        return energy;
+        global en_val
+        return en_val;
    
    def get(self):
        return self.read()
--- a/script/test/CustomPlot.py
+++ b/script/test/CustomPlot.py
@@ -0,0 +1,14 @@
+
+
+p = plot(None, title="Custom Plot")[0]
+p.addSeries(LinePlotSeries("My Series"))
+proc_data = "/proc/calc"
+
+create_dataset(proc_data , 'd')
+
+def AfterReadout(record, scan):
+    val = record.values[1] - record.values[0]
+    p.getSeries(0).appendData(record.positions[0], val)    
+    append_dataset(proc_data , val) 
+
+lscan(inp, (out, sin), 0.0, 10.0, 1.0, latency = 0.1, after_read=AfterReadout)
--- a/script/test/TestChanel.py
+++ b/script/test/TestChanel.py
@@ -0,0 +1,22 @@
+import ch.psi.pshell.epics.CAS as CAS
+import random
+class Waveform(ReadonlyRegisterBase, ReadonlyRegisterArray):
+    def doRead(self):
+        ret = []
+        for i in range(self.getSize()):
+            ret.append(random.random())
+        ret = to_array(ret, 'd')
+        return ret
+        
+    def getSize(self):
+        return 1000
+
+
+wf = Waveform("wf")
+wf.initialize()
+print wf.read()[0]
+
+casN = CAS("TESTCAS:VAL", wf, 'double')
+print casN    
+
+print caget("TESTCAS:VAL")
--- a/script/test/TestData.py
+++ b/script/test/TestData.py
@@ -0,0 +1,78 @@
+################################################################################################### 
+#Data Manipulation: Using the data access API to generate and retrieve data
+################################################################################################### 
+
+
+#Creating a 1D dataset from an array
+path="group/data1"
+data1d = [1.0, 2.0, 3.0, 4.0, 5.0]
+save_dataset(path, data1d)
+#Reading ii back
+read =load_data(path)
+print read.tolist()
+assert data1d==read.tolist()
+plot(read)
+
+#Creating a 2D dataset from an array with some attributes
+data2d = [ [1.0, 2.0, 3.0, 4.0, 5.0],  [2.0, 3.0, 4.0, 5.0, 6.0, ],  [3.0, 4.0, 5.0, 6.0, 7.0]]
+path="group/data2"
+save_dataset(path, data2d)
+set_attribute(path, "AttrString", "Value")
+set_attribute(path, "AttrInteger", 1)
+set_attribute(path, "AttrDouble", 2.0)
+set_attribute(path, "AttrBoolean", True)
+#Reading it back
+read =load_data(path)
+print read.tolist()
+plot(read)
+
+#Creating a 3D dataset from an array
+data3d = [ [ [1,2,3,4,5],  [2,3,4,5,6],  [3,4,5,6,7]],   [ [3,2,3,4,5],  [4,3,4,5,6],  [5,4,5,6,7]]]
+path="group/data3"
+save_dataset(path, data3d)
+#Reading it back
+read =load_data(path,0)
+print read.tolist()
+read =load_data(path,1)
+print read.tolist()
+
+#Creating a INT dataset adding elements one by one
+path = "group/data4"
+create_dataset(path, 'i')
+for i in range(10):
+    append_dataset(path,i)    
+
+
+#Creating a 2D data FLOAT dataset adding lines one by one
+path = "group/data5"
+create_dataset(path, 'd', False, (0,0))
+for row in data2d:
+    append_dataset(path, row)    
+
+
+#Creating a Table (compund type)
+path = "group/data6"
+names = ["a", "b", "c", "d"]
+types = ["d", "d", "d", "[d"]
+lenghts = [0,0,0,5]
+table = [    [1,2,3,[0,1,2,3,4]],  
+            [2,3,4,[3,4,5,6,7]],  
+            [3,4,5,[6,7,8,9,4]]    ]
+create_table(path, names, types, lenghts)
+for row in table:
+    append_table(path, row)   
+flush_data() 
+#Read it back
+read =load_data(path)
+print read
+
+
+#Writing scalars (datasets with rank 0)
+save_dataset("group/val1", 1)
+save_dataset("group/val2", 3.14)
+save_dataset("group/val3", "test")
+print load_data("group/val1")
+print load_data("group/val2")
+print load_data("group/val3")
+
+
--- a/script/test/TestDetectorROI.py
+++ b/script/test/TestDetectorROI.py
@@ -0,0 +1,22 @@
+
+
+
+
+
+class DetectorRoi(ReadonlyRegisterBase, ReadonlyRegisterMatrix):
+    def doRead(self):
+		#data = caget(“PINK:GEYES:image2:ArrayData")        
+        data = caget("TESTCAS:VAL", '[d', self.getHeight() * self.getWidth())        
+        return Convert.reshape(data,self.getHeight(), self.getWidth()) #
+        
+    def getWidth(self):
+        return 50
+
+    def getHeight(self):
+        return 20
+
+add_device (DetectorRoi("detector_roi"), True)
+
+
+add_device(RegisterMatrixSource("detector_roi_img", detector_roi), True)
+detector_roi_img.polling = -500
--- a/script/test/TestDiff.py
+++ b/script/test/TestDiff.py
@@ -0,0 +1,557 @@
+###################################################################################################\
+# Diffcalc utilities
+###################################################################################################
+
+###################################################################################################\
+# Installaling  
+###################################################################################################
+
+#1- Download from: https://github.com/DiamondLightSource/diffcalc/archive/master.zip
+#2- Extract the contents to {script}/Lib/diffcalc
+#3- Download http://central.maven.org/maven2/gov/nist/math/jama/1.0.3/jama-1.0.3.jar 
+#   to the extensions folder.
