class Undulator(Controller):
def __init__(self, name, config, axes, encoders):
Controller.__init__(self, name, config, axes, encoders)
self.axis_info = dict()
try:
self.ds_name = self.config.get("ds_name")
except:
elog.debug("no 'ds_name' defined in config for %s" % name)
"""
Controller initialization actions.
"""
def initialize(self):
# Get a proxy on Insertion Device device server of the beamline.
self.device = DeviceProxy(self.ds_name)
"""
Axes initialization actions.
"""
def initialize_axis(self, axis):
attr_pos_name = axis.config.get("attribute_position", str)
attr_vel_name = axis.config.get("attribute_velocity", str)
attr_acc_name = axis.config.get("attribute_acceleration", str)
self.axis_info[axis] = {"attr_pos_name": attr_pos_name,
"attr_vel_name": attr_vel_name,
"attr_acc_name": attr_acc_name}
elog.debug("axis initilized--------------------------")
"""
Actions to perform at controller closing.
"""
def finalize(self):
pass
def _set_attribute(self, axis, attribute_name, value):
self.device.write_attribute(self.axis_info[axis][attribute_name], value)
def _get_attribute(self, axis, attribute_name):
return self.device.read_attribute(self.axis_info[axis][attribute_name]).value
def start_one(self, motion, t0=None):
self._set_attribute(motion.axis, "attr_pos_name",
float(motion.target_pos / motion.axis.steps_per_unit))
def read_position(self, axis):
"""
Returns the position taken from controller
in controller unit (steps).
"""
return self._get_attribute(axis, "attr_pos_name")
"""
VELOCITY
"""
def read_velocity(self, axis):
"""
Returns the current velocity taken from controller
in motor units.
"""
return self._get_attribute(axis, "attr_vel_name")
def set_velocity(self, axis, new_velocity):
"""
<new_velocity> is in motor units
"""
self._set_attribute(axis, "attr_vel_name", new_velocity)
"""
ACCELERATION
"""
def read_acceleration(self, axis):
return self._get_attribute(axis, "attr_acc_name")
def set_acceleration(self, axis, new_acceleration):
self._set_attribute(axis, "attr_acc_name", new_acceleration)
"""
STATE
"""
def state(self, axis):
_state = self.device.state()
if _state == DevState.ON:
return AxisState("READY")
elif _state == DevState.MOVING:
return AxisState("MOVING")
else:
return AxisState("READY")
"""
Must send a command to the controller to abort the motion of given axis.
"""
def stop(self, axis):
self.device.abort()
def stop_all(self, *motion_list):
self.device.abort()
def get_info(self, axis):
info_str = ""
info_str = "DEVICE SERVER : %s \n" % self.ds_name
info_str += self.ds.state() + "\n"
info_str += "status=\"%s\"\n" % str(self.ds.status()).strip()
info_str += "state=%s\n" % self.ds.state()
info_str += "mode=%s\n" % str(self.ds.mode)
info_str += ("undu states= %s" % " ".join(map(str, self.ds.UndulatorStates)))
return info_str
class TangoEMot(Controller):
def __init__(self, name, config, axes, encoders):
Controller.__init__(self, name, config, axes, encoders)
# Gets DS name from xml config.
self.ds_name = self.config.get("ds_name")
# tests if DS is responding.
def initialize(self):
pass
def finalize(self):
pass
def initialize_axis(self, axis):
self.axis_proxy = DeviceProxy(self.ds_name)
axis.config.set("steps_per_unit", self.axis_proxy.steps_per_unit)
axis.config.set("acceleration", self.axis_proxy.ReadConfig("acceleration"))
axis.config.set("velocity", self.axis_proxy.ReadConfig("velocity"))
def initialize_encoder(self, encoder):
self.encoder_proxy = DeviceProxy(self.ds_name)
encoder.config.config_dict.update({"steps_per_unit": {"value": self.encoder_proxy.steps_per_unit}})
def read_position(self, axis):
"""
Returns the position (measured or desired) taken from controller
in *controller unit* (steps for example).
"""
return self.axis_proxy.position * axis.steps_per_unit
def read_encoder(self, encoder):
return self.encoder_proxy.Measured_Position * encoder.steps_per_unit
def read_velocity(self, axis):
_vel = self.axis_proxy.velocity * abs(axis.steps_per_unit)
return _vel
def set_velocity(self, axis, new_velocity):
self.axis_proxy.velocity = new_velocity / abs(axis.steps_per_unit)
def read_acctime(self, axis):
return self.axis_proxy.acctime
def set_acctime(self, axis, new_acc_time):
self.axis_proxy.acctime = new_acc_time
def read_acceleration(self, axis):
return self.axis_proxy.acceleration * abs(axis.steps_per_unit)
def set_acceleration(self, axis, new_acceleration):
self.axis_proxy.acceleration = new_acceleration / abs(axis.steps_per_unit)
def state(self, axis):
_state = self.axis_proxy.state()
if _state == DevState.ON:
return AxisState("READY")
elif _state == DevState.MOVING:
return AxisState("MOVING")
else:
return AxisState("READY")
def prepare_move(self, motion):
pass
def start_one(self, motion):
"""
Called on a single axis motion,
returns immediately,
positions in motor units
"""
self.axis_proxy.position = float(motion.target_pos / motion.axis.steps_per_unit)
def stop(self, axis):
self.axis_proxy.Abort()
def home_search(self, axis):
self.axis_proxy.GoHome()
def home_state(self, axis):
return self.state(axis)
