add escape steps, collomator and post tube motion

swissmx.py

@@ -256,6 +256,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
     QtGui.QFontDatabase.addApplicationFont("fonts/Inconsolata-Bold.ttf")
     QtGui.QFontDatabase.addApplicationFont("fonts/Baloo-Regular.ttf")
 
+    # TODO: Cleanup many member functions that are unused or obsolete
     self._pv_shutter = None  # epics.PV('X06SA-ES-MD2:SHUTTER')
     self._has_pulse_picker = False
     self._at_x06sa = False
@@ -270,7 +271,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
 
     self.init_graphics()
 
-    self._escape_current_state = "Maintenance"
+    self._esc_state ="Maintenance"
     self._pin_mounting_offset = 0.0
 
     self._mouse_tracking = False
@@ -796,12 +797,14 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
       self.track_objects()
 
   def cb_move_backlight_safe(self, pos):
+    app=QApplication.instance()
+    bl=app._backlight
     # any move of backlight requires post sample tube out
     try:
       self.assert_post_tube_position(pos="out")
     except:
       self.move_post_tube("out")
-    backlight.move(pos)
+    bl.move(pos)
 
   def get_tweaker(self, rec, alias=None, label=None, mtype="epics_motor", layout=None, **kwargs):
     app = QApplication.instance()
@@ -1464,46 +1467,47 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
       self.daq_embl_collect_points()
 
   def cb_esc_sample_exchange(self):
-    self._escape_current_state = "busy"
+    app=QApplication.instance()
+    self._esc_state ="busy"
     steps = []
-    if option(CRYOJET_MOTION_ENABLED):
+    #if option(CRYOJET_MOTION_ENABLED):
-      steps.append(lambda: self.move_cryojet_nozzle("out"))
+    #  steps.append(lambda: self.move_cryojet_nozzle("out"))
     steps.extend(
       [
         lambda: self.move_post_tube("out"),
-        lambda: backlight.move("out", wait=True),
+        lambda: app._backlight.move("out", wait=True),
         lambda: self.move_collimator("out"),
       ]
     )
-    self.escape_run_steps(steps, "Transitioning to Sample Exchange")
+    self.esc_run_steps(steps, "Transitioning to Sample Exchange")
-    self._escape_current_state = "ManualSampleExchange"
+    self._esc_state ="ManualSampleExchange"
 
   def cb_esc_sample_alignment(self):
     app=QApplication.instance()
-    self._escape_current_state = "busy"
+    self._esc_state ="busy"
-
     steps = [
       # lambda: sample_selection.tell.set_current(30.0),
       lambda: self.move_collimator("ready")
     ]
-    if option(CRYOJET_MOTION_ENABLED):
+    #if option(CRYOJET_MOTION_ENABLED):
-      steps.extend([lambda: self.move_cryojet_nozzle("in")])
+    #  steps.extend([lambda: self.move_cryojet_nozzle("in")])
     steps.extend([lambda: self.move_post_tube("out"), lambda: app._backlight.move("in")])
-    self.escape_run_steps(steps, "Transitioning to Sample Alignment")
+    self.esc_run_steps(steps, "Transitioning to Sample Alignment")
-    self._escape_current_state = "SampleAlignment"
+    self._esc_state ="SampleAlignment"
 
   def cb_esc_data_collection(self):
-    self._escape_current_state = "busy"
+    app=QApplication.instance()
+    self._esc_state ="busy"
     steps = [
       # lambda: sample_selection.tell.set_current(30.0),
-      lambda: backlight.move("out", assert_positions=True),
+      lambda: app._backlight.move("out"),
       lambda: self.move_post_tube("in"),
       lambda: self.move_collimator("in"),
     ]
-    if option(CRYOJET_MOTION_ENABLED):
+    #if option(CRYOJET_MOTION_ENABLED):
-      steps.extend([lambda: self.move_cryojet_nozzle("in")])
+    #  steps.extend([lambda: self.move_cryojet_nozzle("in")])
-    self.escape_run_steps(steps, "Transitioning to Data Collection")
+    self.esc_run_steps(steps, "Transitioning to Data Collection")
-    self._escape_current_state = "DataCollection"
+    self._esc_state ="DataCollection"
 
   def cb_really_quit(self):
     """called when user Ctrl-Q the app"""
@@ -1515,6 +1519,37 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
     _log.warning("homing fast stages")
     epics.PV("SAR-EXPMX1:ASYN.AOUT").put(b"enable plc 1")
 