+
+###################################################################################################\
+# Library loading and Hardware setup
+###################################################################################################
+
+#1- Create a MotorGroup with the diffractometer motors 
+#   e.g.   'sixc', containing mu, delta, gam, eta, chi, phi motors         (gam = nu)
+#   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_diff(sixc, en)
+
+
+from __future__ import absolute_import
+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(diffcalc_path)
+
+import diffcalc
+from diffcalc import settings
+from diffcalc.hkl.you.geometry import YouGeometry,SixCircle, FiveCircle, FourCircle, YouPosition
+from diffcalc.hardware import HardwareAdapter
+from diffcalc.ub.persistence import UbCalculationNonPersister
+from diffcalc.gdasupport.minigda.scannable import ScannableBase, ScannableGroup
+#from diffcalc.gdasupport.minigda import command
+from diffcalc.hardware import HardwareAdapter
+
+
+import ch.psi.pshell.device.PositionerConfig as PositionerConfig
+import ch.psi.pshell.device.RegisterConfig as RegisterConfig
+import ch.psi.pshell.device.Register as Register
+
+_difcalc_names = {}
+
+#
+# Disable error handling designed for interactive use
+#diffcalc.util.DEBUG = True
+
+###################################################################################################
+# Device mapping to difcalc
+###################################################################################################
+class PositionerScannable(ScannableBase):
+    def __init__(self, positioner, name = None):
+        self.positioner = positioner
+        self.name = positioner.name if name is None else name
+        self.inputNames = [self.name]
+        self.outputFormat = ['% 6.4f']
+        self.level = 3
+
+    def isBusy(self):
+        return self.positioner.state == State.Busy
+
+    def waitWhileBusy(self):
+        self.positioner.waitReady(-1)
+
+    def asynchronousMoveTo(self, new_position):
+        #print "Moving " , self.name, " to: ", new_position 
+        self.positioner.moveAsync(float(new_position), -1)
+
+    def getPosition(self):
+        return self.positioner.getPosition()
+
+def _get_diffcalc_axis_names():
+    nu_name=diffcalc.hkl.you.constraints.NUNAME
+    return ("mu", "delta", nu_name, "eta", "chi", "phi")
+
+class PositionerScannableGroup(ScannableGroup):
+    def __init__(self, name, motors, diffcalc_axis_names=None):
+        self.name = name
+        global _difcalc_names
+        _difcalc_names = {}
+        positioners = []
+        if diffcalc_axis_names is None:
+            if len(motors)   == 6: diffcalc_axis_names = _get_diffcalc_axis_names()
+            elif len(motors) == 5: diffcalc_axis_names = ("delta", "gam", "eta", "chi", " phi")
+            elif len(motors) == 4: diffcalc_axis_names = ("delta", "eta", "chi", " phi")
+        for i in range(len(motors)):
+            _difcalc_names[motors[i]] = diffcalc_axis_names[i]
+            exec('self.' + diffcalc_axis_names[i] + ' = PositionerScannable(' + motors[i].name  + ', "' +diffcalc_axis_names[i] + '")')
+            exec('positioners.append(self.' + diffcalc_axis_names[i] + ')' ) 
+        #for m in motors: 
+        #    exec('self.' + m.name + ' = PositionerScannable(' + m.name + ', "' + m.name + '")')
+        #    exec('positioners.append(self.' + m.name + ')' ) 
+        ScannableGroup.__init__(self, self.name, positioners)
+             
+class MotorGroupScannable(PositionerScannableGroup):        
+    def __init__(self, motor_group, diffcalc_axis_names=None):
+        self.motor_group = motor_group
+        PositionerScannableGroup.__init__(self, motor_group.name, motor_group.motors, diffcalc_axis_names)
+      
+
+class ScannableAdapter(HardwareAdapter):
+    def __init__(self, diffractometer, energy, energy_multiplier_to_kev=1):
+        self.diffractometer = diffractometer
+        self.energy = energy
+        self.energy_multiplier_to_kev = energy_multiplier_to_kev    
+        input_names = diffractometer.getInputNames()
+        HardwareAdapter.__init__(self, input_names)
+
+    #Returns the current physical POSITIONS
+    def get_position(self):
+        """
+        pos = getDiffractometerPosition() -- returns the current physical
+        diffractometer position as a list in degrees
+        """
+        return self.diffractometer.getPosition()
+
+    #returns energy in kEv 
+    def get_energy(self):
+        """energy = get_energy() -- returns energy in kEv (NOT eV!) """
+        multiplier = self.energy_multiplier_to_kev
+        energy = self.energy.getPosition() * multiplier
+        if energy is None:
+            raise DiffcalcException("Energy has not been set")
+        return energy
+
+    @property
+    def name(self):
+        return self.diffractometer.getName()
+
+class MotorGroupAdapter(ScannableAdapter):
+    def __init__(self, diffractometer, energy, energy_multiplier_to_kev=1, diffcalc_axis_names=None):
+        self.diffractometer = MotorGroupScannable(diffractometer, diffcalc_axis_names)
+        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):
+        try:
+            return get_wavelength().getPosition()
+        except:
+            return None
+
+    def doWrite(self, val):
+        get_wavelength().asynchronousMoveTo(val)
+                
+
+###################################################################################################
+# HKL Pseudo-devices
+###################################################################################################
+class HklPositoner (PositionerBase):
+    def __init__(self, name, index, hkl_group):
+         PositionerBase.__init__(self, name, PositionerConfig())
+         self.setParent(hkl_group)
+         self.index  = index
+
+    def isReady(self):
+        return PositionerBase.isReady(self) and self.getParent().isReady()
+        
+    def doRead(self):
+        return self.getParent()._setpoint[self.index]
+
+    def doWrite(self, value): 
+        #print "Setting " , self.getName(), "to: ", value
+        pos = [None, None, None]
+        pos[self.index] = value
+        self.getParent().write(pos)
+        
+    def doReadReadback(self):
+        if java.lang.Thread.currentThread() != self.getParent()._updating_thread:
+             self.getParent().update()
+        return self.getParent()._readback[self.index]
+
+class HklGroup(RegisterBase, Register.RegisterArray):
+    def __init__(self, name):        
+        RegisterBase.__init__(self, name, RegisterConfig())
+        self.hkl=get_hkl()
+        self.h, self.k, self.l = HklPositoner("h", 0, self), HklPositoner("k", 1, self), HklPositoner("l", 2, self)
+        add_device(self.h, True)
+        add_device(self.k, True)
+        add_device(self.l, True)           
+        self._setpoint = self.doRead()
+        self._updating = False
+        
+    def getSize(self):
+        return 3
+                
+    def doRead(self):   
+        try:
+            self._readback = self.hkl.getPosition()  
+            self._updating_thread = java.lang.Thread.currentThread()       
+            self.h.update()
+            self.k.update()
+            self.l.update()
+        except:
+            #traceback.print_exc()    
+            self._readback = (None, None, None)
+        finally:
+            self._updating_thread = None
+        return self._readback 
+
+    def doWrite(self, pos):
+        self._setpoint = pos
+        #print "Moving to: " + str(pos)
+        self.hkl.asynchronousMoveTo(pos) 
+
+    def sim(self, pos):
+        return self.hkl.simulateMoveTo(pos)
