289 lines
8.6 KiB
Python
Executable File
289 lines
8.6 KiB
Python
Executable File
import time
|
|
import subprocess
|
|
from types import SimpleNamespace
|
|
from enum import IntEnum
|
|
from epics import ca
|
|
|
|
# import slic
|
|
from slic.core.adjustable import Adjustable, AdjustableError
|
|
from slic.utils import typename
|
|
from slic.utils.printing import printable_dict
|
|
from slic.utils.hastyepics import get_pv as PV
|
|
|
|
# from ..basedevice import BaseDevice
|
|
from slic.core.device.basedevice import BaseDevice
|
|
|
|
|
|
class Status(IntEnum):
|
|
STOPPED = 0
|
|
STEPPING = 1
|
|
SCANNING = 2
|
|
HOLDING = 3
|
|
TARGETING = 4
|
|
MOVE_DELAY = 5
|
|
CALIBRATING = 6
|
|
FINDING_REF = 7
|
|
LOCKED = 8
|
|
|
|
|
|
class SmarActStage(BaseDevice):
|
|
def __init__(self, name=None, **axis_ids):
|
|
self.name = name
|
|
self.axis_ids = axis_ids
|
|
|
|
self.axes = {}
|
|
for ax_name, ax_id in axis_ids.items():
|
|
record_name = f"{name}: {ax_name}"
|
|
ax = SmarActAxis(ax_id, name=record_name)
|
|
setattr(self, ax_name, ax)
|
|
self.axes[ax_name] = ax
|
|
|
|
def __repr__(self):
|
|
tname = typename(self)
|
|
name = self.name
|
|
head = f'{tname} "{name}"'
|
|
|
|
to_print = {ax_name: ax.get_current_value() for ax_name, ax in self.axes.items()}
|
|
return printable_dict(to_print, head)
|
|
|
|
|
|
class SmarActAxis(Adjustable):
|
|
def __init__(self, ID, name=None, units=None, internal=False, tolerance=0.5):
|
|
super().__init__(ID, name=name, units=units, internal=internal)
|
|
|
|
self.wait_time = 0.1
|
|
self.timeout = 60
|
|
self._move_requested = False
|
|
|
|
self.config = SimpleNamespace(
|
|
tolerance=tolerance,
|
|
)
|
|
|
|
self.pvs = SimpleNamespace(
|
|
drive=PV(ID + ":DRIVE"),
|
|
readback=PV(ID + ":MOTRBV"),
|
|
hlm=PV(ID + ":HLM"),
|
|
llm=PV(ID + ":LLM"),
|
|
status=PV(ID + ":STATUS"),
|
|
set_pos=PV(ID + ":SET_POS"),
|
|
stop=PV(ID + ":STOP.PROC"),
|
|
hold=PV(ID + ":HOLD"),
|
|
twv=PV(ID + ":TWV"),
|
|
units=PV(ID + ":DRIVE.EGU"),
|
|
)
|
|
|
|
@property
|
|
def units(self):
|
|
units = self._units
|
|
if units is not None:
|
|
return units
|
|
return self.pvs.units.get()
|
|
|
|
@units.setter
|
|
def units(self, value):
|
|
self._units = value
|
|
|
|
def get_current_value(self, readback=True):
|
|
if readback:
|
|
return self.pvs.readback.get()
|
|
else:
|
|
return self.pvs.drive.get()
|
|
|
|
def reset_current_value_to(self, value):
|
|
return self.pvs.set_pos.put(value)
|
|
|
|
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)
|
|
|
|
# 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 SmarActError(f'starting to move {tname} "{self.name}" to {value} {self.units} timed out')
|
|
|
|
# wait for move done
|
|
while self._move_requested and self.is_moving():
|
|
if self.is_holding(): # holding == arrived at target!
|
|
break
|
|
time.sleep(wait_time)
|
|
|
|
self._move_requested = False
|
|
print("move done")
|
|
|
|
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:
|
|
return abs(self.pvs.readback.get() - self.pvs.drive.get()) < tolerance
|
|
|
|
def stop(self):
|
|
self._move_requested = False
|
|
self.pvs.stop.put(1, wait=True)
|
|
|
|
def is_moving(self):
|
|
return self.status != Status.STOPPED
|
|
|
|
def is_holding(self):
|
|
return self.status == Status.HOLDING
|
|
|
|
@property
|
|
def status(self):
|
|
return self.pvs.status.get()
|
|
|
|
def within_epics_limits(self, val):
|
|
low, high = self.get_epics_limits()
|
|
return low <= val <= high
|
|
|
|
def get_epics_limits(self):
|
|
low = self.pvs.llm.get()
|
|
high = self.pvs.hlm.get()
|
|
return low, high
|
|
|
|
def set_epics_limits(self, low, high, relative_to_current=False):
|
|
low = -np.inf if low is None else low
|
|
high = +np.inf if high is None else high
|
|
if relative_to_current:
|
|
val = self.get_current_value()
|
|
low += val
|
|
high += val
|
|
self.pvs.llm.put(low)
|
|
self.pvs.hlm.put(high)
|
|
|
|
def move(self, val, relative=False, wait=True, ignore_limits=False, confirm_move=True, timeout=300.0):
|
|
"""
|
|
moves SmarAct drive to position (emulating pyepics Motor class)
|
|
|
|
arguments:
|
|
==========
|
|
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 (T/F) [F]
|
|
confirm_move try to confirm that move has begun (T/F) [F]
|
|
timeout max time for move to complete (in seconds) [300]
|
|
|
|
return values:
|
|
==============
|
|
-13 : invalid value (cannot convert to float). Move not attempted.