+  def cb_testcode(self):
+    try:
+      tc=self._testCode
+      tc['idx']+=1
+    except AttributeError:
+      self._testCode=tc={'idx':0}
+    step=tc['idx']
+    vb=self.vb
+
+    if step==0:
+      grp=pg.ItemGroup()
+      vb.addItem(grp)
+      obj=UsrGO.Marker((100, 100), (100, 100), mode=1)
+      grp.addItem(obj)
+      obj=UsrGO.Marker((150, 100), (50, 50), mode=1)
+      grp.addItem(obj)
+      obj=UsrGO.Marker((200, 100), (100, 100), mode=1)
+      grp.addItem(obj)
+      tc['grp']=grp
+    elif step==1:
+      grp=tc['grp']
+      tr=grp.transform()
+      # UsrGO.obj_info(tr)
+      tr.setMatrix(1, .2, 0,
+                   -.2, 1, 0,
+                   0, 0, 1)
+      grp.setTransform(tr)
+
+    print(vb.childGroup.childItems())
+    pass
+
   def prepare_left_tabs(self):
     tabs = self._left_tabs
     tabs.currentChanged.connect(self.cb_switch_task)
@@ -1947,36 +1982,142 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
       #plt.show(block=True)
     return
 
-  def cb_testcode(self):
+  def esc_run_steps(self, steps, title):
+    with pg.ProgressDialog(title, 0, len(steps)) as dlg:
+      for step in steps:
+        step()
+        dlg += 1
+        if dlg.wasCanceled():
+          QMessageBox.warning(self, "escape steps", "ABORTED" + title)
+          break
+
+  def move_post_tube(self, dir):
+    app=QApplication.instance()
+    cfg=app._cfg
+    x_up   = cfg.value(AppCfg.PST_X_UP  , np.NaN,type=float)
+    y_up   = cfg.value(AppCfg.PST_Y_UP  , np.NaN,type=float)
+    x_down = cfg.value(AppCfg.PST_X_DOWN, np.NaN,type=float)
+    y_down = cfg.value(AppCfg.PST_Y_DOWN, np.NaN,type=float)
+    dx     = cfg.value(AppCfg.PST_DX    , np.NaN,type=float)
+    dy     = cfg.value(AppCfg.PST_DY    , np.NaN,type=float)
+    tz_in  = cfg.value(AppCfg.PST_TZ_IN , np.NaN,type=float)
+    tz_out = cfg.value(AppCfg.PST_TZ_OUT, np.NaN,type=float)
+    if np.isnan(x_up):
+      msg = "SwissMX *POST-SAMPLE-TUBE* configuration is incomplete!!!"
+      _log.warning(msg)
+      QMessageBox.warning(self, "post tube not configured", msg)
+      return
+
+    usy = self.tweakers["tube_usy"]
+    dsy = self.tweakers["tube_dsy"]
+
+    usx = self.tweakers["tube_usx"]
+    dsx = self.tweakers["tube_dsx"]
+    tube_z = self.tweakers["tube_z"]
+
+    tandem_twv = float(self._post_tandem_tweak_val.text())
+
+    if dir == "in":
+      _log.info("move post sample tube in")
+      usy.move_abs(y_up)
+      dsy.move_abs(y_down)
+      usx.move_abs(x_up)
+      dsx.move_abs(x_down)
       try:
-      tc=self._testCode
+        app_utils.assert_tweaker_positions([
-      tc['idx']+=1
+          (usy, y_up, 0.1),
-    except AttributeError:
+          (dsy, y_down, 0.1),
-      self._testCode=tc={'idx':0}
+          (usx, x_up, 0.1),
-    step=tc['idx']
+          (dsx, x_down, 0.1), ],timeout=10.0,
-    vb=self.vb
+        )
+      except app_utils.PositionsNotReached as e:
+        _log.warning("failed to move post sample tube {}".format(dir))
+        _log.warning(e)
+        QMessageBox.warning(self, "failed to move post sample tube XY {in}", "failed to move post sample tube XY {in}",)
+        raise
+      tube_z.move_abs(tz_in, wait=True)
+      try:
+        app_utils.assert_tweaker_positions([(tube_z, tz_in, 0.1)])
+      except app_utils.PositionsNotReached as e:
+        _log.warning("failed to move post sample tube Z {in}")
+        _log.warning(e)
+        QMessageBox.warning(self, "failed to move post sample tube Z {in}", "failed to move post sample tube Z {in}",)
+        raise
 
