def single_pseudo():
def calc_fwd(pseudo=0.0):
return [-pseudo, -pseudo, -pseudo]
def calc_rev(real0=0.0, real1=0.0, real2=0.0):
return -real0
def done(**kwargs):
print('** Finished moving (%s)' % (kwargs, ))
real0 = EpicsMotor(config.motor_recs[0], name='real0')
real1 = EpicsMotor(config.motor_recs[1], name='real1')
real2 = EpicsMotor(config.motor_recs[2], name='real2')
reals = [real0, real1, real2]
logger.info('------- Sequential, single pseudo positioner')
pos = PseudoPositioner('seq',
reals,
forward=calc_fwd, reverse=calc_rev,
concurrent=False
)
logger.info('Move to .2, which is (-.2, -.2, -.2) for real motors')
pos.move(.2, wait=True)
logger.info('Position is: %s (moving=%s)' % (pos.position, pos.moving))
logger.info('Real positions: %s' % ([real.position for real in reals], ))
logger.info('Move to -.2, which is (.2, .2, .2) for real motors')
pos.move(-.2, wait=True)
logger.info('Position is: %s (moving=%s)' % (pos.position, pos.moving))
logger.info('Real positions: %s' % ([real.position for real in reals], ))
def multi_pseudo():
def calc_fwd(pseudo0=0.0, pseudo1=0.0, pseudo2=0.0):
return [-pseudo0, -pseudo1, -pseudo2]
def calc_rev(real0=0.0, real1=0.0, real2=0.0):
return [-real0, -real1, -real2]
def done(**kwargs):
print('** Finished moving (%s)' % (kwargs, ))
real0 = EpicsMotor(config.motor_recs[0], name='real0')
real1 = EpicsMotor(config.motor_recs[1], name='real1')
real2 = EpicsMotor(config.motor_recs[2], name='real2')
logger.info('------- Sequential pseudo positioner')
pos = PseudoPositioner('seq',
[real0, real1, real2],
forward=calc_fwd, reverse=calc_rev,
pseudo=['pseudo0', 'pseudo1', 'pseudo2'],
concurrent=False
)
logger.info('Move to (.2, .2, .2), which is (-.2, -.2, -.2) for real motors')
pos.move((.2, .2, .2), wait=True)
logger.info('Position is: %s (moving=%s)' % (pos.position, pos.moving))
if 0:
logger.info('Move to (-.2, -.2, -.2), which is (.2, .2, .2) for real motors')
pos.move((-.2, -.2, -.2), wait=True, moved_cb=done)
logger.info('Position is: %s (moving=%s)' % (pos.position, pos.moving))
# No such thing as a non-blocking move for a sequential
# pseudo positioner
# Create another one and give that a try
pos = PseudoPositioner('conc',
[real0, real1, real2],
forward=calc_fwd, reverse=calc_rev,
pseudo=['pseudo0', 'pseudo1', 'pseudo2'],
concurrent=True
)
logger.info('------- concurrent pseudo positioner')
logger.info('Move to (2, 2, 2), which is (-2, -2, -2) for real motors')
pos.check_value((2, 2, 2))
try:
pos.check_value((2, 2, 2, 3))
except ValueError as ex:
logger.info('Check value failed, as expected (%s)' % ex)
try:
pos.check_value((real0.high_limit + 1, 2, 2))
except ValueError as ex:
logger.info('Check value failed, as expected (%s)' % ex)
ret = pos.move((2, 2, 2), wait=False, moved_cb=done)
while not ret.done:
logger.info('Pos=%s %s (err=%s)' % (pos.position, ret, ret.error))
time.sleep(0.1)
pseudo0 = pos['pseudo0']
logger.info('Single pseudo axis: %s' % pseudo0)
pseudo0.move(0, wait=True)
try:
pseudo0.check_value(real0.high_limit + 1)
except ValueError as ex:
logger.info('Check value for single failed, as expected (%s)' % ex)
logger.info('Move pseudo0 to 0, position=%s' % (pos.position, ))
logger.info('pseudo0 = %s' % pseudo0.position)
def single_sub(**kwargs):
# logger.info('Single sub: %s' % (kwargs, ))
pass
pseudo0.subscribe(single_sub, pseudo0.SUB_READBACK)
ret = pseudo0.move(1, wait=False)
while not ret.done:
logger.info('Pseudo0.pos=%s Pos=%s %s (err=%s)' % (pseudo0.position,
pos.position, ret, ret.error))
time.sleep(0.1)
logger.info('Pseudo0.pos=%s Pos=%s %s (err=%s)' % (pseudo0.position,
pos.position, ret, ret.error))
# pos['pseudo0'] = 2
assert('pseudo0' in pos)
assert('real0' in pos)