def __init__(
self, name, pgm_grat_pitch, pgm_mirr_pitch,
pgmpvroot): # motors, maybe also detector to set the delay time
self.logger = LoggerFactory.getLogger(
"ContinuousPgmGratingEnergyMoveController:%s" % name)
self.verbose = False
self.name = name
self._pgm_grat_pitch = pgm_grat_pitch
self._pgm_mirr_pitch = pgm_mirr_pitch
self._start_event = threading.Event()
self._pgm_grat_pitch_speed_orig = None
self._movelog_time = datetime.now()
self._pgm_runupdown_time = None
self.pvs = PvManager(
{
'grating_density': 'NLINES',
'cff': 'CFF',
'grating_offset': 'GRTOFFSET',
'plane_mirror_offset': 'MIROFFSET',
'pgm_energy': 'ENERGY',
'grating_pitch': 'GRT:PITCH',
'mirror_pitch': 'MIR:PITCH',
'energy_calibration_gradient': 'MX',
'energy_calibration_reference': 'REFERENCE'
}, pgmpvroot)
if installation.isLive():
self.pvs.configure()
def __init__(self,
name,
pvroot,
filepath=None,
stdNotArr=True,
reconnect=True,
verbose=False,
acquireToCagetDelay_s=0.1):
# BL07I-DI-PHDGN-06:CAM:DATA
self.name = name
self.extraNames = []
self.outputFormat = []
self.level = 9
self.verbose = verbose
self.acquireToCagetDelay_s = acquireToCagetDelay_s
stdArr = "STD" if stdNotArr else "ARR"
pvs = {
"DATA": stdArr + ":ArrayData",
"START": "CAM:Acquire",
"WIDTH": "CAM:ArraySizeX_RBV",
"HEIGHT": "CAM:ArraySizeY_RBV",
"COLLECTTIME": "CAM:AcquireTime"
}
if reconnect:
pvs["RECONNECT"] = "CAM:RESET.PROC"
self.pvs = PvManager(pvs, pvroot)
self.pvs.configure()
self.filepath = filepath
self.ds = None
self.disableStop = False
class CryojetController():
def __init__(self, pvroot):
if isinstance(pvroot, str):
from gdascripts.scannable.epics.PvManager import PvManager
self.pvs = PvManager({'setpoint': 'TTEMP:SET',
'sensor': 'STEMP'}, pvroot)
self.pvs.configure()
else:
self.pvs = pvroot
self.pvs.pvroot = ""
def __repr__(self):
return "CryojetController(pvroot=%r)" % (
self.pvs.pvroot)
def __str__(self):
return "setpoint=%f, sensor=%f" % (
self.getTempSetPoint(), self.getSensorTemp())
def setTempSetPoint(self, setpoint):
self.pvs['setpoint'].caput(setpoint)
def getTempSetPoint(self):
return float(self.pvs['setpoint'].caget())
def getTempSensor(self):
return float(self.pvs['sensor'].caget())
def __init__(self, name, detsystem, type, meta, unit=None, pv=None):
super(DetectorMetaWithPv, self).__init__(name, detsystem, type, meta, unit)
self.pv = None
if pv is not None:
self.pv = PvManager(pv[1:], pv[0])
self.pv.configure()
self.pv_conversion = 1
def __init__(self, pvroot):
if isinstance(pvroot, str):
from gdascripts.scannable.epics.PvManager import PvManager
self.pvs = PvManager(
{
'setpoint': 'SET:SETPOINTFIELD',
'setpointRbv': 'RBV:SETPOINTFIELD',
'sweeprate': 'SET:FIELDSWEEPRATE',
'sweeprateRbv': 'RBV:FIELDSWEEPRATE',
'demand_field': 'RBV:DEMANDFIELD'
}, pvroot)
self.pvs.configure()
else:
self.pvs = pvroot
self.pvs.pvroot = ""
def __init__(self, name, pvroot, filepath=None, determine_data_pv_based_on_zoom = False, numtracker_extension='tmp', filename_template='fire%d_%05d.png'): # BL07I-DI-PHDGN-06:CAM:DATA self.determine_data_pv_based_on_zoom = determine_data_pv_based_on_zoom self.name = name self.extraNames = [] self.outputFormat = [] self.level = 9 self.pvs = PvManager(['SET_SHUTTR', 'WIDTH', 'HEIGHT', 'ZOOM'], pvroot) self.pv_data = [] self.pv_data.append(gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot + 'DATA')) self.pv_data.append(gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot + 'DATA1')) self.pv_data.append(gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot + 'DATA2')) self.pv_data.append(gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot + 'DATA3')) self.pv_data.append(gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot + 'DATA4')) self.pvs.configure() self.filepath = filepath self.ds = None self.last_image_path = None self.last_filename = None self.last_image_number = 0 self.numtracker_extension = numtracker_extension self.filename_template = filename_template
class DetectorMetaWithPv(DetectorMeta, object):
def __init__(self, name, detsystem, type, meta, unit=None, pv=None):
super(DetectorMetaWithPv, self).__init__(name, detsystem, type, meta, unit)
self.pv = None
if pv is not None:
self.pv = PvManager(pv[1:], pv[0])
self.pv.configure()
self.pv_conversion = 1
def rawAsynchronousMoveTo(self, p):
if p is not None:
p = float(p)
if p <= 0:
p = None
if self.pv:
self.pv.caput(self.pv_conversion * p)
super(DetectorMetaWithPv, self).rawAsynchronousMoveTo(p)
class IntelligentPowerSupply():
def __init__(self, pvroot):
if isinstance(pvroot, str):
from gdascripts.scannable.epics.PvManager import PvManager
self.pvs = PvManager(
{
'setpoint': 'SET:SETPOINTFIELD',
'setpointRbv': 'RBV:SETPOINTFIELD',
'sweeprate': 'SET:FIELDSWEEPRATE',
'sweeprateRbv': 'RBV:FIELDSWEEPRATE',
'demand_field': 'RBV:DEMANDFIELD'
}, pvroot)
self.pvs.configure()
else:
self.pvs = pvroot
self.pvs.pvroot = ""
def __repr__(self):
return "IntelligentPowerSupplyScannable(%r)" % (self.pvs.pvroot)
def __str__(self):
return "setpoint=%f, demand_field=%f" % (self.getFieldSetPoint(),
self.getFieldDemand())
def getFieldSetPoint(self):
return float(self.pvs['setpoint'].caget())
def setFieldSetPoint(self, setpoint):
self.pvs['setpoint'].caput(setpoint)
def getFieldSetPointRBV(self):
return float(self.pvs['setpointRbv'].caget())
def getSweepRate(self):
return float(self.pvs['sweeprate'].caget())
def setSweepRate(self, setpoint):
self.pvs['sweeprate'].caput(setpoint)
def getSweepRateRBV(self):
return float(self.pvs['sweeprateRbv'].caget())
def getFieldDemand(self):
return float(self.pvs['demand_field'].caget())
def __init__(self, pvroot):
if isinstance(pvroot, str):
from gdascripts.scannable.epics.PvManager import PvManager
self.pvs = PvManager({'setpoint': 'TTEMP:SET',
'sensor': 'STEMP'}, pvroot)
self.pvs.configure()
else:
self.pvs = pvroot
self.pvs.pvroot = ""
def __init__(self, name, pvroot, filepath, filename, fileformat):
self.name = name
self.inputNames = ['ExposureTime']
self.extraNames = ['FileNum']
self.outputFormat = ['%.2f', '%.0f']
self.level = 9
self.filepath = None
self.filename = None
self.fileformat = None
self.filenum = None
self.cached_exptime = None
self.filenum = None
self.pvs = PvManager([
'Acquire', 'NImages', 'Abort', 'ExposureTime', 'FilePath',
'Filename', 'FileNumber', 'FileFormat', 'ThresholdEnergy'
], pvroot)
self.configure(filepath, filename, fileformat)
def __init__(self, name, pgm_grat_pitch, pgm_mirr_pitch, pgmpvroot, id_energy, idpvroot, move_pgm=True, move_id=True): # motors, maybe also detector to set the delay time
self.logger = LoggerFactory.getLogger("ContinuousPgmGratingIDGapEnergyMoveController:%s" % name)
self.verbose = False
self.name = name
self._start_event = threading.Event()
self._movelog_time = datetime.now()
#PGM
self._pgm_grat_pitch = pgm_grat_pitch
self._pgm_mirr_pitch = pgm_mirr_pitch
self._pgm_grat_pitch_speed_orig = None
self._pgm_runupdown_time = None
self._move_pgm = move_pgm
self._move_id = move_id
self.pvs = PvManager({'grating_density': 'NLINES',
'cff': 'CFF',
'grating_offset': 'GRTOFFSET',
'plane_mirror_offset': 'MIROFFSET',
'pgm_energy': 'ENERGY',
'grating_pitch': 'GRT:PITCH',
'mirror_pitch': 'MIR:PITCH',
'energy_calibration_gradient': 'MX',
'energy_calibration_reference': 'REFERENCE'}, pgmpvroot)
if installation.isLive():
self.pvs.configure()
#ID
self._id_energy=id_energy
self._id_gap = self._id_energy.id_gap
self._id_gap_speed_orig=None
self._id_runupdown_time = None
self.idpvs = PvManager({'vel':'BLGSETVEL',
'acc':'IDGSETACC'}, idpvroot)
if installation.isLive():
self.idpvs.configure()
self.grating_pitch_positions=[]
self.mirror_pitch_positions=[]
self.pgm_energy_positions=[]
