def call(self):
if self._controller.verbose: self.logger.info('call...')
# Wait for controller to start all motors moving and set start time
if self._controller._start_time:
if self._controller.verbose:
self.logger.info('start_time=%r' %
(self._controller._start_time))
else:
if self._controller.verbose: self.logger.info('wait()...')
timeout = 60
self.start_event.wait(timeout)
if not self.start_event.isSet():
raise Exception(
"%rs timeout waiting for startMove() to be called on %s at position %r."
% (timeout, self._controller.name,
self._demand_position))
if self._controller.verbose: self.logger.info('...wait()')
# Wait for delay before actually move start and then a time given by
# how far through the scan this point is
grat_pitch = enemirror2grating(
gd=self._controller.grating_density,
energy=self._demand_position,
pmang=self._controller.mirr_pitch_midpoint,
groff=self._controller.grating_offset,
pmoff=self._controller.plane_mirror_offset,
ecg=self._controller.energy_calibration_gradient,
ecr=self._controller.energy_calibration_reference)
complete = abs((grat_pitch - self._controller._grat_pitch_start) /
(self._controller._grat_pitch_end -
self._controller._grat_pitch_start))
sleeptime_s = (self._controller._pgm_runupdown_time +
(complete * self._controller.getTotalTime()))
delta = datetime.now() - self._controller._start_time
delta_s = delta.seconds + delta.microseconds / 1000000.
if delta_s > sleeptime_s:
self.logger.warn(
'Sleep time already past!!! sleeptime_s=%r, delta_s=%r, sleeptime_s-delta_s=%r'
% (sleeptime_s, delta_s, sleeptime_s - delta_s))
else:
if self._controller.verbose:
self.logger.info(
'sleeping... sleeptime_s=%r, delta_s=%r, sleeptime_s-delta_s=%r'
% (sleeptime_s, delta_s, sleeptime_s - delta_s))
time.sleep(sleeptime_s - delta_s)
energy = angles2energy(
gd=self._controller.grating_density,
grang=self._controller._pgm_grat_pitch() / 1000.,
pmang=self._controller._pgm_mirr_pitch() / 1000.,
groff=self._controller.grating_offset,
pmoff=self._controller.plane_mirror_offset,
ecg=self._controller.energy_calibration_gradient,
ecr=self._controller.energy_calibration_reference)
if self._controller.verbose:
self.logger.info('...DelayableCallable:call returning %r, %r' %
(self._demand_position, energy))
return self._demand_position, energy
def testGratPitch(self):
grat_pitch = enemirror2grating(gd=self.grating_density,
energy=self.pgm_energy,
pmang=self.mirror_pitch,
groff=self.grating_offset,
pmoff=self.plane_mirror_offset,
ecg=self.energy_calibration_gradient,
ecr=self.energy_calibration_reference)
self.assertAlmostEqual(grat_pitch, self.grating_pitch,
self.decimal_places)
def PreparePGMForMove(self):
self._pgm_grat_pitch_speed_orig = 0.018
self._pgm_grat_pitch.speed=self._pgm_grat_pitch_speed_orig
# if self._pgm_grat_pitch_speed_orig != 0.018:
# raise Exception("PGM Grit Pitch motor speed %f is not at maximum 0.018!" % (self._pgm_grat_pitch_speed_orig))
# Calculate the energy midpoint
energy_midpoint = (self._move_end + self._move_start) / 2.
if self.verbose:
self.logger.info('preparePGMForMove:energy_midpoint=%r ' % (energy_midpoint))
if installation.isLive():
self.grating_density, self.cff, self.grating_offset, self.plane_mirror_offset, self.energy_calibration_gradient, self.energy_calibration_reference = self.getPgmEnergyParameters()
else:
self.grating_density, self.cff, self.grating_offset, self.plane_mirror_offset, self.energy_calibration_gradient, self.energy_calibration_reference = self.getPgmEnergyParametersFixed()
# Calculate plane mirror angle for given grating density, energy, cff and offsets
self.mirr_pitch_midpoint = enecff2mirror(gd=self.grating_density,
energy=energy_midpoint,
cff=self.cff,
groff=self.grating_offset,
pmoff=self.plane_mirror_offset,
ecg=self.energy_calibration_gradient,
ecr=self.energy_calibration_reference)
# Calculate grating angles for given grating density, energy, mirror angle and offsets
self._grat_pitch_start = enemirror2grating(gd=self.grating_density,
energy=self._move_start,
pmang=self.mirr_pitch_midpoint,
groff=self.grating_offset,
pmoff=self.plane_mirror_offset,
ecg=self.energy_calibration_gradient,
ecr=self.energy_calibration_reference)
self._grat_pitch_end = enemirror2grating(gd=self.grating_density,
energy=self._move_end,
pmang=self.mirr_pitch_midpoint,
groff=self.grating_offset,
pmoff=self.plane_mirror_offset,
ecg=self.energy_calibration_gradient,
ecr=self.energy_calibration_reference)
if not self.isIDMoveEnabled():
self.k=1.0
print self.k
### Calculate main cruise moves & speeds from start/end/step
self._pgm_grat_pitch_speed = abs(self._grat_pitch_end - self._grat_pitch_start) / self.getTotalTime()
print self._pgm_grat_pitch_speed
self._pgm_grat_pitch_speed=self._pgm_grat_pitch_speed*self.k * self.pgmspeedfactor
print self._pgm_grat_pitch_speed
### Calculate ramp distance from required speed and ramp times
#check speed within limits
if self._pgm_grat_pitch_speed<=0.000 or self._pgm_grat_pitch_speed>0.018:
raise Exception("Calculated PGM Grit Pitch motor speed %f is outside limits [%f, %f]!" % (self._pgm_grat_pitch_speed, 0.000, 0.018))
# Set the speed before we read out ramp times in case it is dependent
self._pgm_grat_pitch.speed = self._pgm_grat_pitch_speed
# Should really be / | | | | | \ not /| | | | |\
self._pgm_runupdown_time = self._pgm_grat_pitch.timeToVelocity
self._pgm_runupdown = self._pgm_grat_pitch_speed / 2 * self._pgm_runupdown_time
### Move motor at full speed to start position
if self.verbose:
self.logger.info('preparePGMForMove:_pgm_mirr_pitch.asynchronousMoveTo(%r) @ %r ' % (self.mirr_pitch_midpoint * 1000., self._pgm_mirr_pitch.speed))
self._pgm_mirr_pitch.asynchronousMoveTo(self.mirr_pitch_midpoint * 1000.)