+    
+###################################################################################################
+# System setup
+###################################################################################################
+you = None
+dc, ub, hardware, hkl = None, None, None, None
+_motor_group = None
+def setup_diff(diffractometer, energy, diffcalc_axis_names = None, geometry=None):
+    """
+        diffractometer: Diffraction motor group 
+        energy: Positioner having energy in kev
+        geometry: YouGeometry extension. If none, uses default
+        diffcalc_axis_names: if None use defaults:
+            - mu, delta, gam, eta, chi, phi (six circle)
+            - delta, gam, eta, chi, phi (ficve circle)
+            - delta, eta, chi, phi (four circle)        
+    """
+    global you, dc, ub, hardware, hkl, _motor_group 
+    _motor_group = diffractometer
+    you = None
+    if geometry is not None:
+        settings.geometry = geometry
+    elif diffcalc_axis_names is not None:
+        class CustomGeometry(YouGeometry):
+            def __init__(self):
+                self.all_axis_names = _get_diffcalc_axis_names()
+                self.my_axis_names = diffcalc_axis_names
+                fixed_constraints = {}
+                for axis in self.all_axis_names:
+                    if not axis in self.my_axis_names:
+                        fixed_constraints[axis] = 0
+                YouGeometry.__init__(self, diffractometer.name, fixed_constraints)                        
+            def physical_angles_to_internal_position(self, physical_angle_tuple):
+                pos=[]
+                index = 0
+                for axis in self.all_axis_names:
+                    pos.append(physical_angle_tuple[index] if (axis in self.my_axis_names) else 0)
+                    index = index+1
+                return YouPosition(*pos)               
+            def internal_position_to_physical_angles(self, internal_position):
+                pos = internal_position.totuple()
+                ret = []
+                for i in range (len(self.all_axis_names)):                                    
+                    if self.all_axis_names[i] in self.my_axis_names:                       
+                        ret.append(pos[i])
+                return tuple(ret)
+        settings.geometry = CustomGeometry()
+    elif 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, diffcalc_axis_names = diffcalc_axis_names)
+    settings.ubcalc_persister = UbCalculationNonPersister()
+    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
+    reload(you)
+    
+    # These must be imported AFTER the settings have been configured
+    from diffcalc.dc import dcyou as dc
+    from diffcalc.ub import ub
+    from diffcalc import hardware
+    from diffcalc.hkl.you import hkl   
+    
+    add_device(HklGroup("hkl_group"), True)
+    add_device(Wavelength("wavelength", 6), True)
+    hkl_group.polling = 250
+    wavelength.polling = 250
+
+def setup_axis(motor, min=None, max=None, cut=None):
+    name = _difcalc_names[motor]
+    if min is not None: hardware.setmin(name, min)
+    if max is not None: hardware.setmax(name, max) 
+    if cut is not None: hardware.setcut(name, cut) 
+
+def print_axis_setup():
+    print "Diffcalc names:"
+    for m in _difcalc_names.keys(): 
+        print " \t" + m.name + " = " + _difcalc_names[m]        
+    print "------------------------------------------------------" 
+    hardware.hardware()
+    
+
+###################################################################################################
+# Acceess functions
+###################################################################################################
+def get_diff():
+    return settings.hardware.diffractometer
+
+def get_en():
+    return settings.hardware.energy
+
+def get_motor_group():
+    return _motor_group
+
+def get_wavelength():
+    return you.wl
+
+def get_hkl():
+    return you.hkl 
+
+def hkl_to_angles(h, k, l, energy=None):
+    return dc.hkl_to_angles(h, k, l, energy)
+
+def angles_to_hkl(positions, energy=None):
+    return dc.angles_to_hkl(positions, energy)
+
+def hkl_read():                
+    return hkl_group.read()
+
+def hkl_write(h, k, l):                
+    hkl_group.write([h,k,l])
+    
+def hkl_simulate(h, k, l):                
+    return hkl_group.sim([h,k,l])
+
+def con(*args):
+    hkl.con(*args)
+
+def uncon(name):
+    hkl.uncon(name)
+
+def print_con():
+    hkl.con()  
+###################################################################################################
+# HKL Combined Scan
+###################################################################################################
+def hklscan(vector, readables,latency = 0.0,  passes = 1, **pars):
+    """
+    HKL Scan: 
+
+    Args:
+        vector(list of lists): HKL values to be scanned
+        readables(list of Readable): Sensors to be sampled on each step.
+        latency(float, optional): settling time for each step before readout, defaults to 0.0.
+        passes(int, optional): number of passes
+        pars(keyworded variable length arguments, optional): scan optional named arguments:
+            - title(str, optional): plotting window name.     
+            - hidden(bool, optional): if true generates no effects on user interface.     
+            - before_read (function, optional): callback on each step, before sampling. Arguments: positions, scan
+            - after_read (function, optional): callback on each step, after sampling. Arguments: record, scan.
+            - before_pass (function, optional): callback before each scan pass execution. Arguments: pass_num, scan.
+            - after_pass (function, optional): callback after each scan pass execution. Arguments: pass_num, scan.
+            - Aditional arguments defined by set_exec_pars.
+    Returns:
+        ScanResult object.
+
+    """
+    readables=to_list(string_to_obj(readables))
+    pars["initial_move"]  = False
+    scan = ManualScan([h,k,l], readables ,vector[0], vector[-1], [len(vector)-1] * 3, dimensions = 1)
+    if not "domain_axis" in pars.keys(): 
+        pars["domain_axis"] = "Index"
+    processScanPars(scan, pars)
+    scan.start()
+    try:
+        for pos in vector:
+            #print "Writing ", pos
+            hkl_group.write(pos)
+            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()    
+    return scan.result
+
+
+def test_diffcalc():
+    print "Start test"
+    en.move(20.0)
+    delta.config.maxSpeed = 50.0
+    delta.speed = 50.0
+    delta.move(1.0)
+
+    #Setup
+    setup_diff(sixc, en)
+    setup_axis('gam', 0, 179)
+    setup_axis('delta', 0, 179)
+    setup_axis('delta', min=0)
+    setup_axis('phi', cut=-180.0)
+    print_axis_setup()
+
+    #Orientation
+    help(ub.ub)
+    ub.listub()
+    # Create a new ub calculation and set lattice parameters
+    ub.newub('test')
+    ub.setlat('cubic', 1, 1, 1, 90, 90, 90)
+    # Add 1st reflection (demonstrating the hardware adapter)
+    settings.hardware.wavelength = 1
+    ub.c2th([1, 0, 0])                 # energy from hardware
+    settings.hardware.position = 0, 60, 0, 30, 0, 0
+    ub.addref([1, 0, 0])# energy and position from hardware
+    # Add 2nd reflection (this time without the harware adapter)
+    ub.c2th([0, 1, 0], 12.39842)
+    ub.addref([0, 1, 0], [0, 60, 0, 30, 0, 90], 12.39842)
+    # check the state
+    ub.ub()
+    ub.checkub()
+
+    #Constraints
+    help(hkl.con)
+    hkl.con('qaz', 90)
+    hkl.con('a_eq_b')
+    hkl.con('mu', 0)
+    hkl.con() 
+
+    #Motion
+    print  angles_to_hkl((0., 60., 0., 30., 0., 0.))