self._start_time = None
self.k=1.0
self.pgmspeedfactor=1.0
def __init__(
self,
name,
energy,
idgap,
idpvroot,
move_mono=True,
move_id=True): # motors, maybe also detector to set the delay time
self.logger = LoggerFactory.getLogger(
"ContinuousEnergyMoveController:%s" % name)
self.verbose = False
self.setName(name)
self._start_event = threading.Event()
self._movelog_time = datetime.now()
self._energy = energy
#PGM
self._mono_energy = energy.mono_energy
self._mono_energy_speed_orig = None
self._mono_runupdown_time = None
#ID
self._id_gap = idgap
self._id_gap_speed_orig = None
self._id_runupdown_time = None
self.idpvs = PvManager({
'vel': 'BLGSETVEL',
'acc': 'IDGSETACC'
}, idpvroot)
if installation.isLive():
self.idpvs.configure()
self.mono_energy_positions = []
self.id_gap_positions = []
self._start_time = None
#behaviour properties
self._move_mono = move_mono
self._move_id = move_id
self.idspeedfactor = 1.0
self.monospeedfactor = 1.0
self.idstartdelaytime = 0.0
self.continuousMovingStarted = False
def __init__(self,
name,
pvroot,
filepath=None,
determine_data_pv_based_on_zoom=False,
numtracker_extension='tmp',
filename_template='fire%d_%05d.png'):
# BL07I-DI-PHDGN-06:CAM:DATA
self.determine_data_pv_based_on_zoom = determine_data_pv_based_on_zoom
self.name = name
self.extraNames = []
self.outputFormat = []
self.level = 9
self.pvs = PvManager(['SET_SHUTTR', 'WIDTH', 'HEIGHT', 'ZOOM'], pvroot)
self.pv_data = []
self.pv_data.append(
gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot + 'DATA'))
self.pv_data.append(
gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot +
'DATA1'))
self.pv_data.append(
gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot +
'DATA2'))
self.pv_data.append(
gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot +
'DATA3'))
self.pv_data.append(
gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot +
'DATA4'))
self.pvs.configure()
self.filepath = filepath
self.ds = None
self.last_image_path = None
self.last_filename = None
self.last_image_number = 0
self.numtracker_extension = numtracker_extension
self.filename_template = filename_template
def __init__(self, name, rootPV, continuousMoveController):
self.name = name
self.setInputNames([name])
self.setExtraNames(self._getExtraNames())
self.setOutputFormat(self._getOutputFormat())
self.setLevel(100)
self.pvs = PvManager(pvroot=rootPV)
self.continuousMoveController = continuousMoveController
#from gda.device.zebra.controller.impl import ZebraImpl
#self.zebra = ZebraImpl()
self.verbose = False
self.negative_offset = 0.05
self.setDelayAfterRise(-0.01)
self.setDelayAfterFall(-0.01)
self.setAcquireTimePerPulse(0.02)
def __init__(self, name, pvroot, filepath, filename, fileformat): self.name = name self.inputNames = ['ExposureTime'] self.extraNames = ['FileNum'] self.outputFormat = ['%.2f', '%.0f'] self.level = 9 self.filepath = None self.filename = None self.fileformat = None self.filenum = None self.cached_exptime = None self.filenum = None self.pvs = PvManager(['Acquire','NImages','Abort','ExposureTime','FilePath','Filename','FileNumber','FileFormat','ThresholdEnergy'], pvroot) self.configure(filepath, filename, fileformat)
def __init__(self, name, pvroot, filepath=None,
stdNotArr=True, reconnect=True, verbose=False,
acquireToCagetDelay_s = 0.1):
# BL07I-DI-PHDGN-06:CAM:DATA
self.name = name
self.extraNames = []
self.outputFormat = []
self.level = 9
self.verbose = verbose
self.acquireToCagetDelay_s = acquireToCagetDelay_s
stdArr = "STD" if stdNotArr else "ARR"
pvs = { "DATA":stdArr+":ArrayData", "START":"CAM:Acquire",
"WIDTH":"CAM:ArraySizeX_RBV", "HEIGHT":"CAM:ArraySizeY_RBV",
"COLLECTTIME":"CAM:AcquireTime" }
if reconnect:
pvs["RECONNECT"]="CAM:RESET.PROC"
self.pvs = PvManager(pvs, pvroot)
self.pvs.configure()
self.filepath = filepath
self.ds = None
self.disableStop = False
class ContinuousPgmGratingEnergyMoveController(ConstantVelocityMoveController,
DeviceBase):
def __init__(
self, name, pgm_grat_pitch, pgm_mirr_pitch,
pgmpvroot): # motors, maybe also detector to set the delay time
self.logger = LoggerFactory.getLogger(
"ContinuousPgmGratingEnergyMoveController:%s" % name)
self.verbose = False
self.name = name
self._pgm_grat_pitch = pgm_grat_pitch
self._pgm_mirr_pitch = pgm_mirr_pitch
self._start_event = threading.Event()
self._pgm_grat_pitch_speed_orig = None
self._movelog_time = datetime.now()
self._pgm_runupdown_time = None
self.pvs = PvManager(
{
'grating_density': 'NLINES',
'cff': 'CFF',
'grating_offset': 'GRTOFFSET',
'plane_mirror_offset': 'MIROFFSET',
'pgm_energy': 'ENERGY',
'grating_pitch': 'GRT:PITCH',
'mirror_pitch': 'MIR:PITCH',
'energy_calibration_gradient': 'MX',
'energy_calibration_reference': 'REFERENCE'
}, pgmpvroot)
if installation.isLive():
self.pvs.configure()
# Implement: public interface ConstantVelocityMoveController extends ContinuousMoveController
def setStart(self, start): # double
self._move_start = start
if self.verbose: self.logger.info('setStart(%r)' % start)
def setEnd(self, end): # double
self._move_end = end
if self.verbose: self.logger.info('setEnd(%r)' % end)
def setStep(self, step): # double
self._move_step = step
if self.verbose: self.logger.info('setStep(%r)' % step)
# Implement: public interface ContinuousMoveController extends HardwareTriggerProvider
def getPgmEnergyParameters(self):
grating_densityFromEnum = {'0': 400., '1': 400., '2': 1200.}
return (grating_densityFromEnum[self.pvs['grating_density'].caget()],
float(self.pvs['cff'].caget()),
float(self.pvs['grating_offset'].caget()),
float(self.pvs['plane_mirror_offset'].caget()),
float(self.pvs['energy_calibration_gradient'].caget()),
float(self.pvs['energy_calibration_reference'].caget()))
def getPgmEnergyParametersFixed(self):
# Hard code these values until we can work out a nice way of getting at the PVs
# TODO: Get the values from their Epics PVs
"""
caget BL10I-OP-PGM-01:NLINES BL10I-OP-PGM-01:CFF BL10I-OP-PGM-01:GRTOFFSET BL10I-OP-PGM-01:MIROFFSET BL10I-OP-PGM-01:MX BL10I-OP-PGM-01:REFERENCE
"""
grating_density = 400. # caget BL10I-OP-PGM-01:NLINES
cff = 2.25 # caget BL10I-OP-PGM-01:CFF
grating_offset = -0.053747 # caget BL10I-OP-PGM-01:GRTOFFSET
plane_mirror_offset = 0.002514 # caget BL10I-OP-PGM-01:MIROFFSET
#pgm_energy = 712.300 # caget BL10I-OP-PGM-01:ENERGY
#grating_pitch = 88.0151063265128 # caget -g15 BL10I-OP-PGM-01:GRT:PITCH
#mirror_pitch = 88.2753263680692 # caget -g15 BL10I-OP-PGM-01:MIR:PITCH
energy_calibration_gradient = 1.0178 # caget BL10I-OP-PGM-01:MX
energy_calibration_reference = 392.555 # caget BL10I-OP-PGM-01:REFERENCE
return grating_density, cff, grating_offset, plane_mirror_offset, energy_calibration_gradient, energy_calibration_reference
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')
def startMove(self):
if self.verbose: self.logger.info('startMove()...')
# Notify all position callables to start waiting for their time
self._start_time = datetime.now()
self._start_event.set()
# Start threads to start ID & PGM and at the correct times
self._pgm_grat_pitch.speed = self._pgm_grat_pitch_speed
if self.getGratingMoveDirectionPositive():
if self.verbose:
self.logger.info(
'startMove:asynchronousMoveTo(%r) @ %r (+ve)' %
((self._grat_pitch_end + self._pgm_runupdown) * 1000.,
self._pgm_grat_pitch_speed))
self._pgm_grat_pitch.asynchronousMoveTo(
(self._grat_pitch_end + self._pgm_runupdown) * 1000.)
else:
if self.verbose:
self.logger.info(
'startMove:asynchronousMoveTo(%r) @ %r (-ve)' %
((self._grat_pitch_end - self._pgm_runupdown) * 1000.,
self._pgm_grat_pitch_speed))
self._pgm_grat_pitch.asynchronousMoveTo(
(self._grat_pitch_end - self._pgm_runupdown) * 1000.)
