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add gonio default positions

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This commit is contained in:
zamofing_t
2023-05-24 11:53:41 +02:00
parent 89c836e29d
commit c1a674c91b
5 changed files with 96 additions and 34 deletions
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46
app_config.py
View File

@@ -52,9 +52,10 @@ class AppCfg(QSettings):
WINDOW_STATE= "window/state"
DFT_POS_DET ="default_position/detector" #json
DFT_POS_GONIO ="default_position/gonio" #json
DFT_POS_PST ="default_position/post_sample_tube" #json
DFT_POS_COL ="default_position/collimator" #json
DFT_POS_BKLGT ="default_position/backlight" #json
DFT_POS_BKLGT ="default_position/backlight" #json
DT_HOST="deltatau/host"
DT_MISC="deltatau/miscellaneous"
@@ -140,8 +141,8 @@ class AppCfg(QSettings):
dflt.append((AppCfg.DAQ_BS_CH, ("SARES30-LSCP1-CRISTA1:CH0:1",))) #list of BS channels
if AppCfg.DAQ_PV_CH not in keys:
dflt.append((AppCfg.DAQ_PV_CH, () )) #list of PVs
if AppCfg.DFT_POS_GONIO not in keys:
dflt.append((AppCfg.DFT_POS_GONIO, {'mount':(0.,0.,0.,0.),'align':(0.,0.,0.,0.)}))#defout positions
for k,v in dflt:
_log.warning(f'{k} not defined. use default')
@@ -163,7 +164,7 @@ class AppCfg(QSettings):
elif key in (AppCfg.GBL_MISC, # for all these keys convert to json and change " to '
AppCfg.GEO_CAM_PARAM,
AppCfg.GEO_FND_FID, AppCfg.GEO_AUTOFOC,
AppCfg.DFT_POS_DET,AppCfg.DFT_POS_PST,AppCfg.DFT_POS_COL,AppCfg.DFT_POS_BKLGT,
AppCfg.DFT_POS_DET,AppCfg.DFT_POS_GONIO,AppCfg.DFT_POS_PST,AppCfg.DFT_POS_COL,AppCfg.DFT_POS_BKLGT,
AppCfg.DT_MISC,
AppCfg.DAQ_DET,AppCfg.DAQ_LOC,AppCfg.DAQ_RUN,AppCfg.DAQ_BS_CH,AppCfg.DAQ_PV_CH
):
@@ -190,7 +191,7 @@ class AppCfg(QSettings):
elif key in (AppCfg.GBL_MISC,
AppCfg.GEO_CAM_PARAM,
AppCfg.GEO_FND_FID, AppCfg.GEO_AUTOFOC,
AppCfg.DFT_POS_DET,AppCfg.DFT_POS_PST,AppCfg.DFT_POS_COL,AppCfg.DFT_POS_BKLGT,
AppCfg.DFT_POS_DET,AppCfg.DFT_POS_GONIO,AppCfg.DFT_POS_PST,AppCfg.DFT_POS_COL,AppCfg.DFT_POS_BKLGT,
AppCfg.DT_MISC,
AppCfg.DAQ_DET,AppCfg.DAQ_LOC,AppCfg.DAQ_RUN,AppCfg.DAQ_BS_CH,AppCfg.DAQ_PV_CH
):
@@ -243,6 +244,7 @@ class WndParameter(QMainWindow):
dft_pos_col = cfg.value(AppCfg.DFT_POS_COL)
dft_pos_bklgt = cfg.value(AppCfg.DFT_POS_BKLGT)
dft_pos_det = cfg.value(AppCfg.DFT_POS_DET)
dft_pos_gonio = cfg.value(AppCfg.DFT_POS_GONIO)
geo_cam_param = cfg.value(AppCfg.GEO_CAM_PARAM)
dt_host = cfg.value(AppCfg.DT_HOST)
dt_misc = cfg.value(AppCfg.DT_MISC)
@@ -356,6 +358,12 @@ verbose bits:
{'name':'set_in', 'title':'use current position as "in"', 'type':'action'},
{'name':'set_out', 'title':'use current position as "out"', 'type':'action'},
]},
{'name':AppCfg.DFT_POS_GONIO, 'title':'gonio reference positions', 'type':'group', 'expanded':False, 'children':[
{'name':'pos_mount', 'title':'Mount position', 'value':dft_pos_gonio.get('mount'), 'type':'str' },
{'name':'pos_align', 'title':'Align position', 'value':dft_pos_gonio.get('align'), 'type':'str' },
{'name':'set_mount', 'title':'use current position as "mount"', 'type':'action'},
{'name':'set_align', 'title':'use current position as "align"', 'type':'action'},
]},
{'name':'Delta Tau Parameters', 'type':'group','expanded':False, 'children':[