-    if step==0:
+    elif dir == "out":
-      grp=pg.ItemGroup()
+      _log.info("move post sample tube out")
-      vb.addItem(grp)
+      tube_z.move_abs(tz_out, wait=True)
-      obj=UsrGO.Marker((100,100), (100,100),mode=1)
+      try:
-      grp.addItem(obj)
+        app_utils.assert_tweaker_positions([(tube_z, tz_out, 0.1)])
-      obj=UsrGO.Marker((150, 100), (50, 50), mode=1)
+      except app_utils.PositionsNotReached as e:
-      grp.addItem(obj)
+        _log.warning("failed to move post sample tube {out}")
-      obj=UsrGO.Marker((200, 100), (100, 100), mode=1)
+        _log.warning(e)
-      grp.addItem(obj)
+        QMessageBox.warning(self,"failed to move post sample tube Z {out}","failed to move post sample tube Z {out}",)
-      tc['grp']=grp
+        raise
-    elif step==1:
+      usy.move_abs(y_up+dy)
-      grp=tc['grp']
+      dsy.move_abs(y_down+dy)
-      tr=grp.transform()
+      usx.move_abs(x_up+dx)
-      #UsrGO.obj_info(tr)
+      dsx.move_abs(x_down+dx)
-      tr.setMatrix(1, .2, 0,
+      try:
-                   -.2, 1, 0,
+        app_utils.assert_tweaker_positions([
-                   0, 0, 1)
+          (usy, y_up + dy, 0.1),
-      grp.setTransform(tr)
+          (dsy, y_down + dy, 0.1),
+          (usx, x_up + dx, 0.1),
+          (dsx, x_down + dx, 0.1), ], timeout=10.0,
+        )
+      except app_utils.PositionsNotReached as e:
+        _log.warning("failed to move post sample tube {}".format(dir))
+        _log.warning(e)
+        QMessageBox.warning(self,"failed to move post sample tube XY {out}","failed to move post sample tube XY {out}",)
+        raise
+    elif dir == "x-pos":
+      _log.info("tamdem move post sample tube X-pos by {} mm".format(tandem_twv))
+      usx.move_rel(tandem_twv)
+      dsx.move_rel(tandem_twv)
+    elif dir == "x-neg":
+      _log.info("tamdem move post sample tube X-neg {} mm".format(tandem_twv))
+      usx.move_rel(-tandem_twv)
+      dsx.move_rel(-tandem_twv)
+    elif dir == "up":
+      _log.info("tamdem move post sample tube UP {} mm".format(tandem_twv))
+      usy.move_rel(tandem_twv)
+      dsy.move_rel(tandem_twv)
+    elif dir == "down":
+      _log.info("tamdem move post sample tube DOWN {} mm".format(tandem_twv))
+      usy.move_rel(-tandem_twv)
+      dsy.move_rel(-tandem_twv)
+
+  def move_collimator(self, pos):
+    app=QApplication.instance()
+    cfg=app._cfg
+    cx = self.tweakers["colli_x"]
+    cy = self.tweakers["colli_y"]
+
+    x_pos = cfg.value(AppCfg.COL_X_IN, None, type=float)
+    y_pos = cfg.value(AppCfg.COL_Y_IN, np.NaN, type=float)
+    dx = cfg.value(AppCfg.COL_DX, np.NaN, type=float)
+    dy = cfg.value(AppCfg.COL_DY, np.NaN, type=float)
+
+    if np.isnan(x_pos + y_pos + dx + dy):
+      msg="COLLIMATOR configuration is incomplete!"
+      _log.warning(msg)
+      QMessageBox.warning(self, "post tube not configured", msg)
+      return
+
+    _log.info("moving collimator {} to X,Y = {:.3f}, {:.3f}".format(pos, x_pos, y_pos))
+
+    if pos == "out":
+      cy.move_abs(y_pos+dy, assert_position=True)
+      cx.move_abs(x_pos+dx, assert_position=True)
+    elif pos == "in":
+      cx.move_abs(x_pos, assert_position=True)
+      cy.move_abs(y_pos, assert_position=True)
+    elif pos == "ready":
+      cx.move_abs(x_pos, assert_position=True)
+      cy.move_abs(y_pos+dy, assert_position=True)
+    else:
+      raise ValueError("Collimator position *{}* is not known!!")
 