# How do we trigger the detectors, since they are 'HardwareTriggerable'?
if self.verbose: self.logger.info('...startMove')
def isMoving(self):
if self.verbose and (datetime.now() -
self._movelog_time) > timedelta(seconds=1):
self.logger.info(
'isMoving() _pgm_grat_pitch=%r @ %r, _pgm_mirr_pitch=%r @ %r' %
(self._pgm_grat_pitch.isBusy(), self._pgm_grat_pitch(),
self._pgm_mirr_pitch.isBusy(), self._pgm_mirr_pitch()))
self._movelog_time = datetime.now()
return self._pgm_grat_pitch.isBusy() or self._pgm_mirr_pitch.isBusy()
def waitWhileMoving(self):
if self.verbose: self.logger.info('waitWhileMoving()...')
while self.isMoving():
time.sleep(1)
if self.verbose: self.logger.info('...waitWhileMoving()')
def stopAndReset(self):
self._start_time = None
self._start_event.clear()
if self.verbose: self.logger.info('stopAndReset()')
self._pgm_grat_pitch.stop()
self._restore_orig_speed()
# Implement: public interface HardwareTriggerProvider extends Device
def setTriggerPeriod(self, seconds): # double
self._triggerPeriod = seconds
if self.verbose: self.logger.info('setTriggerPeriod(%r)' % seconds)
def getNumberTriggers(self):
triggers = self.getTotalMove() / self._move_step
if self.verbose:
self.logger.info('getNumberTriggers()=%r (%r)' %
(int(triggers), triggers))
return int(triggers)
def getTotalTime(self):
totalTime = self.getNumberTriggers() * self._triggerPeriod
if self.verbose: self.logger.info('getTotalTime()=%r' % totalTime)
return totalTime
def getTimeToVelocity(self):
return self._pgm_runupdown_time
# Override: public abstract class DeviceBase extends ConfigurableBase implements Device
# None needed
# Other functions
def getTotalMove(self):
totalMove = abs(self._move_end - self._move_start)
if self.verbose: self.logger.info('getTotalMove()=%r' % totalMove)
return totalMove
def getGratingMoveDirectionPositive(self):
return (self._grat_pitch_end - self._grat_pitch_start) > 0
class DelayableCallable(Callable):
def __init__(self, controller, demand_position):
#self.start_event = threading.Event()
self.start_event = controller._start_event
self._controller, self._demand_position = controller, demand_position
self.logger = LoggerFactory.getLogger(
"ContinuousPgmGratingEnergyMoveController:%s:DelayableCallable[%r]"
% (controller.name, demand_position))
if self._controller.verbose:
self.logger.info('__init__(%r, %r)...' %
(controller.name, demand_position))
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 getPositionCallableExtraNames(self):
return ['readback']
def getPositionCallableFormat(self):
return ['%f', '%f']
# public Callable<T> getPositionCallable() throws DeviceException;
def getPositionCallableFor(self, position):
if self.verbose:
self.logger.info('getPositionCallableFor(%r)...' % position)
# TODO: return actual positions back calculated from energy positions
return self.DelayableCallable(self, position)
def _restore_orig_speed(self):
if self._pgm_grat_pitch_speed_orig:
if self.verbose:
self.logger.info('Restoring original speed %r, was %r' %
(self._pgm_grat_pitch_speed_orig,
self._pgm_grat_pitch.speed))
self._pgm_grat_pitch.speed = self._pgm_grat_pitch_speed_orig
self._pgm_grat_pitch_speed_orig = None
def atScanEnd(self):
if self.verbose: self.logger.info('atScanEnd()...')
self._restore_orig_speed()
class ContinuousPgmGratingIDGapEnergyMoveController(ConstantVelocityMoveController, DeviceBase):
'''Controller for constant velocity scan moving both PGM Grating Pitch and ID Gap at same time at constant speed respectively.
It works for both Live and Dummy mode.
'''
def __init__(self, name, pgm_grat_pitch, pgm_mirr_pitch, pgmpvroot, id_energy, idpvroot, move_pgm=True, move_id=True): # motors, maybe also detector to set the delay time
self.logger = LoggerFactory.getLogger("ContinuousPgmGratingIDGapEnergyMoveController:%s" % name)
self.verbose = False
self.name = name
self._start_event = threading.Event()
self._movelog_time = datetime.now()
#PGM
self._pgm_grat_pitch = pgm_grat_pitch
self._pgm_mirr_pitch = pgm_mirr_pitch
self._pgm_grat_pitch_speed_orig = None
self._pgm_runupdown_time = None
self._move_pgm = move_pgm
self._move_id = move_id
self.pvs = PvManager({'grating_density': 'NLINES',
'cff': 'CFF',
'grating_offset': 'GRTOFFSET',
'plane_mirror_offset': 'MIROFFSET',
'pgm_energy': 'ENERGY',
'grating_pitch': 'GRT:PITCH',
'mirror_pitch': 'MIR:PITCH',
'energy_calibration_gradient': 'MX',
'energy_calibration_reference': 'REFERENCE'}, pgmpvroot)
if installation.isLive():
self.pvs.configure()
#ID
self._id_energy=id_energy
self._id_gap = self._id_energy.id_gap
self._id_gap_speed_orig=None
self._id_runupdown_time = None
self.idpvs = PvManager({'vel':'BLGSETVEL',
'acc':'IDGSETACC'}, idpvroot)
if installation.isLive():
self.idpvs.configure()
self.grating_pitch_positions=[]
self.mirror_pitch_positions=[]
self.pgm_energy_positions=[]
self._start_time = None
self.k=1.0
self.pgmspeedfactor=1.0
def setPGMSpeedFactor(self,val):
self.pgmspeedfactor=val
def getPGMSpeedFactor(self):
return self.pgmspeedfactor
#https://jira.diamond.ac.uk/browse/I10-301
def enableIDMove(self):
self._move_id=True
def disableIDMove(self):
self._move_id=False
def isIDMoveEnabled(self):
return self._move_id
def enablePGMMove(self):
self._move_pgm=True
def disablePGMMove(self):
self._move_pgm=False
def isPGMMoveEnabled(self):
return self._move_pgm
# Implement: public interface ConstantVelocityMoveController extends ContinuousMoveController
def setStart(self, start): # double
self._move_start = start
if self.verbose: self.logger.info('setStart(%r)' % start)
def setEnd(self, end): # double
self._move_end = end
if self.verbose: self.logger.info('setEnd(%r)' % end)
def setStep(self, step): # double
self._move_step = step
if self.verbose: self.logger.info('setStep(%r)' % step)
# Implement: public interface ContinuousMoveController extends HardwareTriggerProvider
def getPgmEnergyParameters(self):
grating_densityFromEnum = {'0' : 400., '1':400., '2':1200.}
return (grating_densityFromEnum[self.pvs['grating_density'].caget()],
float(self.pvs['cff'].caget()),
float(self.pvs['grating_offset'].caget()),
float(self.pvs['plane_mirror_offset'].caget()),
float(self.pvs['energy_calibration_gradient'].caget()),
float(self.pvs['energy_calibration_reference'].caget()))
def getPgmEnergyParametersFixed(self):
# Hard code these values until we can work out a nice way of getting at the PVs
# TODO: Get the values from their Epics PVs
"""
caget BL10I-OP-PGM-01:NLINES BL10I-OP-PGM-01:CFF BL10I-OP-PGM-01:GRTOFFSET BL10I-OP-PGM-01:MIROFFSET BL10I-OP-PGM-01:MX BL10I-OP-PGM-01:REFERENCE
"""
grating_density = 400. # caget BL10I-OP-PGM-01:NLINES
cff = 2.25 # caget BL10I-OP-PGM-01:CFF
grating_offset = -0.053747 # caget BL10I-OP-PGM-01:GRTOFFSET
plane_mirror_offset = 0.002514 # caget BL10I-OP-PGM-01:MIROFFSET
#pgm_energy = 712.300 # caget BL10I-OP-PGM-01:ENERGY
#grating_pitch = 88.0151063265128 # caget -g15 BL10I-OP-PGM-01:GRT:PITCH
#mirror_pitch = 88.2753263680692 # caget -g15 BL10I-OP-PGM-01:MIR:PITCH
energy_calibration_gradient = 1.0178 # caget BL10I-OP-PGM-01:MX
energy_calibration_reference = 392.555 # caget BL10I-OP-PGM-01:REFERENCE
return grating_density, cff, grating_offset, plane_mirror_offset, energy_calibration_gradient, energy_calibration_reference
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 PrepareIDForMove(self):
if installation.isLive():
self._id_gap_speed_orig = float(self.idpvs['vel'].caget())
else:
self._id_gap_speed_orig = self._id_gap.speed
# Calculate the energy midpoint
energy_midpoint = (self._move_end + self._move_start) / 2.