+    print hkl_to_angles(1, 0, 0)
+    sixc.write([0, 60, 0, 30, 90, 0])
+    print "sixc=" , sixc.position
+    wavelength.write(1.0)
+    print "wavelength = ", wavelength.read()
+    ub.lastub()
+    ub.setu ([[1, 0, 0], [0, 1, 0], [0, 0, 1]])
+    ub.showref()
+    ub.swapref(1,2)
+    #print you.hkl
+    #pos(get_hkl())
+    hkl_group.read()
+    #you.hkl.simulateMoveTo([0,1,1])
+    #sim(get_hkl(), [0,1,1])
+    hkl_group.sim([0.0,1.0,1.0])
+    #pos(get_hkl(), [0,1,1])
+    hkl_group.write([0.0,1.0,1.0])
+    
+    #Scans
+    lscan(l, [sin], 1.0, 1.5, 0.1)
+    ascan([k,l], [sin], [1.0, 1.0], [1.2, 1.3], [0.1, 0.1], zigzag=True, parallel_positioning = False) 
+    vector = [[1.0,1.0,1.0], [1.0,1.0,1.1], [1.0,1.0,1.2], [1.0,1.0,1.4]]
+    hklscan(vector, [sin, arr], 0.9)
+
+
+
+
+
+
+
+
+
+
+
+
+
+#
+#run("diffutils")
+
+###################################################################################################\
+#Setup
+###################################################################################################
+
+#alpha, delta, gamma, omegaV
+setup_diff(fourcv, energy, ("mu", "delta", "gam", "eta"))
+print_axis_setup()
+
+
+setup_axis(mu, mu.getMinValue(), mu.getMaxValue())
+setup_axis(delta, delta.getMinValue(), 90) #delta.getMaxValue())
+setup_axis(gamma, 0, gamma.getMaxValue())
+setup_axis(eta, eta.getMinValue(), eta.getMaxValue())
+
+
+wavelength.write(1.0)
+
+
+###################################################################################################\
+#Orientation
+###################################################################################################
+help(ub.ub)
+ub.listub()
+
+#alpha delta gamma omegaV
+
+# Create a new ub calculation and set lattice parameters
+ub.newub('test')
+
+"""
+ub.setlat('cubic', 5.114, 5.8361, 11.058, 90, 90, 90)
+en = 8
+#ub.c2th([0, 0, 4], en)
+#ub.addref([0, 0, 4]) #From current position and ekergy
+ub.addref([0, 0, 4], [16.2785, 0.0, 32.5568, 0.0], en)
+#ub.c2th([2, 0, 12], en)
+ub.addref([2, 0, 12], [71.8285, 37.3082, 138.7440, 0.0], en) 
+#ub.c2th([1, -4, 10], en)
+ub.addref([1, -4, 10], [27.7185, 17.6409 , 128.4220, 0.0], en) 
+"""
+
+ub.setlat('cubic', 1.0, 1.0, 1.0, 90, 90, 90)
+
+en = 12.4
+#ub.c2th([0, 0, 4], en)
+#ub.addref([0, 0, 4]) #From current position and ekergy
+ub.addref([0, 0, 1], [30.0, 0.0, 60.0, 0.0], en)
+#ub.c2th([2, 0, 12], en)
+ub.addref([1, 0, 1], [20.0, 45.5564,90.000, 44.4437], en) 
+#ub.c2th([1, -4, 10], en)
+ub.addref([0, 1, 1], [20.0, 45.5564,90.000, 134.4437], en) 
+
+ub.ub()
+
+#ub.setub([[1.22862,0.00000,0.00000], [-0.00000,1.07663,0.00000], [-0.00000,-0.00000,0.56820]])
+
+
+# check the state
+
+ub.checkub()
+
+
+
+###################################################################################################\
+#Constraints
+###################################################################################################
+help(hkl.con)
+hkl.con('a_eq_b')
+#hkl.con('eta:0')
+
+
+#hkl.con( 'eta', 0)    #OmegaV constant
+#hkl.con( 'mu', 20)    #Alpha constant
+
+
+###################################################################################################\
+#Motion
+###################################################################################################
+
+#print  angles_to_hkl((16.278,    0.0000,   32.5568, 0.0))
+#print  angles_to_hkl((44.3400,    0.0000,  123.7322 , 0.0))
+#print hkl_to_angles(2, -2, 10)
+
+    
--- a/script/test/TestNilson.py
+++ b/script/test/TestNilson.py
@@ -0,0 +1,154 @@
+# Greateyes scan 
+
+#******** SCAN Settings ********
+Note="DESY - "
+
+Exp_Time= 1
+
+X0=4200
+Xstep=450
+XNum_points=3
+
+Y0=5960
+Ystep=-40
+YNum_points=10
+
+GE_ROI_Line = 3
+
+GE_AreaDet = det
+
+GE_ROI_Image= det.getDataMatrix()
+GE_Raw_Image= det.getDataMatrix()
+GE_BG_Image = det.getDataMatrix()
+GE_Spectrum_Conv =  det.getDataArray()
+GE_Spectrum =  det.getDataArray()
+GE_BG_Line = det.getArraySize2()
+GE_BG_SizeX  = det.getArraySize0()
+GE_BG_SizeY  = det.getArraySize1()
+GE_ROI_Line = det.getArraySize2()
+GE_ROI_SizeX  = det.getArraySize0()
+GE_ROI_SizeY  = det.getArraySize1()
+IZero_Profile = det.getDataArray()
+TFY_Profile = det.getDataArray()
+IZero=sin
+TFY = sin
+GE_Sensor_Temp = sin
+GE_FrameID = sin
+Press_Diag_PV= sin
+Press_Spec_PV= sin
+Press_Spec_HV =sin
+Press_Sample_Ch=sin
+Press_Diag_HV = sin
+GE_Spectrum_Sum = det.getDataArray()
+
+#******** Functions Definitions ********
+def Save_Pre_Scan_Data():
+    save_dataset("RAW/GE_BG_Image", GE_BG_Image.read())
+    save_dataset("Processed/GE_Spectrum_Convertion", GE_Spectrum_Conv.read())
+    save_dataset("Detector/GE_ROI_Line", GE_ROI_Line.read())
+    save_dataset("Detector/GE_ROI_SizeX", GE_ROI_SizeX.read())
+    save_dataset("Detector/GE_ROI_SizeY", GE_ROI_SizeY.read())
+    save_dataset("Detector/Exposure_Time", GE_AreaDet.getExposure())
+    save_dataset("Detector/GE_Open_Delay", 1)
