def __init__(self, inst, props, *args, **kwargs):
try:
MotorController.__init__(self, inst, props, *args, **kwargs)
self.device = PyTango.DeviceProxy(self.DeviceName)
self.startMultiple = {}
self.positionMultiple = {}
self.attributes = {}
except Exception as e:
self._log.error('Error when init: %s' % e)
raise
def __init__(self, inst, props, *args, **kwargs):
self._target_temp = None
self._current_temp = None
try:
MotorController.__init__(self, inst, props, *args, **kwargs)
self.device = PyTango.DeviceProxy(self.DeviceName)
self.attributes = {}
except Exception as e:
self._log.error('Error when init: %s' % e)
raise
def __init__(self, inst, props, *args, **kwargs):
MotorController.__init__(self, inst, props, *args, **kwargs)
print("Epics Motor Prefix: ", self.PV)
self.epicsmotorHW = EpicsMotorHW(self.PV)
#super_class = super(CopleyController, self)
#super_class.__init__(inst, props, *args, **kwargs)
### Epics PV initialization process
epicsmotorHW = self.epicsmotorHW
# if axis 1 exists, then use this method to check the epics PV
#print("Check Epics Motor: {} OK ".format(epicsmotorHW.connectMotor(self.PV, 1)))
epicsmotorHW.checkEpicsMotorNr(self.PV)
def __init__(self, inst, props, *args, **kwargs):
MotorController.__init__(self, inst, props, *args, **kwargs)
self.axisAttributes = {}
self.interlockProxy = None
try:
print self.MotorName, self.InterlockDevice
self.motorProxy = DeviceProxy(self.MotorName)
if self.InterlockDevice != "":
self.interlockProxy = DeviceProxy(self.InterlockDevice)
except DevFailed, df:
de = df[0]
self._log.error("__init__ DevFailed: (%s) %s" %
(de.reason, de.desc))
self._log.error("__init__ DevFailed: %s" % str(df))
def AddDevice(self, axis):
MotorController.AddDevice(self, axis)
idx = axis - 1
if len(self.m) < axis:
raise Exception("Invalid axis %d" % axis)
if self.m[idx] is None:
m = BaseMotion()
m.curr_pos = 0
self.m[idx] = m
def AddDevice(self, axis):
MotorController.AddDevice(self, axis)
idx = axis - 1
if len(self.m) < axis:
raise Exception("Invalid axis %d" % axis)
if self.m[idx] is None:
m = Motion()
m.setMinVelocity(0)
m.setMaxVelocity(100)
m.setAccelerationTime(2)
m.setDecelerationTime(2)
m.setCurrentPosition(0)
self.m[idx] = m
def __init__(self, inst, props, *args, **kwargs):
""" Do the default init plus the icepap connection
@param inst instance name of the controller
@param properties of the controller
"""
MotorController.__init__(self, inst, props, *args, **kwargs)
self.ipap = IcePAPController(self.Host,
self.Port,
self.Timeout,
auto_axes=True)
self.attributes = {}
self.state_multiple = []
self.position_multiple = []
self.move_multiple_grouped = []
self.move_multiple_not_grouped = []
self.stop_multiple = []
self.abort_multiple = []
# Set IcePAP library logging level
import logging
logger = logging.getLogger('icepap')
logger.setLevel(self.IcepapLogLevel)
self._log.debug('Icepap logging level set to %s' % self.IcepapLogLevel)
def GetAxisPar(self, axis, name):
""" Get the standard pool motor parameters.
@param axis to get the parameter
@param name of the parameter to get the value
@return the value of the parameter
"""
par_name = name.lower()
if par_name == 'step_per_unit':
value = self.attributes[axis]['step_per_unit']
elif par_name == 'velocity':
spu = self.attributes[axis]['step_per_unit']
value = self.ipap[axis].velocity / spu
elif par_name == 'base_rate':
value = 0
elif par_name in ['acceleration', 'deceleration']:
value = self.ipap[axis].acctime
else:
value = MotorController.GetAxisPar(self, axis, name)
return value
def SetAxisPar(self, axis, name, value):
""" Set the standard pool motor parameters.
@param axis to set the parameter
@param name of the parameter
@param value to be set
"""
par_name = name.lower()
if par_name == 'step_per_unit':
self.attributes[axis]['step_per_unit_set'] = True
spu = float(value)
self.attributes[axis]['step_per_unit'] = spu
velocity = self.attributes[axis]['velocity']
if velocity is not None:
self._SetVelocity(axis, velocity * spu)
elif par_name == 'velocity':
self.attributes[axis]['velocity'] = value
spu = self.attributes[axis]['step_per_unit']
if not self.attributes[axis]['step_per_unit_set']:
# if step_per_unit has not been set yet we still try to
# set velocity because the motor may simply use the default
# step per unit of 1. If it fails we ignore the error. The
# velocity will be set when the step per unit is configured
try:
self._SetVelocity(axis, value * spu)
except:
pass
else:
self._SetVelocity(axis, value * spu)
elif par_name == 'base_rate':
pass
elif par_name == 'acceleration':
self.ipap[axis].acctime = value
elif par_name == 'deceleration':
pass
else:
MotorController.SetAxisPar(self, axis, name, value)
def __init__(self, inst, props, *args, **kwargs):
MotorController.__init__(self, inst, props, *args, **kwargs)
self.m = self.MaxDevice*[None,]
def __init__(self, inst, props, *args, **kwargs):
MotorController.__init__(self, inst, props, *args, **kwargs)
self.axisAttributes = {}
def DeleteDevice(self, axis):
MotorController.DeleteDevice(self, axis)
idx = axis - 1
if len(self.m) < axis or not self.m[idx]:
self._log.error("Invalid axis %d" % axis)
def GetAxisAttributes(self, axis):
axis_attrs = MotorController.GetAxisAttributes(self, axis)
new_axis_attrs = {}
for attr in ('Position', 'Limit_switches'):
new_axis_attrs[attr] = axis_attrs[attr]
return new_axis_attrs
def __init__(self, inst, props, *args, **kwargs):
MotorController.__init__(self, inst, props, *args, **kwargs)
self.m = self.MaxDevice * [
None,
]
def __init__(self, inst, props, *args, **kwargs):
MotorController.__init__(self,inst, props, *args, **kwargs)
self.blender_blades = blenderBlades.BlenderBlades('127.0.0.1', 9999)
def GetAxisAttributes(self, axis):
axis_attrs = MotorController.GetAxisAttributes(self, axis)
new_axis_attrs = dict(Position=axis_attrs['Position'])
new_axis_attrs['Position'][Type] = int
return new_axis_attrs
def GetAxisAttributes(self, axis):
return MotorController.GetAxisAttributes(self, axis)
def __init__(self, inst, props, *args, **kwargs):
MotorController.__init__(self, inst, props, *args, **kwargs)
self.xyz_stage = XYZStage(self.Host, self.Port)
self._states = {}
self._raw_states = [None] * 3
def __init__(self, inst, props, *args, **kwargs):
MotorController.__init__(self,inst, props, *args, **kwargs)
#super_class = super(CopleyController, self)
#super_class.__init__(inst, props, *args, **kwargs)
self.copleyController = EpicsObject()