{'name':AppCfg.DT_HOST, 'title':'host name (host[:port:port_gather])','value':dt_host, 'type':'str'},
{'name':AppCfg.DT_MISC, 'title':'miscellaneous', 'type':'group', 'children':[
@@ -407,12 +415,14 @@ verbose bits:
child.sigValueChanging.connect(lambda a,b: self.cb_valueChanging(a,b))
for ch2 in child.children():
ch2.sigValueChanging.connect(lambda a,b: self.cb_valueChanging(a,b))
p.param(AppCfg.DFT_POS_PST, 'set_in' ).sigActivated.connect(lambda x: self.cb_use_cur_pos_as(AppCfg.DFT_POS_PST, 'in'))
p.param(AppCfg.DFT_POS_PST, 'set_out').sigActivated.connect(lambda x: self.cb_use_cur_pos_as(AppCfg.DFT_POS_PST, 'out'))
p.param(AppCfg.DFT_POS_COL, 'set_in' ).sigActivated.connect(lambda x: self.cb_use_cur_pos_as(AppCfg.DFT_POS_COL, 'in'))
p.param(AppCfg.DFT_POS_COL, 'set_out').sigActivated.connect(lambda x: self.cb_use_cur_pos_as(AppCfg.DFT_POS_COL, 'out'))
p.param(AppCfg.DFT_POS_DET, 'set_in' ).sigActivated.connect(lambda x: self.cb_use_cur_pos_as(AppCfg.DFT_POS_DET, 'in'))
p.param(AppCfg.DFT_POS_DET, 'set_out').sigActivated.connect(lambda x: self.cb_use_cur_pos_as(AppCfg.DFT_POS_DET, 'out'))
p.param(AppCfg.DFT_POS_PST, 'set_in' ).sigActivated.connect(lambda x: self.cb_use_cur_pos_as(AppCfg.DFT_POS_PST, 'in'))
p.param(AppCfg.DFT_POS_PST, 'set_out' ).sigActivated.connect(lambda x: self.cb_use_cur_pos_as(AppCfg.DFT_POS_PST, 'out'))
p.param(AppCfg.DFT_POS_COL, 'set_in' ).sigActivated.connect(lambda x: self.cb_use_cur_pos_as(AppCfg.DFT_POS_COL, 'in'))
p.param(AppCfg.DFT_POS_COL, 'set_out' ).sigActivated.connect(lambda x: self.cb_use_cur_pos_as(AppCfg.DFT_POS_COL, 'out'))
p.param(AppCfg.DFT_POS_DET, 'set_in' ).sigActivated.connect(lambda x: self.cb_use_cur_pos_as(AppCfg.DFT_POS_DET, 'in'))
p.param(AppCfg.DFT_POS_DET, 'set_out' ).sigActivated.connect(lambda x: self.cb_use_cur_pos_as(AppCfg.DFT_POS_DET, 'out'))
p.param(AppCfg.DFT_POS_GONIO,'set_mount').sigActivated.connect(lambda x: self.cb_use_cur_pos_as(AppCfg.DFT_POS_GONIO,'mount'))
p.param(AppCfg.DFT_POS_GONIO,'set_align').sigActivated.connect(lambda x: self.cb_use_cur_pos_as(AppCfg.DFT_POS_GONIO,'align'))
#p.param('Save/Restore functionality', 'Save State').sigActivated.connect(self.cb_save)
#p.param('Save/Restore functionality', 'Restore State').sigActivated.connect(self.cb_restore)
@@ -496,6 +506,10 @@ verbose bits:
d=dict(map(lambda x:(x.name(),x.value()), parent.children()))
for k in ('set_in','set_out'): del d[k]
cfg.setValue(par_nm,d)
elif par_nm == AppCfg.DFT_POS_GONIO:
k=parent.children()[:-2]
d=dict(map(lambda x:(x.name(),tuple(map(float,x.value().strip('[]()').split(', ')))), k))
cfg.setValue(par_nm,d)
elif par_nm==AppCfg.GBL_DEV_PREFIX:
v=tuple(map(lambda x:x.value(), parent.children()))
cfg.setValue(par_nm, v)
@@ -550,7 +564,15 @@ verbose bits:
# 'xeye_x', 'xeye_y'])
#p.children()
cld=p.children()
if dev==AppCfg.DFT_POS_PST:
if dev==AppCfg.DFT_POS_GONIO:
if pos=='mount':
idx=0
elif pos=='align':
idx=1
val=tuple(map(lambda k: twk[k].get_val(),('fast_x','fast_y','base_x','base_z')))
cld[idx].setValue(json.dumps(val, cls=MyJsonEncoder))
return
elif dev==AppCfg.DFT_POS_PST:
# k=('x_in_us','y_in_us','x_in_ds','y_in_ds','x_out_delta','y_out_delta','z_in','z_out',)
if pos=='in':
lut=((0,'tube_usx'),(1,'tube_usy'),(2,'tube_dsx'),(3,'tube_dsy'),(6,'tube_z'))

