attocube axes are scannable now + added axis.config

attocube.py

@@ -1,7 +1,10 @@
 from distutils.command.install_egg_info import to_filename
 from re import S
+from shutil import move
+from tarfile import is_tarfile
 import time
 import subprocess
+from turtle import pos
 from types import SimpleNamespace
 from enum import IntEnum
 from epics import ca
@@ -38,16 +41,41 @@ class AttocubeStage(BaseDevice):
         to_print = {ax_name: ax.get_current_value() for ax_name, ax in self.axes.items()}
         return printable_dict(to_print, head)
 
+# Commments after talking to Sven:
+# 1. give values in init and then fill self.config
+# 2. set_target_value() is the method for the scanner. Therefore, update it so that it has move() inside it.
+# 3. is_moving() is the other part for the scanner, it will need updating as well
+# 4. after that scanning should work properly
 
+# 5. For hole drilling something like this would make sense:
+# t = daq.aquire(...)
+# for pos in []:
+# 	mot.set_target_value(pos).wait()
+# 	sleep()
+# t.stop()
+# where .acqure() has a the event_map - basically for every pulse id it shows whether the event was on or off. this way we can search for pulse ids for every drilling shot if we wanted to.
+# event map channel is probably somewhere on the list when typing: " ioc records .*Evt.* "
 
 class AttocubeAxis(Adjustable):
 
-    def __init__(self, ID, name=None, units=None, internal=False):
+    def __init__(self, ID, name=None, units=None, internal=False, tolerance=0.3, timeout=300.0, pos_check_delay=0.15, target_gnd=None, move_attempts = 5, move_attempt_sleep=4, verbose_move = False, ignore_limits=True, confirm_move= True):
         super().__init__(ID, name=name, units=units, internal=internal)
 
         self.wait_time = 0.1
-        self.timeout = 60
         self._move_requested = False
+        self.timeout = timeout
+
+        self.config = SimpleNamespace(
+            tolerance           = tolerance,
+            timeout             = timeout,
+            pos_check_delay     = pos_check_delay,
+            target_gnd          = target_gnd,
+            move_attempts       = move_attempts,
+            move_attempt_sleep  = move_attempt_sleep,
+            verbose_move        = verbose_move,
+            ignore_limits       = ignore_limits,
+            confirm_move        = confirm_move,
+        )
 
         self.pvs = SimpleNamespace(
             drive           = PV(ID + "-SET_TARGET"),
@@ -160,35 +188,6 @@ class AttocubeAxis(Adjustable):
         else:
             return self.pvs.drive.get()
 
-    def set_target_value(self, value):
-        print(f"moving to {value}")
-        wait_time = self.wait_time
-        timeout = self.timeout + time.time()
-
-        self._move_requested = True
-        self.pvs.drive.put(value, wait=True)
-
-        # Move button must be pressed to make the move
-        self.set_move_allowed(True)
-
-        # wait for start
-        while self._move_requested and not self.is_moving():
-            time.sleep(wait_time)
-            if time.time() >= timeout:
-                tname = typename(self)
-                self.stop()
-                raise AttocubeError(f"starting to move {tname} \"{self.name}\" to {value} {self.pvs.units.char_value} timed out")
-
-        # wait for move done
-        while self._move_requested and self.is_moving():
-            if self.is_at_target(): # holding == arrived at target!
-                break
-            time.sleep(wait_time)
-
-        self._move_requested = False
-        print("move done")
-
-
     def stop(self):
         self._move_requested = False
         self.pvs.stop.put(1, wait=True)
@@ -197,12 +196,14 @@ class AttocubeAxis(Adjustable):
         return self.pvs.output_RB.value == 1
 
     def is_moving(self):
-        return self.pvs.moving_status.value == 1
+        return self.is_at_target()
 
-    def is_at_target(self,from_pv=False,tolerance = 0.3):
+    def is_at_target(self,from_pv=False, tolerance = None):
         """Check whether target was reached. 
         If from_pv is True TARGET_REACHED_RB is used, else it's calculated as diffrence between the readback and set value within tolerance.
         Default is False, because otherwise tolerance can only be set and read out as an integer."""
+        if tolerance == None:
+             tolerance = self.config.tolerance
         if from_pv == True:
             return self.pvs.target_reached.value == 1
         else:
@@ -246,8 +247,7 @@ class AttocubeAxis(Adjustable):
     # 1. Set SET_TARGET_RANGE as a float or somehow alow decimals to be entered 
     # 2. Soft epics limits
 