if self.verbose:
self.logger.info('prepareIDForMove:energy_midpoint=%r ' % (energy_midpoint))
# Calculate rowphase motor positions for given polarisation at energy midpoint
self.id_rowphase1_midpoint = self._id_energy.rowphase1_from_energy(energy_midpoint)
self.id_rowphase2_midpoint = self._id_energy.rowphase2_from_energy(energy_midpoint)
self.id_rowphase3_midpoint = self._id_energy.rowphase3_from_energy(energy_midpoint)
self.id_rowphase4_midpoint = self._id_energy.rowphase4_from_energy(energy_midpoint)
# Calculate grating angles for given grating density, energy, mirror angle and offsets
self._id_gap_start = self._id_energy.gap_from_energy(self._move_start)
self._id_gap_end = self._id_energy.gap_from_energy(self._move_end)
### Calculate main cruise moves & speeds from start/end/step
self._id_gap_speed = abs(self._id_gap_end - self._id_gap_start) / self.getTotalTime()
print self._id_gap_speed
self._id_gap_speed_rounded = Math.round(self._id_gap_speed*500.0)/500.0
print self._id_gap_speed_rounded
self.k=self._id_gap_speed_rounded/self._id_gap_speed
### Calculate ramp distance from required speed and ramp times
#check speed within limits
if self._id_gap_speed_rounded<0.004 or self._id_gap_speed_rounded>1.0:
raise Exception("Calculated ID gap speed %f is outside limits [%f, %f]!" % (self._id_gap_speed_rounded, 0.004, 1.0))
if installation.isLive():
#self._id_gap.speed = self._id_gap_speed #Cannot set id_gap.speed through soft motor which in EPICS is read-only
self.idpvs['vel'].caput(self._id_gap_speed_rounded)
else:
self._id_gap.speed = self._id_gap_speed_rounded
#acceleration time per axis
self._id_axis_speed=self._id_gap_speed_rounded/2
self._id_runupdown_time_per_axis=self._id_axis_speed*4
# Should really be / | | | | | \ not /| | | | |\
self._id_runupdown_per_axis = self._id_axis_speed / 2 * self._id_runupdown_time_per_axis
self._id_gap_runupdown = self._id_runupdown_per_axis * 2
### Move motor at full speed to start position
if self.verbose:
self.logger.info('prepareIDForMove:%s.asynchronousMoveTo(%r) ' % (self._id_energy.id_rowphase1.getName(),self.id_rowphase1_midpoint))
self.logger.info('prepareIDForMove:%s.asynchronousMoveTo(%r) ' % (self._id_energy.id_rowphase2.getName(),self.id_rowphase2_midpoint))
self.logger.info('prepareIDForMove:%s.asynchronousMoveTo(%r) ' % (self._id_energy.id_rowphase3.getName(),self.id_rowphase3_midpoint))
self.logger.info('prepareIDForMove:%s.asynchronousMoveTo(%r) ' % (self._id_energy.id_rowphase4.getName(),self.id_rowphase4_midpoint))
self._id_energy.id_rowphase1.asynchronousMoveTo(self.id_rowphase1_midpoint)
self._id_energy.id_rowphase2.asynchronousMoveTo(self.id_rowphase2_midpoint)
self._id_energy.id_rowphase3.asynchronousMoveTo(self.id_rowphase3_midpoint)
self._id_energy.id_rowphase4.asynchronousMoveTo(self.id_rowphase4_midpoint)
if installation.isLive():
self.idpvs['vel'].caput(self._id_gap_speed_orig)
else:
self._id_gap.speed = self._id_gap_speed_orig
if self.getIDGapMoveDirectionPositive():
if self.verbose:
self.logger.info('prepareIDForMove:asynchronousMoveTo(%r) @ %r (+ve)' % ((self._id_gap_start - self._id_gap_runupdown), self._id_gap_speed_orig))
self._id_energy.id_gap.asynchronousMoveTo((self._id_gap_start - self._id_gap_runupdown))
else:
if self.verbose:
self.logger.info('prepareIDForMove:asynchronousMoveTo(%r) @ %r (-ve)' % ((self._id_gap_start + self._id_gap_runupdown), self._id_gap_speed_orig))
self._id_energy.id_gap.asynchronousMoveTo((self._id_gap_start + self._id_gap_runupdown))
def prepareForMove(self):
if self.verbose: self.logger.info('prepareForMove()...')
if self.isIDMoveEnabled():
self.PrepareIDForMove()
else:
if self.verbose:
self.logger.info('ID move is disabled in %r' % (self.getName()))
if self.isPGMMoveEnabled():
self.PreparePGMForMove()
else:
if self.verbose:
self.logger.info('PGM move is disabled in %r' % (self.getName()))
if not self.isPGMMoveEnabled() and not self.isIDMoveEnabled():
raise Exception("Both PGM and ID moves are disabled so no scan will occur!")
self.waitWhileMoving()
### Calculate trigger delays
if self.verbose:
self.logger.info('...prepareForMove')
def startMove(self):
if self.verbose: self.logger.info('startMove()...')
# Notify all position callables to start waiting for their time
self._start_time = datetime.now()
self._start_event.set()
# Start threads to start ID & PGM and at the correct times
if self.isPGMMoveEnabled():
self._pgm_grat_pitch.speed = self._pgm_grat_pitch_speed
if self.isIDMoveEnabled():
if installation.isLive():
self.idpvs['vel'].caput(self._id_gap_speed_rounded)
else:
self._id_gap.speed = self._id_gap_speed_rounded
if self.isPGMMoveEnabled():
if self.getGratingMoveDirectionPositive():
if self.verbose: self.logger.info('startMove PGM Grating Pitch: asynchronousMoveTo(%r) @ %r (+ve)' % (
(self._grat_pitch_end + self._pgm_runupdown)*1000., self._pgm_grat_pitch_speed))
self._pgm_grat_pitch.asynchronousMoveTo((self._grat_pitch_end + self._pgm_runupdown)*1000.)
else:
if self.verbose: self.logger.info('startMove PGM Grating Pitch: asynchronousMoveTo(%r) @ %r (-ve)' % (
(self._grat_pitch_end - self._pgm_runupdown)*1000., self._pgm_grat_pitch_speed))
self._pgm_grat_pitch.asynchronousMoveTo((self._grat_pitch_end - self._pgm_runupdown)*1000.)
if self.isIDMoveEnabled():
if self.getIDGapMoveDirectionPositive():
if self.verbose: self.logger.info('startMove ID Gap: asynchronousMoveTo(%r) @ %r (+ve)' % (
(self._id_gap_end + 0.05 + self._id_gap_runupdown), self._id_gap_speed))
self._id_energy.id_gap.asynchronousMoveTo((self._id_gap_end + 0.05 + self._id_gap_runupdown))
else:
if self.verbose: self.logger.info('startMove ID Gap: asynchronousMoveTo(%r) @ %r (-ve)' % (
(self._id_gap_end - 0.05 - self._id_gap_runupdown), self._id_gap_speed))
self._id_energy.id_gap.asynchronousMoveTo((self._id_gap_end - 0.05 - self._id_gap_runupdown))
# How do we trigger the detectors, since they are 'HardwareTriggerable'?
if self.verbose: self.logger.info('...startMove')
def isMoving(self):
if self.verbose and (datetime.now() - self._movelog_time) > timedelta(seconds=1):
self.logger.info('isMoving() _pgm_grat_pitch=%r @ %r, _pgm_mirr_pitch=%r @ %r, _id_gap=%r @ %r' % (
self._pgm_grat_pitch.isBusy(), self._pgm_grat_pitch(),
self._pgm_mirr_pitch.isBusy(), self._pgm_mirr_pitch(),
self._id_energy.id_gap.isBusy(), self._id_energy.id_gap()))
self._movelog_time = datetime.now()
return self._pgm_grat_pitch.isBusy() or self._pgm_mirr_pitch.isBusy() or self._id_energy.id_gap.isBusy()
def waitWhileMoving(self):
if self.verbose: self.logger.info('waitWhileMoving()...')
while self.isMoving():
time.sleep(1)
if self.verbose: self.logger.info('...waitWhileMoving()')
def stopAndReset(self):
self._start_time = None
self._start_event.clear()
if self.verbose: self.logger.info('stopAndReset()')
if self.isPGMMoveEnabled():
self._pgm_grat_pitch.stop()
if self.isIDMoveEnabled():
self._id_energy.id_gap.stop()
self._restore_orig_speed()
# Implement: public interface HardwareTriggerProvider extends Device
def setTriggerPeriod(self, seconds): # double
self._triggerPeriod = seconds
if self.verbose: self.logger.info('setTriggerPeriod(%r)' % seconds)
def getNumberTriggers(self):
triggers = self.getTotalMove() / abs(self._move_step)
if self.verbose: self.logger.info('getNumberTriggers()=%r (%r)' % (int(triggers), triggers))
return int(triggers)
def getTotalTime(self):
totalTime = self.getNumberTriggers() * self._triggerPeriod
if self.verbose: self.logger.info('getTotalTime()=%r' % totalTime)
return totalTime
def getTimeToVelocity(self):
return self._pgm_runupdown_time
# Override: public abstract class DeviceBase extends ConfigurableBase implements Device
# None needed
# Other functions
def getTotalMove(self):
totalMove = abs(self._move_end - self._move_start)
if self.verbose: self.logger.info('getTotalMove()=%r' % totalMove)
return totalMove
def getGratingMoveDirectionPositive(self):
return (self._grat_pitch_end - self._grat_pitch_start) > 0
def getIDGapMoveDirectionPositive(self):
return (self._id_gap_end - self._id_gap_start) > 0
class DelayableCallable(Callable):
def __init__(self, controller, demand_position):
#self.start_event = threading.Event()
self.start_event = controller._start_event
self._controller, self._demand_position = controller, demand_position
self.logger = LoggerFactory.getLogger("ContinuousPgmGratingIDGapEnergyMoveController:%s:DelayableCallable[%r]" % (controller.name, demand_position))
if self._controller.verbose:
self.logger.info('__init__(%r, %r)...' % (controller.name, demand_position))
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 getPositionCallableExtraNames(self):
return ['readback']
def getPositionCallableFormat(self):
return ['%f', '%f']
# public Callable<T> getPositionCallable() throws DeviceException;
def getPositionCallableFor(self, position):
if self.verbose: self.logger.info('getPositionCallableFor(%r)...' % position)
# TODO: return actual positions back calculated from energy positions
return self.DelayableCallable(self, position)
def _restore_orig_speed(self):
if self.isPGMMoveEnabled():
if self._pgm_grat_pitch_speed_orig:
if self.verbose: self.logger.info('Restoring original PGM Grating Pitch speed %r, was %r' % (self._pgm_grat_pitch_speed_orig, self._pgm_grat_pitch.speed))
self._pgm_grat_pitch.speed = self._pgm_grat_pitch_speed_orig
self._pgm_grat_pitch_speed_orig = None
if self.isIDMoveEnabled():
if self._id_gap_speed_orig:
if installation.isLive():
if self.verbose: self.logger.info('Restoring original ID gap speed %r, was %r' % (self._id_gap_speed_orig, self.idpvs['vel'].caget()))
self.idpvs['vel'].caput(self._id_gap_speed_orig)
else:
if self.verbose: self.logger.info('Restoring original ID gap speed %r, was %r' % (self._id_gap_speed_orig, self._id_gap.speed))
self._id_gap.speed = self._id_gap_speed_orig
self._id_gap_speed_orig = None
def atScanEnd(self):
if self.verbose: self.logger.info('atScanEnd()...')