+    save_dataset("Detector/GE_Close_Delay", 1)
+    save_dataset("Detector/GE_Num_Images", GE_AreaDet.getNumImages())
+    save_dataset("Detector/Gain_Type", 1)
+    save_dataset("Scan/Scan_Start_Time", time.ctime())
+    save_dataset("Scan/Note", Note)
+    #save_dataset("Scan/Note", Note)
+
+def Create_Scan_Dataset():
+    create_dataset("RAW/GE_Raw_Image", 'd', False, (Num_Images, int(GE_BG_SizeY.take()), int(GE_BG_SizeX.take())))
+    create_dataset("RAW/IZero_Profile", 'd', False, (Num_Images, 100))
+    create_dataset("RAW/TFY_Profile", 'd', False, (Num_Images, 100))
+    create_dataset("Processed/GE_ROI_Image", 'd', False, (Num_Images, int(GE_ROI_SizeY.take()), int(GE_ROI_SizeX.take())))
+    create_dataset("Processed/GE_Spectrum", 'd', False, (Num_Images, int(GE_BG_SizeX.take())))
+    create_dataset("Processed/Izero", 'd', False)
+    create_dataset("Processed/TFY", 'd', False)
+    create_dataset("Detector/GE_Sensor_Temp", 'd', False)
+    create_dataset("Scan/GE_FrameID", 'i', False)
+    create_dataset("Scan/Timestamps", 'l', False)
+    create_dataset("Pressure/Diagnostic_PV", 'd', False)
+    create_dataset("Pressure/Diagnostic_HV", 'd', False)
+    create_dataset("Pressure/Spectrometer_PV", 'd', False)
+    create_dataset("Pressure/Spectrometer_HV", 'd', False)
+    create_dataset("Pressure/Sample_Chamber", 'd', False)
+    create_dataset("RAW/Xposition", 'd', False)
+    create_dataset("RAW/Yposition", 'd', False)
+    
+
+    
+def Save_Scan_Data():
+    #sleep(0.2)
+    append_dataset("RAW/GE_Raw_Image", GE_Raw_Image.read())
+    append_dataset("RAW/IZero_Profile", IZero_Profile.take())
+    append_dataset("RAW/TFY_Profile", TFY_Profile.take())
+    append_dataset("Processed/GE_ROI_Image", GE_ROI_Image.read())
+    append_dataset("Processed/GE_Spectrum", GE_Spectrum.take())
+    append_dataset("Processed/Izero", IZero.take())
+    append_dataset("Processed/TFY", TFY.take())
+    append_dataset("Detector/GE_Sensor_Temp", GE_Sensor_Temp.take())
+    append_dataset("Scan/GE_FrameID", GE_FrameID.take())
+    append_dataset("Scan/Timestamps", GE_FrameID.getTimestampNanos())
+    append_dataset("Pressure/Diagnostic_PV", Press_Diag_PV.take())
+    append_dataset("Pressure/Diagnostic_HV", Press_Diag_HV.take())
+    append_dataset("Pressure/Spectrometer_PV", Press_Spec_PV.take())
+    append_dataset("Pressure/Spectrometer_HV", Press_Spec_HV.take())
+    append_dataset("Pressure/Sample_Chamber", Press_Sample_Ch.take())
+    #Scan_Progress = (100*calcprog(GE_FrameID.take(),GE_start_frame,Num_Images))
+    
+def Save_Pos_Scan_Data():
+    sleep(1)
+    save_dataset("Processed/GE_Spectrum_Sum", GE_Spectrum_Sum.read())
+    save_dataset("Scan/Scan_Finish_Time", time.ctime())
+
+#******** Test limits on sample vertical and horizontal motor ********
+X0=float(X0)
+Xstep=float(Xstep)
+Y0=float(Y0)
+Ystep=float(Ystep)
+
+X1=X0+(XNum_points*Xstep)
+Y1=Y0+(YNum_points*Ystep)
+Num_Images= XNum_points*YNum_points
+
+#******** Setting up Caenels ********
+values_p_reading=1000*Exp_Time
+Scan_Progress = 1
+
+############### Scan ###############
+
+    
+#********  Scan Script Begins here  ********
+
+# Set Nr of images to NofImages
+#******** Saving Pre Scan data ********
+Save_Pre_Scan_Data()
+
+#******** Pre Scan Setup ********
+print("Scan starting: " + time.ctime())
+GE_start_frame =1
+Create_Scan_Dataset()
+#Sample_Horiz.move(X0)
+
+
+#******** Main Scan Function ********
+
+for j in range(XNum_points):
+    #Sample_Horiz.move(X0+(j*Xstep))
+    for i in range(YNum_points):
+        #Sample_Vert.move(Y0+(i*Ystep))
+        print  GE_start_frame ,  " / ", (XNum_points*YNum_points)
+        time.sleep(0.001)
+        Save_Scan_Data()
+        GE_start_frame = GE_start_frame+1
+
+#Save_Scan_Data()
+#Save_Scan_Data()
+#******** Saving Pos Scan data ********
+Save_Pos_Scan_Data()
+
+#******** Post Scan ********
+print("Scan Finished: " + time.ctime())
+
+
--- a/script/test/TestNilson2.py
+++ b/script/test/TestNilson2.py
@@ -0,0 +1,172 @@
+#features =  {"compression" : "true", "shuffle": "false", "chunk":[1, 100, 200]}
+features =  {"compression" : True, "shuffle": False}
+#features =None
+FIXED = False
+# Greateyes scan 
+
+
+
+#******** SCAN Settings ********
+Note="DESY - "
+
+Exp_Time= 1
+
+X0=4200
+Xstep=450
+XNum_points=10
+
+Y0=5960
+Ystep=-40
+YNum_points=10
+
+GE_ROI_Line = 3
+
+GE_AreaDet = det
+
+GE_ROI_Image= det.getDataMatrix()
+GE_Raw_Image= det.getDataMatrix()
+GE_BG_Image = det.getDataMatrix()
+GE_Spectrum_Conv =  arr #det.getDataArray()
+GE_Spectrum =  arr #det.getDataArray()
+GE_BG_Line = det.getArraySize2()
+GE_BG_SizeX  = det.getArraySize0()
+GE_BG_SizeY  = det.getArraySize1()
+GE_ROI_Line = det.getArraySize2()
+GE_ROI_SizeX  = det.getArraySize0()
+GE_ROI_SizeY  = det.getArraySize1()
+IZero_Profile = arr #det.getDataArray()
+TFY_Profile = arr #det.getDataArray()