self._pgm_grat_pitch.speed = self._pgm_grat_pitch_speed_orig
if self.getGratingMoveDirectionPositive():
if self.verbose:
self.logger.info('preparePGMForMove:asynchronousMoveTo(%r) @ %r (+ve)' % ((self._grat_pitch_start - self._pgm_runupdown) * 1000., self._pgm_grat_pitch_speed_orig))
self._pgm_grat_pitch.asynchronousMoveTo((self._grat_pitch_start - self._pgm_runupdown) * 1000.)
else:
if self.verbose:
self.logger.info('preparePGMForMove:asynchronousMoveTo(%r) @ %r (-ve)' % ((self._grat_pitch_start + self._pgm_runupdown) * 1000., self._pgm_grat_pitch_speed_orig))
self._pgm_grat_pitch.asynchronousMoveTo((self._grat_pitch_start + self._pgm_runupdown) * 1000.)
def prepareForMove(self):
if self.verbose: self.logger.info('prepareForMove()...')
self._pgm_grat_pitch_speed_orig = self._pgm_grat_pitch.speed
# Calculate the energy midpoint
energy_midpoint = (self._move_end + self._move_start) / 2.
if self.verbose:
self.logger.info('prepareForMove:energy_midpoint=%r ' %
(energy_midpoint))
if installation.isLive():
(self.grating_density, self.cff, self.grating_offset,
self.plane_mirror_offset, self.energy_calibration_gradient,
self.energy_calibration_reference
) = self.getPgmEnergyParameters()
else:
(self.grating_density, self.cff, self.grating_offset,
self.plane_mirror_offset, self.energy_calibration_gradient,
self.energy_calibration_reference
) = self.getPgmEnergyParametersFixed()
# Calculate plane mirror angle for given grating density, energy, cff and offsets
self.mirr_pitch_midpoint = enecff2mirror(
gd=self.grating_density,
energy=energy_midpoint,
cff=self.cff,
groff=self.grating_offset,
pmoff=self.plane_mirror_offset,
ecg=self.energy_calibration_gradient,
ecr=self.energy_calibration_reference)
# Calculate grating angles for given grating density, energy, mirror angle and offsets
self._grat_pitch_start = enemirror2grating(
gd=self.grating_density,
energy=self._move_start,
pmang=self.mirr_pitch_midpoint,
groff=self.grating_offset,
pmoff=self.plane_mirror_offset,
ecg=self.energy_calibration_gradient,
ecr=self.energy_calibration_reference)
self._grat_pitch_end = enemirror2grating(
gd=self.grating_density,
energy=self._move_end,
pmang=self.mirr_pitch_midpoint,
groff=self.grating_offset,
pmoff=self.plane_mirror_offset,
ecg=self.energy_calibration_gradient,
ecr=self.energy_calibration_reference)
### Calculate main cruise moves & speeds from start/end/step
self._pgm_grat_pitch_speed = (
abs(self._grat_pitch_end - self._grat_pitch_start) /
self.getTotalTime())
### Calculate ramp distance from required speed and ramp times
# Set the speed before we read out ramp times in case it is dependent
self._pgm_grat_pitch.speed = self._pgm_grat_pitch_speed
# Should really be / | | | | | \ not /| | | | |\
self._pgm_runupdown_time = self._pgm_grat_pitch.timeToVelocity
self._pgm_runupdown = self._pgm_grat_pitch_speed / 2 * self._pgm_runupdown_time
### Move motor at full speed to start position
if self.verbose:
self.logger.info(
'prepareForMove:_pgm_mirr_pitch.asynchronousMoveTo(%r) @ %r ' %
(self.mirr_pitch_midpoint * 1000., self._pgm_mirr_pitch.speed))
self._pgm_mirr_pitch.asynchronousMoveTo(self.mirr_pitch_midpoint *
1000.)
self._pgm_grat_pitch.speed = self._pgm_grat_pitch_speed_orig
if self.getGratingMoveDirectionPositive():
if self.verbose:
self.logger.info(
'prepareForMove:asynchronousMoveTo(%r) @ %r (+ve)' %
((self._grat_pitch_start - self._pgm_runupdown) * 1000.,
self._pgm_grat_pitch_speed_orig))
self._pgm_grat_pitch.asynchronousMoveTo(
(self._grat_pitch_start - self._pgm_runupdown) * 1000.)
else:
if self.verbose:
self.logger.info(
'prepareForMove:asynchronousMoveTo(%r) @ %r (-ve)' %
((self._grat_pitch_start + self._pgm_runupdown) * 1000.,
self._pgm_grat_pitch_speed_orig))
self._pgm_grat_pitch.asynchronousMoveTo(
(self._grat_pitch_start + self._pgm_runupdown) * 1000.)
self.waitWhileMoving()
### Calculate trigger delays
if self.verbose:
self.logger.info('...prepareForMove')