self._restore_orig_speed()
class EpicsPilatus(PseudoDetector):
'''Pilatus PD
obj=PilatusClass(name,pvroot,filepath,filename)
e.g. pilatus=PilatusClass('P100k','BL16I-EA-PILAT-01:','/dls/i16/data/Pilatus/','p')
pilatus.getThesholdEnergy to print threshhold
Make sure camserver is runnning
ssh -X det@i16-pilatus1 (password Pilatus2)
ps aux | grep cam to see if camserver running
to start camserver...
cd p2_1mod
camonly
self.display_data=0 removes data plotting and data summary for faster aquisition
self.setFileName(name) sets data file name e.g. 'p'
self.setFilePath(name) sets data file path e.g. '/dls/i16/data/Pilatus/'
self.defaultFileName()/ self.defaultFilePath()sets data file name/path back to the name given when the device was created
'''
def __init__(self, name, pvroot, filepath, filename, fileformat):
self.name = name
self.inputNames = ['ExposureTime']
self.extraNames = ['FileNum']
self.outputFormat = ['%.2f', '%.0f']
self.level = 9
self.filepath = None
self.filename = None
self.fileformat = None
self.filenum = None
self.cached_exptime = None
self.filenum = None
self.pvs = PvManager(['Acquire','NImages','Abort','ExposureTime','FilePath','Filename','FileNumber','FileFormat','ThresholdEnergy'], pvroot)
self.configure(filepath, filename, fileformat)
def configure(self, filepath = None, filename=None, fileformat = None):
self.pvs.configure()
if filepath:
self.setFilepath(filepath)
if filename:
self.setFilename(filename)
if fileformat:
self.setFileformat(fileformat)
self.setNumberImages(1)
self.updateFilenumber()
self.cached_exptime = 0
sleep(1)
# DETECTOR INTERFACE
def createsOwnFiles(self):
return True
def setCollectionTime(self, t):
if t != self.cached_exptime:
self.setCollectionTimeCommand(t)
self.cached_exptime = t
def getCollectionTime(self):
return self.cached_exptime
def collectData(self):
self.acquireCommand()
def getStatus(self):
if self.isBusyCommand():
return BUSY
else:
return IDLE
def readout(self):
self.updateFilenumber()
return self.fileformat % (self.filepath, self.filename, self.filenum)
# SCANNABLE INTERFACE (currently used by pos but not scan ??)
def stop(self):
self.stopCommand()
def getPosition(self):
self.updateFilenumber()
self.readout()
return [self.cached_exptime, self.filenum]
def asynchronousMoveTo(self, t):
self.setCollectionTime(t)
self.collectData()
def getFilepath(self):
return self.filepath
# PILATUS COMMANDS
# Note: Command appended where name already taken
def setFilename(self, filename):
self.pvs['Filename'].caput(filename)
self.filename = filename
def setFilepath(self, filepath):
self.filepath=filepath
self.pvs['FilePath'].caput(filepath)
def setFileformat(self, fileformat):
self.fileformat = fileformat
self.pvs['FileFormat'].caput(fileformat)
def updateFilenumber(self):
self.filenum = float(self.pvs['FileNumber'].caget())-1
def setNumberImages(self, n):
self.pvs['NImages'].caput(n)
def setCollectionTimeCommand(self, t):
self.pvs['ExposureTime'].caput(t)
sleep(1)
def isBusyCommand(self):
return float(self.pvs['Acquire'].caget())
def stopCommand(self):
self.pvs['Abort'].caput(1)
def acquireCommand(self):
self.pvs['Acquire'].caput(1)
def getThresholdEnergy(self):
print "WARNING: this method returns before the underlying hardware has been updated"
return float(self.pvs['ThresholdEnergy'].caget())
class EpicsFirewireCamera(PseudoDetector):
#TODO: Known bug: only works when epics zoom turned off (read the zoom value)
def __init__(self, name, pvroot, filepath=None, determine_data_pv_based_on_zoom = False, numtracker_extension='tmp', filename_template='fire%d_%05d.png'):
# BL07I-DI-PHDGN-06:CAM:DATA
self.determine_data_pv_based_on_zoom = determine_data_pv_based_on_zoom
self.name = name
self.extraNames = []
self.outputFormat = []
self.level = 9
self.pvs = PvManager(['SET_SHUTTR', 'WIDTH', 'HEIGHT', 'ZOOM'], pvroot)
self.pv_data = []
self.pv_data.append(gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot + 'DATA'))
self.pv_data.append(gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot + 'DATA1'))
self.pv_data.append(gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot + 'DATA2'))
self.pv_data.append(gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot + 'DATA3'))
self.pv_data.append(gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot + 'DATA4'))
self.pvs.configure()
self.filepath = filepath
self.ds = None
self.last_image_path = None
self.last_filename = None
self.last_image_number = 0
self.numtracker_extension = numtracker_extension
self.filename_template = filename_template
def createsOwnFiles(self):
return False
def setCollectionTime(self, t):
self.pvs['SET_SHUTTR'].caput(int(t))
def getCollectionTime(self):
return float(self.pvs['SET_SHUTTR'].caget())
def prepareForCollection(self):
self.last_image_number = -1
def collectData(self):
#rawdata = self.pvs['DATA'].cagetArray()
if self.determine_data_pv_based_on_zoom:
zoom_ordinal = int(float(self.pvs['ZOOM'].caget()))
rawdata = self.pv_data[zoom_ordinal].get()
else:
rawdata = self.pv_data[0].get()
data = map(unsign2, rawdata )
self.ds = DatasetFactory.zeros(int(float(self.pvs['HEIGHT'].caget())), int(float(self.pvs['WIDTH'].caget())), data)
self.last_image_number += 1
self.last_filename = self._generateCurrentFilename()
if self.filepath is not None:
self.saveImage(self.last_filename);
def _getCurrentScanNumer(self):
return NumTracker(self.numtracker_extension).getCurrentFileNumber();
def _generateCurrentFilename(self):
if isScanRunning():
return self.filename_template % (self._getCurrentScanNumer(), self.last_image_number)
else:
return time.strftime("%Y%m%d%H%M%S", time.localtime()) + '%03d' % ((time.time()%1)*1000) + '.png'
def getStatus(self):
return IDLE
def readout(self):
if self.ds is None:
raise Exception("Epics Firewire Camera %s has not acquired an image" % self.name)
else:
return self.ds
def setFilepath(self, filepath):
self.filepath=filepath
def getFilepath(self):
return self.filepath
def getLastImagePath(self):
return self.last_image_path
def saveImage(self, filename):
path = self.filepath + filename
if self.ds is None:
raise Exception("Epics Firewire Camera %s has not acquired an image" % self.name)
else:
sfh = ScanFileHolder()
sfh.addDataSet("Image",self.ds)
sfh.save(PNGSaver(path))
self.last_image_path = path
class EpicsGigECamera(PseudoDetector):
#TODO: Known bug: only works when epics zoom turned off (read the zoom value)
def __init__(self,
name,
pvroot,
filepath=None,
stdNotArr=True,
reconnect=True,
verbose=False,
acquireToCagetDelay_s=0.1):
# BL07I-DI-PHDGN-06:CAM:DATA
self.name = name
self.extraNames = []
self.outputFormat = []
self.level = 9
self.verbose = verbose
self.acquireToCagetDelay_s = acquireToCagetDelay_s
stdArr = "STD" if stdNotArr else "ARR"
pvs = {
"DATA": stdArr + ":ArrayData",
"START": "CAM:Acquire",
"WIDTH": "CAM:ArraySizeX_RBV",
"HEIGHT": "CAM:ArraySizeY_RBV",
"COLLECTTIME": "CAM:AcquireTime"
}
if reconnect:
pvs["RECONNECT"] = "CAM:RESET.PROC"
self.pvs = PvManager(pvs, pvroot)
self.pvs.configure()
self.filepath = filepath
self.ds = None
self.disableStop = False
def createsOwnFiles(self):
return False
def setCollectionTime(self, t):
#self.pvs["COLLECTTIME"].caput(int(t))
self.pvs["COLLECTTIME"].caput(float(t))
def getCollectionTime(self):
return float(self.pvs['COLLECTTIME'].caget())
def setDisableStop(self, disable):
self.disableStop = disable
def stop(self):
if self.verbose:
print "%s.stop()" % self.name
if not self.disableStop:
self.pvs["START"].caput(0)
def collectData(self):
"""
>>>pos cam1 1.5
cam1det.collectData() acquiring...
cam1det.collectData() (1.604000s) ended
cam1det.readout() getting...
cam1det.readout() (0.340000s) sign correction...
cam1det.readout() (6.910000s) creating DataSet...