+IZero=sin
+TFY = sin
+GE_Sensor_Temp = sin
+GE_FrameID = sin
+Press_Diag_PV= sin
+Press_Spec_PV= sin
+Press_Spec_HV =sin
+Press_Sample_Ch=sin
+Press_Diag_HV = sin
+GE_Spectrum_Sum = det.getDataArray()
+Sample_Horiz=motor
+Sample_Vert=motor2
+
+#******** Functions Definitions ********
+def Save_Pre_Scan_Data():
+    save_dataset("RAW/GE_BG_Image", GE_BG_Image.read())
+    save_dataset("Processed/GE_Spectrum_Convertion", GE_Spectrum_Conv.read())
+    save_dataset("Detector/GE_ROI_Line", GE_ROI_Line.read())
+    save_dataset("Detector/GE_ROI_SizeX", GE_ROI_SizeX.read())
+    save_dataset("Detector/GE_ROI_SizeY", GE_ROI_SizeY.read())
+    save_dataset("Detector/Exposure_Time", GE_AreaDet.getExposure())
+    save_dataset("Detector/GE_Open_Delay", 1)
+    save_dataset("Detector/GE_Close_Delay", 1)
+    save_dataset("Detector/GE_Num_Images", GE_AreaDet.getNumImages())
+    save_dataset("Detector/Gain_Type", 1)
+    save_dataset("Scan/Scan_Start_Time", time.ctime())
+    save_dataset("Scan/Note", Note)
+    #save_dataset("Scan/Note", Note)
+
+def Create_Scan_Dataset():
+    create_dataset("RAW/GE_Raw_Image", 'd', False, (Num_Images if FIXED else 0, int(GE_BG_SizeY.take()), int(GE_BG_SizeX.take())), features)
+    create_dataset("RAW/IZero_Profile", 'd', False, (Num_Images if FIXED else 0, 100))
+    create_dataset("RAW/TFY_Profile", 'd', False, (Num_Images if FIXED else 0, 100))
+    #create_dataset("Processed/GE_ROI_Image", 'd', False, (Num_Images if FIXED else 0Images, int(GE_ROI_SizeY.take()), int(GE_ROI_SizeX.take())))
+    create_dataset("Processed/GE_Spectrum", 'd', False, (Num_Images if FIXED else 0, int(GE_BG_SizeX.take())))
+    create_dataset("Processed/Izero", 'd', False)
+    create_dataset("Processed/TFY", 'd', False)
+    create_dataset("Detector/GE_Sensor_Temp", 'd', False)
+    create_dataset("Scan/GE_FrameID", 'i', False)
+    create_dataset("Scan/Timestamps", 'l', False)
+    create_dataset("Pressure/Diagnostic_PV", 'd', False)
+    create_dataset("Pressure/Diagnostic_HV", 'd', False)
+    create_dataset("Pressure/Spectrometer_PV", 'd', False)
+    create_dataset("Pressure/Spectrometer_HV", 'd', False)
+    create_dataset("Pressure/Sample_Chamber", 'd', False)
+    create_dataset("RAW/Xposition", 'd', False)
+    create_dataset("RAW/Yposition", 'd', False)
+    
+
+    
+def Save_Scan_Data():
+    #sleep(0.2)
+    append_dataset("RAW/GE_Raw_Image", GE_Raw_Image.read())
+    append_dataset("RAW/IZero_Profile", IZero_Profile.take())
+    append_dataset("RAW/TFY_Profile", TFY_Profile.take())
+    #append_dataset("Processed/GE_ROI_Image", GE_ROI_Image.read())
+    append_dataset("Processed/GE_Spectrum", GE_Spectrum.take())
+    append_dataset("Processed/Izero", IZero.take())
+    append_dataset("Processed/TFY", TFY.take())
+    append_dataset("Detector/GE_Sensor_Temp", GE_Sensor_Temp.take())
+    append_dataset("Scan/GE_FrameID", GE_FrameID.take())
+    append_dataset("Scan/Timestamps", GE_FrameID.getTimestampNanos())
+    append_dataset("Pressure/Diagnostic_PV", Press_Diag_PV.take())
+    append_dataset("Pressure/Diagnostic_HV", Press_Diag_HV.take())
+    append_dataset("Pressure/Spectrometer_PV", Press_Spec_PV.take())
+    append_dataset("Pressure/Spectrometer_HV", Press_Spec_HV.take())
+    append_dataset("Pressure/Sample_Chamber", Press_Sample_Ch.take())
+    #Scan_Progress = (100*calcprog(GE_FrameID.take(),GE_start_frame,Num_Images))
+    
+def Save_Pos_Scan_Data():
+    sleep(1)
+    save_dataset("Processed/GE_Spectrum_Sum", GE_Spectrum_Sum.read())
+    save_dataset("Scan/Scan_Finish_Time", time.ctime())
+
+#******** Test limits on sample vertical and horizontal motor ********
+X0=float(X0)
+Xstep=float(Xstep)
+Y0=float(Y0)
+Ystep=float(Ystep)
+
+X1=X0+(XNum_points*Xstep)
+Y1=Y0+(YNum_points*Ystep)
+Num_Images= XNum_points*YNum_points
+
+#******** Setting up Caenels ********
+values_p_reading=1000*Exp_Time
+Scan_Progress = 1
+
+############### Scan ###############
+
+create_dataset("RAW/GE_Raw_Image2", 'd', False, (Num_Images if FIXED else 0, int(GE_BG_SizeY.take()),     int(GE_BG_SizeX.take())), features)
+
+
+    
+    
+Save_Pre_Scan_Data()
+
+#******** Pre Scan Setup ********
+print("Scan starting: " + time.ctime())
+GE_start_frame =1
+Create_Scan_Dataset()
+
+#Sample_Horiz.move(X0)
+
+
+#******** Main Scan Function ********
+#XNum_points, YNum_points 3, 4
+X0, Y0, Xstep, Ystep = 0, 0, 0.1, 0.1
+
+for j in range(XNum_points):
+    #Sample_Horiz.move(X0+(j*Xstep))
+    for i in range(YNum_points):
+        #Sample_Vert.move(Y0+(i*Ystep))
+        print  GE_start_frame ,  " / ", (XNum_points*YNum_points)
+        time.sleep(0.001)
+        Save_Scan_Data()
+        GE_start_frame = GE_start_frame+1
+
+
+"""
+def after(record, scan):
+    Save_Scan_Data()
+            
+ascan((Sample_Horiz, Sample_Vert), (GE_Raw_Image), (X0, Y0), (X1, Y1), (Xstep, Ystep), after_read = after)