17
app_utils.py
View File

@@ -6,7 +6,6 @@ _log=logging.getLogger(__name__)
from epics.ca import pend_event
class PositionsNotReached(Exception):
pass
@@ -29,20 +28,22 @@ def assert_tweaker_positions(targets, timeout=60.0):
count=0
summary=[]
for i, m in enumerate(targets):
motor, target, tolerance=m
name=motor.short_name
pend_event()
cur=motor.get_rbv()
done=motor.is_done()
mot_tw, target, tolerance=m
name=mot_tw._motor._short_name
notSim=not type(mot_tw).__name__.startswith('Sim')
if notSim: pend_event()
cur=mot_tw.get_rbv()
done=mot_tw.is_done()
s=f"check {name} {cur:.5g} == {target:.5g} [done={done}]"
_log.debug(s)
summary.append(s)
if done and tolerance>=abs(cur-target):
count+=1
pend_event(0.1)
if notSim: pend_event(0.1)
if count==num_motors:
break
pend_event(0.1)
if notSim: pend_event(0.1)
if count!=num_motors:
raise PositionsNotReached("failed to reach target positions: {}".format("#".join(summary)))

22
epics_widgets/MotorTweak.py
View File

@@ -41,17 +41,15 @@ class MotorTweak(QWidget, Ui_MotorTweak):
self._templates = {}
def connect_motor(self, motor_base, short_name=None, **kwargs):
def connect_motor(self, rec_name, short_name, **kwargs):
# TODO: DO NOT USE Motor base class, but reduce to the only really needed PV: s.a. class QopticZoom(object)
# TODO: have a own motor Class as class SimMotor:
m = Motor(motor_base)
m.get_position()
self._ignore_limits = m.HLM == m.LLM # if both high/low limits are equal they are meaningless
self._motor = m
if not short_name:
short_name = m.description
self.short_name = short_name
self._pvname = motor_base
m._short_name = short_name
self._rec_name = rec_name
for attr in ['RTYP', 'JVEL', 'HLS', 'LLS', 'TWV', 'RBV', 'VAL', 'LVIO', 'HLM', 'LLM']:
# _log.debug('connecting to field {}'.format(attr))
@@ -193,19 +191,19 @@ class MotorTweak(QWidget, Ui_MotorTweak):
if field != src:
return
if field == 'VAL':
self.event_val.emit(self._pvname, kw)
self.event_val.emit(self._rec_name, kw)
elif field == 'RBV':
self.event_rbv.emit(kw['alias'], kw['value'], kw)
elif field == 'LVIO':
self.event_soft_limit.emit(self._pvname, kw)
self.event_soft_limit.emit(self._rec_name, kw)
elif field == 'HLS':
self.event_high_hard_limit.emit(self._pvname, kw)
self.event_axis_fault.emit(self._pvname, kw)
self.event_high_hard_limit.emit(self._rec_name, kw)
self.event_axis_fault.emit(self._rec_name, kw)
elif field == 'LVIO':
self.event_low_hard_limit.emit(self._pvname, kw)
self.event_axis_fault.emit(self._pvname, kw)
self.event_low_hard_limit.emit(self._rec_name, kw)
self.event_axis_fault.emit(self._rec_name, kw)
elif field == 'STAT':
self.event_axis_fault.emit(self._pvname, kw)
self.event_axis_fault.emit(self._rec_name, kw)
def update_label(self, **kwargs):
m = self._motor