cam1det.readout() (0.352000s) saving...
cam1det.readout() (0.581000s) ended
Move completed: cam1 : t: 1.500000 path: 122201.0
"""
if self.verbose:
print "%s.collectData() acquiring..." % self.name
t = time.time()
self.ds = None
self.pvs["START"].caput(1)
sleep(self.getCollectionTime() + self.acquireToCagetDelay_s)
if self.verbose:
dt, t = time.time() - t, time.time()
print "%s.collectData() (%fs) ended" % (self.name, dt)
def getStatus(self):
return IDLE
def readout(self):
if self.ds is None:
if self.verbose:
print "%s.readout() getting..." % self.name
t = time.time()
rawdata = self.pvs['DATA'].cagetArray()
if self.verbose:
dt, t = time.time() - t, time.time()
print "%s.readout() (%fs) sign correction..." % (self.name, dt)
data = map(unsign2, rawdata)
if self.verbose:
dt, t = time.time() - t, time.time()
print "%s.readout() (%fs) creating DataSet..." % (self.name,
dt)
self.ds = DatasetFactory.createFromObject(data, [
int(float(self.pvs['HEIGHT'].caget())),
int(float(self.pvs['WIDTH'].caget()))
])
if self.verbose:
dt, t = time.time() - t, time.time()
print "%s.readout() (%fs) saving..." % (self.name, dt)
if self.filepath is not None:
self.saveImage(
time.strftime("%Y%m%d%H%M%S.png", time.localtime()))
if self.verbose:
dt, t = time.time() - t, time.time()
print "%s.readout() (%fs) ended" % (self.name, dt)
return self.ds
def setFilepath(self, filepath):
self.filepath = filepath
def getFilepath(self):
return self.filepath
def saveImage(self, filename):
path = self.filepath + filename
if self.ds is None:
raise Exception("Epics GigE Camera %s has not acquired an image" %
self.name)
else:
sfh = ScanFileHolder()
sfh.addDataSet("Image", self.ds)
sfh.save(PNGSaver(path))
class EpicsGigECamera(PseudoDetector):
#TODO: Known bug: only works when epics zoom turned off (read the zoom value)
def __init__(self, name, pvroot, filepath=None,
stdNotArr=True, reconnect=True, verbose=False,
acquireToCagetDelay_s = 0.1):
# BL07I-DI-PHDGN-06:CAM:DATA
self.name = name
self.extraNames = []
self.outputFormat = []
self.level = 9
self.verbose = verbose
self.acquireToCagetDelay_s = acquireToCagetDelay_s
stdArr = "STD" if stdNotArr else "ARR"
pvs = { "DATA":stdArr+":ArrayData", "START":"CAM:Acquire",
"WIDTH":"CAM:ArraySizeX_RBV", "HEIGHT":"CAM:ArraySizeY_RBV",
"COLLECTTIME":"CAM:AcquireTime" }
if reconnect:
pvs["RECONNECT"]="CAM:RESET.PROC"
self.pvs = PvManager(pvs, pvroot)
self.pvs.configure()
self.filepath = filepath
self.ds = None
self.disableStop = False
def createsOwnFiles(self):
return False
def setCollectionTime(self, t):
#self.pvs["COLLECTTIME"].caput(int(t))
self.pvs["COLLECTTIME"].caput(float(t))
def getCollectionTime(self):
return float(self.pvs['COLLECTTIME'].caget())
def setDisableStop(self, disable):
self.disableStop = disable
def stop(self):
if self.verbose:
print "%s.stop()" % self.name
if not self.disableStop:
self.pvs["START"].caput(0)
def collectData(self):
"""
>>>pos cam1 1.5
cam1det.collectData() acquiring...
cam1det.collectData() (1.604000s) ended
cam1det.readout() getting...
cam1det.readout() (0.340000s) sign correction...
cam1det.readout() (6.910000s) creating DataSet...
cam1det.readout() (0.352000s) saving...
cam1det.readout() (0.581000s) ended
Move completed: cam1 : t: 1.500000 path: 122201.0
"""
if self.verbose:
print "%s.collectData() acquiring..." % self.name
t = time.time()
self.ds = None
self.pvs["START"].caput(1)
sleep(self.getCollectionTime()+self.acquireToCagetDelay_s)
if self.verbose:
dt, t = time.time()-t, time.time()
print "%s.collectData() (%fs) ended" % (self.name, dt)
def getStatus(self):
return IDLE
def readout(self):
if self.ds is None:
if self.verbose:
print "%s.readout() getting..." % self.name
t = time.time()
rawdata = self.pvs['DATA'].cagetArray()
if self.verbose:
dt, t = time.time()-t, time.time()
print "%s.readout() (%fs) sign correction..." % (self.name, dt)
data = map(unsign2, rawdata )
if self.verbose:
dt, t = time.time()-t, time.time()
print "%s.readout() (%fs) creating DataSet..." % (self.name, dt)
self.ds = DatasetFactory.createFromObject(data, [int(float(self.pvs['HEIGHT'].caget())), int(float(self.pvs['WIDTH'].caget()))])
if self.verbose:
dt, t = time.time()-t, time.time()
print "%s.readout() (%fs) saving..." % (self.name, dt)
if self.filepath is not None:
self.saveImage(time.strftime("%Y%m%d%H%M%S.png", time.localtime()))
if self.verbose:
dt, t = time.time()-t, time.time()
print "%s.readout() (%fs) ended" % (self.name, dt)
return self.ds
def setFilepath(self, filepath):
self.filepath=filepath
def getFilepath(self):
return self.filepath
def saveImage(self, filename):
path = self.filepath + filename
if self.ds is None:
raise Exception("Epics GigE Camera %s has not acquired an image" % self.name)
else:
sfh = ScanFileHolder()
sfh.addDataSet("Image",self.ds)
sfh.save(PNGSaver(path))
class EpicsPilatus(PseudoDetector):
'''Pilatus PD
obj=PilatusClass(name,pvroot,filepath,filename)
e.g. pilatus=PilatusClass('P100k','BL16I-EA-PILAT-01:','/dls/i16/data/Pilatus/','p')
pilatus.getThesholdEnergy to print threshhold
Make sure camserver is runnning
ssh -X det@i16-pilatus1 (password Pilatus2)
ps aux | grep cam to see if camserver running
to start camserver...
cd p2_1mod
camonly
self.display_data=0 removes data plotting and data summary for faster aquisition
self.setFileName(name) sets data file name e.g. 'p'
self.setFilePath(name) sets data file path e.g. '/dls/i16/data/Pilatus/'
self.defaultFileName()/ self.defaultFilePath()sets data file name/path back to the name given when the device was created
'''
def __init__(self, name, pvroot, filepath, filename, fileformat):
self.name = name
self.inputNames = ['ExposureTime']
self.extraNames = ['FileNum']
self.outputFormat = ['%.2f', '%.0f']
self.level = 9
self.filepath = None
self.filename = None
self.fileformat = None
self.filenum = None
self.cached_exptime = None
self.filenum = None
self.pvs = PvManager([
'Acquire', 'NImages', 'Abort', 'ExposureTime', 'FilePath',
'Filename', 'FileNumber', 'FileFormat', 'ThresholdEnergy'
], pvroot)
self.configure(filepath, filename, fileformat)
def configure(self, filepath=None, filename=None, fileformat=None):
self.pvs.configure()
if filepath:
self.setFilepath(filepath)
if filename:
self.setFilename(filename)
if fileformat:
self.setFileformat(fileformat)
self.setNumberImages(1)
self.updateFilenumber()
self.cached_exptime = 0
sleep(1)
# DETECTOR INTERFACE
def createsOwnFiles(self):
return True
def setCollectionTime(self, t):
if t != self.cached_exptime:
self.setCollectionTimeCommand(t)
self.cached_exptime = t
def getCollectionTime(self):
return self.cached_exptime
def collectData(self):
self.acquireCommand()
def getStatus(self):
if self.isBusyCommand():
return BUSY
else:
return IDLE
def readout(self):
self.updateFilenumber()
return self.fileformat % (self.filepath, self.filename, self.filenum)
# SCANNABLE INTERFACE (currently used by pos but not scan ??)
def stop(self):
self.stopCommand()
def getPosition(self):
self.updateFilenumber()
self.readout()
return [self.cached_exptime, self.filenum]
def asynchronousMoveTo(self, t):
self.setCollectionTime(t)
self.collectData()
def getFilepath(self):
return self.filepath
# PILATUS COMMANDS
# Note: Command appended where name already taken
def setFilename(self, filename):
self.pvs['Filename'].caput(filename)
self.filename = filename
def setFilepath(self, filepath):
self.filepath = filepath
self.pvs['FilePath'].caput(filepath)
def setFileformat(self, fileformat):
self.fileformat = fileformat
self.pvs['FileFormat'].caput(fileformat)
def updateFilenumber(self):
self.filenum = float(self.pvs['FileNumber'].caget()) - 1
def setNumberImages(self, n):
self.pvs['NImages'].caput(n)
def setCollectionTimeCommand(self, t):
self.pvs['ExposureTime'].caput(t)
sleep(1)
def isBusyCommand(self):
return float(self.pvs['Acquire'].caget())
def stopCommand(self):
self.pvs['Abort'].caput(1)
def acquireCommand(self):
self.pvs['Acquire'].caput(1)
def getThresholdEnergy(self):
print "WARNING: this method returns before the underlying hardware has been updated"
return float(self.pvs['ThresholdEnergy'].caget())
class ContinuousEnergyMoveController(ConstantVelocityMoveController,
DeviceBase):
'''Controller for constant velocity scan moving both PGM Energy and JID Gap, or DCM energy and IID gap at same time at constant speed respectively.
