377 lines
13 KiB
Python
377 lines
13 KiB
Python
from distutils.command.install_egg_info import to_filename
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from re import S
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import time
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import subprocess
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from types import SimpleNamespace
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from enum import IntEnum
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from epics import ca
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# import slic
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from slic.core.adjustable import Adjustable, AdjustableError
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from slic.utils import typename
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from slic.utils.printing import printable_dict
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from slic.utils.hastyepics import get_pv as PV
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# from ..basedevice import BaseDevice
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from slic.core.device.basedevice import BaseDevice
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class AttocubeStage(BaseDevice):
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def __init__(self, name=None, **axis_ids):
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self.name = name
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self.axis_ids = axis_ids
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self.axes = {}
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for ax_name, ax_id in axis_ids.items():
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record_name = f"{name}: {ax_name}"
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ax = AttocubeAxis(ax_id, name=record_name)
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setattr(self, ax_name, ax)
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self.axes[ax_name] = ax
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def __repr__(self):
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tname = typename(self)
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name = self.name
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head = f"{tname} \"{name}\""
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to_print = {ax_name: ax.get_current_value() for ax_name, ax in self.axes.items()}
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return printable_dict(to_print, head)
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class AttocubeAxis(Adjustable):
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def __init__(self, ID, name=None, units=None, internal=False):
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super().__init__(ID, name=name, units=units, internal=internal)
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self.wait_time = 0.1
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self.timeout = 60
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self._move_requested = False
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self.pvs = SimpleNamespace(
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drive = PV(ID + "-SET_TARGET"),
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readback = PV(ID + "-POS"),
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amplitude = PV(ID + "-AMPL_SET"),
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amplitude_rb = PV(ID + "-AMPL_RB"),
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frequency = PV(ID + "-FREQ_SET"),
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frequency_rb = PV(ID + "-FREQ_RB"),
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moving_status = PV(ID + "-MOVING"),
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hlm = PV(ID + ":HLM"),
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llm = PV(ID + ":LLM"),
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set_pos = PV(ID + ":SET_POS"),
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stop = PV(ID + "-STOP_AUTO_CMD"),
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move = PV(ID + "-MV_ABS_SET"),
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stop_auto_cmd = PV(ID + "-STOP_AUTO_CMD"),
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target_tol_rb = PV(ID + "-TARGET_RANGE"),
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target_tol_set = PV(ID + "-SET_TARGET_RANGE"),
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target_reached = PV(ID + "-TARGET_REACHED_RB"),
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target_ground = PV(ID + "-TARGET_GND_SET"),
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output_enabled = PV(ID + "-ENABLE_SET"),
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twv = PV(ID + ":TWV"),
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units = PV(ID + "-UNIT"),
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output_RB = PV(ID + "-ENABLE_RB"),
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)
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@property
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def units(self):
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units = self._units
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if units is not None:
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return units
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return self.pvs.units.get()
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@units.setter
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def units(self, value):
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self._units = value
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def disable_output(self,verbose=True):
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old_value = self.pvs.output_RB.value
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self.pvs.output_enabled.put(0)
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if verbose:
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if old_value == 1:
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print("Output has been disabled")
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else:
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print("Output has been off and stays that way")
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def enable_output(self,verbose=True):
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old_value = self.pvs.output_RB.value
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self.pvs.output_enabled.put(1)
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if verbose:
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if old_value == 0:
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print("Output has been enabled")
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else:
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print("Output has been on and stays that way")
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def get_ground_on_targert(self):
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return self.pvs.target_ground.value
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def get_amplitude(self,verbose=False):
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amplitude = self.pvs.amplitude_rb.value
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if verbose:
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print(f'Drive amplitude is {amplitude/1000} V')
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return amplitude/1000
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def set_amplitude(self,value,verbose=False,check=False):
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"""Set drive amplitude for the axis in Volts. Add check=True for checking if it happened (takes 2s)."""