+"""
+#Save_Scan_Data()
+#Save_Scan_Data()
+#******** Saving Pos Scan data ********
+Save_Pos_Scan_Data()
+
+#******** Post Scan ********
+print("Scan Finished: " + time.ctime())
+
+
--- a/script/test/TestNilson3.py
+++ b/script/test/TestNilson3.py
@@ -0,0 +1,23 @@
+features = None
+size = 5
+typ = 'd'  
+features =  {"compression" : True, "shuffle": True}
+
+#features =  {"layout" : "chunked", "chunk_size":[1, 500, 1000]}
+
+
+create_dataset("group/contiguous", typ, False, (size, 1000, 1000), features)
+create_dataset("group/chunked", typ, False, (0, 1000, 1000), features)
+
+
+
+
+for i in range(size): 
+    data = [ [int(i)] * 1000, ] * 1000
+    #data = Convert.flatten(to_array(data, typ))
+    append_dataset("group/chunked", data )
+    append_dataset("group/contiguous", data)
+
+
+
+
--- a/script/test/TestPID.py
+++ b/script/test/TestPID.py
@@ -0,0 +1,17 @@
+
+PID = get_context().getClassByName("PID")
+
+
+
+pid=PID(1,1,1);
+
+
+while True:
+  sensor = sin.read()
+  target = 30.0
+  #set some sort of target value
+  output=pid.getOutput(sensor,target);
+  print output
+  #do something with the output
+  inp.write(output)
+  time.sleep(1.0)
--- a/script/test/TestPlotLayout.py
+++ b/script/test/TestPlotLayout.py
@@ -0,0 +1,5 @@
+tscan([out, inp, sin, arr], 10, 0.1)
+set_exec_pars(plot_layout = "Grid")
+tscan([out, inp, sin, arr], 10, 0.1, plot_layout = "Grid")
+set_exec_pars(defaults=True)
+tscan([out, inp, sin, arr], 10, 0.1)
--- a/script/test/TestThen.py
+++ b/script/test/TestThen.py
@@ -0,0 +1,2 @@
+lscan(inp, sin, 0, 10, 0.1)
+set_exec_pars(then="lscan(inp, sin, 0, 10, 0.2)")
--- a/script/test/TestTiff.py
+++ b/script/test/TestTiff.py
@@ -0,0 +1,143 @@
+from ijutils import *
+
+
+#Image Loading
+ip = load_image("/Users/gobbo_a/dev/pshell/config/home/images/img.tiff", title="Image")
+
+#Basic image manipulation: creation, copying, padding, saving 
+resized = resize(ip, 300,300)
+save_image(resized, get_context().setup.expandPath("{images}/resized.tiff") ,"tiff")
+crop=sub_image(ip,10,20,50,30)    
+bin_im = binning(ip,2)
+new_im = new_image(256, 256, "color")
+copy_image_to(bin_im, new_im, 20, 20)
+pad_im = pad_image(ip, 1, 2, 3, 4, Color.RED)
+stack=create_stack([ip,resized,crop, bin_im, new_im, pad_im], title = "Basic Functions")
+save_image(stack, get_context().setup.expandPath("{images}/stack.tiff") ,"tiff")
+stack.show()
+
+
+#Decomposing color channels
+
+create_stack([  get_channel(ip, "red"), 
+                get_channel(ip, "green"), 
+                get_channel(ip, "blue"), 
+                get_channel(ip, "alpha"), 
+                grayscale(get_channel(ip, "brightness"), False)], title = "Color Decomposition").show()
+
+
+#Basic functions (in_place)
+aux = ip.duplicate()
+aux.show()
+grayscale(aux)
+gaussian_blur(aux); aux.repaintWindow()
+invert(aux); aux.repaintWindow()
+smooth(aux); aux.repaintWindow()
+sharpen(aux); aux.repaintWindow()
+noise(aux, 100); aux.repaintWindow()
+
+
+#Changing LUT
+aux = ip.duplicate()
+aux = grayscale(aux, in_place=False)
+r,g,b = [],[],[]
+for i in range(256):
+    r.append(0)
+    g.append(0)
+    b.append(i)
+set_lut(aux, r, g, b)
+aux.show()
+
+
+#Histogram
+plot(get_histogram(ip))
+
+
+aux = grayscale(ip, in_place = False)
+bin = ip.duplicate()
+ip_bin = auto_threshold(aux, in_place=False)
+create_stack([ ip_bin, 
+               binary_fill_holes(ip_bin, in_place=False),
+               binary_outline(ip_bin, in_place=False),
+               binary_outline(binary_fill_holes(ip_bin, in_place=False)),
+               binary_dilate(ip_bin, in_place=False),
+               binary_erode(ip_bin, in_place=False),
+               binary_open(ip_bin, in_place=False),
+               binary_close(ip_bin, in_place=False),
+               binary_skeletonize(ip_bin, in_place=False)], title = "Binarization").show()            
+
+
+#EDM, const & image operations
+aux = grayscale(ip, in_place = False)
+ip_bin = auto_threshold(aux, in_place=False)
+binary_fill_holes(ip_bin)
+
+edm = edm(ip_bin, in_place=False)
+ws = watershed(ip_bin, in_place=False)
+up = ultimate_points(ip_bin, in_place=False)
+vr = veronoi(ip_bin, in_place=False)
+edm_disp = remap(edm, in_place=False)
+ws_disp = grayscale(ws, False)
+up_disp = enhance_contrast(up, in_place=False)
+vr_disp = enhance_contrast(vr, in_place=False)
+create_stack([edm_disp, aux, ip_bin, ws_disp, up_disp, vr_disp], title = "EDM Operations").show()
+final = grayscale(ip_bin, in_place = False)
+op_const(final,"add", -200)
+op_image(final, vr_disp, 'or')
+op_image(final, up_disp, 'or')
+final.show()
+
+aux = grayscale(ip, in_place = False)
+
+create_stack([ aux,                
+               subtract_background(aux, in_place=False),
+               smooth(aux, False),
+               sharpen(aux, False),
+               edges(aux, False),
+               bandpass_filter(aux,0, 5, in_place=False),
