147 lines
4.5 KiB
Python
Executable File
147 lines
4.5 KiB
Python
Executable File
#!/usr/bin/env python
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#*-----------------------------------------------------------------------*
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#| |
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#| Copyright (c) 2014 by Paul Scherrer Institute (http://www.psi.ch) |
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#| |
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#| Author Thierry Zamofing (thierry.zamofing@psi.ch) |
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#*-----------------------------------------------------------------------*
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'''
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Homing procedure for PPRM.
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Long Doc'''
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#for ID in 1 2 3 4 5 6
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#do
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#caput MYPREFIX:MOTOR_$ID.RLV 55
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#caput MYPREFIX:MOTOR_$ID.SET Set
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#caput MYPREFIX:MOTOR_$ID.VAL 0
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#caput MYPREFIX:MOTOR_$ID.SET Use
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#done
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#for ID in 1 2 3 4 5 6
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#do
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#caput MYPREFIX:MOTOR_$ID.RLV -10
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#done
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import logging, sys, os, json
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import CaChannel,time
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class EsbMxSmaract:
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def __init__(self, args):
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self.args=args
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prefix=self.args.var[0]
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if prefix[-1]==':':prefix[:-1]
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self.prefix=prefix
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self.pv=pvDict=dict()
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for i in range(1,16):
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#SARES30-ESBMX1:FRM_FORW.PROC
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#SARES30-ESBMX1:DRIVE
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s1=prefix+'%i'%i
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for j in ('DRIVE','MOTRBV','FRM_FORW.PROC','FRM_BACK.PROC','GET_HOMED','STATUS'):
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s2=s1+':'+j
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print(s2)
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pv = CaChannel.CaChannel(s2)
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pv.setTimeout(10.0)
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pv.search()
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pvDict[s2]=pv
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CaChannel.ca.pend_io(10.0)
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#print(pvDict)
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#pvDict['cryorbv'] = CaChannel.CaChannel("SAR-EXPMX:MOT_CRYO.RBV")
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#pvDict['cryorbv'].search()
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def home(self,idx,fwd):
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print('home motor %i fwd:%d...'%(idx,fwd))
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if fwd:
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pv=self.pv[self.prefix+'%i'%idx+':'+'FRM_FORW.PROC']
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else:
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pv=self.pv[self.prefix+'%i'%idx+':'+'FRM_BACK.PROC']
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pv.putw(1) #set position and move
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CaChannel.ca.pend_event(0.1)
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def waitHomed(self,idx):
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pv=self.pv[self.prefix+'%i'%idx+':'+'GET_HOMED']
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while pv.getw()==0:
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print('wait motor %i homing done ...'%idx)
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CaChannel.ca.pend_event(0.2)
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def moveAbs(self,idx,val):
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pv=self.pv[self.prefix+'%i'%idx+':'+'DRIVE']
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pv.putw(val) #set position and move
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def check_pos(self, idx, val, tolerance=0.1):
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pvrbv = self.pv[self.prefix+'%i'%idx+':'+'MOTRBV']
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pvst = self.pv[self.prefix+'%i'%idx+':'+'STATUS']
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CaChannel.ca.pend_event(0.2)
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while pvst.getw():
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CaChannel.ca.pend_event(0.2)
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rbv=pvrbv.getw()
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if abs(val - rbv) > tolerance:
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raise Exception("failed to reach target value %g,%g,%g"%(val,rbv,tolerance))
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def homing(self):
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#start homing in desired direction
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#cryorbv = self.pv['cryorbv']
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#if cryorbv.getw() < 4.9:
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# raise Exception("Cryojet is too close, move it to 5.0 mm")
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# home Colli Y first and move it to the TOP
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self.home(2, True)
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CaChannel.ca.pend_event(0.5)
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self.waitHomed(2)
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CaChannel.ca.pend_event(0.5)
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self.moveAbs(2, 10.0)
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self.check_pos(2, 10.0)
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for idx,fwd in ((1,True),(4,True),(5,True),(6,True),(7,True),(8,True),(10,True),(11,True),(12,True),(13,True),(14,True),(15,True),):
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self.home(idx,fwd)
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CaChannel.ca.pend_event(0.5)
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#wait homing done
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for idx in (1,4,5,6,7,8,10,11,12,13,14,15,):
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self.waitHomed(idx)
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#move to desired position
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for idx,val in ((1,-10),(4,.4),(5,.5),(6,.6),(7,.7),(8,.8),(10,1.0),(11,1.1),(12,1.2),(13,1.3),(14,1.4),(15,1.5),):
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self.moveAbs(idx,val)
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print('Homing done')
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if __name__=='__main__':
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from optparse import OptionParser, IndentedHelpFormatter
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class MyFormatter(IndentedHelpFormatter):
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'helper class for formating the OptionParser'
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def __init__(self):
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IndentedHelpFormatter.__init__(self)
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def format_epilog(self, epilog):
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if epilog:
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return epilog
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else:
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return ""
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def parse_args():
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'main command line interpreter function'
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#usage: gpasciiCommunicator.py --host=PPMACZT84 myPowerBRICK.cfg
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(h, t)=os.path.split(sys.argv[0]);cmd='\n '+(t if len(h)>3 else sys.argv[0])+' '
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exampleCmd=('SARES30-ESBMX',
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)
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epilog=__doc__+'''
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Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
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fmt=MyFormatter()
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parser=OptionParser(epilog=epilog, formatter=fmt)
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#parser.add_option('', '--host', dest='host', help='hostname (or none to use locally)', metavar='HOST')
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#parser.add_option('-v', '--verbose', type="int", dest='verbose', help='verbosity bits (see below)', default=0)
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(args, other)=parser.parse_args()
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print(args,other)
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args.var=other
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esbMxSmaract=EsbMxSmaract(args)
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esbMxSmaract.homing()
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#os.environ['EPICS_CA_ADDR_LIST']='localhost'
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parse_args()
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