-
+    def set_target_value(self, val, relative=False, wait=True):
-    def move(self, val, relative=False, wait=True, ignore_limits=True, confirm_move=True, timeout=300.0, pos_check_delay=0.15, target_gnd=None, move_attempts = 5, move_attempt_sleep=4, verbose = False, tolerance=0.3):
         """
         moves Attocube drive to position (emulating pyepics Motor class)
 
@@ -256,13 +256,6 @@ class AttocubeAxis(Adjustable):
          val                value to move to (float) [Must be provided]
          relative           move relative to current position    (T/F) [F]
          wait               whether to wait for move to complete (T/F) [F]
-         ignore_limits      try move without regard to limits (no epics limits implemented yet)   (T/F) [T]
-         confirm_move       try to confirm that move has begun   (T/F) [F]
-         timeout            max time for move to complete (in seconds) [300]
-         pos_check_delay    delay before checkig motor in position (in seconds) [0.15]
-         move_attempts      how many times should the move be attempted if not in limits (attocube often needs to be poked a few times for the last 1um) [5]
-         move_attempt_sleep how long to wait before another move poke attept is done (in seconds) [4]
-         tolerance          when to consider target destination reached (in microns) [0.3]
         
         return values:
         ==============
@@ -301,18 +294,18 @@ class AttocubeAxis(Adjustable):
         if relative:
             val += self.pvs.drive.get()
 
-        if not ignore_limits:
+        if not self.config.ignore_limits:
             if not self.within_epics_limits(val):
                 return OUTSIDE_LIMITS
 
-        put_stat = self.pvs.drive.put(val, wait=wait, timeout=timeout)
+        put_stat = self.pvs.drive.put(val, wait=wait, timeout=self.config.timeout)
 
         if not self.is_output_on():
             self.enable_output(verbose=False)
 
-        if target_gnd == True or target_gnd == 1:
+        if self.config.target_gnd == True or self.config.target_gnd == 1:
             self.set_ground_on_target(True,verbose=False)
-        elif target_gnd == False or target_gnd == 0:
+        elif self.config.target_gnd == False or self.config.target_gnd == 0:
             self.set_ground_on_target(False,verbose=False)
 
         self.allow_move()       
@@ -327,10 +320,10 @@ class AttocubeAxis(Adjustable):
             return UNKNOWN_ERROR
 
         t0 = time.time()
-        tstart = t0 + min(timeout, 10)
+        tstart = t0 + min(self.config.timeout, 10)
-        tout   = t0 + timeout
+        tout   = t0 + self.config.timeout
 
-        if not wait and not confirm_move:
+        if not wait and not self.config.confirm_move:
             return EXECUTED
 
         if not wait:
@@ -340,25 +333,25 @@ class AttocubeAxis(Adjustable):
             return TIMEOUT
 
         # Wait before checking if target value reached. It's necessary as sometimes this PV takes a while to set for the new target value.
-        time.sleep(pos_check_delay) 
+        time.sleep(self.config.pos_check_delay) 
 
-        while self.is_at_target(tolerance=tolerance) == False and time.time() <= tout:
+        while self.is_at_target() == False and time.time() <= tout:
             # If the value is near the last 2um. Move the cube to setpoint a few more times to get to the right position.
             if self.is_at_target( tolerance = 2):
-                for attempt in range(move_attempts):    
+                for attempt in range(self.config.move_attempts):    
-                    if verbose:
+                    if self.config.verbose_move:
                         print(f'move attempt: {attempt+1}')
                     self.pvs.move.put(1, wait=True)
-                    time.sleep(move_attempt_sleep)
+                    time.sleep(self.config.move_attempt_sleep)
-                    if self.is_at_target(tolerance=tolerance):
+                    if self.is_at_target():
-                        if verbose:
+                        if self.config.verbose_move:
-                            print(f'Move finished. Had to poke the cube {attempt+1} times to get there though.')
+                            print(f'Move finished. Had to poke the cube {attempt+1}x to get there though.')
                         return SUCCESS
                 
                 print('Position reached within 2um, but not better.')
                 return TIMEOUT
  
-        if self.is_at_target(tolerance=tolerance):
+        if self.is_at_target():
             return SUCCESS
         
         return UNKNOWN_ERROR
@@ -368,8 +361,6 @@ class AttocubeAxis(Adjustable):
         cmd = f'caqtdm -macro "DEVICE={device}" S_ANC350.ui'
         return subprocess.Popen(cmd, shell=True)
 
-
-
 class AttocubeError(AdjustableError):
     pass