It works for both Live and Dummy mode.
'''
def __init__(
self,
name,
energy,
idgap,
idpvroot,
move_mono=True,
move_id=True): # motors, maybe also detector to set the delay time
self.logger = LoggerFactory.getLogger(
"ContinuousEnergyMoveController:%s" % name)
self.verbose = False
self.setName(name)
self._start_event = threading.Event()
self._movelog_time = datetime.now()
self._energy = energy
#PGM
self._mono_energy = energy.mono_energy
self._mono_energy_speed_orig = None
self._mono_runupdown_time = None
#ID
self._id_gap = idgap
self._id_gap_speed_orig = None
self._id_runupdown_time = None
self.idpvs = PvManager({
'vel': 'BLGSETVEL',
'acc': 'IDGSETACC'
}, idpvroot)
if installation.isLive():
self.idpvs.configure()
self.mono_energy_positions = []
self.id_gap_positions = []
self._start_time = None
#behaviour properties
self._move_mono = move_mono
self._move_id = move_id
self.idspeedfactor = 1.0
self.monospeedfactor = 1.0
self.idstartdelaytime = 0.0
self.continuousMovingStarted = False
# Implement: public interface ConstantVelocityMoveController extends ContinuousMoveController
def setStart(self, start): # double
self._move_start = start
if self.verbose: self.logger.info('setStart(%r)' % start)
def setEnd(self, end): # double
self._move_end = end
if self.verbose: self.logger.info('setEnd(%r)' % end)
def setStep(self, step): # double
self._move_step = step
if self.verbose: self.logger.info('setStep(%r)' % step)
# Implement: public interface ContinuousMoveController extends HardwareTriggerProvider
def PrepareMonoForMove(self):
if self._mono_energy.getName() == "pgmenergy":
self.energy_scale = 1000.0 #convert energy from keV to eV
else:
self.energy_scale = 1.0
self._mono_energy_speed_orig = self._mono_energy.speed #current speed in EPICS
### Calculate main cruise moves & speeds from start/end/step in eV
self._mono_energy_speed = (
abs(self._move_end - self._move_start) * self.energy_scale /
self.getTotalTime()) * self.getMonoSpeedFactor()
#check speed within limits
if self._mono_energy_speed <= 0.000 or self._mono_energy_speed > 10.0: #eV/sec
raise DeviceException(
"Calculated %s speed %f is outside limits [%f, %f]!" %
(self._mono_energy.getName(), self._mono_energy_speed, 0.000,
10.0))
### Calculate ramp distance from required speed and ramp times
# Set the speed before we read out ramp times in case it is dependent
self._mono_energy.speed = self._mono_energy_speed
# Should really be / | | | | | \ not /| | | | |\
self._mono_runupdown_time = self._mono_energy.timeToVelocity
self._mono_runupdown = self._mono_energy_speed / 2 * self._mono_runupdown_time
### Move motor at full speed to start position
self._mono_energy.speed = self._mono_energy_speed_orig
if self.isEnergyMoveDirectionPositive():
if self.verbose:
self.logger.info(
'prepareMonoForMove: %s.asynchronousMoveTo(%r) @ %r (+ve)'
% (self._mono_energy.getName(),
(self._move_start * self.energy_scale -
self._mono_runupdown), self._mono_energy_speed_orig))
self._mono_energy.asynchronousMoveTo(
(self._move_start * self.energy_scale - self._mono_runupdown))
else:
if self.verbose:
self.logger.info(
'prepareMonoForMove: %s.asynchronousMoveTo(%r) @ %r (-ve)'
% (self._mono_energy.getName(),
(self._energy_start * self.energy_scale +
self._mono_runupdown), self._mono_energy_speed_orig))
self._mono_energy.asynchronousMoveTo(
(self._move_start * self.energy_scale + self._mono_runupdown))
def id_speed_limits(self):
if self._id_gap.getName() == 'jgap':
return JID_GAP_SPEED_LOWER_LIMIT, JID_GAP_SPEED_UPPER_LIMIT
else:
return IID_GAP_SPEED_LOWER_LIMIT, IID_GAP_SPEED_UPPER_LIMIT
def PrepareIDForMove(self):
GAP_SPEED_LOWER_LIMIT, GAP_SPEED_UPPER_LIMIT = self.id_speed_limits()
if installation.isLive():
#get ID gap speed from EPICS PV
self._id_gap_speed_orig = float(self.idpvs['vel'].caget())
else:
self._id_gap_speed_orig = self._id_gap.speed
#assume no row phase motors need to move during continuous energy move
self._id_gap_start = self._energy.idgap(
self._move_start) #idgap calculation using energy in keV
self._id_gap_end = self._energy.idgap(self._move_end)
### Calculate main cruise moves & speeds from start/end/step
self._id_gap_speed = abs(self._id_gap_end - self._id_gap_start
) / self.getTotalTime() * self.idspeedfactor
#check speed within limits
if self._id_gap_speed < GAP_SPEED_LOWER_LIMIT or self._id_gap_speed > GAP_SPEED_UPPER_LIMIT:
raise DeviceException(
"Calculated ID gap speed %f is outside limits [%f, %f]!" %
(self._id_gap_speed, GAP_SPEED_LOWER_LIMIT,
GAP_SPEED_UPPER_LIMIT))
if installation.isLive():
#Cannot set id_gap.speed through soft motor which in EPICS is read-only
self.idpvs['vel'].caput(self._id_gap_speed)
else:
self._id_gap.speed = self._id_gap_speed
### Calculate ramp distance from required speed and ramp times
#acceleration time per axis
self._id_axis_speed = self._id_gap_speed / 2
self._id_runupdown_time_per_axis = self._id_axis_speed * 4
# Should really be / | | | | | \ not /| | | | |\
self._id_runupdown_per_axis = self._id_axis_speed / 2 * self._id_runupdown_time_per_axis
self._id_gap_runupdown = self._id_runupdown_per_axis * 2
if installation.isLive():
self.idpvs['vel'].caput(self._id_gap_speed_orig)
else:
self._id_gap.speed = self._id_gap_speed_orig
if self.isIDGapMoveDirectionPositive():
if self.verbose:
self.logger.info(
'prepareIDForMove: _id_gap.asynchronousMoveTo(%r) @ %r (+ve)'
% ((self._id_gap_start - self._id_gap_runupdown),
self._id_gap_speed_orig))
self._id_gap.asynchronousMoveTo(self._id_gap_start -
self._id_gap_runupdown)
else:
if self.verbose:
self.logger.info(
'prepareIDForMove: _id_gap.asynchronousMoveTo(%r) @ %r (-ve)'
% ((self._id_gap_start + self._id_gap_runupdown),
self._id_gap_speed_orig))
self._id_gap.asynchronousMoveTo(self._id_gap_start +
self._id_gap_runupdown)
def prepareForMove(self):
if self.verbose: self.logger.info('prepareForMove()...')
self.continuousMovingStarted = False
if self.isMonoMoveEnabled():
self.PrepareMonoForMove()
else:
if self.verbose:
self.logger.info('%s move is disabled in %r' %
(self._mono_energy.getName(), self.getName()))
if self.isIDMoveEnabled():
self.PrepareIDForMove()
else:
if self.verbose:
self.logger.info('ID %s move is disabled in %r' %
(self._id_gap.getName(), self.getName()))
if not self.isMonoMoveEnabled() and not self.isIDMoveEnabled():
print("Both PGM and ID moves are disabled so no scan will occur!")
raise DeviceException(
"Both PGM and ID moves are disabled so no scan will occur!")
self.waitWhileMoving()
if self.verbose:
self.logger.info('...prepareForMove')
def startMove(self):
if self.verbose: self.logger.info('startMove()...')
# Notify all position callables to start waiting for their time
self._start_time = datetime.now()
self._start_event.set()
# Start threads to start ID & PGM and at the correct times
if self.isMonoMoveEnabled():
self._mono_energy.speed = self._mono_energy_speed
if self.isIDMoveEnabled():
if installation.isLive():
self.idpvs['vel'].caput(self._id_gap_speed)
else:
self._id_gap.speed = self._id_gap_speed
if self.isMonoMoveEnabled():
if self.isEnergyMoveDirectionPositive():
if self.verbose:
self.logger.info(
'startMove Mono Energy: _mono_energy.asynchronousMoveTo(%r) @ %r (+ve)'
% ((self._move_end * self.energy_scale +
self._mono_runupdown), self._mono_energy_speed))
self._mono_energy.asynchronousMoveTo(
(self._move_end * self.energy_scale +
self._mono_runupdown))
else:
if self.verbose:
self.logger.info(
'startMove Mono Energy: _mono_energy.asynchronousMoveTo(%r) @ %r (-ve)'
% ((self._move_end * self.energy_scale -
self._mono_runupdown), self._mono_energy_speed))
self._mono_energy.asynchronousMoveTo(
(self._move_end * self.energy_scale -
self._mono_runupdown))
if self.isIDMoveEnabled():
sleep(self.getIDStartDelayTime())
if self.isIDGapMoveDirectionPositive():
if self.verbose:
self.logger.info(
'startMove ID Gap: _id_gap.asynchronousMoveTo(%r) @ %r (+ve)'
% ((self._id_gap_end + ID_GAP_END_OFFSET +
self._id_gap_runupdown), self._id_gap_speed))
self._id_gap.asynchronousMoveTo(
(self._id_gap_end + ID_GAP_END_OFFSET +
self._id_gap_runupdown))
else:
if self.verbose:
self.logger.info(
'startMove ID Gap: _id_gap.asynchronousMoveTo(%r) @ %r (-ve)'
% ((self._id_gap_end - ID_GAP_END_OFFSET -
self._id_gap_runupdown), self._id_gap_speed))
self._id_gap.asynchronousMoveTo(
(self._id_gap_end - ID_GAP_END_OFFSET -
self._id_gap_runupdown))
self.continuousMovingStarted = True
if self.verbose: self.logger.info('...startMove')
def isMoving(self):
if self.isIDMoveEnabled():
if self.verbose and (datetime.now() -
self._movelog_time) > timedelta(seconds=1):
self.logger.info(
'isMoving() _mono_energy=%r @ %r, _id_gap=%r @ %r' %
(self._mono_energy.isBusy(), self._mono_energy(),
self._id_gap.isBusy(), self._id_gap()))
self._movelog_time = datetime.now()
return self._mono_energy.isBusy() or self._id_gap.isBusy()
else:
if self.verbose and (datetime.now() -
self._movelog_time) > timedelta(seconds=1):
self.logger.info(
'isMoving() _mono_energy=%r @ %r' %
(self._mono_energy.isBusy(), self._mono_energy()))
self._movelog_time = datetime.now()
return self._mono_energy.isBusy()
def waitWhileMoving(self):
if self.verbose: self.logger.info('waitWhileMoving()...')