2
epics_widgets/SimMotorTweak.py
View File

@@ -56,7 +56,7 @@ class SimMotorTweak(QWidget, Ui_MotorTweak):
self._templates = {}
def connect_motor(self, rec_name, short_name=None, *args, **kwargs):
def connect_motor(self, rec_name, short_name, *args, **kwargs):
self.label.setToolTip('{} => {}'.format(rec_name, short_name))
self._motor=m=SimMotor(rec_name, short_name)
self.set_motor_validator()

43
swissmx.py
View File

@@ -1531,7 +1531,8 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
lambda: self.move_post_tube("out"),
lambda: app._backlight.move("out"),
lambda: self.move_collimator("out"),
]
lambda:self.move_gonio("mount"),
]
self.esc_run_steps(steps, "Transitioning to Sample Exchange","ManualSampleExchange")
def cb_esc_sample_alignment(self):
@@ -1543,6 +1544,7 @@ class WndSwissMx(QMainWindow, Ui_MainWindow):
lambda:self.move_post_tube("out"),
lambda:app._backlight.move("in"),
lambda:self.move_collimator("out"),
lambda:self.move_gonio("align"),
]
#if option(CRYOJET_MOTION_ENABLED):
# steps.extend([lambda: self.move_cryojet_nozzle("in")])
@@ -2195,6 +2197,45 @@ Author Thierry Zamofing (thierry.zamofing@psi.ch)
break
self._esc_state = esc_state
def move_gonio(self, pos):
# gonio="{'pos_mount': (0.0,0.0,0.0,0.0), 'pos_align': (0.0,0.0,0.0,0.0)}"
# positions are: fast_x,fast_y,base_x,base_z,(omega=0,det_z, no change)
app=QApplication.instance()
cfg=app._cfg
pos_gonio = cfg.value(AppCfg.DFT_POS_GONIO)
if pos_gonio is None:
msg="gonio default positions are not configured."
_log.warning(msg)
QMessageBox.warning(self, "gonio not configured", msg)
return
tw_fx = self.tweakers["fast_x"]
tw_fy = self.tweakers["fast_y"]
tw_cx = self.tweakers["base_x"]
tw_cz = self.tweakers["base_z"]
tw_ry = self.tweakers["omega"]
try:
p_fx, p_fy, p_cx, p_cz,=pos_gonio['pos_'+pos]
p_ry=0.
except KeyError:
raise ValueError("Goniometer position *{}* is not known!!")
_log.info(f"moving goniometer {pos} to fx:{p_fx:.5g},fy:{p_fy:.5g},cx:{p_cx:.5g},cz_{p_cz:.5g},ry:{p_ry:.5g}")
tw_fx.move_abs(p_fx)
tw_fy.move_abs(p_fy)
tw_cx.move_abs(p_cx)
tw_cz.move_abs(p_cz)
tw_ry.move_abs(p_ry)
app_utils.assert_tweaker_positions([
(tw_fx, p_fx, 0.1),
(tw_fy, p_fy, 0.1),
(tw_cx, p_cx, 0.1),
(tw_cz, p_cz, 0.1),
(tw_ry, p_ry, 0.1), ], timeout=20.0,
)
def move_post_tube(self, pos):
# post_sample_tube="{'x_up': -0.2, 'y_up': 0.0, 'x_down': 0.0, 'y_down': 0.0, 'x_out_delta': 0.0, 'y_out_delta': 0.0, 'z_in': 0.0, 'z_out': 0.0}"
app=QApplication.instance()