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self.pvs.amplitude.put(value*1000)
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if check:
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time.sleep(2)
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assert self.pvs.amplitude_rb.value == value*1000, 'drive amplitude readback does not match set value'
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if verbose:
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print(f'Drive amplitude is set to {value} V')
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def get_frequency(self,verbose=False):
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frequency = self.pvs.frequency_rb.value
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if verbose:
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print(f'Drive frequency is {frequency} V')
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return frequency
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def set_frequency(self,value,verbose=False,check=False):
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"""Set drive frequency for the axis in Hz. Add check=True for checking if it happened (takes 2s)."""
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self.pvs.frequency.put(value)
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if check:
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time.sleep(2)
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assert self.pvs.frequency_rb.value == value, 'drive frequency readback does not match set value'
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if verbose:
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print(f'Drive frequency is set to {value} Hz')
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def set_ground_on_target(self,value,verbose=True):
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if value == True or value == 1:
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self.pvs.target_ground.put(1)
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if verbose:
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print("grounding upon target arrival is now active")
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elif value == False or value == 0:
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self.pvs.target_ground.put(0)
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if verbose:
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print("grounding upon target arrival has been deactivated")
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else:
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raise AttocubeError(f"only true/false and 0/1 values are allowed, you entered value {value}")
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def get_target_tolerance(self):
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return self.pvs.target_tol_rb.value
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def set_target_tolerance(self,value):
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self.pvs.target_tol_set.put(value)
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print(f"target tolerance set to {value} {self.pvs.units.char_value}")
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def get_current_value(self, readback=True):
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if readback:
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return self.pvs.readback.get()
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else:
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return self.pvs.drive.get()
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def set_target_value(self, value):
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print(f"moving to {value}")
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wait_time = self.wait_time
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timeout = self.timeout + time.time()
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self._move_requested = True
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self.pvs.drive.put(value, wait=True)
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# Move button must be pressed to make the move
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self.set_move_allowed(True)
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# wait for start
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while self._move_requested and not self.is_moving():
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time.sleep(wait_time)
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if time.time() >= timeout:
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tname = typename(self)
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self.stop()
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raise AttocubeError(f"starting to move {tname} \"{self.name}\" to {value} {self.pvs.units.char_value} timed out")
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# wait for move done
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while self._move_requested and self.is_moving():
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if self.is_at_target(): # holding == arrived at target!
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break
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time.sleep(wait_time)
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self._move_requested = False
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print("move done")
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def stop(self):
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self._move_requested = False
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self.pvs.stop.put(1, wait=True)
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def is_output_on(self):
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return self.pvs.output_RB.value == 1
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def is_moving(self):
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return self.pvs.moving_status.value == 1
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def is_at_target(self,from_pv=False,tolerance = 0.3):
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"""Check whether target was reached.
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If from_pv is True TARGET_REACHED_RB is used, else it's calculated as diffrence between the readback and set value within tolerance.
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Default is False, because otherwise tolerance can only be set and read out as an integer."""
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if from_pv == True:
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return self.pvs.target_reached.value == 1
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else:
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return abs( self.pvs.readback.get() - self.pvs.drive.get() ) < tolerance
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def allow_move(self):
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self.pvs.move.put(1, wait=True)
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def forbid_move(self):
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self.pvs.move.put(0, wait=True)
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def set_move_allowed(self,value):
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if value == True or value == 1:
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self.pvs.move.put(1)
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elif value == False or value == 0:
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self.pvs.move.put(0)
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else:
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raise AttocubeError(f"only true/false and 0/1 values are allowed, you entered value {value}")
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def within_epics_limits(self, val):
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low, high = self.get_epics_limits()
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return low <= val <= high
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def get_epics_limits(self):
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low = self.pvs.llm.get()
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high = self.pvs.hlm.get()
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return low, high
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def set_epics_limits(self, low, high, relative_to_current=False):
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low = -np.inf if low is None else low
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high = +np.inf if high is None else high
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if relative_to_current:
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val = self.get_current_value()
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low += val
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high += val
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self.pvs.llm.put(low)
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self.pvs.hlm.put(high)
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###
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# Things to be desired from the epics module:
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# 1. Set SET_TARGET_RANGE as a float or somehow alow decimals to be entered
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# 2. Soft epics limits
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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, verbose = False, tolerance=0.3):
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"""
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moves Attocube drive to position (emulating pyepics Motor class)
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arguments:
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==========
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val value to move to (float) [Must be provided]
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relative move relative to current position (T/F) [F]
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wait whether to wait for move to complete (T/F) [F]
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ignore_limits try move without regard to limits (no epics limits implemented yet) (T/F) [T]
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confirm_move try to confirm that move has begun (T/F) [F]
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timeout max time for move to complete (in seconds) [300]
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pos_check_delay delay before checkig motor in position (in seconds) [0.1]
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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]
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tolerance when to consider target destination reached (in microns) [0.3]
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return values:
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==============
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-13 : invalid value (cannot convert to float). Move not attempted.
