function added to enable/disable all diffractometer axes

crq_exp/diffractometer.py

@@ -9,20 +9,26 @@
 
 """
 
+import time
+
 from slic.core.adjustable import PVAdjustable, Linked, Adjustable, Collection
 from slic.core.device import Device
 from slic.devices.general.motor import Motor
 
 class MotorECMC(Motor):
-    '''Regular motor class with extra EPICS and ECMC tolerance deadbands for motion.'''
+    '''Regular motor class with extras for ECMC servo motors (tolerance deadbands, PIDs ...)'''
     def __init__(self, ID, **kwargs):
         super().__init__(ID, **kwargs)
         self.deadband_epics = PVAdjustable(self.name+'-SetAtTrgtDB',units='mm',name='Tolerance deadband for EPICS target reached flag.')
         self.deadband_ecmc  = PVAdjustable(self.name+'-SetCtrlDB',units='mm', name='Tolerance deadband for ECMC servo motor control')
-        self.p = PVAdjustable(self.name+'-Ctrl-Kp',name=self.name+' P parameter')
+        self.deadbands      = Collection(self.name+'motion deadbands',[self.deadband_epics,self.deadband_ecmc])
-        self.i = PVAdjustable(self.name+'-Ctrl-Ki',name=self.name+' I parameter')
+        
-        self.d = PVAdjustable(self.name+'-Ctrl-Kd',name=self.name+' D parameter')
+        self.p = PVAdjustable(self.name+'-Ctrl-Kp',name='P parameter')
+        self.i = PVAdjustable(self.name+'-Ctrl-Ki',name='I parameter')
+        self.d = PVAdjustable(self.name+'-Ctrl-Kd',name='D parameter')
         self.pids  = Collection(self.name+'PID values',[self.p,self.i,self.d])
+        self.enabled = PVAdjustable(self.name+'-EnaCmd',name='Axis enabled')
+
 class Diffractometer(Device):
     def __init__(self, ID, **kwargs):
         super().__init__(ID, **kwargs)
@@ -44,8 +50,21 @@ class Diffractometer(Device):
             # This diffractometer also has extra swivel stages
             self.rot_x = MotorECMC(ID + ":ROTX")
             self.rot_z = MotorECMC(ID + ":ROTZ")
+            self.axes = Collection(self.name+'movable axes',[self.twotheta,self.theta,self.tr_x,self.tr_y,self.tr_z,self.td,self.trx_base,self.try_base,
+                                                           self.rot_x,self.rot_z])
         if ID == "SARES31-GPS":
             self.name = "DM1: Cristallina dilution fridge diffractometer"
+            self.axes = Collection(self.name+'movable axes',[self.twotheta,self.theta,self.tr_x,self.tr_y,self.tr_z,self.td,self.trx_base,self.try_base])
+
+        
+    def enable_all_axes(self):
+        for axis in self.axes.adjs:
+            axis.enabled.set_target_value(True).wait()
+
+    def disable_all_axes(self):
+        for axis in self.axes.adjs:
+            axis.enabled.set_target_value(False).wait()
+        
 
 # class Diffractometer(Device):
 #     def __init__(self, ID, motor_naming="MOTOR", **kwargs):
@@ -80,3 +99,45 @@ class ThetasCombined(Linked):
         self.offset = offset
 
 
+class DelayAxis(MotorECMC):
+    def __init__(self, axis, delay_after_move=1):
+        #super().__init__(self, *args, **kwargs)#
+        delay_time = delay_after_move
+        self.axis = axis
+
+    def set_target_value(self, value):
+        start_time = time.time()
+
+        self.axis.set_target_value(value)
+        while self.axis.is_moving():
+            time.sleep(0.1)
+
+        elapsed = time.time() - start_time
+        wait_time = max(0, self.delay_time - elapsed)
+        time.sleep(wait_time)
+
+
+class Delayed(Adjustable):
+    def __init__(self, ID, adj, delay_after_move=0, **kwargs):
+        super().__init__(ID, **kwargs)
+        self.adj = adj
+        self.delay_after_move = delay_after_move
+
+    def get_current_value(self):
+        value = self.adj.get_current_value()
+        return value
+    
+    def set_target_value(self, value):
+        start_time = time.time()
+
+        self.adj.set_target_value(value).wait()
+
+        while self.adj.is_moving():
+            time.sleep(0.02)
+
+        elapsed = time.time() - start_time
+        wait_time = max(0, self.delay_time - elapsed)
+        time.sleep(wait_time)
+
+    def is_moving(self):
+        return self.adj.is_moving()