while self.isMoving():
time.sleep(1)
if self.verbose: self.logger.info('...waitWhileMoving()')
def stopAndReset(self):
if self.verbose: self.logger.info('stopAndReset()')
self._start_time = None
self._start_event.clear()
if self.isMonoMoveEnabled():
self._mono_energy.stop()
if self.isIDMoveEnabled() and installation.isDummy():
self._id_gap.stop()
self._restore_orig_speed()
# Implement: public interface HardwareTriggerProvider extends Device
def setTriggerPeriod(self, seconds): # double
self._triggerPeriod = seconds
if self.verbose: self.logger.info('setTriggerPeriod(%r)' % seconds)
def getNumberTriggers(self):
triggers = self.getTotalMove() / abs(self._move_step)
if self.verbose:
self.logger.info('getNumberTriggers()=%r (%r)' %
(int(triggers), triggers))
return int(triggers)
def getTotalTime(self):
total_time = self.getNumberTriggers() * self._triggerPeriod
if self.verbose: self.logger.info('getTotalTime()=%r' % total_time)
return total_time
def getTimeToVelocity(self):
return self._mono_runupdown_time
# Override: public abstract class DeviceBase implements Device, ConditionallyConfigurable, Localizable
# None needed
# Other functions
def getTotalMove(self):
total_move = abs(self._move_end - self._move_start)
if self.verbose: self.logger.info('getTotalMove()=%r' % total_move)
return total_move
def isEnergyMoveDirectionPositive(self):
return (self._move_end - self._move_start) > 0
def isIDGapMoveDirectionPositive(self):
return (self._id_gap_end - self._id_gap_start) > 0
class DelayableCallable(Callable):
def __init__(self, controller, demand_position):
#self.start_event = threading.Event()
self.start_event = controller._start_event
self._controller, self._demand_position = controller, demand_position
self.logger = LoggerFactory.getLogger(
"ContinuousPgmEnergyIDGapMoveController:%s:DelayableCallable[%r]"
% (controller.name, demand_position))
if self._controller.verbose:
self.logger.info('__init__(%r, %r)...' %
(controller.name, demand_position))
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 RuntimeError(
"%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
complete = abs(
(self._demand_position - self._controller._move_start) /
(self._controller._move_end - self._controller._move_start))
sleeptime_s = (self._controller._mono_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 = self._controller._mono_energy()
if self._controller.verbose:
self.logger.info('...DelayableCallable:call returning %r, %r' %
(self._demand_position, energy))
return self._demand_position, energy
def getPositionCallableExtraNames(self):
return ['readback']
def getPositionCallableFormat(self):
return ['%f', '%f']
# public Callable<T> getPositionCallable() throws DeviceException;
def getPositionCallableFor(self, position):
if self.verbose:
self.logger.info('getPositionCallableFor(%r)...' % position)
return self.DelayableCallable(self, position)
def _restore_orig_speed(self):
if self.isMonoMoveEnabled() and self._mono_energy_speed_orig:
if self.verbose:
self.logger.info(
'Restoring original PGM Energy speed %r, was %r' %
(self._mono_energy_speed_orig, self._mono_energy.speed))
self._mono_energy.speed = self._mono_energy_speed_orig
self._mono_energy_speed_orig = None
if self.isIDMoveEnabled() and self._id_gap_speed_orig:
if installation.isLive():
if self.verbose:
self.logger.info(
'Restoring original ID gap speed %r, was %r' %
(self._id_gap_speed_orig, self.idpvs['vel'].caget()))
self.idpvs['vel'].caput(self._id_gap_speed_orig)
else:
if self.verbose:
self.logger.info(
'Restoring original ID gap speed %r, was %r' %
(self._id_gap_speed_orig, self._id_gap.speed))
self._id_gap.speed = self._id_gap_speed_orig
self._id_gap_speed_orig = None
def atScanEnd(self):
if self.verbose: self.logger.info('atScanEnd()...')
self._restore_orig_speed()
# Should we also move the pgm_energy to a known value too, such as the midpoint?
def setIDStartDelayTime(self, t):
self.idstartdelaytime = t
def getIDStartDelayTime(self):
return self.idstartdelaytime
def setIDSpeedFactor(self, val):
self.idspeedfactor = val
def getIDSpeedFactor(self):
return self.idspeedfactor
def setMonoSpeedFactor(self, val):
self.monospeedfactor = val
def getMonoSpeedFactor(self):
return self.monospeedfactor
#https://jira.diamond.ac.uk/browse/I10-301
def enableIDMove(self):
self._move_id = True
def disableIDMove(self):
self._move_id = False
def isIDMoveEnabled(self):
return self._move_id
def enableMonoMove(self):
self._move_mono = True
def disableMonoMove(self):
self._move_mono = False
def isMonoMoveEnabled(self):
return self._move_mono
class EpicsFirewireCamera(PseudoDetector):
#TODO: Known bug: only works when epics zoom turned off (read the zoom value)
def __init__(self,
name,
pvroot,
filepath=None,
determine_data_pv_based_on_zoom=False,
numtracker_extension='tmp',
filename_template='fire%d_%05d.png'):
# BL07I-DI-PHDGN-06:CAM:DATA
self.determine_data_pv_based_on_zoom = determine_data_pv_based_on_zoom
self.name = name
self.extraNames = []
self.outputFormat = []
self.level = 9
self.pvs = PvManager(['SET_SHUTTR', 'WIDTH', 'HEIGHT', 'ZOOM'], pvroot)
self.pv_data = []
self.pv_data.append(
gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot + 'DATA'))
self.pv_data.append(
gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot +
'DATA1'))
self.pv_data.append(
gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot +
'DATA2'))
self.pv_data.append(
gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot +
'DATA3'))
self.pv_data.append(
gda.epics.LazyPVFactory.newReadOnlyIntegerArrayPV(pvroot +
'DATA4'))
self.pvs.configure()
self.filepath = filepath
self.ds = None
self.last_image_path = None
self.last_filename = None
self.last_image_number = 0
self.numtracker_extension = numtracker_extension
self.filename_template = filename_template
def createsOwnFiles(self):
return False
def setCollectionTime(self, t):
self.pvs['SET_SHUTTR'].caput(int(t))
def getCollectionTime(self):
return float(self.pvs['SET_SHUTTR'].caget())
def prepareForCollection(self):
self.last_image_number = -1
def collectData(self):
#rawdata = self.pvs['DATA'].cagetArray()
if self.determine_data_pv_based_on_zoom:
zoom_ordinal = int(float(self.pvs['ZOOM'].caget()))
rawdata = self.pv_data[zoom_ordinal].get()
else:
rawdata = self.pv_data[0].get()
data = map(unsign2, rawdata)
self.ds = DatasetFactory.zeros(int(float(self.pvs['HEIGHT'].caget())),
int(float(self.pvs['WIDTH'].caget())),
data)
self.last_image_number += 1
self.last_filename = self._generateCurrentFilename()
if self.filepath is not None:
self.saveImage(self.last_filename)
def _getCurrentScanNumer(self):
return NumTracker(self.numtracker_extension).getCurrentFileNumber()
def _generateCurrentFilename(self):
if isScanRunning():
return self.filename_template % (self._getCurrentScanNumer(),
self.last_image_number)
else:
return time.strftime("%Y%m%d%H%M%S", time.localtime()) + '%03d' % (
(time.time() % 1) * 1000) + '.png'
def getStatus(self):
return IDLE
def readout(self):
if self.ds is None:
raise Exception(
"Epics Firewire Camera %s has not acquired an image" %
self.name)
else:
return self.ds
def setFilepath(self, filepath):
self.filepath = filepath
def getFilepath(self):
return self.filepath
def getLastImagePath(self):
return self.last_image_path
def saveImage(self, filename):
path = self.filepath + filename
if self.ds is None:
raise Exception(
"Epics Firewire Camera %s has not acquired an image" %
self.name)
else:
sfh = ScanFileHolder()
sfh.addDataSet("Image", self.ds)
sfh.save(PNGSaver(path))
self.last_image_path = path