|
|
-12 : target value outside soft limits. Move not attempted.
|
|
-11 : drive PV is not connected. Move not attempted.
|
|
-8 : move started, but timed-out.
|
|
# -7 : move started, timed-out, but appears done.
|
|
-5 : move started, unexpected return value from PV.put().
|
|
# -4 : move-with-wait finished, soft limit violation seen.
|
|
# -3 : move-with-wait finished, hard limit violation seen.
|
|
0 : move-with-wait finished OK.
|
|
0 : move-without-wait executed, move not confirmed.
|
|
1 : move-without-wait executed, move confirmed.
|
|
# 3 : move-without-wait finished, hard limit violation seen.
|
|
# 4 : move-without-wait finished, soft limit violation seen.
|
|
|
|
"""
|
|
INVALID_VALUE = -13
|
|
OUTSIDE_LIMITS = -12
|
|
NOT_CONNECTED = -11
|
|
TIMEOUT = -8
|
|
UNKNOWN_ERROR = -5
|
|
SUCCESS = 0
|
|
EXECUTED = 0
|
|
CONFIRMED = 1
|
|
|
|
PUT_SUCCESS = 1
|
|
PUT_TIMEOUT = -1
|
|
|
|
try:
|
|
val = float(val)
|
|
except Exception:
|
|
return INVALID_VALUE
|
|
|
|
if relative:
|
|
val += self.pvs.drive.get()
|
|
|
|
if not ignore_limits:
|
|
if not self.within_epics_limits(val):
|
|
return OUTSIDE_LIMITS
|
|
|
|
put_stat = self.pvs.drive.put(val, wait=wait, timeout=timeout)
|
|
|
|
if put_stat is None:
|
|
return NOT_CONNECTED
|
|
|
|
if wait and put_stat == PUT_TIMEOUT:
|
|
return TIMEOUT
|
|
|
|
if put_stat != PUT_SUCCESS:
|
|
return UNKNOWN_ERROR
|
|
|
|
stat = self.status
|
|
|
|
t0 = time.time()
|
|
thold = t0 + self.pvs.hold.get() * 0.001
|
|
tstart = t0 + min(timeout, 10)
|
|
tout = t0 + timeout
|
|
|
|
if not wait and not confirm_move:
|
|
return EXECUTED
|
|
|
|
while stat == Status.HOLDING and time.time() <= thold:
|
|
ca.poll(evt=1.0e-2)
|
|
stat = self.status
|
|
|
|
while stat == Status.STOPPED and time.time() <= tstart:
|
|
ca.poll(evt=1.0e-2)
|
|
stat = self.status
|
|
|
|
if stat != Status.TARGETING:
|
|
if time.time() > tout:
|
|
return TIMEOUT
|
|
else:
|
|
return UNKNOWN_ERROR
|
|
|
|
if not wait:
|
|
return CONFIRMED
|
|
|
|
while stat == Status.TARGETING and time.time() <= tout:
|
|
ca.poll(evt=1.0e-2)
|
|
stat = self.status
|
|
|
|
if stat not in (Status.HOLDING, Status.TARGETING):
|
|
return UNKNOWN_ERROR
|
|
|
|
if time.time() > tout:
|
|
return TIMEOUT
|
|
|
|
twv = self.pvs.twv.get()
|
|
twv = abs(twv)
|
|
|
|
ca.poll(evt=1.0e-1)
|
|
while stat == Status.HOLDING and time.time() <= tout:
|
|
ca.poll(evt=1.0e-2)
|
|
stat = self.status
|
|
|
|
delta = self.pvs.readback.get() - val
|
|
delta = abs(delta)
|
|
if delta < twv:
|
|
return SUCCESS
|
|
|
|
return UNKNOWN_ERROR
|
|
|
|
def gui(self):
|
|
device, motor = self.ID.split(":")
|
|
cmd = f'caqtdm -macro "P={device}:,M={motor}" SARES30-CPCL-SMARACTX1_6axis_old.ui'
|
|
return subprocess.Popen(cmd, shell=True)
|
|
|
|
|
|
class SmarActError(AdjustableError):
|
|
pass
|