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-12 : target value outside soft limits. Move not attempted.
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-11 : drive PV is not connected. Move not attempted.
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-8 : move started, but timed-out.
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# -7 : move started, timed-out, but appears done.
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-5 : move started, unexpected return value from PV.put().
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# -4 : move-with-wait finished, soft limit violation seen.
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# -3 : move-with-wait finished, hard limit violation seen.
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0 : move-with-wait finished OK.
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0 : move-without-wait executed, move not confirmed.
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1 : move-without-wait executed, move confirmed.
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# 3 : move-without-wait finished, hard limit violation seen.
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# 4 : move-without-wait finished, soft limit violation seen.
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"""
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INVALID_VALUE = -13
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OUTSIDE_LIMITS = -12
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NOT_CONNECTED = -11
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TIMEOUT = -8
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UNKNOWN_ERROR = -5
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SUCCESS = 0
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EXECUTED = 0
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CONFIRMED = 1
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PUT_SUCCESS = 1
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PUT_TIMEOUT = -1
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try:
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val = float(val)
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except Exception:
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return INVALID_VALUE
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if relative:
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val += self.pvs.drive.get()
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if not ignore_limits:
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if not self.within_epics_limits(val):
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return OUTSIDE_LIMITS
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put_stat = self.pvs.drive.put(val, wait=wait, timeout=timeout)
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if not self.is_output_on():
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self.enable_output(verbose=False)
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if target_gnd == True or target_gnd == 1:
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self.set_ground_on_target(True,verbose=False)
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elif target_gnd == False or target_gnd == 0:
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self.set_ground_on_target(False,verbose=False)
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self.allow_move()
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if put_stat is None:
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return NOT_CONNECTED
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if wait and put_stat == PUT_TIMEOUT:
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return TIMEOUT
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if put_stat != PUT_SUCCESS:
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return UNKNOWN_ERROR
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t0 = time.time()
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tstart = t0 + min(timeout, 10)
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tout = t0 + timeout
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if not wait and not confirm_move:
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return EXECUTED
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if not wait:
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return CONFIRMED
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if time.time() > tout:
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return TIMEOUT
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# Wait before checking if target value reached. It's necessary as sometimes this PV takes a while to set for the new target value.
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time.sleep(pos_check_delay)
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while self.is_at_target(tolerance=tolerance) == False and time.time() <= tout:
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# If the value is near the last 2um. Move the cube to setpoint a few more times to get to the right position.
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if self.is_at_target( tolerance = 2):
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for attempt in range(move_attempts):
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if verbose:
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print(f'move attempt: {attempt+1}')
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self.pvs.move.put(1, wait=True)
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time.sleep(2)
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if self.is_at_target(tolerance=tolerance):
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if verbose:
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print(f'Move finished. Had to poke the cube {attempt+1} times to get there though.')
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return SUCCESS
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print('Position reached within 2um, but not better.')
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return TIMEOUT
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if self.is_at_target(tolerance=tolerance):
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return SUCCESS
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return UNKNOWN_ERROR
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def gui(self):
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device, motor = self.ID.split(":")
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cmd = f'caqtdm -macro "DEVICE={device}" S_ANC350.ui'
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return subprocess.Popen(cmd, shell=True)
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class AttocubeError(AdjustableError):
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pass
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