-    print(vb.childGroup.childItems())
-    pass
   #  **************** OBSOLETE AND/OR OLD STUFF ****************
 
 
@@ -2207,8 +2348,8 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
     if msg is None:
       return
     if "current" in msg:
-      _log.warning(f"current state: {self._escape_current_state}")
+      _log.warning(f"current state: {self._esc_state}")
-      zescape.reply(self._escape_current_state)
+      zescape.reply(self._esc_state)
     elif "goto" in msg:
       state = msg.split()[1].lower()
       _log.warning(f"TELL requests to go to {state}")
@@ -2222,7 +2363,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
           self.cb_esc_sample_alignment()
       except:
         zescape.reply("Maintenance")
-      zescape.reply(self._escape_current_state)
+      zescape.reply(self._esc_state)
     else:  # JSON
       data = json.loads(msg)
       if "sampleName" in data:
@@ -2432,14 +2573,6 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
       bx, by = 500, 500
     return (bx, by)
 
-  def _OLD_escape_run_steps(self, steps, title):
-    with pg.ProgressDialog(title, 0, len(steps)) as dlg:
-      for step in steps:
-        step()
-        dlg += 1
-        if dlg.wasCanceled():
-          raise TransitionAborted("ABORTED" + title)
-
   def _OLD_move_gonio_to_position(self, fx, fy, bx, bz, omega):
     self.tweakers["fast_x"].motor.move(fx, wait=False, ignore_limits=True)
     self.tweakers["fast_y"].motor.move(fy, wait=False, ignore_limits=True)
@@ -2591,35 +2724,6 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
     cz.move(t_cz, wait=True, ignore_limits=True)
     omega.move(t_omega, wait=True, ignore_limits=True)
 
-  def _OLD_move_collimator(self, pos):
-    cx = self.tweakers["colli_x"]
-    cy = self.tweakers["colli_y"]
-
-    x_pos = settings.value("collimator/x_in", 1e10, type=float)
-    y_pos = settings.value("collimator/y_in", 1e10, type=float)
-    dx = settings.value("collimator/dx", 1e10, type=float)
-    dy = settings.value("collimator/dy", 1e10, type=float)
-
-    _log.info('Skip Zac''s orig. code')
-    return
-    # ZAC: orig. code
-    if 1e9 < x_pos + y_pos + dx + dy:
-      raise IncompleteConfiguration("COLLIMATOR configuration is incomplete!")
-
-    _log.info("moving collimator {} to X,Y = {:.3f}, {:.3f}".format(pos, x_pos, y_pos))
-
-    if pos == "out":
-      cy.move_abs(y_pos+dy, assert_position=True)
-      cx.move_abs(x_pos+dx, assert_position=True)
-    elif pos == "in":
-      cx.move_abs(x_pos, assert_position=True)
-      cy.move_abs(y_pos, assert_position=True)
-    elif pos == "ready":
-      cx.move_abs(x_pos, assert_position=True)
-      cy.move_abs(y_pos+dy, assert_position=True)
-    else:
-      raise UnknownLabeledPosition("Collimator position *{}* is not known!!")
-
   def _OLD_move_cryojet_nozzle(self, pos):
     cx = self.tweakers["cryo"]
     if "in" == pos.lower():
@@ -2707,102 +2811,6 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
       (tbz, z, 0.1),],timeout=2.0,
     )
 