+               bandpass_filter(aux,5, 100, in_place=False),
+               op_const(aux,"and", 127, False), 
+               convolve(aux, KERNEL_BLUR, False),
+               convolve(aux, KERNEL_SHARPEN, False),
+               convolve(aux, KERNEL_SHARPEN_2, False),
+               convolve(aux, KERNEL_LIGHT, False),
+               convolve(aux, KERNEL_DARK, False),
+               convolve(aux, KERNEL_EDGE_DETECT, False),
+               convolve(aux, KERNEL_EDGE_DETECT_2, False),
+               convolve(aux, KERNEL_DIFFERENTIAL_EDGE_DETECT, False),
+               convolve(aux, KERNEL_PREWITT, False),
+               convolve(aux, KERNEL_SOBEL, False)
+               ], title = "General Operations").show()
+
+
+#Rank operators
+rank_opers = []
+for op in "mean", "min", "max", "variance", "median", "close_maxima", "open_maxima", "remove_outliers", "remove_nan", "despeckle":
+    rank_opers.append(op_rank(aux,op, in_place=False, kernel_radius=1))
+create_stack(rank_opers, title = "Rank Operations").show()
+
+
+#Reslicing
+#orig = load_image("{data}/img/img2.png")
+orig = resize(ip, 300,200)
+grayscale(orig)
+images=[]
+for i in range (20):        
+    images.append(orig.duplicate())    
+    op_const(orig, "multiply", 0.9)
+stack=create_stack(images, title = "Original Stack")
+#stack.show()    
+r1 = reslice(stack, start_at="Left", title="Reslice Horizontally")
+r2 = reslice(stack, start_at="Top", title="Reslice Vertically")
+r1.show()
+r2.show()
+
+
+#Particle Analysis
+aux = grayscale(ip, in_place = False)
+auto_threshold(aux)
+#binary_fill_holes(aux)
+#aux.show()
+(results,output_img)=analyse_particles(aux, 100,1000, print_table=True)
+output_img.show()
+
--- a/script/test/TestTypes.py
+++ b/script/test/TestTypes.py
@@ -0,0 +1,31 @@
+class StringDev(ReadonlyRegisterBase, Readable.StringType):
+    def doRead(self):
+        time.sleep(0.001)    
+        return str(time.time())
+
+class BoolDevS(ReadonlyRegisterBase):
+    def doRead(self):
+        return (int(time.time()) %2) == 0  
+        
+class BoolDev(ReadonlyRegisterBase, Readable.BooleanType):
+    def doRead(self):
+        return (int(time.time()) %2) == 0  
+
+class ImageDev(ReadonlyRegisterBase, ReadonlyRegisterMatrix,  Readable.IntegerType):
+    def doRead(self):
+        return mt1.read()
+
+    def getWidth(self):
+        return mt1.width
+
+    def getHeight(self):
+        return mt1.height
+                
+    
+
+add_device(StringDev(), True)
+add_device(BoolDev(), True)
+add_device(BoolDevS(), True)
+add_device(ImageDev(), True)
+
+tscan((StringDev, BoolDev, BoolDevS, sin, arr, arr1, mt, mt1, cm1, ImageDev), 10, 0.1, compression =ImageDev)
--- a/script/test/test_multipass.py
+++ b/script/test/test_multipass.py
@@ -0,0 +1,55 @@
+def set_energy(v):
+    motor.move(v)  
+energy_setpoint = motor 
+energy = motor.getReadback()
+set_device_alias(energy, "energy")
+
+
+START, STOP, STEP = 0, 40, 2
+ENERGIES = [0.0, 0.5, 0.25]
+sensors = (sin,out, energy)
+
+
+
+#def before_pass(pass_num):
+#    set_energy(ENERGIES[pass_num-1])   
+#ret= lscan(inp, sensors, START, STOP, STEP, 0.2, passes = len(ENERGIES), before_pass = before_pass, latency = 0.5)
+
+
+#positions = frange(START, STOP, STEP , True)
+#vector = [[pos, en]  for en in ENERGIES for pos in positions]
+#ret = vscan((inp,energy_setpoint), sensors, vector, line = True, latency = 0.5)
+
+
+"""
+plots = plot([None]*len(sensors), name = [d.name for d in sensors])
+for p in plots: p.clear()
+def AfterReadout(record, scan):
+    if record.setpoints[1] == scan.getStart()[1]:
+        for p in plots: p.addSeries(LinePlotSeries(str(record.positions[0])))
+    for i in range(len(plots)):
+        plots[i].getSeries(plots[i].numberOfSeries-1).appendData(record.positions[1], record.values[i])    
+
+class EnergyIndex("Writable):
+    def write(self, value):  
+        if not hasattr(self, 'setpoint') or self.setpoint != value:
+            self.setpoint = value              
+            set_energy(ENERGIES[int(value)])   
+        
+positions = frange(START, STOP, STEP , True)
+ret = ascan([EnergyIndex(), inp], sensors, (0,START), (len(ENERGIES)-1,STOP), (1.0,STEP), latency = 0.1, after_read=AfterReadout, plot_disabled=True)
+"""
+
+plots = plot([None]*len(sensors), name = [d.name for d in sensors])
+for p in plots: 
+    p.clear()
+    p.legendVisible = True  
+def after_readout(record, scan):
+    for i in range(len(plots)):
+        plots[i].getSeries(plots[i].numberOfSeries-1).appendData(record.positions[0], record.values[i])    
+def before_pass(pass_num):
+    en = ENERGIES[pass_num-1]
+    set_energy(en)  
+    for p in plots: p.addSeries(LinePlotSeries(str(en))) 
+    
+ret= lscan(inp, sensors, START, STOP, STEP, latency = 0.2, passes = len(ENERGIES), before_pass = before_pass, after_read=after_readout, plot_disabled=True)