add gonio default positions

app_config.py

@@ -52,6 +52,7 @@ 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
@@ -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':[
@@ -413,6 +421,8 @@ verbose bits:
     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'))

app_utils.py

@@ -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
+      mot_tw, target, tolerance=m
-      name=motor.short_name
+      name=mot_tw._motor._short_name
-      pend_event()
+      notSim=not type(mot_tw).__name__.startswith('Sim')
-      cur=motor.get_rbv()
+
-      done=motor.is_done()
+      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)))

epics_widgets/MotorTweak.py

@@ -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:
+    m._short_name = short_name
-      short_name = m.description
+    self._rec_name = rec_name
-    self.short_name = short_name
-    self._pvname = motor_base
 
     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_high_hard_limit.emit(self._rec_name, kw)
-      self.event_axis_fault.emit(self._pvname, kw)
+      self.event_axis_fault.emit(self._rec_name, kw)
     elif field == 'LVIO':
-      self.event_low_hard_limit.emit(self._pvname, kw)
+      self.event_low_hard_limit.emit(self._rec_name, kw)
-      self.event_axis_fault.emit(self._pvname, 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

epics_widgets/SimMotorTweak.py

@@ -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()

swissmx.py

@@ -1531,6 +1531,7 @@ 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")
 
@@ -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()