-  def _OLD_move_post_tube(self, dir):
-    app=QApplication.instance()
-    cfg=app._cfg
-    x_up   = cfg.value(AppCfg.PST_X_UP  , type=float)
-    y_up   = cfg.value(AppCfg.PST_Y_UP  , type=float)
-    x_down = cfg.value(AppCfg.PST_X_DOWN, type=float)
-    y_down = cfg.value(AppCfg.PST_Y_DOWN, type=float)
-    dx     = cfg.value(AppCfg.PST_DX    , type=float)
-    dy     = cfg.value(AppCfg.PST_DY    , type=float)
-    tz_in  = cfg.value(AppCfg.PST_TZ_IN , type=float)
-    tz_out = cfg.value(AppCfg.PST_TZ_OUT, type=float)
-    if x_up is None:
-      msg = "SwissMX *POST-SAMPLE-TUBE* configuration is incomplete!!!"
-      _log.warning(msg)
-      QMessageBox.warning(self, "post tube not configured", msg)
-      return
-
-    usy = self.tweakers["tube_usy"]
-    dsy = self.tweakers["tube_dsy"]
-
-    usx = self.tweakers["tube_usx"]
-    dsx = self.tweakers["tube_dsx"]
-    tube_z = self.tweakers["tube_z"]
-
-    tandem_twv = float(self._post_tandem_tweak_val.text())
-
-    if dir == "in":
-      _log.info("move post sample tube in")
-      usy.move_abs(y_up)
-      dsy.move_abs(y_down)
-      usx.move_abs(x_up)
-      dsx.move_abs(x_down)
-      try:
-        app_utils.assert_tweaker_positions([
-          (usy, y_up, 0.1),
-          (dsy, y_down, 0.1),
-          (usx, x_up, 0.1),
-          (dsx, x_down, 0.1), ],timeout=10.0,
-        )
-      except app_utils.PositionsNotReached as e:
-        _log.warning("failed to move post sample tube {}".format(dir))
-        _log.warning(e)
-        QMessageBox.warning(self, "failed to move post sample tube XY {in}", "failed to move post sample tube XY {in}",)
-        raise
-      tube_z.move_abs(tz_in, wait=True)
-      try:
-        app_utils.assert_tweaker_positions([(tube_z, tz_in, 0.1)])
-      except app_utils.PositionsNotReached as e:
-        _log.warning("failed to move post sample tube Z {in}")
-        _log.warning(e)
-        QMessageBox.warning(self, "failed to move post sample tube Z {in}", "failed to move post sample tube Z {in}",)
-        raise
-
-    elif dir == "out":
-      _log.info("move post sample tube out")
-      tube_z.move_abs(tz_out, wait=True)
-      try:
-        app_utils.assert_tweaker_positions([(tube_z, tz_out, 0.1)])
-      except app_utils.PositionsNotReached as e:
-        _log.warning("failed to move post sample tube {out}")
-        _log.warning(e)
-        QMessageBox.warning(self,"failed to move post sample tube Z {out}","failed to move post sample tube Z {out}",)
-        raise
-      usy.move_abs(y_up+dy)
-      dsy.move_abs(y_down+dy)
-      usx.move_abs(x_up+dx)
-      dsx.move_abs(x_down+dx)
-      try:
-        app_utils.assert_tweaker_positions([
-          (usy, y_up + dy, 0.1),
-          (dsy, y_down + dy, 0.1),
-          (usx, x_up + dx, 0.1),
-          (dsx, x_down + dx, 0.1), ], timeout=10.0,
-        )
-      except app_utils.PositionsNotReached as e:
-        _log.warning("failed to move post sample tube {}".format(dir))
-        _log.warning(e)
-        QMessageBox.warning(self,"failed to move post sample tube XY {out}","failed to move post sample tube XY {out}",)
-        raise
-    elif dir == "x-pos":
-      _log.info("tamdem move post sample tube X-pos by {} mm".format(tandem_twv))
-      usx.move_rel(tandem_twv)
-      dsx.move_rel(tandem_twv)
-    elif dir == "x-neg":
-      _log.info("tamdem move post sample tube X-neg {} mm".format(tandem_twv))
-      usx.move_rel(-tandem_twv)
-      dsx.move_rel(-tandem_twv)
-    elif dir == "up":
-      _log.info("tamdem move post sample tube UP {} mm".format(tandem_twv))
-      usy.move_rel(tandem_twv)
-      dsy.move_rel(tandem_twv)
-    elif dir == "down":
-      _log.info("tamdem move post sample tube DOWN {} mm".format(tandem_twv))
-      usy.move_rel(-tandem_twv)
-      dsy.move_rel(-tandem_twv)
-
   def _OLD_add_tweaker(self, pv, alias=None, label=None, mtype="epics_motor", layout=None):
     if layout is None:
       layout = self._tweak_container.layout()